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Topic3
Railway Signalling
June 12, 2018
5:52 am
Oliv78
New Member
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Forum Posts: 2
Member Since:
November 15, 2016
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I present you a demo built for a Family Day in a french Railway company, to introduce both programming and Railways safety principles to kids.

Here the "fixed blocks" principle is illustrated.

In short, it consists in ensuring that once a train occupies a block (= a given area of several km), no train will be able to enter this area. It relies on Safety electronics, in the trains and/or along the tracks, depending on the architectures.

Programming

~~ 2 trains following a black line, only stopping if they detect an obstacle on their left.

- Slow train (Hogwarts Express crew) : http://www.edwareapp.com/share/QjUIA
- Fast train (Millenium Falcon crew) : http://www.edwareapp.com/share/jGRht

~~ 4 blocks entry detectors, in charge of detecting trains entering free blocks, lowering ther barrier to forbid busy blocks to following trains. The block is released once the train enters the next block, through IR communication.

- Block entry 1 : http://www.edwareapp.com/share/aiyKZ
- Block entry 2 : http://www.edwareapp.com/share/GEPea
- Block entry 3 : http://www.edwareapp.com/share/kEZhe
- Block entry 4 : http://www.edwareapp.com/share/lMbJW

If you want to use these programs with more than 4 blocks, you only need to modify the myID variable, and the identification of the next block entry (the one which IR message is expected to unlock the block).

Obstacle detection blurring IR communication

Note that I faced a surprising issue that could be useful for the community to be aware of. I knew that obstacle detection and IR communication rely on the same IR led. Thus I built each program in order not to rely on IR communication when obstacle detection is activated, and conversely.

But I was also very surprised to realize that when their are close to each other, obstacle detection of a robot blurs IR communication of another robot. What indeed happened in my demo, when a train is waiting behind a lowered barrier waiting for this obstacle to be removed, and the block entry robot waiting IR message from next block entry robot to release the block and raise the barrier.

I solved this by imposing both time slots with obstacle detection deactivated for train robots (0,5s deactivated / 0,5s activated), and IR messages retries for block entries (6 successive emissions each 0,2s). This appeared to solve the issue, IR message being able to pass in obstacle detection deactivated slots.

Enjoy !

And a big thank to Edison team for these nice robots.

I won't be surprised I you receive new orders after this showwink

June 12, 2018
3:04 pm
MAX
Member
Members
Forum Posts: 11
Member Since:
August 5, 2017
sp_UserOfflineSmall Offline

Oliv78 said
I present you a demo built for a Family Day in a french Railway company, to introduce both programming and Railways safety principles to kids.

Here the "fixed blocks" principle is illustrated.

In short, it consists in ensuring that once a train occupies a block (= a given area of several km), no train will be able to enter this area. It relies on Safety electronics, in the trains and/or along the tracks, depending on the architectures.

Programming

~~ 2 trains following a black line, only stopping if they detect an obstacle on their left.

- Slow train (Hogwarts Express crew) : http://www.edwareapp.com/share/QjUIA
- Fast train (Millenium Falcon crew) : http://www.edwareapp.com/share/jGRht

~~ 4 blocks entry detectors, in charge of detecting trains entering free blocks, lowering ther barrier to forbid busy blocks to following trains. The block is released once the train enters the next block, through IR communication.

- Block entry 1 : http://www.edwareapp.com/share/aiyKZ
- Block entry 2 : http://www.edwareapp.com/share/GEPea
- Block entry 3 : http://www.edwareapp.com/share/kEZhe
- Block entry 4 : http://www.edwareapp.com/share/lMbJW

If you want to use these programs with more than 4 blocks, you only need to modify the myID variable, and the identification of the next block entry (the one which IR message is expected to unlock the block).

Obstacle detection blurring IR communication

Note that I faced a surprising issue that could be useful for the community to be aware of. I knew that obstacle detection and IR communication rely on the same IR led. Thus I built each program in order not to rely on IR communication when obstacle detection is activated, and conversely.

But I was also very surprised to realize that when their are close to each other, obstacle detection of a robot blurs IR communication of another robot. What indeed happened in my demo, when a train is waiting behind a lowered barrier waiting for this obstacle to be removed, and the block entry robot waiting IR message from next block entry robot to release the block and raise the barrier.

I solved this by imposing both time slots with obstacle detection deactivated for train robots (0,5s deactivated / 0,5s activated), and IR messages retries for block entries (6 successive emissions each 0,2s). This appeared to solve the issue, IR message being able to pass in obstacle detection deactivated slots.

Enjoy !

And a big thank to Edison team for these nice robots.

I won't be surprised I you receive new orders after this showwink  

Very good Oliv78              (from Rim Sergio)

June 13, 2018
3:36 pm
MAX
Member
Members
Forum Posts: 11
Member Since:
August 5, 2017
sp_UserOfflineSmall Offline

Oliv78 said
I present you a demo built for a Family Day in a french Railway company, to introduce both programming and Railways safety principles to kids.

Here the "fixed blocks" principle is illustrated.

In short, it consists in ensuring that once a train occupies a block (= a given area of several km), no train will be able to enter this area. It relies on Safety electronics, in the trains and/or along the tracks, depending on the architectures.

Programming

~~ 2 trains following a black line, only stopping if they detect an obstacle on their left.

- Slow train (Hogwarts Express crew) : http://www.edwareapp.com/share/QjUIA
- Fast train (Millenium Falcon crew) : http://www.edwareapp.com/share/jGRht

~~ 4 blocks entry detectors, in charge of detecting trains entering free blocks, lowering ther barrier to forbid busy blocks to following trains. The block is released once the train enters the next block, through IR communication.

- Block entry 1 : http://www.edwareapp.com/share/aiyKZ
- Block entry 2 : http://www.edwareapp.com/share/GEPea
- Block entry 3 : http://www.edwareapp.com/share/kEZhe
- Block entry 4 : http://www.edwareapp.com/share/lMbJW

If you want to use these programs with more than 4 blocks, you only need to modify the myID variable, and the identification of the next block entry (the one which IR message is expected to unlock the block).

Obstacle detection blurring IR communication

Note that I faced a surprising issue that could be useful for the community to be aware of. I knew that obstacle detection and IR communication rely on the same IR led. Thus I built each program in order not to rely on IR communication when obstacle detection is activated, and conversely.

But I was also very surprised to realize that when their are close to each other, obstacle detection of a robot blurs IR communication of another robot. What indeed happened in my demo, when a train is waiting behind a lowered barrier waiting for this obstacle to be removed, and the block entry robot waiting IR message from next block entry robot to release the block and raise the barrier.

I solved this by imposing both time slots with obstacle detection deactivated for train robots (0,5s deactivated / 0,5s activated), and IR messages retries for block entries (6 successive emissions each 0,2s). This appeared to solve the issue, IR message being able to pass in obstacle detection deactivated slots.

Enjoy !

And a big thank to Edison team for these nice robots.

I won't be surprised I you receive new orders after this showwink  

hello Oliv78

as tu une solution pour avoir un suivi de ligne plus fluide 

Have you a solution to have a follow-up of more fluid line

June 14, 2018
5:46 pm
Oliv78
New Member
Members
Forum Posts: 2
Member Since:
November 15, 2016
sp_UserOfflineSmall Offline

Hi Max,

I didn't try a lot. Had to focus a lot more on my block entry detectors laugh

And the kids previously used the embedded line tracking program, with explanation on the algorithm, so they were used to this behaviour of the robot. 

Only thing I tested once was replacing the drive to the left or right of the algorithm by partly driving in this direction, and partly going straight forward. With different timings.

This resulted in less movements of the robot, but less robustness : the robot would sometimes lose the line, in particular in sharp turns. It was also less robust to low light.

My main concern being to be able to have a robust demo, I considered this as non-critical and used classic algorithm, only adding obstacle detection. And by the way, on this concern, I had to calibrate train robots obstacle detections very specifically, in order to be the lowest possible sensitive to obstacle on their right.

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