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DESIGN AND REALIZATION OF AUTONOMOUS VISION
BASED SEGWAY ROBOT USING ARM CORTEX M4
Srinath V
Department of Electronics and Communication
Dr. NGP Institute of Technology
E-mail: [email protected]
Dr. S Suresh Kumar
Department of Electronics and Communication
Dr. NGP Institute of Technology
E-mail: [email protected]
Abstract. Segway Robot is one of the popular human
transporters, used by major Countries, such as for
police and military patrols in United States and
tourism at red-Fort in India. In the previous version,
the Segway robot featured movement based on
gyroscopic signals, but manual setup of the Segway is
required at initialization. In the proposed version this
obstacle is overcome by the addition of autonomous
features and control through Bluetooth interface. In
addition “Voice and Follow me” command features
can be implemented. As such in this way the Segway
robot can be remotely manipulated to move from one
place to another and also interact with user. To obtain
these features, the Microcontroller can be used with
Dual mode Bluetooth. On the whole, this proposed
product meets the eco-friendly standards with 0%
CO2 emission and acts as an autonomous stand-alone
transport vehicle.
Keywords- Autonomous, Segway, Booster-pack Sens-
Hub, Dual Mode Bluetooth, Mobility Robot- Society
Interaction, Adaptive Control.
I. INTRODUCTION
The exhibition inspection and other
special occasions are being developed for
launching new variety of personal
vehicles.
Among which relatively conventional to
the four wheeled vehicles, the two-
wheeled self-balancing electric robot has
environmental features like energy
saving and environmental protection. In
which, the self-balancing system keeps
the system balance by signal state
detection and analysis of variables.
Through self-balancing vehicle is eco-
friendly flexible movement and
intelligent control it is atypical unstable
and non-linear.
For a long time in self-balancing
robot is used as a transporter named
Segway robot. As well more control
mechanisms with more design, analysis
and modeling are developed in Segway
robot. With a rapid development of
miniature electro- Mechanical devices
Segway robot property are more
outstanding especially in flexibility. By
measuring of compatibility based angle
computing for balanced control in Self-
Balancing vehicles the system attains
more reliable state by following obtain
data from number of sensors and data
fusion[1]. As two wheeled human
transportation vehicle, Segway robot
consists adaptive robust regulation
methods based on pitch and yaw motion
[2] with steering. Based on the battery
drainage prevention, a method Dual-
Redundancy thermal backup control
method are made for its control scheme,
its fault detection and switching method
on power supply system, master control
logics, driver control, power circuit and
actuator [3]. Today`s smart world
robotics arm controlling microcontroller
can be interfaced with Wi-Fi mobile
phone [4]. This controlling based an
application build in the android platform.
As the Segway robot`s popularity
increases, the smart interface system is
essential in the field of IOT, because
every technology needs Real-Time basis.
As the robot`s information in the Real-
Time base is essential the basic needs is
signal processing [5]. Therefore, A signal
patterning and recognition approach is
made for mobile device. The most
significant signal is the brake state
signal, by which it is filtered and
classification module is made accurate
and robust. The most intelligible
technique is visualization, the Vision
based navigation and mapping generally
needs for the robot monitoring system
[6]. In which, the major drawbacks like
forward kinematics and kinetic fusion are
removed by means of Articulated Robot
Motion for Simultaneous Localization
and Mapping (ARM-SLAM).
Today`s part of the world moves
towards Security Process for navigation
and data transferring, which cause of
increasing security growth. The security
rate, needed to be concerned from crime
break action. This crime through data
transfer can be secured by Surveillance
systems. To make a real time based
surveillance system possible within local
area network, so live streaming is
accomplished [7] by using mjpeg
streamer. This system designed with cost
effective and portable to make the IP-
based systems and affordable for the
people having low-budget. It has the
capability of installing and processing
high resource software`s which makes to
accomplish the live streaming and
controlling the robot. The Segway robot
can works with Autonomous mode by
interfacing mobile application control
systems, obstacle avoidance for robot`s
mobility platform should be concerned
[8]. Based on the Home-Automation the
two wheeled inverted pendulum based
Segway Robot can be used. It`s DOF
(Degree of Freedom) arm gripper can be
interfaced for the home application
services, with Inverted pendulum,
variable centroid inverted pendulum
should be balanced in the control way
[9]. The Degree of Freedom of Robust
control is closed-loop system, which
achieves more stability and high
performance in the presence of uncertain
friction coefficients [10].
II. SYSTEM ARCHITECTURE
The basic system needs to be
designed relatively cheap and available
widely on the market, also to be easily
replaceable. As Segway robot works
under Real-time, with proper planning a
standard mechanisms and controllers to
be used for Segway robot systems. By
which, this Segway robot is partitioned
into two units,
1. Self-Balancing unit
2. Autonomous unit.
Fig 2.1.Autonomous System Architecture of Segway Robot
The Architecture of the Autonomous
Segway robot is shown in Fig 2.1. This
proposed Segway robot includes IMU
sensors, Servo motor, motor with
encoding, Arduino Uno, Arm-Cortex,
Grippers, Camera interface, Mobile
application and Bluetooth with Wi-Fi
module based IOT.
The System`s two units are explained
below. The Segway robot`s components
with unit price is shown below of the
table 2.1 and the power consumption of
total board is given in table 2.2.
S.No Components Unit
Price
1. Arduino Uno 500
2. Arm-Cortex 2000
3. IMU sensor 200
4. Motor controller 140
5. Servo Motor 200
6. Bluetooth 400
7. Wi-Fi 800
8. Camera 1000
9. Gripper 2000
10 Motor with Wheel 2700
11 Light 300
Table 2.1 Segway Major Components
DEVICE ACTIVE IDLE
Arduino 12V 5V
Armcortex 5V 3.3V
IMU 5V 3.3V
Motor Controller 12V 5V
Servo-motor 5V 5V
Bluetooth 5V 3.3V
Camera 5V 3.3V
Table 2.2 Power Distribution
A. Self-Balancing Unit
The working of proposed system has
IMU sensor, which helps to obtain the
Pitch, Yaw and Roll angles to detect the
robot`s portion and direction. Arduino uno
microcontroller helps to process the IMU
reading, based on which directs the motor
through motor controller. So, robot can
move either forward or backward direction
based on the manual leaning. The Arduino
microcontroller will also rate the speed the
motor based on tilt angle, because by the
Principle of the inverted pendulum, Speed
is directly proportional to the tilt angle.
The motor encoding will encode the
current speed of the motor rotation. In order
to correct the rated speed in accurately, the
microcontroller will continuously check
and correct the speed of the motor in
particular PWM wavelength.
B. Autonomous Unit
The proposed system designed with
Autonomous mode of operation and
capable of transmitting Segway robot`s
Speed, Status and Location. By using
advance technologies such as mobile
application, robot can be controlled its
directions and also can set the speed
limitation. In this proposed unit it has
additional features such as grippers can be
operated through mobile for any home
applications such as floor cleaning. One
more essential is vision based surveillance
are made with simple camera, which takes
simple pictures and can be transmitted to
mobile phone or Sd-card.
III – PROGRAMMING MODE
PROCESS
The Segway Robot has basic control
unit as Self-Balancing control unit consist
of four main sub units namely Tilt sensor
unit, microcontroller unit, motor control
unit and motor encoder unit. Additionally,
microcontroller will operate two manual
pad inputs. These units are implemented in
the Hardware platform base using Arduino
C programming and it`s flow at each stage
are discussed as follows.
The programming task is divided in
parallel processing, by which is partitioned
in four modes,
1. Self-Balancing mode
2. Synchronization mode
3. Peripherals mode
4. Autonomous mode.
1. Self-Balancing mode Process
Entire self-balancing process is
carried through Arduino programming. The
programming of Arduino should be Real-
time base. In this, the Segway Robot is
driven by manually with two inputs, along
with the IMU6050 and two manual inputs,
the Arduino board is programmed. The
Self-balancing is shown in the Fig 3.1.
Fig 3.1 Self-Balancing schematic
Fig 3.2 Flow chart of Self-Balancing Process
Fig 3.3 Flow chart for manual transporting
2. Synchronous Mode
This mode is data sharing process, in
which communication between Arduino to
Arm microcontroller or vice versa takes
place. Like Speed and direction from Arm
microcontroller will be transferred to
Arduino, based on the rate the Arduino will
direct the motors through motor controller.
In Fig 3.4, the basic synchronous mode
operation is shown.
3. Peripherals mode
In proposed system, Arm
Microcontroller which handles the
peripherals like grippers and camera
positioning control. This control is made
through remote operation. By using
Bluetooth module, interface with mobile
Fig 3.4 Synchronous Mode
Communication
application and control the robot`s gripper
through it. The function from arm
microcontroller to peripherals is shown
below in figure 3.5. The programming flow
diagram is shown along with autonomous
mode in Fig.3.7.
Fig.3.5. Peripheral mode interface with
Lanchpad
4. Autonomous mode
Autonomous control unit has ARM
Cortex m4 microcontroller act as the major
part. This controller has Bluetooth interface
protocol helps to communicate with or
mobile apps. This also helps to direct the
Segway Robot in desired direction by
commanding through mobile or any RF
transceiver. Directing command from
wireless module will be processed by ARM
Cortex. In mobile or any wireless module
the command is divided into two sections.
One section helps to command the wheel
motor and another one helps to command
the ARM grippers. The ARM Cortex have
camera with controller, this helps to capture
videos and images and transfer directly to
our mobile gallery and video clip mass
storage area. Individual operation is shown
in Fig.3.5 with clear flow chart which is
shown below Fig 3.7.
Fig 3.6 Autonomous mode Vision with
Bluetooth and IOT interface
Fig 3.7 Flow chart for autonomous
and peripherals process.
i) Wi-Fi Interface
Wi-Fi ESP8266 module is a self-
contained SOC with integrated TCP/IP
protocol stack that can give any
microcontroller access to Wi-Fi network.
The ESP8266 is capable of either hosting
an application or offloading all Wi-Fi
networking function from another
application processor. This component has
a power full enough on-board processing
and storage capability that allows it to be
included with the sensors and other
application specific devices through its
GPIOs with minimal development up-
front and minimal loading during runtime.
In Segway robot following information
likes robot speed, location, battery status
and photos videos can be enclosed with
home automation, Wi-Fi location devices,
industrial wireless control and security ID
tags are transmitted from transmitter side.
With Wi-Fi, transmitted details about
Segway robot can be received in receiver
side either in remote location or in city
side apart in few kilometers.
ii) Mobile Application
Mobile application is an App build in
the android platform and all smart phones
can uses the android apps. The android
app is built in JAVA programming
language. A signal is generated by clicking
a specific buttons on the android
application, this application is open source
can add, delete and edit the buttons using
eclipse software. By command center in
the mobile can be transmitted to robot
through Bluetooth, as per the commands
the robot microcontroller moves to arm,
grippers, camera position and transport
forward or backward.
Fig 3.8 Autonomous Vision based
Segway Robot Module
IV. CONCLUSION
The Arm Cortex lanch pad now can
be used for the control Robotic peripherals
with Smartphone from a remote area. The
Present Robot with Smartphone is internet
controlled robot has several disadvantages
such as wired restriction and server
problems. Due to delay and server
connection reduction problem date
transmission becomes delay rate. As the
Wi-Fi reduces these problems, because it
is fastest usage of internet, in present
situation, most people uses the
Smartphone worldwide.
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