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Timing Grey: En självbalanserande robot med ultraljud och egenutvecklad hastighetsmätare
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
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2012 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Timing Grey: A self-balancing robot with ultrasound and a self-developed speedometer (English)
Abstract [en]

This bachelor thesis describes the process of developing a two wheeled robot with active

balancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shall

stop to stand still balancing. The workload in the group has been divided according to the

previous individual projects, which are attached. The design of the robot is inspired by the

concept of the Segway. The main components are a DC-motor for the propulsion, an ultrasonic

sensor for distance measurements, a reflex sensor which detects the finish line and one that

works as an encoder. The communication between the remote controller and the robot uses a

Bluetooth module.

The project resulted in a prototype that was able to balance actively using the data from the

ultrasonic sensor, parry external forces, communicate with a controller through Bluetooth,

identify the finish line and run in the desired direction.

Difficulties that have occurred during the development process have been solved by creative

solutions and innovative approaches. The majority of the time has been spent on building and

perfecting the self-constructed encoder. The importance of being thorough when working with

electronics and testing has been a lesson learned.

Abstract [sv]

Denna rapport går igenom processen att ta fram en aktivt självbalanserande tvåhjulig robot.

Roboten ska vara avsedd för att åka en viss sträcka rakt fram för att sedan efter en bestämd

mållinje stanna och balansera. Inom gruppen har arbetet delats upp i enlighet med de individuella

projekten som tidigare genomförts. Dessa rapporter finns bifogade som bilagor. Den framtagna

roboten är av segway-modell. De ingående komponenterna är en likströmsmotor för

framdrivning, en ultraljudssensor för balansering, reflektionssensorer för målavkänning och

enkoder samt en Bluetoothmodul för kommunikation mellan fjärrkontroll och robot.

Projektet resulterade i en prototyp som kan balansera aktivt, parera yttre stötar, kommunicera via

Bluetooth, identifiera mållinjer och drivas framåt.

Ett kontinuerligt flöde av oförutsedda problem har krävt kreativ problemlösning och strategisk

felsökning. Förutom att få balanseringen att fungera har en stor del av utvecklingstiden gått åt till

att implementera och utveckla en egenkonstruerad enkoder. Många lärdommar har tagits kring

vikten av noggrannhet i elektronikarbete samt hur komplex teori appliceras i praktiken.

Place, publisher, year, edition, pages
2012.
Series
MMKB 2012:23 MDAB 026
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-102050OAI: oai:DiVA.org:kth-102050DiVA: diva2:550518
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-09-07 Created: 2012-09-07 Last updated: 2012-09-07Bibliographically approved

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MMKB 2012:23 MDAB 026(10117 kB)456 downloads
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