Automatic deployment and retrieval tethering system
First Claim
1. Apparatus adapted to be mounted on a mobile vehicle for deploying and retrieving cable from the vehicle into the environment external to the vehicle comprising:
- a frame for mounting to the vehicle;
receiving means on the frame adapted to receive a cable storage reel having cable wound thereon for rotatable motion, the cable having a first end near the center of the reel, a wound portion of cable on the reel and an unwound portion of cable that extends from the reel;
coupling means for coupling the first end of the cable to the vehicle;
feeding means for feeding the cable on and off the cable storage reel;
guiding means including a cable exit area for guiding the unwound cable from the vehicle into the environment in any direction defined by a 360°
arc around the cable exit area;
sensing means for sensing the tension in the unwound cable in any direction defined by the 360°
arc around the cable exit area; and
controlling means coupled to the sensing means receiving a signal from the sensing means related to the tension in the unwound cable for bi-directionally controlling said feeding means so as to maintain a preset tension in the unwound cable.
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Accused Products
Abstract
A system for a mobile vehicle such as a remotely controlled robot, for deploying and retrieving cable into the environment external to the vehicle. The system includes a frame, a cable reel mounting device for a cable storage reel having cable wound thereon for rotatable motion. A rotatable electric/fiber optic joint is provided for coupling one end of the cable to the vehicle. The device has a mechanism for feeding the cable on and off the cable storage reel and for guiding the unwound cable from the vehicle. A sensor senses the tension in the cable in any direction in an arc of 360° as the cable exits a cable exit opening. An electronic circuit receives a signal from the sensor related to the tension in the cable for controlling the feeding of cable so as to maintain a preset tension or no tension in the cable. Preferably, the tension sensor is a strain gauge. The system can be attached to any mobile vehicle, e.g. a robot, requiring a cable for control, power and/or communication. It can allow two way transmission of voice, data, video, power and commands through all speeds, directions, motions and turns, including pivot turns, of the vehicle. The system can be used for deploying and retracting fiber optic, metallic or combination cables.
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Citations
84 Claims
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1. Apparatus adapted to be mounted on a mobile vehicle for deploying and retrieving cable from the vehicle into the environment external to the vehicle comprising:
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a frame for mounting to the vehicle; receiving means on the frame adapted to receive a cable storage reel having cable wound thereon for rotatable motion, the cable having a first end near the center of the reel, a wound portion of cable on the reel and an unwound portion of cable that extends from the reel; coupling means for coupling the first end of the cable to the vehicle; feeding means for feeding the cable on and off the cable storage reel; guiding means including a cable exit area for guiding the unwound cable from the vehicle into the environment in any direction defined by a 360°
arc around the cable exit area;sensing means for sensing the tension in the unwound cable in any direction defined by the 360°
arc around the cable exit area; andcontrolling means coupled to the sensing means receiving a signal from the sensing means related to the tension in the unwound cable for bi-directionally controlling said feeding means so as to maintain a preset tension in the unwound cable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method for deploying and retrieving cable from a mobile vehicle into the environment external to the vehicle comprising:
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mounting a cable storage reel for rotatable motion on a frame coupled to the vehicle, the cable having a first end near the center of the reel, a wound portion of cable on the reel and an unwound portion of cable that extends from the reel; coupling the first end of the cable to the vehicle; feeding cable on and off the cable storage reel; guiding the unwound cable from the vehicle from a cable exit area into the environment in any direction defined by a 360°
arc around the cable exit area;sensing the tension in the unwound cable in any direction defined by the 360°
arc around the cable exit area; andreceiving a signal related to the tension in the unwound cable and bi-directionally controlling said feeding on and off of cable so as to maintain a preset tension in the unwound cable. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50)
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51. Apparatus adapted to be mounted on a mobile vehicle for deploying and retrieving cable from the vehicle into the environment external to the vehicle comprising:
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a frame for mounting to the vehicle; a reel rotating member mounted on the frame adapted to receive a cable storage reel having cable wound thereon for rotatable motion, the cable having a first end near the center of the reel, a wound portion of cable on the reel and an unwound portion of cable that extends from the reel; a rotating joint for coupling the first end of the cable to the vehicle; a first drive motor for feeding the cable the on and off the cable storage reel; a cable exit opening for guiding the unwound cable from the vehicle into the environment in any direction defined by a 360°
arc around the cable exit opening;a sensor sensing the tension in the unwound cable in any direction defined by the 360°
arc around the cable exit opening; andan electronic circuit coupled to the sensor receiving a signal from the sensor related to the tension in the unwound cable for bi-directionally controlling said drive motor so as to maintain a preset tension in the unwound cable. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84)
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Specification