Timing Grey: En självbalanserande robot med ultraljud och egenutvecklad hastighetsmätare

Sammanfattning: 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.