It is basically a structure composed of a platform and two wheels placed transversely driven by two electric motors. The system itself is stabilized by sophisticated electronic circuitry which controls the motors, taking into account not only the movements of the driver, but also the state of the vehicle, allowing it to remain always in a vertical position. The driver standing on the platform controls the running speed simply by moving the steer knob forward or backward, while the inclination to the right or left, allows turns. The mechanism that allows the Segway not to fall down is at same time brilliant and intuitive: engines give power in case you lean forward and less if you lean backwards. Obviously the control board are powered by appropriate motion sensors (similar to those that allow smartphones to change the orientation of the display) to alert the on-board microprocessor constantly on the exact orientation of the vehicle. The real secret of the Segway is not so much in the electro-mechanical part, but in the code that takes into account the physics implemented with a significant mathematical complexity.

1.  By –
Aditya Singh
Vishnu Mhalaskar
Akash Patil
Deepak Maurya
 Guide –
D. G. Pandit Sir
Project:

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

3.  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.

4.  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.

5. 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.

6.  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.

7.  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.

8.  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)

9.  Main Components :
1. A COMPUTER : ARDUINO UNO R3
2. SENSORS & CONTROLLERS
3. ELECTRIC MOTORS
4. POWER SOURCE (BATTERIES)
5. BODY

10.  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.

12.  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.

13. GY521 MPU6050 GYRO/ACCELERO

14. SCHEMATIC:

16.  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).

17. 24V 250W DC MOTOR

18.  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.

20.  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.

21. 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