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レゴ玉運び装置アダプティブクルーズコントロール Lego GBC module: Cars with adaptive cruise control

レゴ玉運び装置アダプティブクルーズコントロール Lego GBC module: Cars with adaptive cruise control

I made a car that carries the balls with Adaptive Cruise Control (ACC). I use Lego’s Powered Up platform. Powered Up has hubs, motors and sensors. So we can program the behavior. This car has a Powered Up hub, driving motor, and distance sensor. The car was programmed to run at a certain distance from the obstacle so that the car does not get too close to the obstacle. I add a car. With the aid of ACC, we can increase the number of cars. The number of balls that can be carried by one car is small. However, adding more cars can increase the overall ability to carry the ball. The car discharges the balls while driving. The car body was made with a focus on compactness. A small body is packed with a Powered Up hub, motor, and distance sensor. This car is small but four-wheel drive. The program is created using the Powered Up app. The car was programmed to run at a certain distance from the obstacle so that the car does not get too close to the obstacle. The loading part was made using a Powered Up move hub. Two motors built in the move hub drive the star wheel and gate. A distance sensor is used to detect the arrival of a car. With the red lever, we can press the green power button on the move hub. The program is created using the Boost app. The car detects the gate and stops. When the sensor of loading part detects the car, it sends out balls. The gate opens when the balls have moved to the car. When the obstacle (gate) ahead disappears, the car starts. After checking the start of the car, the gate closes. The layout was changed so that the balls automatically circulate. I increased the number of cars to four. If the brake is delayed, the cars may touch each other. However, if I reduce the speed of the car, they will not touch. This time I’m focusing on the appearance, so the speed isn’t reduced. A total of four smart phones and tablets are used to control four cars. All cars have the same program. From now on, I increase the sensitivity of ACC so that the car chases the car ahead adroitly and play with it. However, this program is not suitable for carrying balls, because the stop position by the gate becomes inaccurate. If the car gets too close, the car move backwards. I try to put the yellow car in the opposite direction. The cars push each other. The yellow car is pushed by the yellow-green car. I don’t know the reason, but I think it is due to individual differences in sensors, motors, and batteries. I switch the yellow car to manual remote control operation. The cars will follow behind like the duck’s parent and child. Free instructions are avairable at wy website.

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39 thoughts on “レゴ玉運び装置アダプティブクルーズコントロール Lego GBC module: Cars with adaptive cruise control

  1. I suspect if all the sensors are adjusted to match, then any set of 3 cars will push the 4th around. The set of 3 will bounce against each other, so the lead car ends up pushing the 4th car around.

    Well, most of the time. It would be a metastable system. The cars can be placed on the track so none of them are moving.

    If each car changes its following distance randomly, it will break deadlocks, and make it look like the cars are losing their patience.

  2. The variable behaviour is caused by lag time. The time spent sending a signal to the phones processing it and getting it back and then acting is high enough that it puts them out of sync.

  3. It'd be really cool to see these travel different random paths, so the order of the carts ends up constantly changing as the module runs!

  4. Another really great design. Having built a number of GBC builds with Powered Up and Boost, the issue is feed back latency between the phone/tablet and the hub as well as the variations in the sensors, they all have there own little nuances. Light also plays a big part, the bright recording lights bouncing off the glossy bricks does also cause an issue. When I built a sorting robot with Boost it had trouble between yellow, white and orange because of bright light

    These are awesome, first time I've seen the hub's in action used in multiples like that! Perhaps look at app cloning, instead of having to use four (for now!) devices?

  6. Well, not far till the home-office-home cycle of your average office worker from this point

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