1.1
SEGWAY OR HI-TECH SCOOTER
At first glance, this device called the Segway
(Human Transporter) doesn't seem all that remarkable it looks like a high-tech
scooter. But people who have tried it out claim that it is much, much more a
completely different way to get around.
Figure 1.1:
Segway model
- Motor-scooter like device
- Powered by electric moto
- Movement by shifting weight, turning wrist
- Turning radius of zero
- Max speed 20 – 25 km/h
- Maximum distance 25 - 30 km (single charge)
- Device weighs 30 - 32 kg.
Segway is the human transporter which is to move
from one place to another place with a simple operation.
Basically Segway is a scooter like appearance but the wheel arrangement is
parallel to each other that are both the wheels are placed side by side.
The Segway is a
personal transportation technology invented by Dean Kamen. This technology can
be used for commercial purposes. It can be used by golfers on a golf course
instead of gold carts, by policeman and security and also by individuals for
sightseeing or to travel short distances. The Segway can be used on rough
terrain in remote farm areas or in the woods as well as on city pavements and
streets. The company that manufactures this product has tried to develop
different types of Segway’s to fit different needs. However, this technology is
still in its early stages and society is going to play a huge role in the
construction of a safe Segway.
The
balancing technology for the operation of the Segway was invented by Dean Kamen
to mimic the way the human body balances itself. Its balancing mechanism
operates like how the fluid in the inner human ear sends signals to the brain
when the body shifts. This Technology is known as dynamic stabilization.
1.2
VARIOUS TYPES OF SEGWAY
The various types of Segway available are as
follow:
1.2.1
Segway i2
The i2 Cargo is based on the rugged and sleek
design of the i2, but also includes high impact cargo frames and cases to
ensure your gear stays safe and dry. The i2 Cargo includes all of the
features of the i2 plus: Segway hard cases that are waterproof and lockable.
Parking stand pivots down to offer support for quick and easy retrieval of
items.
Fig 1.2 Segway i2
1.2.2 Segway Commuter
The Segway i2 Commuter is a step up from the
base model Segway. Sleek and light, the i2 commuter will keep you flying past
the gas stations. The i2 Commuter is an eco-friendly, convenient, easy-to-learn
alternative to short-distance driving.
Fig 1.3
Segway Commuter
1.2.3
Segway i2 cargo
The i2 Cargo is based on the rugged and sleek
design of the i2, but also includes high impact cargo frames and cases to
ensure your gear stays safe and dry. The i2 Cargo includes all of the features
of the i2 plus: Segway hard cases that are waterproof and lockable. Parking
stand pivots down to offer support for quick and easy retrieval of items.
Fig 1.4
Segway i2 Cargo
1.2.4
Segway x2
The Segway X2 is designed for those that like
to take the road less travelled. It's rugged and tough design will let you
create your own path. Whether you are looking to travel or grass, gravel or
dirt, the X2 can take you there. The X2 has plenty of ground clearance, stable
and smooth ride and the durability that Segway's are famous for.
Fig 1.5
Segway x2
1.2.5
Segway x2 golf:
The x2 Golf is the effortless maneuverability
on the golf course. Turf-friendly tires let you travel on the grass and off the
cart path for a faster game, and increased height offers the best perspective
on the greens. And with an easy-access bag carrier and scorecard holder
included in the package, convenience is part for the course.
Fig 1.6 Segway x2 golf
1.2.6
Segway x2 adventure
The Segway X2 Adventures takes you off road
and allows you to experience the thrills of nature. Both casual and experienced
riders will love the feel and handling of the X2 Adventurer. The specially
equipped handlebar bag is great for storing tools & other equipment. The X2
Adventures also includes a 5W headlamp and universal cargo plates
Fig 1.7
Segway x2 adventure
1.3
BALANCING CONCEPT
If you stand up and lean forward, so that you
are out of balance, you probably won't fall on your face. Your brain knows
you are out of balance, because fluid in your inner ear shifts, so it triggers
you to put your leg forward and stop the fall. If you keep leaning forward,
your brain will keep putting your legs forward to keep you upright. Instead of
falling, you walk forward, one step at a time.
Figure 1.8:
Balancing of Segway
1.3.1 Segway Same as Human
The Segway does pretty much the same thing,
except it has wheels instead of legs, a motor instead
of muscles,
a collection of microprocessors instead of a brain and a set of sophisticated tilt
sensors instead of an inner-ear balancing system. Like your brain, the
Segway knows when you are leaning forward. To maintain balance, it turns the
wheels at just the right speed, so you move forward.
CHAPTER 2: LITERATURE REVIEW
2.1 Balancing Robots
Some of the work done on the two wheel balancing robot
includes; Nbot by David Anderson, Joe le-Pendule by Felix Grasser et.al, Legway
by Steve Hassenplug, Equibot by Dan Piponi and the Segway by Dean Kamen. The
Nbot uses a total of four sensors to measure the states of the system. These
sensors include the optical encoders on the motors to measure position of the
robot and three other sensors to measure the tilt angle and its rate of change.
The three sensors include an accelerometer, rate gyroscope and tilt sensor. The
accelerometer provides a measure of the tilt angle when the rate of change of
the tilt angle is constant. This signal is obtained from twice integrating the
raw signal from the sensor. The gyroscope gives a dynamic measure of the tilt
angle. That is a measure when the rate of change of the angle is not constant.
The signal from the rate gyro is integrated once to give the tilt angle.
Finally the inclinometer or tilt sensor measures the tilt angle.
All these three sensors for the tilt angle and its rate of
change are in a single sensor called the FAS-G from Microstrain. Therefore
there are three redundant sensors to measure the tilt angle. The signals from
these sensors are fused together to provide a more accurate measure of the tilt
angle. As mentioned above the accelerometer only gives the static measure of
the angle and while the rate gyro gives the dynamic measure of the angle. The
gyroscope is quite accurate however a drift problem, its accuracy declines with
time in operation. The inclinometer on the other hand has got slow dynamics, it
reacts slowly and hence its measurement always lags the real tilt angle. Below
is a picture of the Nbot.
Fig 2.1 Nbot
Joe Le-Pendule is another very exciting two wheel balancing
robot. This particular robot has two decoupled control systems. It has a
controller that balances the robot and controls its forward and backward
movements. Another controller controls movements about its vertical axis. The
robot can spin around its vertical axis and make u-turns. This robot is radio
controlled. Joe Le-Pendule only uses an accelerometer and a rate gyro to
measure the tilt angle of the robot. It uses filters to fuse the signals
together and produce a tilt signal. It also has motor encoders to measure the position
of the robot. Below is a picture of the Joe Le-Pendule robot.
Fig 2.2: Joe Le-Pendule robot
Another exciting two wheel balancing robot is the Legway.
The Legway was built by Steve Hassenplug and he used Lego bricks to build the
robot. This robot uses Infrared Proximity detectors to deduce the tilt angle of
the robot. Another robot similar to the Legway is the Equibot by Dan Piponi.
This one uses the Sharp Infrared ranger to measure the distance to the ground.
From the distance to the ground the Microcontroller deduces the tilt angle of
the robot and where the robot is falling. Below are picture of both the Legway
and the Equibot.
Fig 2.3: Legway and
Equibot
Lastly there is the Segway; the Segway is the pinnacle of
all these projects. The Segway is a human transport system that has been
produced by Dean Kamen. It is a two wheel balancing scooter as some call it.
Its principle is similar to all the other two wheel balancing robots. Sensors
are used to keep the Segway balanced so that it doesn’t fall over. The Segway
only needs three gyroscopes to measure the forward and backward tilt angles and
the corresponding rate of change angle. The other two gyroscopes are included
for redundancy; this means that the signals from these sensors are fused with
other sensor signals to produce a better and more reliable signal. The segway
has got ten onboard microcontrollers to balance and control the segway. The Segway
can move forward, backwards, turn and spin around. To turn the Segway, the
rider turns the handle bars in the direction they want to turn and the inner
wheel is driven at a speed slower than the outer wheel to turn the Segway. To
spin around the wheels are driven in opposite directions.
CHAPTER 3: BACKGROUND INFORMATION
The Segway was known by the names Ginger and IT before it was unveiled. Ginger came out of the first product that used Kamen's balancing
technology, the iBOT wheelchair. During development at the University of Plymouth, in conjunction with BAE systems and Sumitomo Precision Products, the iBot was nicknamed Fred Upstairs (after Fred Astaire) because it
can climb stairs: hence the name Ginger,
after Astaire's regular film partner, Ginger Rogers, for a successor product.
First,
we would like to take a step back and look at the short but intense history of
the SEGWAY. In 1999 the inventor Dean Kamen founded the Segway Inc. Company in
order to fulfill his vision of developing a zero-emission transportation vehicle
that can be used on pedestrian sidewalks. This project took Dean Kamen over three
years of patenting work and technical development together with the help of the
University of Plymouth. On the third of December in 2001, the first Segway
Human Transporter was unveiled on the ABC News morning program ‘Good Morning
America’. The year 2001 was also accompanied by the peak of the dotcom bubble
that soon was up to burst, which could explain the mindset of investors that
were very high-tech oriented even though not all of them were experts in this
field.
CHAPTER 4: FEATURES OF SEGWAY
At Segway,
we develop systems, not individual components. It’s an approach that combines
expertise in the following areas:
4.1 Dynamic Stabilization
That’s fancy
speak for the technology that enables balancing. It’s proprietary and delivers
incredible maneuverability (true zero turning radius) a small footprint and a
fantastically unique riding experience.
4.2 Electric Propulsion
In
addition to being clean and extremely efficient, electric propulsion enables
fine adjustments to be made to each wheel (for accurate turning and a smooth
ride), and a precise, software-based approach to traction control and braking.
4.3 Smart Battery Management
Segway
is one of the world's largest customers of large format batteries, and was at
the forefront of the development of Lithium Ion batteries for transportation.
We've learned a lot about the advanced sensing required to allow for more
efficient energy use that leads to a longer battery life. Add in regenerative
braking capability (recharging while decelerating) and that’s some smart
battery management.
4.4 Advanced Sensing
You
may feel as though the Segway PT can read your mind. It's not magic. It's the
combination of propulsion, energy, inertial sensing and an incredibly
straightforward user interface that enables a ride that will force you to hold
back a smile. Hopefully someday you’ll have a chance to try it out and feel
good about your commute instead of fearing it.
4.5 Drive By Wire
Mechanical
controls are so yesterday. We're all about using the latest in sensory technology
to enable safe control through redundant systems that provide input for
acceleration, braking, steering and other functions.
4.6 Straight Forward User
Interfaces
When
you feel it, you know it. Segway's approach to user control is that of minimalism.
We want to encourage a natural connection between rider and machine. Our
innovative sensing technologies allow us to look beyond traditional controls
and deliver something better.
4.7 Digital Dashboard
Get
all the information you need about system operation through connected devices.
Speed, battery life and other connectivity information are all conveyed over a
secure wireless connection to handheld device that can be mounted on the dash.
4.8
Eco-Friendly
As a
leader in two-wheeled electric mobility, it's always been Segway's vision to
produce environmentally friendly short-distance transportation alternatives.
Today, more and more people are using the Segway as a purely-electric
eco-friendly alternative for many of the short journeys that are typically made
by car. In fact, The EPA estimates that Americans take 900 million car journeys
every day, but did you know that half of these trips are less than five miles
long and are by solo drivers? Here is what would happen if you replaced some of
these car trips with Segway:
If we
are able to replace 10% of 900 million 3mile car trips with eco-friendly Segway
there would be:
- 6.2 million Fewer gallons of gas consumed.
- 286 million fewer pounds of emitted every day.
The
Segway has many benefits for you and the environment: less gas to buy, easier
to park, and less wear on your car. It can also help reduce the impact of
global warming by reducing our greenhouse gas output and consumption of
imported fossil fuels.
Zero-emissions
are given off during operation, allowing you to go indoors with your Segway. It
does draw electric power during recharge, but that electricity causes fourteen
times less greenhouse gas emissions than driving a car. After one year on your
Segway you would have literally saved a ton of
from being released into the atmosphere.
When
gliding on a Segway you're doing more than just shifting your consumption from
petroleum to electric. Everything about the Segway was designed to use
electricity as efficiently as possible. When you dig a little deeper, and
compare the source fuel (petroleum vs. the fuel mix used to produce
electricity), plus the cost of distributing or transporting the power, the
Segway is eleven times more efficient than the average American car, and over
three times more efficient than even the highest-mileage Scooters.
4.8.1
Role of the Segway in Emission Reduction and Energy Efficiency
In
December 2001, renowned inventor Dean Kamen unveiled the Segway. Since then the
way society looks at transportation has changed considerably. Fuel prices have
risen, there is a greater awareness of the damage caused by carbon dioxide and
other greenhouse gas emissions, and environmental and political forces have
de-stabilized the global petroleum Supply .The Segway can help reduce
dependence on foreign oil, use the existing energy supply more efficiently, and
reduce pollution. Drivers in the United States take approximately 900 million
car trips per day. The EPA estimates that half of those trips are less than
five miles long and transport only one passenger—trips perfectly suited to the
Segway. As there are many forms of powered transportation available today, this
paper seeks to compare their relative impact on the environment, both in
emissions created and energy consumed .The methods for computation are
explained in detail in the following sections, but let us first present a
summary of statistics regarding the relative emissions output and energy
efficiency of the Segway compared to other well-known transportation devices.
The
Segway does not produce any emissions during operation. Its batteries do
consume electricity during recharge, and we have used the emissions created
during the generation and delivery as the basis of our analysis. By comparing
this to the emissions generated during the refinement, transportation and
combustion of automotive fuel, we can compare the Segway to traditional
internal combustion engines. This analysis also allows us to measure relative
source fuel efficiency.
CHAPTER 5: COMPONENTS AND
SPECIFICATIONS
5.1 COMPONENTS USED IN SEGWAY
5.1.1 Chasis
Chassis is made of wooden block and four wooden blocks are
used to make the frame. To make chassis to be balanced, four wooden blocks
of equal weights are used. It is engaged firmly with the help of stud. Stud is
to connect the wooden block together with the nut. Wheels are attached to the
middle of frame in order to withstand the load capacity. Handle is also made of
same wood to which DPDT switch is fixed.
5.1.2 Motor
Motor is fixed with the chasis through screwed
bolt and it is the main source of power with is to drive the
vehicle. There are two motors, each for one wheel. Each motor is driven
by a separate 12v battery.
5.1.3 Chain drive
Chain
drives are used to transmit power between motor and wheel. Type of chain used
is Power transmitting chains (Bush
Roller Type).
Chain
drives are used because it has the following advantages:
- No slip
- Occupy less space
- High transmission efficiency
- Highly preferable for small shaft distance
5.1.4 STUD & nut
A stud is a round bar threaded at both ends. Stud
is a screwed rod to connect the wooden block together in order to make the
chasis.
5.1.5 Battery
Battery
is a main power source. Two 12V-DC batteries are used in segway. Each battery
is
connected with each motor. Battery supplies power to each motor to run the
wheels. Battery is rechargeable whenever necessary. The 12V
sealed lead acid batteries used in this project were ONLY chosen because they
are very low cost. They are really made for starting gas motors.
They are not the best choice for a long life, deep discharge, and rechargeable
battery. They are prone to failure if they are discharged below 20%
capacity. They must be charged after use to keep them from failing.
I went through 2 sets of batteries before I learned this
5.1.6 DPDT Switch
Double
Pole Double Throw (DPDT) switch. It is used to guide the direction of rotation
of motor shaft. By operating the switch the direction of vehicle can be
controlled. Connecting wires are used to connect switch with motor.
5.1.7 Wood
The
type of wood used to make frame is “COUNTRY WOOD”. Four wooden blocks are
jointed with the help of stud and screwed with bolts. Motor and battery
are mounted on frame with help of screws.
5.1.8
WHEELS
The wheels
were designed to carry the load of the robot itself and a mass placed
atop. The purpose of building the wheels
was to cut down on cost as well as the weight of the cart. The reason for the
larger wheels was for component placement purposes. With larger wheels more of
the components were able to be placed under the axles, thereby lowering the
center of mass of the cart. With a lower
center of mass the balancing of the cart would occur more naturally
5.1.9 GYROSCOPE
The
gyroscope was created using a potentiometer, a DC motor, and a hanging
mass. The hanging mass consisted of a
plastic arm, a 3-volt DC motor, and a disk attached to the motor shaft. The arm was attached to the potentiometer
with the DC motor secured into it. The
spinning disk was a plastic gear with a steel washer epoxies to it. The spinning disk was designed to counter the
initial acceleration of the robot. As
the robot tilted, the potentiometer measured the change in voltage.
5.2
SPECIFICATIONS
5.2.1
MOTOR
Speed: 375 rpm
Voltage: 24 V
Motor type: Gear Headed Motor
Fig 5.1 Motor
5.2.2
CHAIN DRIVE
Links:
46
Length
of chain: 552 mm
Centre
distance: 180 mm
Fig 5.2: chain drive
5.2.3
WOODEN BLOCK
Length:
500 mm
Width:
60 mm
Thickness:
20 mm
Fig 5.3: wooden block
5.2.4
BATTERY
Volts:
12 V
Current:
7 A
Fig 5.4: battery
5.2.5 WHEELS
Diameter: 45-50 cm
Fig 5.5 Wheel
5.2.6
STUD
Length : 76cm
Diameter : 9mm
Pitch : 1.25mm
Fig 5.6: Stud
5.2.7 NUT
Inner dia :
10mm
Outer dia : 20mm
Fig 5.7: Nut
5.3
Cost Estimation
Sr. No.
|
Name of Component
|
Cost
|
No. of Component
|
Total Cost
|
1
|
Wheels
|
1560
|
2
|
3120
|
2
|
Chain
|
420
|
2
|
840
|
3
|
Sabertooth dual 12A motor driver
|
5000
|
1
|
5000
|
4
|
MPU6050 GY521 board
|
180
|
1
|
180
|
5
|
24 VOLT 280W ELECTRIC SCOOTER motors
|
1980
|
2
|
3960
|
6
|
Arduino UNO R3
|
420
|
1
|
420
|
7
|
Prototyping Shield Mini Breadboard For Arduino
|
220
|
1
|
220
|
8
|
Momentary rocker switches (steer/tilt)
|
120
|
1
|
120
|
9
|
Push switch (deadman)
|
230
|
1
|
230
|
10
|
Switch (power)
|
60
|
1
|
60
|
11
|
12V batteries, 7AH Lead Acid
|
800
|
2
|
1600
|
12
|
Electric Scooter charger connector(male)
|
400
|
1
|
400
|
13
|
Electric Scooter Battery Charger (3pin female)
|
650
|
1
|
650
|
14
|
Jumper wire kit
|
250
|
1
|
250
|
15
|
Angle brackets
|
50
|
1
|
50
|
16
|
Bolts for bracket mount
|
10
|
16
|
160
|
17
|
Bolts Metric For motor mount
|
15
|
8
|
120
|
18
|
End caps
|
50
|
1
|
50
|
19
|
Electrical tape
|
20
|
1
|
20
|
Total Cost
|
Rs.17,500
|
|||
Table 5.1: Cost Estimation
5.4 DESIGN OF DIFFERENT PARTS OF SEGWAY
5.4.1 Chain
z1 = Number of teeth on the small sprocket (motor)=12
z2= Number of teeth on the large sprocket (wheel)=18
d1=Dia of chain roller=8mm
p= pitch of the chain=12mm
C=center distance=180mm
M=No. of links
Length of the chain L= M * p
Number of chain links,
M = 46
L =
552mm
Length of chain is 552mm
Fig 5.8: Chain Drive
5.4.2 Wheels
Based
on our motor torque/speed characteristics, we needed to use relatively small
wheels to get adequate performance. We chose 19 Inch pneumatic wheels.
Diameter
of wheel=483mm (19 In.)
RPM
of wheel=250 rpm
V=22.73 Kmph (approx. 20 Kmph)
Fig 5.9: Wheel
5.4.3 Bearing
Radial
load on Bearing, Fr=750 N
Speed
in rpm, N=375 rpm
Equivalent
Dynamic Load,
=Fr
* Ka
=750 * 1.5
=1125 N
L10=337.5
million revolutions
C = 6.6 kN
So,
Select Bearing No. 6007 having load carrying capacity,
C=13.30
kN
So the
design of bearing is safe.
Fig 5.10 Bearing
5.4.4 Stud
Compression or crushing
stress on threads:
The compression or crushing stress between the threads (σc ) may be obtained by using
the relation:
Selecting M9 Stud
d = Major diameter=9mm
dc = Minor diameter=7mm
n = Number of threads in
engagement=7
σc
= 6.696N/mm2
from PSG Design Data book, page no: 1.9,
Assume C45 steel for Stud material
(σc)allowable = 710 Mpa
σc < (σc)allowable
Therefore, Design is safe.
Fig 5.11 Stud
CHAPTER 6: WORKING
6.1 WORKING PRINCIPLE
Segway
human transporter works on the principle of self balancing just like a human
being. When a human being keeps leaning forward, his/her brain will keep
putting legs forward to keep balancing of body. Instead of falling, we walk
forward, one step at a time.
Fig 6.1: working principle
Fig 6.2: Block diagram of working
6.2 WORKING
The
Segway only has two wheels it looks something like an ordinary hand truck yet it manages to stay upright by itself. To
move forward or backward on the Segway, the rider just leans slightly forward
or backward. To turn left or right, the rider turns the right handlebar forward
or backward. This balancing act is the most amazing thing about the Segway, and
it is the key to its operation. To understand how this system works, it helps
to consider Kamen's model for the device the human body. If you stand up and
lean forward, so that you are out of balance, you probably won't fall on your
face. Your brain knows you are out of balance, because fluid in your inner ear
shifts, so it triggers you to put your leg forward and stop the fall. If you
keep leaning forward, your brain will keep putting your legs forward to keep
you upright. Instead of falling, you walk forward, one step at a time. The
Segway does pretty much the same thing, except it has wheels instead of legs, a motor instead of muscles, a
collection of microprocessors instead of a brain and a set of sophisticated tilt sensors
instead of an inner-ear balancing system. Like your brain, the Segway knows
when you are leaning forward. To maintain balance, it turns the wheels at just
the right speed, so you move forward.
At its most basic, the Segway is a
combination of a series of sensors, a control system and a motor system. In
this section, we'll look at each of these elements. The primary sensor system is an assembly of gyroscope. A basic gyroscope is a spinning wheel
inside a stable frame. A spinning object resists changes to its axis of
rotation, because an applied force moves along with the object itself. If you
push on a point at the top of a spinning wheel, for example, that point moves
around to the front of the wheel while it is still feeling the force you
applied. As the point of force keeps moving, it ends up applying force on
opposite ends of the wheel -- the force balances itself out. Because of its
resistance to outside force, a gyroscope wheel will maintain its position in
space (relative to the ground), even if you tilt it. But the gyroscope's frame
will move freely in space. By measuring the position of the gyroscope's
spinning wheel relative to the frame, a precise sensor can tell the pitch of an object (how much it is tilting away
from an upright position) as well as its pitch rate (how quickly it is tilting). A conventional
gyroscope would be cumbersome and difficult to maintain in this sort of
vehicle, so the Segway gets the same effect with a different sort of mechanism.
Segway use a special solid-state angular
rate sensor constructed
using silicon. This sort of gyroscope determines an object's rotation using the
Coriolis effect on a very small scale. Simply put, the
Coriolis Effect is the apparent turning of an object moving in relation to
another rotating object. For example, an airplane travelling in a straight line
appears to turn because the Earth is rotating underneath it. A typical
solid-state silicon gyroscope consists of a tiny silicon plate mounted on a
support frame. The silicon particles are moved by an electrostatic current applied across the plate. The particles move
in a particular way, which causes the plate to vibrate in a predictable manner.
But when the plate is rotated around its axis (that is, when the Segway rotates
in that particular plane), the particles suddenly shift in relation to the
plate. This alters the vibration, and the change is in proportion to the degree
of rotation. The gyroscope system measures the change in vibration, and passes
this information on to the computer. In this way, the computer can figure out
when the Segway is rotating along particular axes. The Segway HT has five
gyroscopic sensors, though it only needs three to detect forward and backward
pitch as well as leaning to the left or right (termed "roll"). The
extra sensors add redundancy, to make the vehicle more reliable. Additionally,
the Segway has two tilt sensors filled with electrolyte fluid. Like your inner
ear, this system figures out its own position relative to the ground based on
the tilt of the fluid surface. All of the tilt information is passed on to the
"brain" of the vehicle, two electronic controller circuit boards comprising a cluster of microprocessor. The Segway has a total of 10 on board
microprocessors, which boast, in total, about three times the power of a
typical PC. Normally, both boards work together, but if
one board breaks down, the other will take over all functions so that the
system can notify the rider of a failure and shut down gracefully. The Segway
requires this much brain power because it needs to make extremely precise
adjustments to keep from falling over. In normal operation, the controller
boards check the position sensors about 100 times per second. The
microprocessors run an advanced piece of software that monitors all of the
stability information and adjusts the speed of several electric motors
accordingly. The electric motors, which are powered by a pair of rechargeable
nickel metal hydride (NIMH) or Lithium-ion (Li-ion) batteries, can turn each of
the wheels independently at variable speeds. When the vehicle leans forward,
the motors spin both wheels forward to keep from tilting over. When the vehicle
leans backward, the motors spin both wheels backward. When the rider operates
the handlebar control to turn left or right, the motors spin one wheel faster
than the other, or spin the wheels in opposite directions, so that the vehicle
rotates. This is certainly an amazing machine, but is it really as important as
the Internet, as some have claimed? In the next section, we'll see what sort of
impact this machine might have on the modern world.
7.1 Government and Military
The
Segway Patroller is being deployed by a growing number of government agencies
and military bases in an effort to increase the efficiency and responsiveness
of security patrols, flight operations and maintenance crews, IT staff and
public service personnel. The application of the Segway Patroller in these
environments:
·
Helps
staff in various roles to travel throughout large bases and vast facilities
quickly
·
Allows
riders to easily travel indoors, outdoors, through doorways and into elevators
·
Elevates
the visibility, responsiveness and productivity of critical staff
Military bases are very large
properties which are often home to dozens of buildings. It can take an airman
on a Segway Patroller 20 minutes to travel the same distance that would take
him 90 minutes to walk. That type of increase in efficiency is invaluable.
7.2
Medical
Segway
is use to the emergency medical services community. Equipped with light bars
and a variety of hard and soft cases, it is sealed against wet conditions, and
rated for 24 miles (39 kilometers) per charge.
7.3 Play Polo and Golf
Segway Polo is just like regular polo, except
the player’s ride Segway instead of horses. Spice up your golf game with the
Segway.
7.4
Build
a Wheelchair
A
Segway added a seat, a kick stand, a folding handlebar, and ramp. The result is
a motorized wheelchair
7.5 Home
Delivery
Segway is also used for the home delivery of
different items like, Deliver Pizza, courier service, postal service etc. for
short distances.
7.6 Off Roading
Looking for
more action-packed 2-wheeling? Try the Segway x2 Adventure, a Segway designed
to handle the wilder side of the great outdoors. Specially equipped with a
handlebar bag for water bottles and tools, even universal cargo plates, it's
got everything you need for any expedition. So whether you're looking to enjoy
a scenic ride or conquer a few rough roads, there's a Segway thats'll take you
there.
CHAPTER 8: ADVANTAGES AND
DISADVANTAGES
8.1 ADVANTAGES
8.1.1 Segway is safe
In
case you´ve never tried it, Segway may seem to you kind of dangerous and
unstable. However, modern Segway technology has thought of men really deeply
and the engineers designed it in the way that allows you to take control of it
easily and don´t have to be afraid of falling down. The connection between a
user and a machine is natural. It means that Segway´s reactions seem like your
own. When you want to go right, you don´t have to make almost any effort to
make the Segway move in the direction you want. Once you try it, you will want
more. Despite the fact it´s safe, listen to your instructor properly and pay
attention for pedestrians around you.
8.1.2
Segway is fast
It’s not a car, but it´s a
machine, anyway. When you decide to rent one, you have the opportunity to visit
as many sights as you can and then have time for other activities like buying a
drink, some food, accessory or clothes, going to the cinema or pay for a
theatre performance or taking a nap.
Segway are
fun.
Rent a Segway and you will never forget about this exciting, unusual and unique
experience. You can race with friends, look around the city while riding, and
enjoy controlling a machine. Laughter guaranteed.
8.1.3
Green Benefits
The Segway Patroller is powered by
lithium-ion batteries and is inherently a zero emissions transportation
solution. Therefore, it can easily and safely transition from outdoor to indoor
environments. Law enforcement and public safety organizations around the world
have deployed the Segway Patroller for its multiple benefits including its
ability to reduce their team’s carbon emissions and fuel costs.
The unit
does draw electric power while recharging, however that electricity causes 14
times less greenhouse gas emissions than a car. In addition the Segway
Patroller is 11 times more efficient than the average car.
Segway is a
superior option for getting around a city. Cars take up a lot of room, so as
soon as you have a bunch of people driving in a constrained area (like a city
street), you get heavy traffic jams. It's also a hassle to park cars, and they
are very expensive to maintain. All in all, a car is not an optimal machine for
short trips in a crowded area.
The Segway
is only slightly larger than a person, so it does not cause as much congestion
as a car. As a sidewalk
vehicle, it lets commuters zip through crowds, skipping the
roadways completely. Just like scooters and bicycles, the vehicles will be
involved in a good number of pedestrian accidents year to year. But the Segway's
supporter’s say it's only about as dangerous as walking, since the vehicle
moves at relatively slow speeds.
Without worrying
about the parking. And there's no need to stop by the gas station, as the
vehicle runs on ordinary household electricity.
Segway are
also good machines for getting around crowded warehouses, where tight corridors
make it difficult to use bulkier vehicles. People may find them useful for
getting around large pedestrian areas, such as airports or amusement parks.
There is really no limit to how people might use the vehicle. The Segway can
fit in most places you might walk, but it will get you there faster, and you
won't exert much energy.
8.2 Disadvantages
·
Segway is Slow, having a max speed of 25 Kmph.
·
Segway Does not exactly say
how far the Segway will go with riders of different masses.
·
Segway having heavy weighing around 40Kg – 50Kg.
·
Unlike bicycles, a drained Segway cannot be pedaled home or a
charge.
·
Segway is Expensive, these costs around ₹300000 - ₹500000.
·
Need skill for Driving Segway.
CHAPTER 9: OBJECTIVE AND SCOPE OF THE
PROJECT
9.1 Objective
The first
problem with the Segway is the price. This technology is not affordable to
low-income individuals. The biggest market for the Segway would be college students;
however, this market has not been tapped into. University campuses are usually
big and getting from one class to the next and back to dormitories can be a
long distance when one has to walk, but college students cannot afford to buy
the Segway for their use. The solution to this problem is for manufacturers to
use cheaper but safe technology in order to decrease the price. A second
problem is lack of advertising; few people know about Segway dealerships, the
cost and the great invention that it is, the solution would be to advertise
more. The Segway is not only a great innovation, but it is also environmental
friendly since it is fully electrical and does not release any emissions and
this would appeal to a lot of people if they knew it existed. The final problem
with the Segway is that the technology is so new and when it breaks down the
manufacturers are forced to recall all Segways and this can be costly. Unlike
cars where there is an abundant of mechanics to fix them when they break down,
the Segway does not enjoy the same benefit, the solution to this problem would
be to provide users with very simplified manuals and an excellent technical
support team that can be easily reached by dialing a toll free number.
The Segway
has a bright future, because after most of the problems are taken care of, it
will eventually be widely used and accepted as a form of transportation that is
better than the bicycle. Some of the improvements in the future would be the
addition of an umbrella that is attached to the handlebars and can be opened at
a touch of a button. Segway will be modified to transport more than one person;
there will be room for a passenger. Also, the manufacturers will make smaller
Segway for young kids, Segway with retractable covers to shield the user from
bad weather and proper nightlights so it can be safely used twenty four
hours a day. Lastly, when the Segway is widely used there will have to be
Segway lanes for the riders.
9.1.1 Main Objective
The
starting price of any type of segway is above Rs 2,00,000/-. It is
suitable only for high class people. In a country like India where high class
people are short in number compared to middle class and low class people, it is
not preferable. If it is available for low cost it will be preferred by all.
That is the ultimate aim of our project.
- To make a segway with a cost around of Rs 20,000/-.
- To develop a self balancing scooter capable of transporting a single passenger. motivation from a Segway Personal Transporter
- To learn and integrate the following aspects of engineering like Mechanical, Electrical, Electronics, Dynamics & Control, Programming
9.2 Scope
The
scope of the project is as follows,
- To study about the manufacturing and fabrication process of Segway.
- To build segway with self balancing with relatively very low cost.
- Selection & Implementation of major components like Motors, batteries, microcontroller, etc
- Development of control strategy
- Programming of micro controller
- Integration of all other engineering details
CHAPTER 10: FUTURE SCOPE
10.1
FUTURE SCOPE
Segway is
the leader in personal, green transportation, developing products that
transform the way you work, play and live. Since the introduction of the
Segway, Segway has established itself as a leader in the emerging small
electric vehicle (SeV) space. Our approach to congestion and environmental
challenges is balanced with a strong understanding of the functional needs of
our customers, enabling them to do more with less.
Today,
Segway focused on serving our people by developing safe, unique products that
are redefining personal transportation for consumers and businesses. Segway
works with commercial and municipal organizations to realize the benefits of
zero-emission personal transportation that increase productivity and utilize
existing infrastructure. Together with people, Segway help government leaders
create the framework to adopt these new technologies and safely and wisely
integrate them into society.
Segway is
passionately committed to innovation and the future of mobility to move you –
easily, efficiently, intelligently, simply.
Experience
More and Less...
Answering
“Yes” to every one of those questions has been our mission since opening our
doors more than ten years ago. This has meant re-imagining virtually every
piece of conventional wisdom about the last century of transportation – from
how it moves, to the fuel it uses, to how you control it.
The result
is electric transportation that doesn’t look, feel or move like anything that
has come before. And of all the conventional wisdom we’ve left in pieces behind
us, none has been shattered more fully than the belief that we must choose
between “more” and “less”.
In 2001,
Dean Kamen announced the arrival of the first self-balancing, zero emissions
personal transportation vehicle: the Segway. Founded on the vision to develop
highly-efficient, zero-emission transportation solutions using dynamic
stabilization technology, Segway’s research and development was focused on
creating devices that took up a minimal amount of space, were extremely
maneuverable and could operate on pedestrian sidewalks and pathways
Today,
Segway continues to develop safe, unique transportation solutions that address
urban congestion and pollution and leverage our in-house expertise. No matter
the platform, our products allow you to experience more with less.
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