Method and apparatus for controlling the tension of a power cord of a self-propelled robot
First Claim
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1. A method for controlling the tension on an electric power supply cord of a self-propelled robot, the cord being wound on a rotary spool carried by said self-propelled robot for undergoing unwinding and winding-up motions, and a motor for applying a rotary force to the spool, said method comprising the steps of:
- A) causing said robot to propel itself to produce an unwinding of said cord, while applying a selected tension on said cord as it is being unwound;
B) sensing an unwinding speed of said cord as it is being unwound;
B1) maintaining at least said selected tension on said cord when said cord unwinding speed is sensed as being less than a predetermined speed, andB2) applying a rotary force from said motor to said spool in a cord-unwinding direction for reducing the tension on said cord to a value below said selected tension when said cord unwinding speed is sensed as being at or above said predetermined speed.
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Abstract
A self-propelled robot includes an electrical cord mounted on a spool for being drawn-in or drawn-out. A sensor senses a rate at which the cord is drawn in or drawn out and actuates a motor connected to the spool for applying a rotary force to the spool to control the cord tension.
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Citations
4 Claims
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1. A method for controlling the tension on an electric power supply cord of a self-propelled robot, the cord being wound on a rotary spool carried by said self-propelled robot for undergoing unwinding and winding-up motions, and a motor for applying a rotary force to the spool, said method comprising the steps of:
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A) causing said robot to propel itself to produce an unwinding of said cord, while applying a selected tension on said cord as it is being unwound; B) sensing an unwinding speed of said cord as it is being unwound; B1) maintaining at least said selected tension on said cord when said cord unwinding speed is sensed as being less than a predetermined speed, and B2) applying a rotary force from said motor to said spool in a cord-unwinding direction for reducing the tension on said cord to a value below said selected tension when said cord unwinding speed is sensed as being at or above said predetermined speed. - View Dependent Claims (2)
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3. A method for controlling the tension on an electrical power supply cord of a self-propelled robot, the cord being wound on a rotary spool carried by said self-propelled robot for undergoing unwinding and winding motions, and a motor for applying a rotary force to the spool, said method comprising the steps of:
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A) causing said robot to propel itself to produce an unwinding of said cord, while applying a selected tension on said cord as it is being unwound; B) sensing whether said robot is changing its direction of travel; and B1) maintaining at least said selected tension on said cord when said robot travel direction is sensed as not changing, and B2) applying a rotary force from said motor to said spool in a cord-unwinding direction for reducing the tension on said cord to a value below said selected tension when said robot travel direction is sensed as changing. - View Dependent Claims (4)
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Specification