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The Science of Segway

Segway Smart Motion™ – The science behind the technology

How dynamic stabilization works.

The ability to balance on its own is the most amazing thing about the Segway PT, and it is the key to its operation. To understand how this system works, it helps to consider Kamen’s model for the device-the human body.

If you stand up and lean forward so that you are out of balance, you probably won’t fall on your face. Your brain knows you are out of balance, because fluid in your inner ear shifts, so it triggers you to put your leg forward and stop the fall. If you keep leaning forward, your brain will keep putting your legs forward to keep you upright. Instead of falling, you walk forward, one step at a time.

The Segway PT does pretty much the same thing, except it has wheels instead of legs, a motor instead of muscles, a collection of microprocessors instead of a brain and a set of sophisticated tilt sensors and gyroscopic sensors instead of an inner-ear balancing system. Like your brain, the Segway PT knows when you are leaning forward. To maintain balance, it turns the wheels at just the right speed, so you move forward. Segway calls this behaviour dynamic stabilisation and has patented the unique process that allows the Segway PT to balance on just two wheels.

The Brains and the Brawn

The Segway PT is controlled by an intelligent network of sensors, mechanical assemblies, propulsion, and control systems. The second you step on, five micro-machined gyroscopic sensors and two accelerometers sense the changing terrain and your body position at 100 times per second – faster than the brain can think.

Segway PTs use a special solid-state angular rate sensor constructed using silicon. This type of gyroscopic sensor determines an object’s rotation using the Coriolis effect on a very small scale.

Simply put, the Coriolis effect is the apparent turning of a moving object in relation to another rotating object. For example, an airplane trying to travel in a straight line can appear to turn because the Earth is rotating underneath it.

The Segway PT has five gyroscopic sensors, though it only needs three to detect leaning forward or backward (termed “pitch”), leaning to the left or right (termed “roll”) and steering to the left or right (termed “yaw”). The extra sensors add redundancy, to make the product more reliable. All of this leaning and steering information, as well as information from additional tilt sensors, is passed on to the brain of the device.

The brains and brawn are made up of two identical and redundant sets of microprocessor-based electronic controller circuit boards, batteries and motor windings that operate together and share the load of driving the wheels. The Segway PT has a number of additional onboard microprocessors. The vehicle requires this much brain power because it needs to quickly make precise adjustments to keep from falling over. If one controller board (or it’s associated battery, motor windings or wiring) breaks down, the other set will take over all functions so that the system can notify the rider of a failure and shut down gracefully.

The microprocessors run an advanced piece of software that controls the Segway PT. This program monitors all of the stability information coming from the gyroscopic sensors and adjusts the speed of the electric motors in response to this information. The electric motors, which are powered by a pair of rechargeable lithium-ion batteries, can turn each of the wheels independently at variable speeds.

When the PT leans forward, the motors drive both wheels forward to keep the PT from tilting over. When the PT leans backward, the motors drive both wheels backward. When the rider moves the LeanSteer frame to turn left or right, the motors drive one wheel faster than the other, or if traveling slowly enough, drive the wheels in opposite directions, so that the Segway PT rotates (steers). When under way, the Segway PT will generate precisely the right radius of turn so that your lean is balanced by the centripetal acceleration generated by the turn.

Other examples of Segway Smart Motion technology, from the innovative, award-winning Concept Centaur, to the licensing of Segway Smart Motion technology to other third-party companies, demonstrate that Segway continues to challenge the assumptions and expand the boundaries of traditional transportation.

History

1999 – Renowned inventor Dean Kamen founds “the Company”, later to be known as Segway.
2001 – February – Segway breaks ground on its manufacturing plant and HQ in Bedford, NH.
2001 – December –The Segway Human Transporter (HT), now known as the Segway Personal Transporter (PT) is unveiled on Good Morning America.
2002 – January – The first pre-production Segway PTs are manufactured.
2002 – November – Segway PTs go on sale to the public through Amazon.com.
2003 – February – Segway RMP is born through a contract with DARPA (Defense Advanced Research Projects Agency).
2004 – November – Segway’s concept four-wheel ATV prototype is featured in TIME Magazine as one of the “Best Inventions of 2004”.
2005 – March – Segway announces its first Segway Cross-Terrain Transporter (XT), which is equipped with extended-range lithium-ion batteries and features all-terrain tires, a robust fender design and specially tuned software for riding over varied terrain.
2006 – August – Segway introduces the second generation Segway PT, featuring breakthrough LeanSteer™ technology and a wireless InfoKey™ controller that enhances the Segway PT experience. The new product line includes the versatile Segway i2 and the cross-terrain model, the Segway x2.
2008 – August – The Beijing 2008 Summer Olympics deploys more than 100 Segway PTs to be used by its delegates, selected in part because it is a zero emissions transportation device and an environmentally friendly solution.
2009 – May – After incorporating the specific input of experienced law enforcement and security professionals, Segway introduces two new Patroller models that provide public safety personnel with features that ensure greater visibility and improve community policing and security programs.
2009 – December – Segway is acquired by James ‘Jimi’ Heselden, a prominent British entrepreneur. The Company continues to be privately held.
2011 – March – Segway expands its business model and creates the “Segway Experience Center Program”. The new program provides tour locations the flexibility to be affiliated with Segway Inc. as an authorized tour operator, with the option to sell PTs.
2012 – October – Segway launches ARTI, its latest Robotics Mobility Platform (RMP) prototype. Its name (an abbreviation of the word ‘articulate’) was derived from the platform’s articulated steering method.
2013 – February – Segway is acquired by Summit Strategic Investments, LLC and announces plans to grow its product portfolio and drive personal transportation innovation worldwide.
2014 – March – Segway launches an update to its core products with the i2 SE and x2 SE Personal Transporters. The updates include gliding lights, to be better seen in low-light conditions, and a redesigned foot mat, enhanced for rider comfort.
2014 – May – Segway launches its first three-wheel personal transportation device, the SE-3 Patroller, for the public safety market. It boasts Segway quality and reliability as well as innovative anti-tip technology.
2015 – April – Segway and Ninebot, Inc. complete strategic combination. The combined company will focus on research and development, manufacturing, sales and service in the short-distance transportation industry.
2015 – December – Segway Launches Ninebot by Segway miniPRO, a revolutionary hands-free personal transporter for the consumer market. It’s Segway’s first product launch since the combination of Ninebot and Segway.