2 Wheel Drive Self Balancing Vehicle for Transportation in Warehouse

Project Title

2 Wheel Drive Self Balancing Vehicle for Transportation in Warehouse

Project Area of Specialization Electrical/Electronic EngineeringProject Summary

Summary

Two wheeled robots are one variation of robot that has become a standard topic of research and exploration for young engineers and robotic enthusiasts. They offer the opportunity to develop control systems that are capable of maintaining stability of an otherwise unstable system. This type of system is also known as an inverted pendulum. This research project aims to bring this, and many of the previously mention aspects of a robot together into the building of a two wheeled balancing robot with a non-linear, fuzzy controller. A robot that is capable of balancing upright on its two wheels is known as a two wheeled balancing robot. The process of balancing is typically referred to as stability control. The two wheels are situated below the base and allow the robot chassis to maintain an upright position by moving in the direction of tilt, either forward or backward, in an attempt to keep the center of the mass above the wheel axles. The wheels also provide the locomotion thus allowing the robot to transverse across various terrains and environments. This type of robot provides a challenging problem and has resulted in many useful and interesting designs being developed. One such two wheeled robot that has become a commercial success is the Segway by Segway Inc. The immediate impact has been within the personal transportation area where an alternative to cumbersome wheelchairs is now available. Segway proves a comfortable mobility opportunity for the elderly or people with disability thus improving their individual sense of independence at the same time. The theory used to maintain stability of these robots is based on the inverted pendulum. Inverted pendulum theory is more traditionally known as Pole and Cart theory and although the two wheeled balancing robot does not directly compare to the Pole and Cart, the same principles are in effect. Within the system model, the cart equates to the wheels whilst the pole equates to the robot’s chassis. The aim of the inverted pendulum principle is to keep the wheels beneath the center of the robot chassis’ mass. If the robot begins to tilt forward, then to maintain stability, the wheel will need to move forward to return beneath the chassis mass. If this is not maintained, the robot will simply fall over. The following system dynamics are associated with the mathematical problem.

Project Objectives Existing technique

Previous two wheeled balancing robot projects include the Segway, nBot, Bender, Emiew and Emiew 2. The Emiew 2 robot is the enhanced (evolved) version of the original Emiew. They were both designed and created by Hitachi whilst the Segway was designed and developed by Dean Kamen who later formed the company Segway Inc. The remaining robots that were reviewed were created by robot enthusiasts who have continued to improve the robustness of their designs over time. The design concepts between these robots are very similar. Each typically utilizes a gyroscope to measure tilt, shaft encoders to measure distance and a microcontroller for performing the computations. These components combine to provide the basis of maintaining stability. Inclinometers or accelerometers are sometimes added to reduce the effects of gyroscope drift thus enabling a more accurate input signal for the control system (1).

Segway (Segway 2008) is the commercially available two wheeled robot that is currently in its 2nd generation of released models. It is marketed to the world as a transport alternative. Its advertising suggests the robot is ideal for adventure, commuting, law enforcement and transportation in general. Its trajectory control is based on the tilting direction of the handlebars which is provided by the rider. This robot is capable of achieving a speed of 20 Km/h and is available in Australia for a cost between $9385 and $10795 depending on the model (2).

David Anderson, an enthusiast, has developed the robot named nBot (Anderson 2007). This robot utilizes a gyroscope and accelerometer whose outputs are fused together by a Kalman filter, thus providing an accurate input to control the stability. At present, the robot is in its fourth revision and has the ability of navigating a 7.3 meter distance before returning and repeating the lap once again. One of the strong capabilities of this robot is the ability to transverse rough terrain and even travel down sets of stairs (3).

Objective

Our proposed solution is to make self-balancing of two wheeled robot, achieved accuracy, control and also used for lifting purpose of the object from one place to another with guided or un guided path, Compact design and cost wise cheap.

Project Implementation Method

The two wheels are situated below the base and allow the robot chassis to maintain an upright position by moving in the direction of tilt, either forward or backward, in an attempt to keep the center of the mass above the wheel axles. The wheels also provide the locomotion thus allowing the robot to transverse across various terrains and environments.

Problem statement

While designing an Autonomous Self balancing robot there are some problems like the selection of motors. It is difficult task due to motor selection. Self-balancing itself is a quite difficult work, and then loading extra weight over it makes it more difficult. After it there arises a problem of movement. How it will move from one point to another. Self-guided is not easy with weight lifted.

Proposed solution to problem statement

For problems discussed above we will use built-in motor with gyro meter. It will solve the problem of movement and self-balancing. The gyro meter will also help in balancing when there are load lifted. For the movement in a specific area we can use path following technique or else which is suitable.

Benefits of the Project

Four wheeler will take more space, more power, can be bulky while 2 wheeler can be take less space, less power will be used.

It can be used as transport system for warehouses that have many things to transport at a time. So less labour meaning less cost.

Can work in a small place.

Can be operated through remote.

In case of fully automatic no need of human.

Technical Details of Final Deliverable

1.We are designing a “Two wheel self balancing vehicle used for transportation in warehouse”.

2.This will move from the loading/unloading point of a warehouse towards different racks of goods. So in this movement it will balance itself and also the weight lifted.

3.We will program the Robot to do such movement, or it can be remote controllable.

The design concepts between two wheeler robots are very similar. Each typically utilize a gyroscope to measure tilt, shaft encoders to measure distance and a microcontroller for performing the computations. These components combine to provide the basis of maintaining stability. Inclinometers or accelerometers are sometimes added to reduce the effects of gyroscope.

Final Deliverable of the Project Hardware SystemCore Industry TransportationOther Industries Others Core Technology RoboticsOther Technologies Artificial Intelligence(AI), OthersSustainable Development Goals Decent Work and Economic Growth, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	60500
Gyro Meter Built-in Motor Sensor	Equipment	4	3750	15000
DC gear motors	Equipment	4	2500	10000
Robot Chassis 2 floor aluminium	Equipment	1	19000	19000
Remote Control	Equipment	2	3000	6000
Battery charger system	Equipment	2	3000	6000
Arduino controller	Equipment	2	1500	3000
Printing+Overheads	Miscellaneous	1	1500	1500