Keenon Robotics PEANUT T1 Owner's manual

PEANUT intelligent transporting robots
Product specification
!

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Copyright©2017 Shanghai Keenon Robotics Co., Ltd
All right reserved, keep all rights
Any enterprise or individual can’t self imitate, copy, copy out or transmit
part of full content of this specification if no clear writing permission of
Shanghai Keenon Robotics Co., Ltd, and can’t purpose to benefit
through disseminate at any way (electric, photo-printing, record, etc).
This specification mentioned product specification and information only
for reference, please understand that we not specially inform if content
updated. Except the special stipulates, this specification only been use as
operating guidance, the statements all are not formed any types
guarantees.!
Statement

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Dear users, welcome to PEANUT intelligent transporting robots, please
read this specification carefully before using your robots, and use your
PEANUT robots according to the specification steps by steps.
!
@Shanghai Keenon Robotics Co., Ltd
Foreword

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This specification mainly introduces function characteristics,
installation, methods and important precautions when using PEANUT
intelligent transporting robots.
This specification contain below contents:
1.Robot introduction:
Briefly describe the basic functional characteristics of robot and exhibit
the structure information of robots in details.
2.Operating steps:
Introduce the preparation works and methods during the process of
installation and usage of robots.
3.Appendix:
Introduce the common failure, detailed technical parameters and safety
notices of robots.
4.Warranty:
State the condition of normal usage and coverage of warranty
Specifications

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Statement 2...........................................................................................
Foreword 3............................................................................................
Specifications 4.....................................................................................
Robot introduction 7.............................................................................
Main Structures of robot 7....................................................................
Operating steps - How to use the robot 8..............................................
Dispatching 13........................................................................................
Charging 14............................................................................................
Audio features 15....................................................................................
Emergency stop 15.................................................................................
Process of Delivery 17............................................................................
Appendix 19...........................................................................................
Performance parameter 20......................................................................
Safety notices 21.....................................................................................
Warranty 22............................................................................................
Table of Contents

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(Front view) (Back view)
Structure diagram of PEANUT intelligent transporting robots
*The above picture is only for reference,
the detail product appearance and color subject to the entity.!
1.Hand touch area
2.Expression board
3.3-dimension vision
4.Decorate belt
5.Laser
6.Gap at laser layer
7.Ultrasonic sensor
8.PSD
9.Anti impact plate
10.Front turn lamp
11.Safety touch edge
12.Universal wheel
13.Drive wheel
14.Touch screen
15.Sound microphone
16.Emergency stop switch
17.Handle charging port
18.Rear turn lamp
19.Up pallet
20.Middle pallet
21.Down pallet
22.Infrared ray response
23.Lamp ring
24.Automatic charging port
（Side view）

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●PEANUT intelligent transporting robots operate in indoor
environment, suitable to apply in the public indoor field such as
restaurants, hotels, supermarkets, shopping malls, casinos, hospitals,
cinemas and business offices, etc.
●PEANUT intelligent transporting robots realise the core technics such
as self reposition navigation, intelligent obstacle avoidance though
machine depth perceptions and laser radar, ability to complete delivery
missions in indoor fields, and able to implant intelligent interaction with
people. It can be used to delivery dishes in restaurant, transmit office
documents and express delivery dispatching, etc.
●Currently the products described in this specification divided into T1
and T2 two models. Thereinto, T1 is delivery service robot, T2 is
express delivery service robot with bigger size. T1 and T2 have same
hardware configuration, but different software depending on application
scene. The software operating introduce of this specification mainly
described as T1."
"
"
Picture 1 is the main body structure of PEANUT intelligent transporting
robots. Chassis of robot is two-wheels drive, four-wheels driven structure. It
realise self reposition through machine vision and laser radar, merged
multiple sensors like infrared ray, ultrasonic and touch switch, which is used
for obstacle avoidances. The touch screen is for users to operate the robot
system, sound microphone port can intelligently interaction with users, the
special application such as the “Hand touch area” on top of robots is also part
of interactive functions.
Picture 2 is the charging pile structure diagram of PEANUT intelligent
transporting robots. The robot has intelligent self return charging
function. The robot is able to search, match and touch the charging pile,
returning to charge stations automatically.
Product Introduction
Main Structures of Robots

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Picture 2 Structure picture of charging piles
骤（
Please follow the below steps and start using your robot.
A. Installation
1. Map Construction
Before robot moves, the robot needs know well about the
environment. It will save and detect the running environment by the
map implanted. This step called map construction.
When indoor environment of robots have major changes
(redecoration, renovation, transporting the robot to new running field
or having new goods in room place), please contact customer service
and reconstruct the map.
2. Arrange charging piles
The robot has automatically charging function. You need to arrange
the charging piles in its running field where the robots can easily
access to charge. Installation of charging piles need be finished by
technicians. Please don’t move once it is installed.
If you need to change the spot of charging piles, please contact technicians
to reposition charging piles.!
(Front view)
(Back view)
(Top view)
13.Indicate lamp
14.Heat radiation holes
15.Charging touch sheet
Operation Steps - How to use the Robot

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B. Power and Software Setup
1. Turn on/off Power Supply Key
Power switch locates at left-down of emergency stop switch, where
upper surface of laser layer gap is. (can’t see this switch from exterior
top view) Find the power supply switch shown in picture 3, press
down the power supply switch with your finger facing upward, and
the robot will be powered. You will immediately be able to observe
the bright musical ring circle rotating at the left/right wheels under the
machine and the blue shining belt at the laser layer gap lighting.
The system will start and please wait around 40s for it to be ready to
operate. When you need to turn off the robot, please switch the power
supply accordingly. The machine will power off immediately once
switched off.
Picture 3 Location diagram of power switch
2. Start Peanut App for Setup
After switching on the power, the touch screen will show LOGO,
PEANUT animation and Android table. It takes around 40s.
The system will automatically open PEANUT APP under the default
setting after started. If the system doesn’t start PEANUT APP, please
find PEANUT APP icon on the desktop (shown in picture 4) and click
the icon then start APP.
(Part amplify diagram of power supply
switch)
(Part perspective indicate diagram of power supply
switch)

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Picture 4 PEANUT APP icon"
"
C. Settings
The user can do relate setting of robot through PEANUT APP, the
steps of enter into setting page of robot as below:
!
a. Click the “Three” icon at the up left corner of home page. Enter the
sub-menu page of software function.
b. Click PEANUT APP “Robot Setting” icon and enter into setting
page.
1. Connect to WIFI
Please connect the robot to network through WIFI when you first
use it, the setting process as below:
!
a. Open system WLAN (SIFI) function, research the usable WIFI.
b. Select usable WIFI, enter password.
c. Click “Connect”
2. Robot automatic return charging setting
Set up automatically return charging capacity:
!
a. Click “Power supply management” in the setting menu.
b. Slide upward, find “The lowest use power” and click
c. Enter settings and save

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During delivery, the robot will automatically arrive the appointed
charging pile when robot operating power lower than [Automatically
return capacity]. If administrator cancel it during charging process,
the robot will trigger automatically return charging again when
operating power lower than [The lowest use power].
Set up automatically return charging time:
a. After enter into [Robot setting] page, select [Power supply
management], find out the “Working time period” function setting
line.
b. Click working time period add button, enter the time setting
interface.
c. Pop out time selection page, click the right side [Confirm] after
selecting the time. The start time is indicated on the left side of the
page (Enter the setting page. It will automatic pop out time selection
page that correspond the start time).
d. Change the start time and finish time, make sure the indicated
time(ex: 9:00). Click [Confirm] after time is set.
e. The defaulted working days are 7 days, the machine will
automatically return to charging pile charging after reaching finish
time every day. You can also select the working day according to
requirements. If you only select “One” then machine only work at
Monday.
f. Set time and working day, click [Save] button, the added working
time period will be valid. The start button is in orange.
g. the added working time can be deleted or closed. When the
working time period is at close status, machine will not automatically
come to charging pile charging after reaching finish working time.

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3. Adjust sizes of volume
If the below screen indicate system menu line, directly click
volume key to adjust the size of volume. If not, operating as the
below:!
a. click PEANUT APP [Robot setting] icon to enter setting
management page.
b. Select [System setting] , cancel [Hidden menu line], find the
volume control key at the below screen.
c. Click volume adjust button on the right side, volume increased.
d. Click volume adjust button on the left side, volume decreased.
4. Hide Status line
!
a. Open the software select page menu, enter APP setting page.
b. Click [System setting] menu.
c. Click [Hidden status line] then click blue tick shape icon, the status
line on table will be hidden, click again [Hidden status line] then blue
tick shape icon disappeared, status line appears.
5. Guard mode setting
!
When robot [Guard mode] start, robot will automatically detect
whether PEANUT APP is running, and automatically start PEANUT
APP. The operating process is as below:
a. enter robot setting page, click [System setting] and switch button to
the right to [Guard mode]. The button will change to green with
“Start” word. When guard mode start, PEANUT APP will
automatically start again after being unexpected turned off.
b. Click the right button of [Guard mode], switch button to the left.
The button will change to white with “Close” word, and guard mode
function will be closed. PEANUT APP will not automatically open
after closed, must click APP icon then it can start running.

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6. Set up automatically power-on function of Robots:
!
Under the default mode, the system will automatically start PEANUT
APP. When PEANUT APP has no start automatically, you can set up
the PEANUT APP automatic start function as below:
a. Enter robot setting page, click [System setting] and switch the
button to right [Start machine automatically start]. When button
changes to be green with “Start” word, the automatic start function is
on. After setting is successful, the robot will start PEANUT APP
every time when the it is turned on.
b. Click right button of [Start machine self start], switch button to left,
button change to be white with “Close” word. The automatic start
function is off.
7. Robot name setting operate process:
!
a. Enter robot setting page, click [Robot name] of [System setting]
and enter name (nickname) setting page.
b. Set the name, click [Save] button at up right corner of page, return
to system setting page and the name will be shown.
配送
The robot will function well after the maps of environment is implanted and
constructed well, the operating process as below:
a. Put the goods which need be delivered on the pallet of robot.
b. Automatically start PEANUT APP after system start machine. The up left
part of home page indicate the restaurant room type table page; select [Hall]
or [Balcony] respectively then you can enter into the corresponding pages.
c. Select table number on the [Hall] page, select room number on the
[Balcony] page, the corresponding label will be in blue highlight after
selected, the right side robot icon will instantly indicate the destination.
Dispatching

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d. Click the [Move immediately] button on the lower right corner.
e. Page will go to [On the way] interface, then the robot start to carry the
goods to destination with audio reminding sounds playing.
f. The robot will also play sound reminders after arriving destination, click
[Return] after take away goods, or touch the hand icon on touch area on the
top of robot and the robot will return to starting point. The page will
automatically return to home page.
1. Automatic returning charging
The robot has automatic returning charging function. When it meet
the two conditions below, the robot will return to charging pile to
charge itself. Please make ensure the position of charging piles is
fixed and powered on.
The power volume is lower than return charging power volume.
The robot is not in working period, and the power volume does not reach
100%.
The setting of self return charging please refer to the setting part of this
manual “Charging set”.
2. User manual trigger robot charging
The users can trigger and control robot to automatically return
charging through PEANUT APP operation. Please find the operating
process below:
①Click [Power supply management] menu, select power supply
management setting page.
②Click [Automatic charging] button, the robot will automatically search
the charging pile to charge.
③The robot will connect itself to charging pile after the robot arrive the
charging piles.
Charging

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④Robot start charging after connecting to the power pile. The touch
screen will jump to charging page.
The users also can manual push the robot to charging pile and charge it. "
Below is the operation details:
①Click [Power supply] menu and select power supply setting page.
②Click [Manual charging] button, the page jump to manual charging
page.
③Manual push the robot to the position of charging piles, page jump to
reminding page.
④Make the back of robot align with power supply pile, and then
push the robot on the power supply pile, make sure the
automatically return charging port on the bottom of robot touch the
charging interface of charging pile.
⑤After connecting successfully, the page will switch to charging volume
page after waiting for 5s.
* Note:
The above ①and ②both need to charge the robot through charging pile,
and must guarantee the robot is correctly connected to the power supply
pile. Please note that there will be potential safety hazard which caused by
bad operations.
3. Adapter charging (not recommended)
**It is forbidden to operate robots during adapter charging
Under the situation when battery power volume is empty and the
machine can’t start, you can charge the robot with below processes:
①Turn off machine’s power supply switch.
②Open the exterior silica gel cover of [Manual charging pot] at back
of robot, use the charging plug of adapter to connect the robot.
③The adapter pilot light will turn red after it is connected successfully,
which means the charging is in process.
④It means charging finished after adapter pilot light changes to
green. Please open the adapter and fill in the silica gel cover
outside the charging port of robot.

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语⾳对话
*Only available in Chinese
The robot can do intelligent interactive with people through sound, the
process as below:
①Click the robot icon on the home page, enter into software [Function
menu] page.
②Click [Sound chatting] page, enter into chatting mode.
③Click the up left [<] return button, return to the software menu select
page.
④Sound chatting support online mode(connected to network), offline
mode(not connected to network).
The users can make the robot stop immediately try pressing emergency stop
switch. It is at the back of the robot and used in emergency situation that the
robot is at abnormal running status or occur unexpected incidents that will
potentially harm the surrounding environment. The position and operating
process of emergency switch shown as picture 5:!
Audio Features
Emergency Stop

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Picture 5 The part amplified view after open the exterior cover of emergency stop switch
The emergency stop switch is at the back of robot, where the mark number 16 in picture
indicated. Starting emergency stop switch needs firstly open the exterior cover upward.
Second, break the PMMA protection plate at medium layer and press down the red
emergency stop switch. Finally, stop robot in emergency.
* Note:
The start of emergency stop switch need to break the emergency stop switch equipment. It
is forbidden to start emergency stop switch under non-emergency situation.!
16. Emergency stop switch
25. Emergency stop switch button
26. Exterior cover of emergency stop switch
(Part amplified view)
Second step, press down the red emergency stop
button then OK
First step, open the exterior cover of
emergency stop switch

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The robot is a valuable equipment, please strictly follow below
instructions to operate when manually transporting robots.
Shown as picture 6, the upper part (The arrow pointed surface) at robot
laser layer gap can be pressed. You can lift up the robot through this
part. Please use your hand to lift the upper part of laser layer when
transporting. Always keep robot at up-right position during transporting.
Picture 6 Transporting diagram
*Note:
The above laser layer gap is the only accessible part for transporting.
Please transporting robot strictly follow the instruction. Dragging and lifting
the bottom of robot during transporting is strictly forbidden. Tilting the robot,
drag and lift the face and head of the robot are also strictly forbidden. Users
should carry the duty of the damages of robot which caused by the incorrect
operation during transporting.!
Note:should use hand buckle the laser
layer gap between body and base during
transporting the robot.
Process of Delivery

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Troubleshooting
Failure appearance
Possible reasons and solutions
Robot can’t normally
start
Emergency switch is pressed down, check whether the PMMA plate of
emergency switch is broken. Please contact customer service staffs for
help if it been broken
No enough power, please charge through adapte
Please contact customer service staff for help if there is other reasons
Robot can’t normally
charge
The position of charging piles is moved. Please place the charging piles at
the original setting place
Charging pile is not connected to the power supply, please connect the
charging pile to power supply
Charging pile is blocked, please guarantee no objects before the charging
piles
Please contact customer service staff for help if there are other reasons
Robot can’t do motion
navigation
When the robot is in map blind area, please turn off the robot and push to
nearby charging piles and start the navigation again
Visual module been covered, please make ensure the camera on top of the
robot is not covered
Robot radar failure, please check whether laser radar is normally rotating
Robot impact switch failure, please check whether impact switch is
squeezed
Please contact customer service staff for help if there are other reasons
Robot can’t broadcast
sound
Sound is closed or the volume is too small, please set the sound again
Please contact customer service staff for help if there are other reasons
Abnormal Motions
Please shut off the power supply of machine immediately, contact
customer service for help
Robot fell down
Please shut off the power supply of machine immediately, contact
customer service for help
Appendix

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Model
T1
Product dimension
500*500*1200mm
Pallet dimension
Up medium layer:400*350*200mm
Down layer: round diameter 280mm Height 140mm
Net weight of product
60Kg
The max walking speed
1m/s
The max climbing angle
Slope≤5°
WIFI function
Support 802.11b/g/n transporting agreement
Battery volume
DC 48V 12Ah
Rated power
500W
Standby current
Standby current ＜0.5A
Duration
Continue working＞8h
Standby time
Standby time＞48h
Working life of running
5 years
Working temperature
0-45℃
Working environment
Indoor environment, flat and smooth ground
Charging method
Support automatic/manual charging
Dimension of charging piles
230*220*290mm
Weight of charging pile
1kg
Performance parameter