Stone User Manual

1 Product Introduction

​ The HandsFree Stone intelligent composite robot adopts a two-wheel differential chassis and dual-driven large-load-bearing casters. It is a multi-functional general-purpose robot research and development platform. It has both internal and external repairs and integrates a professional control system. It has a certain load capacity, supports OpenRE robot library and ROS system, supports mainstream desktop robotic arms, and has rich tutorials. It is suitable for robot research in individuals and small laboratories, as well as product demo development.

2 Package Contents

The list of Stone high-end shipments is as follows, the following list is for reference only

No.	Name	Image	Quantity
1	Stone Robot Body		x1
2	Battery Charger （12.6V/5A）		x1
3	PS3 Controller		x1
4	Mouse and Keyboard		x1
5	Tools Kit		x1
6	User manual		x1
7	Product Warranty Certificate/After-Sale Service Manual		x1
8	Inspection Sheet		x1
9	Product certificate		x1

3 Product Overview

3.1 The Basic

3.3 Status indication

Users can identify the status of robot through the voltmeter, the buzzer and lights mounted on Stone.

3.4 PS3 controller tutorial

​ The PS3 handle is an accessory for Stone products. Using the handle, you can easily control the Stone robot. In this product, we use the left-hand throttle design. ​ The functions of the buttons are defined as: the left joystick controls the movement of the chassis, and the right joystick controls the movement of the top servo.

Tutorial:

• Before the PS3 controller is powered on, you need to plug the receiver into the stone's USB port
• Make sure the chassis emergency stop switch is turned on, the emergency stop switch pops up to control mode, press it to enter safe mode
• Press and hold "PXN" logo button to power on *stone running chassis driver and ps3 handle driver (PS3 control chapter of HandsFree's WiKi tutorial)
• The left joystick controls the movement of the chassis, and the right joystick controls the movement of the top servo

3.5 Safety Information

3.5.1 Environment Considerations

• For the first use,please read this manual carefully to understand the basic operating content and operating specification.
• Use Stone always under -20℃~45℃ ambient temperature.
• If Stone is not configured with separate custom IPprotection, its water and dust protection will be IP22 ONLY.
• Make sure each device has sufficient power.
• Make sure Stone does not have any obvious defects.
• Check if the remote controller battery has sufficient power.

• 3.5.2 Check

• Please charge in time when the device is low battery alarm.

• When Stone has a defect, please immediately stop using it to avoid secondary damage.
• When device has had a defect, please contact the relevant technical to deal with it, do not handle the defect by yourself.

3.5.3 Operation

• When using, make sure the emergency stop switch has been released.
• Ensure that the area around is relatively spacious.
• Carry out remote control within the range of visibility.
• The maximum load of Stone is 20kg, when in use, make sure the payload does not exceed 20kg.
• When installing an external extension on Stone, confirm the position of the center of mass of the extension and make sure it is at the center of rotation.

3.5.4 Charging

• Stone is equipped with a charger by default to meet customers' charging demand;
• We recommend that you turn the robot off before charging. And there is no indicator light provided on the site while charging. For specific indicator lights, please refer to the description on the charger.
• Make sure Stone chassis is in power-off state;
• Please make sure the main switch is off before charging;
• When charging, make sure the ambient temperature is above 0℃;
• Insert the charger plug into the charging interface on the rear of the robot;
• Note: The battery needs about 3 hours to be fully recharged from 22 V, and the voltage offully-recharged battery is about 29.2 V(The battery type here is ternary lithium battery, if the battery type is lithium iron phosphate, the maximum voltage will be 26.8V); the recharging duration is calculated as 30 AH ÷ 10A = 3h;

3.5.5 Maintenance

• According to the IP protection level of the device,please use Stone in the environment with the protection level requires for the equipment.

4 Performance parameters

5 Main Components

5.1 Camera parameters

5.2 Lidar (A3)

5.2.1 Performance parameters

5.2.2 Definitions for Pins of Communication Interface

5.2.3 Optical Specification

5.2.4 Lens Maintenance

Cleaning and maintenance of the lens surface, for the dust on the lens surface, you can use a blower to blow off the dust on the lens or gently wipe it with lens paper. Be careful not to blow directly with your mouth to prevent saliva particles from adhering to the lens surface; for the lens surface with oil stains , wipe with a cotton swab dipped in alcohol.

6 Expansion Board

On the robot, We also provide users with power extension interfaces for expanded pplications. The details are as follows:

7 Q&A

Q: The Stone is started up correctly, but why cannot the RC transmitter control the robot body to move?

A:First, check whether the E-stop switches are released; then, check whether the controlmode selected with the top left mode selection switch on the RC transmitter is correct.

Q：Stone gives "beep-beep-beep..." sound while running, how to deal with this problem?

A:If Stone give this "beep-beep-beep" sound continuously, it means the battery is in the alarm voltage state. Please charge the battery in time.

Q：Why is the Stone on but the screen remains black?

A: The shaking during transportation may cause the signal cable to become loose. We recommend that you try pluging the cable back in.