Keenon Robotics PEANUT T2 User manual

PEANUT Intelligent Transportation
Robot
Product Manual

2
Statement
Copyright © 2019 Keenon Robotics Co., Ltd.
All rights reserved
Unless with the explicit written permission of Keenon Robotics Co., Ltd., no unit
or individual is permitted to arbitrarily imitate, copy, transcribe or translate the
content of the Manual in whole or in part or to spread the content in any way
(electronic, photocopying, recording, etc.) for profit purpose.
The product specifications and information mentioned in this Manual are for the
user’s reference only. No further notice will be issued to the user when the content
is updated from time to time. Unless there are other special provisions, this
Manual is for the purpose of instruction only, and the statements made do not
represent any form of guarantee.

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Introduction to this Manual
This Manual principally presents the functional properties, methods of installation
and use and precautions during the use of PEANUT Intelligent Transportation
Robot.
This Manual covers the following contents:
1. Introduction to the robot: It briefs the basic functional properties of the robot
and elaborates the structural information of the robot.
2. Operating steps: It presents the preparatory work and precautions in
installing and using the robot.
3. Appendix: It presents the common faults, detailed technical parameters and
safety precautions in connection with the robot.
4. “"Three Guarantees” Certificate (for repair, replacement or compensation of
faulty products).

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Contents
PEANUT Intelligent Transportation Robot.............................................................. 1
Statement...................................................................................................................2
Preface.......................................................................................................................3
Introduction to this Manual.......................................................................................4
Introduction to the Robot (to Know the Robot)....................................................... 7
Body Structure of the Robot..................................................................................... 7
Operating Steps (to Use the Robot).......................................................................... 8
Installation.........................................................................................................8
Startup............................................................................................................... 8
Setup................................................................................................................10
Distribution..................................................................................................... 13
Charging......................................................................... 错误！未定义书签。
Emergency Treatment..................................................................................... 14
Conveying Robot............................................................错误！未定义书签。
Appendix................................................................................................................. 16
List of Exceptions and Clearing of Faults...................................................... 16
Performance Parameters of the Robot............................................................ 18
Safety Instructions.......................................................................................... 19
“Three Guarantees” Certificate...............................................................................21

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Front View Rear View
Side View
Figure 1 Structure of PEANUT Intelligent Transportation Robot
Note: The above figure is for reference only, and it shall be subject to the actual object for
the appearance and color of the specific product.
1. Hand-touch area
2. Stereo vision
3. Doors
4. Doors shaft
5. Laser
6. Laser layer space
7. Manual charging port
8. Safe touch edge
9. Emergency stop switch
10. Decorative strip
11. Universal wheel
12. Driving wheel

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Introduction to the Robot (to Know
the Robot)
PEANUT Intelligent Transportation Robot is suitable for public indoor
environments such as restaurants, hotels, shopping malls and supermarkets,
cinemas, KTV, business offices, etc.
PEANUT Intelligent Transportation Robot realizes such core functions as
full-automatic positioning and navigation, intelligent obstacle avoiding, etc.
on the strength of machine vision and laser radar. It can move in a
full-automatic manner in indoor environments. rendering varieties of services
such as delivering restaurant food, transferring office documents, express
distribution, etc.
The product mentioned in this Manual is of T2 model of the food-delivery
robot.
Body Structure of the Robot
Figure 1 displays the body structure of PEANUT Intelligent Transportation Robot.
The robot chassis is of two-main-wheel and four-engaged-wheel structure. It
achieves automatic positioning on the strength of machine vision and laser radar,
and integrates touch switches and other sensors to implement the function of
intelligent obstacle avoiding. Besides, its touch screen is set for users to operate
the robot system.

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Operating Steps (to Use the Robot)
When starting to use the robot, the user should operate in the following steps
carefully.
Installation
1. Robot Mapping
Before the robot moves automatically, it needs to get familiar with the
environment around, and stores and identifies the operating environment by
way of a map. This step is called mapping. (It is completed by professional
technicians in advance and users do not need to operate by themselves.)
When there exist significant changes in the indoor environment of the robot
(such as redecoration is launched, the robot is moved to a new place of
operation or indoor items are rearranged, etc.), the user should contact
customer service personnel at 400-9651-808 to rebuild the map.
Startup
1. Switch on/off
The power switch is set on the chassis behind the robot. When the silicone
cover under the chassis is opened, the user can see button on the right, which
is the power switch. Find the position of the power switch in the position
exhibited in Figure 2, and press the power switch by hand to start the robot.
The system cannot be put into normal operation until it starts for about 40

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seconds.
When the power of the robot requires to be turned off, the user should turn
off the power switch in the same manner. After the power switch is turned off,
the machine will be powered off at once.
Figure 2 Schematic Diagram of the Position of the Power Switch
2. Startup of PEANUT APP
1After the power switch is started, the system desktop will display the
LOGO of startup, animation of PEANUT and Android desktop in
sequence and the system will start for approximately 40 seconds.
2The PEANUT APP will be automatically opened after the system is
started by default. If the PEANUT APP is not systematically opened, the
user should find the PEANUT icon on the system desktop, as
demonstrated in Figure 4, and the APP can be started by clicking this
icon.

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Figure 3 Icon of PEANUT APP
After PEANUT APP starts, the user can use the PEANUT robot normally.
Setup
The user can set the robot via the PEANUT APP, and the steps to enter the setup
page of the robot are specifically as below:
①Click the “III” icon in the upper left corner of the home page to enter the
menu page of the software function theme.
②Click the icon of the [Robot Settings] of the PEANUT APP to enter the
setup page.
1. Connect WI-FI
When using it for the first time, the user should access the robot to the
network via WI-FI, and the setup steps are specifically as below:
①Turn on the WLAN (WI-FI) function of the system and search for
available WI-FI.
②Select the available WI-FI and enter the password.
③Click the [Connect] button until WIFI connection is successful.

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2. Adjust the Volume Level
If the system menu bar is displayed at the bottom of the screen, directly click
the volume button to adjust the volume. If not, follow the following steps:
①Click the [Robot Settings] icon of the PEANUT APP to enter the page of
settings management.
②Select the [System Setup] menu, cancel [Hide Menu Bar], and find the
volume control button at the bottom of the screen.
③Click the volume adjustment button on the right to increase the volume.
④Click the volume adjustment button on the left to reduce the volume.
3. Hide the Status Bar
①Click the [Robot Settings] menu on the selection page of software menu
to enter the setup page of APP.
②Click the [System Setup] menu.
③When clicking [Hide Status Bar], a blue check icon will be displayed, and
the status bar on the desktop will be hidden; when clicking [Hide Status Bar]
again, the blue check icon will disappear and the status bar will be displayed.
4. Setting of Guardian Mode
When the [Guardian Mode] of the robot is turned on, the robot will
automatically detect whether to run PEANUT APP and to automatically turn
on PEANUT APP. The operating steps are specifically as below:
①Enter the page of robot setting, click [System Setup] to slide the button on
the right of [Guardian Mode] to the right. When the button turns green with
the word “On”, the Guardian Mode will be on, and PEANUT APP will restart
automatically after it is accidentally closed.

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②Click the button on the right of [Guardian Mode], and the button will slide
to the left. When the button is white with the word “Off”, the function of
guardian mode will be turned off. PEANUT APP will not open automatically
after it is turned off. It cannot be operated until the APP icon is manually
clicked.
5. The operating steps for the boot-up and self-starting settings are
specifically as below:
By default, the system will automatically start the PEANUT APP. When the
PEANUT APP does not start automatically, the user should set the PEANUT
APP to start automatically in the following steps:
①Enter the setup page of the robot, click [System Setup] and then slide the
button on the right side of [Boot-up and Self-Start] to the right. When the
button turns green with the word “On”, the boot-up and self-starting function
will be turned on; after successful setup, the robot will automatically start
PEANUT APP every time it starts up.
②Click the button on the right side of [Boot-up and Self-start] and slide the
button to the left. When the button turns white with the word “Off”, the
boot-up and self-start will be turned off.
6. The operating steps for setting the robot name are specifically as below:
①Enter the setup page of the robot, and click [Robot Name] in [System
Setup] to enter the setup page of name (nickname).
②Set the name, click the [Save] button in the upper right corner of the page
to return to the system setup page, and then the name can be displayed.

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Distribution
After the staff has created the map, the robot can work for you. The operating
steps are specifically as below:
①Place the articles to be delivered on the robot tray.
②Start PEANUT APP automatically after the system is turned on. The
upper left part of the home page displays the label page of the type of restaurant
room; select [Hall] or [Box] respectively to enter the corresponding page.
③Select the table number on the [Hall] page and the room number on the
[Box] page. After selection, the corresponding label will be highlighted in blue
and the robot icon on the right will display the destination in real time.
④Click the [Start Now] button on the lower right.
⑤When the page jump to the interface [On the Way], the robot will start to
move to the target carrying articles, and there will be a voice reminder as well.
⑥When the robot arrives at the destination, it will be prompted by voice.
Click [Return] after taking the goods, or touch the hand-type touch area above the
eyes with the hand, and the robot will return to the starting point and the page will
automatically return to the home page.
Charging
1. Adapter Charging ( it is forbidden to operate the robot during the adapter
charging process)
The user can charge the robot through the adapter in the following steps:
①Turn off the power switch of the machine.

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②Open the silicone cover outside the back of the robot [Manual Charging
Interface], and connect the robot with the charging plug of the adapter.
③After successful connection, the adapter indicator will turn red and the
screen interface will jump to the charging page, suggesting that charging is in
progress.
④When the indicator light of the adapter turns green, it suggests that the
charging is complete. Please disconnect the adapter and plug the silicone
cover outside the charging interface of the robot.
Figure 4 Schematic Diagram of the Position of the Charging interface
Emergency Treatment
When the robot is moving, the user is required to push and move the robot by
hand, or when the robot is in an abnormal running state, which may result in
damage to the surrounding environment, etc., the user can stop the robot by
pressing the emergency stop switch on the back of the robot. The position and

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operating steps of the emergency stop switch are demonstrated in Figure 5.
Figure 5 Local Enlarged Drawing after Opening the Outer Cover of the Emergency Stop Switch
The emergency stop switch of the robot is at the top of the robot, i.e. the position
indicated by numeral 19 in the figure. Press the red emergency stop switch to stop
the robot under emergent circumstances.

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Appendix
List of Exceptions and Clearing of Faults
Fault
Phenomenon
Possible Causes and Solutions
The robot cannot
start normally
1. There is not enough electricity, and the user should
connect the robot for charging via the adapter.
2. For other reasons, please contact customer service
personnel.
The robot cannot
be charged
normally
1. Press the yellow light of the adaptor,the signal light
truns into red.
2. For other reasons, please contact customer service
personnel.
The robot cannot
move or navigate
1. The robot is in the blind area of the map. The user
should turn off the robot and push it to the vicinity of
the charging pile to start navigation again.
2. The vision module is covered, and the user should
ensure that the vision positioning module is not
covered.
3. Radar failure of the robot occurs, and the user should
check whether the radar rotates normally.
4. The collision switch of the robot is faulty, and the user
should check whether the collision switch is squeezed

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or not.
5. For other reasons, please contact customer service
personnel.
The robot cannot
play voice
1. The voice of the robot is off or the volume is too low,
and the user should reset the voice
2. For other reasons, please contact customer service
personnel.
The robot moves
abnormally
The user should turn off the power supply of the machine
immediately and contact the customer service personnel for
handling.
The robot falls
The user should turn off the power supply of the machine
immediately and contact the customer service personnel for
handling.

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Performance Parameters of the Robot
Model
T2
Product size
590*470*1315 mm
Tray size
570*420*253（Three Tray）
Net weight of
product
75Kg
Maximum
walking speed
1m/s
Maximum load
The below layer reach to 20kg,other layers reach to 10
kg
Maximum
climbing angle
Slope < =5 degrees
Network type
WIFI/4G/Bluetooth
Battery capacity
DC 48V 12Ah
Rated power
50W
Standby current
Standby current < 0.5A
Battery life
Continuous work ＞12-14 hours
Standby time
Standby time ＞48 hours
Service life
20000h
Working temperature
0 - 45℃,RH:5%~85%, no dust.
Working environment
Indoor environment, flat and smooth ground
Charging mode
Manual charging, input rated voltage 220V/50Hz

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Safety Instructions
Restrictions:
This product is a wheeled robot, which is only used in indoor flat
environment (the ground should be smooth, with the slope being less than 5
degrees and the protrusion not more than 1cm). Do not use it in outdoor
environment (such as open balcony), rugged ground (such as stairs), etc.
Please do not use it in suspended environment (e.g. duplex floor, open
balcony, top of house, stairs) or environment without fence.
Please do not use it in the environment above 50℃or below 0℃or in the
environment with any liquid or viscous substance on the ground.
Before use, the user should put away all sorts of wires on the ground in the
environment to avoid dragging when the main machine is running.
Before use, the user should remove sharp objects on the ground (such as
decoration waste, glass, nails, etc.) to avoid damage to the chassis of the
machine.
Please do not place any non-transportable objects (including children and
pets) on stationary or running machines.
Please do not push or carry the robot while the machine is moving.
The user should not move the machine at will, but should carry it in strict
accordance with the User’s Manual.
Please clean and maintain the main machine and charging pile when it is in
shutdown or power off state.
Please do not use hard or sharp objects to collide with the robot.
Please do not spill any liquid into this product.

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Please do not push down the main machine or place it upside down.
The robot is an electronic product, and the user should keep it away from
fire.
If the user needs to transport the product, he/she should ensure that the main
machine is turned off and it is recommended to use the original packaging
box for packaging.
The user should use this product based on the instructions in the User’s
Manual or the Introduction Guide. If any loss or injury is caused due to
improper use, the user shall be responsible for it.
Battery and Charging:
Please do not arbitrarily use any third-party battery, power adapter or
charging post.
Please do not arbitrarily disassemble, repair or refit batteries or charging piles
without permission.
Please do not arbitrarily throw away the discarded batteries at will. It is
suggested that they be disposed of by a professional organization.
If the user does not use the product for a long time, the user should switch off
the main machine after full charge and put it in a cool and dry place. Charge
it at least once a month to avoid battery damage.

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“Three Guarantees” Certificate
The after-sales service of this product renders after-sales “three guarantees”
services strictly in compliance with the “Consumer Rights Law of the People’s
Republic of China” and “Product Quality Law of the People’s Republic of China”.
The service contents are specifically as below:
Warranty Period:
1. If there is a non-human performance failure within 7 days from the date of
purchase, the buyer can choose to return, exchange or repair the goods.
2. If there is a non-human performance failure within 15 days from the date of
purchase, the buyer can choose to replace or repair the goods.
3. If there is a non-human performance failure since the date of purchase and
within the warranty period, our company promises to guarantee it free of charge.
Warranty Coverage:
Name
Warranty period
Main machine
1 year
Non-warranty Clauses:
The warranty service is only valid under normal use. Damage due to human
factors and the following clauses are not covered by the warranty.
1. Product damage due to negligence, fault, misuse or disaster damage of the user
(e.g. food liquid stains, product water ingress, external force cracking, scratches
and damage of peripheral components, etc.).
2. The user dismantles the machine by him/her and repairs and refits it arbitrarily
without the approval of the manufacturer.
3. Product damage due to connection to improper accessories, transportation and
other accidents.