Hanso

Added a button at the end of the train to shutdown the power of the train in case of an "emergency". In a situation where we needed to stop the train fast, most of the time we pushed the 'back' button on the EV3. This stopped the programme to run, but not the train ... the train is powered by a PF battery and that was still switched on. I changed the programme already that when you hit the 'Select' button, that the EV3 shutdown the power. But hitting this power was nog logical, although we are raised by Microsoft technology "Press start to shutdown this PC" ... ;-) So, now the train has a big button at the end of the train that is now our emergency stop. At first, I made it red but that didn't look nice.

This is a rendered image of the train (made by Stud.io 2.0). You also see that we will cover up most of the rails. The reason is because we got too many 'false' readings by the color sensor. Especially when the underground of the table is white, we got this problem. By putting 'dark bluish gray' between the rails, we prevent these false readings. Another improvement to decrease the false readings: we now do multiple sensor readings (100x). For example, the train should slow down at the moment the colour sensor reads 'white'. But instead of responding to the first reading of the color white, it now counts the number of white readings until it reads a different color. Only if the number of white readings is more than 100, it was "highly probably" white. This way of determining the color, decreases the risk on false positives. Enjoy, Hans

This article about the new Candy Circles, is related to two other threads of mine: 1) The Lego Candy Sorter 2) The Lego Candy Warehouse The new developed Lego Mindstorms EV3 Candy Circles are replacing the Candy Sorter. The color detection of the Candy Sorter was simply not reliable enough. Once calibrated, it worked fine but it was too sensitive for a change in light. Therefore, it was not good enough to perform for a longer time, e.g. at Lego World or during another demo. We decided to go back to manually sorting the candies. But then we still needed some dispense mechanism to release a candy, that would be stored in the Candy Warehouse. I came up with the following solution: Four large circles, containing the candy. A circle would be able to release one candy at a time. The released candy would then be transported to the Trebuchet (where the candy would be put in a container, and then the container with candy is stored in the Candy Warehouse). This was the first prototype: As you can see, there is a touch sensor and one marker added onto the ring. The marker was used to sync a full rotation. After the sync, I would just rotate the ring 360/16 degrees to release the next candy. Because there is always a bit of drift, the sync (per full rotation) was planned to make sure that the drift could not increase infinitely. But, of course it would be better to stop exactly at each bucket. So I made a second proto. As you can see, each bucket has its own marker to stop exactly at the right position. This proto was good enough to start building four circles. And a matching conveyor belt. This is the result: And of course a video: Next step to make: how to determine that a candy circle is empty? I don't have free ports to add an additional sensor. And of course it needs to be reliable! Will keep you posted. -- Hans

I wrote an update in my own thread about the Mindstorms EV3 Monorail. You can read in my update everything about the new train design, the new container wagon and the up/down slope track.

It has been more than a month since I updated this thread. But that doesn't mean that nothing has happened . First of all, the train has been redesigned. I had several reasons for the redesign: The buttons of the EV3 brick were very difficult to reach. I even removed one of the glass panels to ease the access, but it was still too difficult. And that's not what you want during the testing phase. I still needed to add a wagon to carry the empty containers. This is the new design, how you like it (it is a rendered image made with Stud.io 2.0): From left to right: Loco #1 (one M motor that drives a wheel) Wagon with color sensor #1 Wagon to carry the empty containers Wagon to carry the EV3 brick Wagon with color sensor #2 Loco #2 (also one M motor to drive a wheel) Wagon 3 and 4 are articulated, you can see that on the video: Please note that the train on the video was not finished building and that the color scheme is not exact the same as on the rendered image. Meanwhile, the missing bricks have been bought and added to the train (no photo yet). What still has to be done, is to get the cables more out of sight. ** EVEN MORE NEWS ** There is more news to share. Somebody once told me: every monorail track system needs a switch, but also needs a slope to go up and down. Well, the switch has been made (you can read it in this thread, click here to go back in this thread). Now I needed to design the slope. The first prototype: I created the space to 'bend' the track by using the grey connector (art. 3673) instead of the black connector (art. 2780). This grey connector is normally used if you don't want friction. But it can also be used to get a bit more space to bend the track. It is not much, but gives just enough freedom between the bricks to make the curve in this slope. The curve in the slope was that much, that I needed the round 1x1 bricks to avoid stress. In principle, not a problem. But a major drawback for the wheel to get enough grip. This slope was just too steep for the train. As you can see in the following video: So, I made a second prototype. Same building principle with the grey connectors, but less steep: As you can see, the 1x3 tiles are now used as the surface and that gives more grip for the wheel. That, in combination with the less steep slope, resulted in the train going up and down without any problems. And that works fine. @BusterHaus Yes, of course you're right. At the time you wrote your reply, the couplers didn't allow up/down bending. Now they do (where the loco and the sensor wagon are 'fixed'), you can see that in the second video as well.

I updated the Lego Mindstorms EV3 Monorail Switch to version 1.1. Improved the connection elements, to make it more smooth and firm. I replaced the PF motor with an EV3 M motor. When I've finished the reverse loop, the two EV3 bricks can communicate with eachother. Enjoy, Hans

@FiliusRuciloThanks for the Thumbs Up. And your bridge looks great. Can't wait to see the complete yard build up. Regards, Hans

Completed the first motorized version of my switch. Please let me know what you think of it.

@Josephiah Thank you for your reply. Currently (and what is shown in the video), the switch and train do not interact with eachother. The train was simply programmed to run and switch direction when it noticed a the green tile (on the left, not visible in the video), a red or a yelow tile. Meanwhile, I was operating the switch with a PF remote control. But, the PF motor will be replaced (of course :-) by an EV3 motor connected to a second EV3. I also want to add sensors, to confirm that moving the switch went ok. Next, I will program the EV3's to communicate with each other. The idea is that there will be a monorail track on our layout with two reverse loops. The loops will each have a switch and the train will need to set the switch in the right position. One reverse loop will be at the delivery station, where the empty containers can be loaded onto the monorail. And the second reverse loop will be at the Candy warehouse, where the empty containers will be dropped. For this year, the (un)loading of the empty containers will be manually. It just saves time to walk between the two locations with the empty containers. Yes, I know this sounds lazy and yes, we are ... Of course, I'm thinking already how to get the empty containers automatically loaded onto the train and put back on the conveyor belt at the warehouse... but that's for next year. First things first, and that means for 2019 to finish the EV3 monorail. Enjoy, Hans

Based on the prototype, I've finished version 1 of the switch. It is now motorized (by PF motor, for testing). And of course a video to show how it works: Version 2 will have the right colors of the bricks (in backorder now) and the connection points needs to be made more firm. Please let me know what you think of it. Enjoy, Hans

I've started to draw the stacker crane in LDD and then render it with Stud.io. The first two pictures shows the roller platform. And the photos of the complete stacker crane, in phases. Designed in LDD and rendered with Stud.io. Enjoy, Hans

I've made a first prototype of a switch for my EV3 monorail, click here for the full article.

Of course, a monorail needs also a switch. So the last days I have been working on a first proto. In the video below, you can see the flexible rail and how it bends from S-curve to straight. Next step will be motorizing the movement including a smooth connection to the The flexiblity in the track is created by the space that you get when using the Lego 61184 element. The lower end of this pin when used in a technic element is smaller than the hole, thus leaving room to move.

I don't know about the capabilities of the PuP Hub, this might be a similar (yet smaller) solution suitable for us. But since the rest of the layout is already working with approx. 15 EV3 bricks, we probably will stick to this hardware. In addition to that, the software architecture is now setup with the intelligence in the brick and the PC application for the overall state handling. I didn't read the article of Cosmik in detail, but as I understand, this is different. The biggest advantage of our architecture, is that we can test the different parts without the PC application. That makes integration a lot easier. Nevertheless, thank you for the tip. And who knows, maybe in the future ;-). Best, Hans

Stud.io render of the updated train and a close-up of the wagon carrying the sensor. Of course, the wagon still needs to be finished that will have the same looks as the rest of the train. Enjoy, Hans

I have posted two updates in another Eurobricks thread. The first update was about the up- and downhill track elements: The second update was just now, and is about adding the color sensor to the train: Please let me know what you think. Regards, Hans

I have added a color sensor to the Lego Mindstorms EV3 Monorail train. It is now able to determine its position on the track, e.g. it can stop automatically for a switch or at the station. In the test setup, the train runs at speed 50. At the yellow marker, it slows gradually down to speed 25 and stops at the red marker. After 3 seconds, the train accelerates gradually to speed 50. Enjoy watching the video. Regards, Hans

For our 2019 layout, we are planning to keep the 'normal' train for delivering the candies to the visitors. The monorail will be used to return the empty containers from the delivery station to the warehouse. And you noticed correct, that the current version of the monorail is not able to carry containers. Wagons will be added to the monorail train, this also needs to be done. Hope that clarifies. And thanks for the compliment. Regards, Hans

I have added an up and downhill slope to my simple oval monorail layout. The train is now finished building. That is, apart from a sensor that still needs to be added. The sensor is needed to determine the location of the train, e.g. when it needs to stop for a switch or at the station. Small video of the train running smoothly up and downhill: Enjoy, Hans

Work in progress of the Lego Mindstorms EV3 monorail. Next update will be about the switch I'm working on and/or a downhill slope.

Thanks, and indeed it takes quite some time for the building. But I will keep posting videos of the 'work in progress'. Regards, Hans

There is no sensible reason to do this. Of course (... ), I know about the great design of Masao Hidaka. But I don't find that his monorail matches the tech design of our track. That's at least one reason to choose for my own design. The second, and maybe even more important reason is that I love to design this stuff myself. If I would make a monorail similar to the Masao one, it just wouldn't feel like 'my monorail'. As said, there is no sensible reason. And especially if I look at the price of the track ;-) Hope this gives some explanation. Thanks anyway for your reply and the compliment. Hans PS What do you mean with 'hope to see soon a video'? There is a video available with the first test run: https://www.youtube.com/watch?v=1bE2DVLPSUg

New video added with the "work in progress": Most of the bricks are delivered, but still waiting for some pieces I ordered at Bricklink to finish the tracks and train. On the straight tracks, the train is now running rather smooth. Speed is currently set ot 30, didn't try 100 yet ;-) Enjoy watching the video. More photos can be viewed at the Flickr page (click the photo below): Regards, Hans

Thanks @MajorAlvega for your kind words. And of course, you're always welcome to visit the Netherlands! We may have bad weather and horrible food, but some things are better here ;-)

Thanks @Jim And lots of plans for 2019, including the already mentioned Lego Mindstorms Monorail so stay tuned!