SEGWAY CLONE By – Aditya Singh Vishnu Mhalaskar Akash Patil Deepak Maurya

Guide – D. G. Pandit Sir

Project:

INTRODUCTIONThe segway is a two wheeled, self balancing, battery-powered electric vehicle . The name Segway is derived from the word ”segue”, meaning smooth transition.

The Segway personal transporter is a small footprint electrical vehicle designed to replace the car as a more environmentally friendly transportation method in metropolitan areas. The dynamics of the vehicle is similar to the classical control problem of an inverted pendulum, which means that it is unstable and prone to tip over. This is prevented by electronics sensing the pitch angle and its time derivative, controlling the motors to keep the vehicle balancing

This kind of vehicle is interesting since it contains a lot of technology relevant to an environmentally friendly and energy efficient transportation industry. This thesis describes the development of a similar vehicle from scratch, incorporating every phase from literature study to planning, design, vehicle construction and verification. The main objective was to build a vehicle capable of transporting a person weighing up to 100 kg for 30 minutes or a distance of 10 km, whichever comes first. The rider controls are supposed to be natural movements; leaning forwards or backwards in combination with tilting the handlebar sideways or by pressing the button on the handlebar should be the only rider input required to ride the vehicle.

USES

Segways perform best in areas with adequate sidewalks, curb cuts at intersections, and ramps.

They are used in some theme parks by visitors and employees.

They are used by Cops for patrolling purpose.

They are also used in some malls by attaching a trolley behind it.

They can be used for Domestic purposes at Home.

FEATURES: Easy to build with no welding, no

complicated steering linkage and minimal soldering.

Uses a readily available $3 digital MPU6050 accelerometer/gyro IMU (Inertial Measurement Unit) board.

Total parts cost is under $250, A real Segway is $5000!

No salvage, dumpster diving or Craigslist parts.

Uses the very common Arduino UNO processor board.

WORKING

COMPUTER, SENSORS, and ELECTRIC MOTORS in the base of the SEGWAY PT keep the device upright when powered on with balancing enabled. The rider commands the PT to go forward or backward by shifting their weight forward or backward on the platform.

The Segway uses GYROSCOPIC SENSOR and ACCELEROMETER based levelling sensors to detect the resulting changes in its pitch angle and, to maintain balance, it drives its wheels forward or backward as needed to return its pitch to upright.

In the process, the rider establishes and then maintains a desired speed by modulating the extent and duration of their fore/aft weight shifts. To turn and steer, the rider presses the MOMENTARY ROCKER SWITCH to the left or right. The PT responds by adjusting the speeds of the wheels in opposite directions causing the PT to yaw and, if not traveling forward or backward, turn in place.

At speed, the amount of shift of the MOMENTARY ROCKER SWITCH corresponds to the amount of left or right lean required by the rider to balance themselves on the platform during a turn.

ADVANTAGES Become more productive: more work can be done

by using the product versus walking Become more recognizable: Riders stand an

additional eight inches off the ground, allowing you to be better seen and giving the rider better sight lines, over cars in a parking lot or boxes in a warehouse.

Low operating costs: no need for gas and inexpensive battery charging (A complete cycle charge will take eight to ten hours)

Reduce fatigue caused by walking A clean, green, eco-friendly machine! (zero

emission)

MAKING Main Components :

1. A COMPUTER : ARDUINO UNO R32. SENSORS & CONTROLLERS3. ELECTRIC MOTORS4. POWER SOURCE (BATTERIES)5. BODY

1. COMPUTER

We are using an ARDUINO UNO as a computer here. Arduino is an open source computer hardware and

software company, project and user community that designs and manufactures microcontroller-based kits for building digital devices and interactive objects that can sense and control the physical world.

This controls all the sensors.

ARDUINO UNO R3

2. SENSORS ACCELEROMETER:- It is used to detect the change

in angle on which it is kept to the reference axis and give data to the computer, which then increases or decreases the speed accordingly.

GYROSCOPE:- Gyroscope is used to balance the vehicle . Based on the data it gives to the computer, the vehicle balances itself by moving forward or backward.

Here, we are using 6DOF GY521 MPU6050 Accelero/Gyro module which has a combined function of ACCELEROMETER & GYROSCOPE.

GY521 MPU6050 GYRO/ACCELERO

SCHEMATIC:

CIRCUIT CONNECTION

3. ELECTRIC MOTOR

It drives the Segway using the chain drive. It is connected with the battery, to get power to

drive and it is controlled by the SABERTOOTH MOTOR DRIVER.

It is connected to the GYRO & ACCELERO for balancing.

Here, We require 2 electric motors (24V/250W).

24V 250W DC MOTOR

4. BODY

The body is the main structure which provides space to stand on the vehicle and also housing for all the components.

It consist of a Base, a handle, wheels, etc. Base can be made up of either wood or metal

like Steel. It is the part where the rider stands.

BODY COMPONENTS

5. POWER SOURCE

Here we use Batteries as power source to run the motors as well as the circuit components.

IT is connected to SABERTOOTH for controlling the power supplied to the Motors.

We require 2 12V 7AH Lead Acid Batteries.

APPROX COST :Parts Price (Rs. approx.)

2 Electric motors 25V/250W 5600

Body, wheels & others 2500

Arduino Uno R3 500

GY521 MPU6050 Gyro/Accelero 300

2 12V 7AH Lead Acid Batteries 1700

SABERTOOTH Motor Controller 5250

Total = 15850

THANK YOU