“SEGWAY SELF-BALANCING SCOOTER”

A PROJECT REPORT

Submitted by

PATEL UTTAM K.

PATEL AKASH R.

PATEL HARSH A.

JETHVA SATEESH N.
In fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING

In

Electrical & Electronics Engineering

Venus International College of Technology, Bhoyan Rathod – Gandhinagar

Gujarat Technological University, Ahmedabad

May 2016
Venus International College of Technology, Bhoyan Rathod - Gandhinagar

Department of Electrical & Electronics Engineering

May 2016

CERTIFICATE

Date: __/__/2016

This is to certify that the project entitled “SEGWAY SELF-BALANCING

SCOOTER” has been carried out by Uttam Patel, Akash Patel, Harsh Patel

and Sateesh Jethva. within four walls of Venus International College of

Technology under my guidance in fulfillment of the degree of Bachelor of

Engineering in Electrical & Electronics Engineering (8th Semester) of Gujarat

Technological University, Ahmedabad during the academic year 2015-16

Internal Guide: Head of the Department:

Prof. Kaustubh Vyas Prof. Rajanikant Patel

 Acknowledgements

The project “Segway self balancing scooter” a dream of one of our team members could not
have been successful without the kind support and help of many individuals and the college
itself. We would like to extend our sincere thanks to all of them.

We would firstly like to thank Mr Prashant Makwana who helped in fabrication of the model.
Prayosha electrical’s MD Mr Prateek Rathod and Paresh Rathod who gave permission to
work in their premises and used their equipments. Second helpful support given by Mr.
Prateek Makwana Founder of Prototype techs. in motivating and guiding us a lot.

We would like to express our gratitude towards the Director of this college Dr.
A.K.Chaturvedi and the HOD of electrical and electronics department: Prof. Rajanikant Patel
for their kind co-operation and encouragement which helped us in completion of this project
carried in the collage premise without experiencing hurdles. A great help and support was
obtained from our internal guide Prof. Kaustubh Vyas and Prof. Niraj Pandey without whom
the project would not have been completed.

We are highly thankful to VENUS INTERNATIONAL COLLEGE OF TECHNOLOGY and

our faculties for their guidance and constant supervision as well as for providing necessary
information regarding the project and also for their support in completing the project.

A very special thanks to our parents for their moral support which gave us strength to make
this project.

There are many more individuals who helped us in making our dream true. Last our thanks
and appreciations go to the colleague in developing the project and people who had willingly
helped us out with their abilities.

Team Segway

--Patel Uttam K.

--Patel Akash R.

-- Patel Harsh A.

--Jethva Sateesh N.

i
 Abstract

In the present days we are dealing with a problem of increase in number of vehicles
with ever-lasting demand of fuel to run them. If this situation remains with time it would be
difficult for us to save our future from increasing pollution and fuel demand. With time the
population on earth increases obviously; which cannot be controlled so to fulfill the demands
of fuel or energy in future world, effective steps should be taken as soon as possible. Our
dependence on fuel can be reduced with an alternative such as, use of battery operated
vehicles. New technology should be implemented; use of eco-friendly vehicles should be
encouraged.
Segway is an electric scooter of future technology; it is often used to transport a user
across mid-range distances in urban environments. It has more degrees of freedom than car or
bike and is faster than pedestrian. They are more efficient than fuel powered vehicles for
shorter distance and time of travelling. An electrical vehicle such as Segway, if widely used
in the society would give a helping hand in reducing pollutions caused by two wheelers. It
would save time and efforts in travelling short distances on barefoot for ages of people.

This project is a step towards design, development and programming of an electric

powered vehicle using simpler algorithm of control over motors via open source board,
sensors and microcontroller. It also aims for study and analysis of stability of an electrical
vehicle made using open source software and hardware.

ii
 List of Figures

Figure No. Description Page No.

1 Cad Design structure 3
2 Actual Frame 4
3 Motor support frame 4
4 Motor support structure 5
5 Circuit of segway 6
6 Arduino 8
7 Motors 8
8 MPU 6050 9
9 Interfacing the Arduino MPU 6050. 9

iii
 Table of Contents

Module No. Section Sub – Description Page No.

Section
Acknowledgement i
Abstract ii
List of Figures iii
Table of Contents iv
1 Introduction 1
1.1 History 1
1.2 Application 2
1.3 Advantages 2
1.4 Disadvantages 2
2 Mechanical Design 2
2.1 Support frame 3
2.2 Motor Foundation 4
3 Electrical Design 6
3.1 Circuit 6
3.2 Details of components 7
3.3 Arduino 7
3.4 Motors 8
3.5 MPU6050 9
References 11
Appendix – 1 Programs 12
Appendix – 2 BMC 16
Appendix – 3 Images 17
Appendix – 4 PDE 19

iv
 1

Chapter – 1
Introduction

The current transportation urban mobility model has negative impression on the
society such as illnesses due to air pollution, road accidents, climate warming, congestion and
dependence on fuel sources available which are limited. An estimated three million people in
the world die every year because of diseases caused due to pollution. Children are the main
victims of diseases related to pollution. Forty percent of diseases caused by the environment
affect children under five, whereas these children make up only 10% of the worlds
population. According to the World Health Organization 40% of the planets greenhouse gas
emissions was due to automobile in the year 2010.Between the year 1950 to 1990, the
number of motor vehicles in the world had multiplied to nine times, i.e. increase from 75
million to 675 million. According to the most conservative projections of the Organization
for Economic Co-operation and Development, there will be 1.62 billion vehicles in 2030. In a
resent search the number of vehicles in Jaipur. India has increased considerably in the past
five years, resulting in increase in pollution too. According to regional transport office, every
day 500 new non-commercial vehicles get registered including two wheelers and four
wheelers. In the recently press released of the WHO report on pollution in India, the present
situation of the city is not so encouraging when pollution in the air comes to picture.Due to
increase in number of vehicles over the years, the city roads witness frequent traffic
congestions, but above all, the vehicles emitting pollutants are affecting environment badly.
"The air pollution consists of many pollutants, among other particulate matter. These
particles are able to penetrate deeply into the respiratory tract and therefore constitute a risk
for health by increasing mortality from respiratory infections and diseases, lung cancer, and
selected cardiovascular diseases," says the WHO report. New patients with respiratory
problems are constantly being reported in hospitals. The two wheelers are the major
contributors of vehicular air pollution followed by four-wheeler (e.g., car, jeep, taxi etc.),
trucks and buses in decreasing order of magnitude.

1.1 History

The Segway Human Transporter was unveiled with great ceremony in December 2001 in
the United States by its inventor Dean Kamen, President of Segway LLC. It was described as
the first of its kind a self-balancing, personal transportation device designed to go anywhere
people do. The idea for the Segway came from the iBot, it was a revolutionary wheelchair
equipped with six wheels that allowed persons with disabilities to climb stair steps without
the wheelchair losing balance. The machine was originally christened “Fred
Nowadays, there is a trend of electric vehicles or MPTDs in many developed countries.
The term “motorized personal transportation device” is derived from American terms that
have come into use, such as “electric personal mobility assistive device” and “personal
motorized mobility device.” Such terms became necessary when the Segway Human
 2

Transporter (HT), a personal transportation device, came onto the American market in 2001.
In Canada, the Segway HT is not considered a motor vehicle intended for road use and
therefore does not come under the authority of Transport Canada, the government agency
responsible for setting vehicle safety standards. It is up to the Canadian provinces to legislate
the extent to which Segways can be used on public thoroughfares. Motorized scooters
appeared on the North American consumer market in the early 1990s. They generated
considerable controversy, particularly scooters driven by noisy, polluting gasoline motors.
Canada has no specific regulatory framework covering scooters. Faced with growing
numbers of motorized scooters and given the fact that they are not defined in the Highway
Safety Code, the Quebec National Assembly banned all motorized scooters from public
thoroughfares in 2001.

1.2 Applications
1. Our target is for college, school and office use where required longer distance to
travel on footsteps.
2. In some NGO for handicap people. It is meant for those people having difficulty to
walk.
3. In government departments where most of the officers are aged, and have long
corridors
4. For amusements parks.
5. In parks, our Segway would be so simpler that even kids can drive safely. It is no for
personal use
1.3 Advantages

1. Reduces time for travelling foot distance.

2. A clean, green, eco-friendly machine! (zero emission)
3. Require less space for riding, parking.
4. Become more productive: more work can be done by using the product versus
walking
5. 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.
6. low operating costs: no need for gas and inexpensive battery charging (A complete
cycle charge will take eight to ten hours)

1.4 Disadvantages

1. Slow, having a max speed of 12.5 mph (20 kmph).

2. Sometimes become unstable, rider may fall.
3. Does not exactly say how far the Segway will go with riders of different masses
4. Heavy, weight.
5. Unlike bicycles, a drained Segway cannot be pedaled home or a charger
6. Expensive, compared to its Usefulness.
 3

Chapter 2: Mechanical design

2.1 Support Frame:
The frame structure of segway is made as simples as possible. It has been
designed keeping in mind that it has to withstand the weight of motors, battery and the major
weight of rider. We have used ms rods from the junkyard with X-section area 16 cm. They
are hollow square tubes having less weight and high strength thus best suitable for this
purpose. Previously our choice was wood for making the frame, as it might create problems
in watery surrounding in rainy season we changed our way using ms. Also it was easy to
weld rather than crafting from wood. The figure 1.1 shows the frame structure in cad. The
original is not exactly similar because of some small adjustments but the overall structure is
quite similar.

Figure 1 :Cad design structure.

The measurement in the structure was taken on the basis of position of motors and
tyres. As shown in figure frame includes middle area for motor area and on which the rider us
stands and two wheels support rectangular structures. Frame consists of support for wheels
and horizontal platform. Universal bearing is used to couple the handle with the frame. The
handle is of T type and is fixed such that it can only moves in left or right position with some
degree for turning the vehicle. Two springs supports the handle and helps to restore its
position.
 4

Figure 2: Actual Frame

2.2 Motor foundation:

The two dc motors are fixed upside down above the frame. For the proper foundation
it is supported on an ms plate 11 cm. above the frame base with four LN screw. The
arrangement is such that motor sets can directly removed from the frame as the rods are
concertized with each other. Thus the entire frame can be dismantled in various small parts.

The motors are geared motors having gears away from the motor shaft center, making
misbalance in the center of gravity for motor. They are placed such that motor shaft comes
out at the mid of breadth of frame.

Figure 3: Motor support frame

 5

Figure 4: Motor support structure

Shaft
The shaft is made from a single allumilium rod connecting motors shaft at one end
and supported with bearing of 0.8cm at other end. The bearing offers free movement to the
shaft it is mounted in ms 0.8 cm thick plate welded at the frame end.
 6

Chapter 3: Electrical design

3.1 Circuit

The below figure itself gives in-depth description of the circuit and explain its working
too.

Figure 5: Circuit connection of segway

The heart of the Segway is its controller we have used arduino for its simplicity. As shown in
the circuit the motor‟s high current is handled by current controlling mosfets. The motor driver
can handle max of 10 amps peak in single channel. MPU6050 is used to sense the handle
movements, its send data to arduino. Arduino understands it and commands the motor driver with
inbuilt programmed logics and algorithm to run the motors. PWM is used to control the speed of
motors, for this and for rider convenience electric throttle is used, it is attached in the handle.
Throttle provides necessary acceleration for achieving speed. Arduino converts the throttle data
into PWM and this output is given to motor controller
 7

3.2 Details of components used

Following are the list of components used for making the segway.
1. Gyroscope :Accelerometer MPU6050
2. Dual H-bridge 15 A motor driver circuit.
3. Aurdino board
4. PMDC motors 250W each
5. 12 V 12 Ah dry battery
6. Wheels 40 c.m.
7. Handle bar and platform
8. Switches etc.

3.3 Arduino

Arduino is an open source prototyping platform based on easy-to-use hardware and

software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a
Twitter message - and turn it into an output - activating a motor, turning on an LED,
publishing something online. You can tell your board what to do by sending a set of
instructions to the microcontroller on the board. To do so you use the Arduino programming
language based onWiring, and the Arduino Software (IDE), based on Processing.

Due to following advantages of arduino we have preferred it as a controlling board in

our project.

Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand, and
even the pre-assembled Arduino modules cost less than 400 rs
Cross-platform - The Arduino Software (IDE) runs on Windows, Macintosh OSX, and
Linux operating systems. Most microcontroller systems are limited to Windows.
Simple, clear programming environment - The Arduino Software (IDE) is easy-to-use for
beginners, yet flexible enough for advanced users to take advantage of as well. For teachers,
it's conveniently based on the Processing programming environment, so students learning to
program in that environment will be familiar with how the Arduino IDE works.
Open source and extensible software - The Arduino software is published as open source
tools, available for extension by experienced programmers. The language can be expanded
through C++ libraries, and people wanting to understand the technical details can make the
leap from Arduino to the AVR C programming language on which it's based. Similarly, you
can add AVR-C code directly into your Arduino programs if you want to.
 8

Figure 6: arduino board

3.4 Motors
The motor used for the drive system were permanent magnet 24 volts DC motors. The
reason for selecting this motor was its is cheaper than BLDC motors and best suitable for
electric bike. It RPM is 3000, comes with 1:9.78 gear reduction ratio giving 300 RPM. The
rated no load current is 2.2 amperes an draws 13 amps at full load. Each motor produces 0.8
Nm toque thus it will give 1.6 Nm as there are two motors.

Figure 7: Motors
 9

3.5 MPU 6050

MPU 6050 is one of the IMU sensors (Inertia Measurement Unit sensors),
which are used in self-balancing robots, UAVs, smartphones, etc. IMU sensors are
one of the most inevitable types of sensors used today in all kinds of electronic
gadgets. They are seen in smartphones, wearable gadgets, game controllers, etc. IMU
sensors help us in getting the attitude of an object, attached to the sensor in three
dimensional spaces. These values usually in angles thus help us to determine its
attitude. Thus, they are used in smartphones to detect its orientation. And also in
wearable gadgets like the Nike fuel band or fit bit, which use IMU sensors to track
movement.

Figure 8: MPU 6050

MPU 6050 is one of the most reliable and accurate IMU sensor. Apart from being
significantly cheap from the other sensors, the MPU 6050 performs much better too. IMU
sensors usually consist of two or more parts. Listing them by priority, they are
:accelerometer, gyroscope, magnetometer and altimeter. The MPU 6050 is a 6 DOF (Degrees
of Freedom) or a six axis IMU sensor, which means that it gives six values as output three
values from the accelerometer and three from the gyroscope. The MPU 6050 is a sensor
based on MEMS (Micro Electro Mechanical Systems) technology. Both the accelerometer
and the gyroscope is embedded inside a single chip. This chip uses I2C (Inter Integrate
Circuit) protocol for communication.
 10

Interfacing the Arduino MPU 6050

The MPU 6050 communicates with the Arduino through the I2C protocol. The MPU 6050 is
connected to Arduino as shown in the following diagram. Here, if your MPU 6050 module
has a 5V pin, then you can connect it to your arduino‟s 5V pin. Else, you will have to
connect it to the 3.3V pin. Next, the GND of the arduino is connected to the GND of the
MPU 6050. Figure 5.4.5 shows interfacing of MPU6050 with atduino uno.

Figure 9: Interfacing the Arduino MPU 6050.

 11

References

1. Segway CMBalance Robot Soccer Player Jeremy Searock, Brett Browning, Manuela
Veloso jsearock May 2004CMU-CS-03-205
2. Luis A. Porrell o, Ph.D., P.E. and Michael G. Jones., „A Call for Interest—The
Segway Human Transporter”: ITE Journal / November 2006-page 40-43.
3. Jeremy Searock, Brett Browning, Manuela Veloso., „Segway CMBalance Robot
Soccer Player‟: May 2004 CMU-CS-03-205 School of Computer Science The
Robotics Institute Carnegie Mellon University, PA, 15213
4. JiYeong Lee ,Lerrel Joseph Pinto, Dong-Hyung Kim and Chang-Soo Han, Member,
IEEE., „Development of a Segway Robot for an Intelligent Transport System‟, IEEE
International Symposium on System Integration Kyushu University, Fukuoka, Japan
December 16 to 18, year 2012
5. Taimoor Tariq,Muhammad Harris Khan, MehakChaudhry, Qurat-ul-Ain Fatima,
UmerIzharDepartment of Mechatronics Engineering National University of Science
&Technology, „Fabrication and Modelling of Segway‟, Proceedings of 2014
IEEEInternational Conference on Mechatronics and Automation August 3 to 6,
Tianjin, China
6. MasahiroWada,TakashiKuwata1,TomohiroUmetani,MasahiroTanakaandMinoruIto,G
raduateSchoolofNaturalScience,KonanUniversity Kobe-Japan, „Localization of
Segway RMP‟,SICE Annual Conference 2011 Sept 13 to 18,in the year 2011, Waseda
University, Tokyo, Japan
7. Sang-Won Ryu ,Jang-Myung Lee and Ho-Won Lee, „Optimal posture of Mobile
Inverted Pendulum using a singlegyroscope and tilt sensor‟,SICE-ICROS
International Joint Conference in the year 2009” August 18 to 21, Fukuoka
International Congress Center, Japan
8. Muhammad Umar Draz ,MohsinShaheer Ali, Maryam Majeed, UmairEjaz,
UmerIzhar,„Segway Electric VehicleHuman Transporter‟, 978-1-4673-4886-
7/12/2012 IEEE
9. Gary Stephen Serv´ın Cardozo, Luis Miguel Sandoval Vera, „Prototype for a Self-
Balanced Personal Transporter‟,978-1-4673-0870-0/12/$31.00 2012 IEEE
10. Development of a Soccer-Playing Dynamically-Balancing Mobile Robot Brett
Browning, Paul E. Rybski, Jeremy Searock, Manuela M. Veloso Carnegie Mellon
University School of Computer Science 5000 Forbes Avenue, Pittsburgh, USA
11. Turning Segways into Soccer Robots Brett Browning, Jeremy Searock, Paul E.
Rybski, and Manuela Veloso School of Computer Science Carnegie Mellon
University Pittsburgh, PA USA
 12

Appendix 1
Arduino Codes.

#include<Wire.h>

const int MPU = 0x68; // I2C address of the MPU-6050

int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;

//pwm

int sensorValue = 0; // variable to store the value coming from the sensor

int sensorValue2 = 0;

int val = 0;

int val2 = 0;

int v;

//pwm ends

void setup() {

//controller pins define

pinMode(9, OUTPUT);

pinMode(10, OUTPUT);

pinMode(11, OUTPUT);

pinMode(6, OUTPUT);

//define ends*/

Wire.begin();

Wire.beginTransmission(MPU);

Wire.write(0x6B); // PWR_MGMT_1 register

 13

Wire.write(0); // set to zero (wakes up the MPU-6050)

Wire.endTransmission(true);

Serial.begin(9600);

void loop() {

Wire.beginTransmission(MPU);

Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)

Wire.endTransmission(false);

Wire.requestFrom(MPU, 14, true); // request a total of 14 registers

AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C

(ACCEL_XOUT_L)

AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E

(ACCEL_YOUT_L)

AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40

(ACCEL_ZOUT_L)

Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)

GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44

(GYRO_XOUT_L)

GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46

(GYRO_YOUT_L)

GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48

(GYRO_ZOUT_L)

Serial.print("AcX = "); Serial.print(AcX);

Serial.print(" | AcY = "); Serial.print(AcY);

Serial.print(" | AcZ = "); Serial.print(AcZ);

Serial.print(" | Tmp = "); Serial.print(Tmp / 340.00 + 36.53);

 14

Serial.print(" | GyX = "); Serial.print(GyX);

Serial.print(" | GyY = "); Serial.print(GyY);

Serial.print(" | GyZ = "); Serial.println(GyZ);

//pwm

sensorValue = AcX;

sensorValue2 = AcY;

if (-900<AcY> -100)

if (AcX > 600 )

digitalWrite(9, LOW);

digitalWrite(11, LOW);

val = map(sensorValue, 300, 17000 , 0, 175);

analogWrite(6, val);

analogWrite(10, val);

if (AcX < 300)

digitalWrite(10, LOW);

digitalWrite(6, LOW);

val = map(sensorValue, 300, -17000 , 0, 175);

analogWrite(9, (2 * val));
 15

analogWrite(11, val);

if (AcY > 450)

val2 = map(sensorValue2, 500, 17000 , 0, 150);

v = 2 * val2;

digitalWrite(10, LOW);

analogWrite(9, v);

analogWrite(6, v);

digitalWrite(11, LOW);

if (AcY < (-450))

val2 = map(sensorValue2, -500, -17000 , 0, 150);

analogWrite(10, val2);

digitalWrite(9, LOW);

digitalWrite(6, LOW);

analogWrite(11, val2);

delay(100);

}
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Appendix 2
Buisness Model Canvas
 17

Appendix 3
Drawings / Images

Image: Side view of Segway

 18

Image: Segway front look.