Mr Jos

When I finish it I will make a video, it will show better how it works then 1000 technical words. Right now all bones and muscles hurt from climbing stairs to much today. Put a real crane in a warehouse today (28meter high), tomorrow second one. Went up and down the ladder/scaffolding over 10times with loads of security tools.

Instead of using a long conveyor to bring out pallets needed, I extended the input chain conveyor so it can run both ways, and added a scissor lift so the pallet can be lifted off so the chain is free again for next box. I rebuild my 6 degrees of freedom robot arm, which will be able to take the pallet and put it anywhere around. Need to check the layout and then make a few new cables so the Brick with the HMI is in a better location. Then need to make the program as reliable as possible so I can take it to events maybe.

Is there any way a non-expert in programming can make a HMI on a tablet/phone and then by bluetooth control a master EV3 brick? (I already controlled the robotic arm with a PS4 Bluetooth controller, but now I want a more visual controller) I'm asking this for my highbay warehouse with 6dof robot. Now I have a HMI on the master Brick (and 4 slaves connected with bluetooth). The screen of an EV3 is small and only 5 buttons do limit the possibilities. I would like to make a screen(s) that could control all operations that need to be done, like 'remove container with Liftarm 1x7 Thick LBG'. So not just a sliders HMI, it should constantly be updated by the master where every box is moved to so it can be shown on the screen/in a storagelist. Haven't seen anything like that yet, but would like to explore it if there is some start for me to learn it.

Ah ok, that's what I was thinking already, why there was no parameters programmed in your app to be able to adjust the centering. Depending on your last steering input, if you made a left turn and go back to center, it should go a little over center point to right side to make the wheels on the model straight. Same for a right turn, go a little to far with the servo to the left and the model will steer forward again. Guessed guys with your capabilities would have thought of that, and seems you did but later on. Good job! In all my models driving and lifting, this is needed as coming from one side to a certain angle, or from the other side will always end up in a different position because of the play in the geartrain/motor. Some parameters added to the program can make it go the the exact same position time after time, wherever it comes from. Again, great work done!

I start the video at the steering part 56m05s, at 56m11s you can see the steering in the app is centered again, but the wheels are not turning forward on the model. In the shots after you can still see the steering has not been fully returned to center.

Incredible! I'm not a car fan with Lego usually, as it's not very technic, just drive and steer at most. Or even multi gearbox designed for pushing. I'm more for real performing designs, and this does that. Having a big amount of power for the drive, and still being able to have powered doors/spoiler etc. Yet from the outside it looks like a regular Lego hypercar, meaning no motors at all. Only point of concern would be the steering, it seems that there is no centering programmed. I tried to see in the design how you do the steering and I didn't manage to see it very good, but looks like there is a clutch gear? Meaning if it would click you lose your position, and can not really pufet the slider in middle to be sure you're at 0° angle. I saw this inside the building when you were driving ( a lot in reverse also ) the slider was centered, but the wheels steering angle still around 15° on the car. This would make the model really hard to handle, certainly at 30+ km/h. (Hence why it ended it the grass a few times) But it's been a nice movie, interesting to watch and see why you have chosen 10motors for driving.

For that I would have to add a long roll conveyor where like 20boxes could be put on 1 by 1 out of the racks. This would have to be all the items needed in a step/bag normally. Then have the HMI tell how many parts need to be taken out of each box. Then confirm to let them be put back, and it should start taking out pallets for the next step etc.

Long time no update as I didn't have much time to build/program as I was building a real 1:1 high bay warehouse for my work. I now finally finished the HMI (Human - Machine - Interface), it's the communication between the operator (human) and the warehouse+conveyors (machine). Every box added to the system will bring up a keyboard on the EV3 Mindstorms screen to give it a name (for example: Liftarm 7L LBG, Gear 24T DBG, etcetc.) The system constantly updates the current location for every box as it's moving through the warehouse, so when the system is shutdown it starts by loading the offline file to restore the location data. In the HMI a lot of settings can be selected like, Automatic pulling out random boxes, or only pull out selected boxes (they can be chosen from a dropdown list on the screen as each has its own name). Storage works the same, bring to a random free location or choose where you want it to go. Much more is possible but explaining all is not what everyone here wants I think, so here is a video of some full speed runs bringing away boxes, and pull them out of the rack again. What I would really want is to make a communication with a phone with bluetooth, where all names would be shown on screen, and select there what boxes should be taken out. Unfortunately I don't know yet how that would be possible. The AGV still needs to be programmed, but I need a better surface to drive on with a coloured line to follow.

Thanks! for x in temp_name_list: temp_name += x if small_font.text_width(temp_name) > max_length_screenname: temp_name_list.pop() Works perfect, now I can finish my HMI and start real testing soon.

I'm making a keyboard to make a new name for a box that will be stored in my warehouse. Each added letter will be stored in a list, and then a string is made from all these letters/numbers/spaces.. I'm trying to get the pixel size (width) of that string each time something is added to see if it still fits on the screen, if not it will delete the last added again. I have been trying to get the text_width working, but I don't understand what I'm doing wrong as I only get errors. Information at https://pybricks.com/ev3-micropython/media.html#module-pybricks.media.ev3dev ev3 = EV3Brick() small_font = Font(size=6) # 6 pixel height for text on screen ev3.screen.set_font(small_font) #Choose a preset font for writing next texts ev3.screen.clear() #Make the screen empty (all pixels white) print(ev3.screen.text_width("lbg 13l")) ev3.screen.draw_text(72, 15, "lbg 13l", text_color=Color.BLACK, background_color=Color.WHITE) AttributeError: 'Image' object has no attribute 'text_width' I was expecting to have an amount of pixels to be shown as an integer in the Output box from Visual Studio Code. If I get that working I can use it in the real coding for the namegiving.

Well done! I like these kind of Technic builds that do a certain job that can/is used with real machines. How many minutes did you have to turn the crank to get 1 ball finished?

The right side of your photo has the bevels on the outside, there is no place for it in his design, as there are liftarms that will collide with the bevel gears. Only thing he could indeed do is add the double bevelled gear as you did instead of the single bevel with a half spacer underneath. Cool project you're making.

I started with a normal 4L axle, it slipped out of the diff after running 20seconds. Then I had the same thought about the 4L axle with stop from the inside, but the way that the gears are put in the diff does not allow axles to be in them before they are in place. The reason I want the diff is for; Knowing exactly at what speed I'm driving, with the diff I can just take the center of the steered axle as turning radius. With the only driven axle being on the inside, or the outside would make a difference on the amount of rotations needed from the motor to make a full (90°) corner, or any steering at all. When steering without driving, the only driving wheel would be the pivot point and the AGV would woble around the driven wheel when making a full 360° turn. With the diff, you can turn the steered axle around as much as you want, the AGV will stay exactly at the same spot as one wheel will go forward, the other backwards and the diff stays stationary. (with a little counter turning for the stationary driving 12T gear on the 28T diff, but this is marginally small compared to the 12T on the 60T turntable). For the progress further, it's been slow due to having a cold and not feeling fine staring at a screen and thinking to much how to program the HMI (Human-Machine Interface). I want to try fitting the complete control panel on 1 small EV3 screen, and control it with just the 5 buttons available. I do have the part finished for storing an offline file, so it remembers what box has been stored at what place exactly. At this point it's starting to be more Mindstorms/programming and nerdy stuff that does not appeal many people, but when it all works the Technic working all together should be fun to watch I hope. It's a huge construction and without having seen a real installation like this one, it is perhaps difficult to imagine how it all works, but I like challenges.

As a bonus, quickly constructed an AGV this morning (Automatic Guided Vehicle). It has a roll conveyor at the same height as a corner transfer in upper position, so it can take the pallets, and drive them around, and return back to input of the warehouse. The steering angle is unlimted (360+°) so it can position itself in very tight spaces. Had to use the 5.5L axles with stop in middle to prevent the axles sliding out of the diff, anyone has a solution with a shorter axle? It now sticks out 1.5stud on each wheel, but it works fine. For programming the AGV I will need to wait to the end of next week, I ran out of Micro SD cards to be able to program with MicroPython. And if I start running the AGV I will need a bigger testfield..

It's starting to become to big to fit on the table with 2 laptops and still be able to pre-build next parts. Might have to move the YouTube laptop away for extra space. All conveyors with their motor have been constructed (2chain/roller corner conveyors, and a roller conveyor in between them. All parts can move on their own. Only thing left is to start programming (tomorrow) and perhaps add sensors to detect the position of a box.

Chain conveyors for in- and outfeed are already finished. Now need to connect them and some kind of other system for the boxes. All construction parts still in 'Galvanized steel' (LBG) and safety equipment for moving parts/crushing hazard in yellow. Might have to change some more parts to yellow later.

Thanks, I really like this project very much. Trying to improve every little thing and still working on high accuracy. Change I just made is the reel design. It had to much friction because it was a 3L axle connector with 2 axles inside, trying to get pushed out. And there come the dutchies to the rescue, thought about your comment, and looked in my box of rims/wheels/tires. I found one that had a pretty good inside diameter, high flanges and smaller than 3x3x3. The amount of degrees to go from bottom to top used to be 6250°, and with the new rim it's only 3020°. Speed for lifting has been doubled and the motor can easily handle it. It looks way better now (the range for driving is 2950°) So from all the way in the front bottom, to top end is nearly arriving at the same time, and the motors run around 800°/second so it takes around 4 seconds only with ramping up/down inclusive! I did let it run without the forks for like 20minutes and looks very good, then added the fork in/out (this takes also a few seconds to do). The accuracy is incredibly good. I let it put in some pallets and all seemed to be put down perfect. Not uploading a video of it as I already did one today but looks very good so far. I think I'm near the end now for the crane. Will add objective 5; in-/outfeed for the warehouse, if that's finished I can start long AS/RS testing. (Automatic Storage/Retrieval System) I appreciate everyone commenting as it's helping develop some unique Lego machines.

At the moment of writing the crane has been running for more then 1 hour just randomly going to a pickup/dropoff position and return to the beginning of the warehouse. Forks not going out/in to have faster cycle times to see if accuracy+mechanical structure keeps working fine. Only problem I have found so far is the 3L axle with stop in the string drum. After about 15minutes it's coming out like 3mm and needs a push back in place, if not it will fall out I guess. So will see if I can reinforce that part. Due to the fast acceleration and driving on tiles only without a gear rack (looks waaay better without gear racks) the driving wheel tended to slip just a margin. A few mm every minute. To keep it perfect I added black and red tiles to the 'train-rail'. Final adjustment is done with these to be sure the wheel didn't slip, but it all keeps working pretty fast and with ramp up/ramp down still working so the crane doesn't tip over.

I did start using the 1x2 thin liftarms and use a 2L axle, just like you have very well seen, but I would need around 60 of them to make the full energy chain, I didn't have enough, and found out I could use the Thick 1x2 with 1 crossaxle and the cable tray works pretty good. In both cases the chain would run a little away making the 'guidings' a need. But real world cable chains also run in a tray to keep them rolling in a straigth line. I did many, many tests to find this one suitable and working like a real energy chain, bending in one direction, but not (to much) in the other direction. It's not easy to do this in a small scale (2wide), and still have space inside for cables. All my other designs would crash when running backwards with the crane, this one works perfect. I will see how it holds running several hours during testing/programming, if needed I'll change back to the thin double crossaxle liftarms and order a few more.

Today I tried to find a solution for the cables during programming, testing and for long showcases. Energy chain with 2 cables inside that is firm enough, still bends good and moves freely in both driving directions so accuracy will not be changed. #1 charging cable for the rechargeable EV3 battery, it can now stay plugged in for infinitive running without danger of running over the cable. #2 USB programming cable, only used during testing/programming. But this will be a long time I guess, and when unplugged from the laptop the cable can just stay in the chain without problems. I could have made the lego chain much shorter (starting between rack 2-3), but I liked it to have it end at the beginning of the racks. Might change this in the future. When the high bay crane is at the front position hitting the safety shock the energy chain still has a nice flexing form. I added a few cheese pieces to guide the chain in place when running backwards. Will have to order some 1x2 cheese's (have 0) to make it look nice if I will stay with this design.

That's one of the reasons I din't buy Robot Inventor yet. As I tend to make always big projects, needing long cables. For the progress on the project so far; I've got the homing for all 3 motors finished (Programming with Pybricks MicroPython). Now it's finding the coordinates for each pallet position and just put them in a list. Then still need to test if this new rack design does work.. it's more narrow then my old style rack, so fingers crossed.

I love these kind of MOC's! Great to watch and see the mechanism work.

The cable is just a flat 6 wire (old) phone cable. RJ12 6P6C, right side connector is what you need as plugs, and a crimping device that can crimp these right sided plugs. Standard phone plugs have the tabs in the middle, these will not fit in the EV3, only right side tabs. I think I bought 2bags on amazon with 50connectors each and the crimping tool. In a local electric store the cable for like 0,50€/meter, I bought a 50m roll that I can cut on any length I need. Here is another project I made with all self made cables, so they can go under the baseplates to the EV3 build in the metal frame; Sounds like something happening in a lot of factories. People with forklifts driving into poles/racks/pallets. I do already have such a forklift ready So might do that when I think about breaking down this project!

I would need a wide one, but not to big in diameter, as it should stay direct drive (no gearing at all), to have most accurate and fast positioning as possible. But the single 20T bevel design seems to work pretty decent so far. Only problem is the 3L axle with stop wanting to go out, but might have to just put a connector in front of it to block it in place. I also added objective #4, I tested with some older cables to get the correct length and a good working energy chain. It's not easy to make a flexible guiding system that stays small in size compared to all other parts in the crane. My solution so far is a combination of thin 5L liftarms with and without axle holes alternated. Cables made after testing with my 2m older cables first; The 80cm motor cable goes into some fixed points on the outside of the mast, but the 100cm sensor cable goes inside the mast. It needs to be connected the the bottom ports of the brick. To put a 2L liftarm in between the 3x11 panels I had to take the mast almost completely apart, but the cable goes nice inside now.

That sounds a bit like my first version I made of this Warehouse, I might remake this XL one with input/output conveyors aswell again. I then used 3x EV3 set, now I have 6bricks where 5 of them have the rechargeable battery. So maybe I will expand it with more conveyor belts, no idea yet. It does sound as a fun project to try, and certainly will be possible I think. But first I want to finish this crane as standalone and program it completely. Then it should be easy to add any other system connected to it for in-/output. I did also think about using my 6DOF robot as in-/output, it would look cool, but not very realistic to use a robot arm for feeding containers. Just the complexity does make me want to try it!