Communications spooler for a mobile robot
First Claim
Patent Images
1. A mobile platform comprising:
- a platform;
a drive system;
a drive system sensor that monitors the drive system of the mobile platform;
a cable handling system secured to the platform and having an outlet for dispensing and retrieving cable from the mobile platform; and
a system controller for controlling the cable handling system, the controller determining platform velocity according to the drive system sensor, and determining a substantially zero tension cable velocity based at least in part on platform velocity and on a position of the outlet with respect to a point around which the mobile platform turns.
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Abstract
A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed is monitored accurately by a sensor attached to the idler. A system controller in communication with the sensor controls the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive.
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Citations
13 Claims
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1. A mobile platform comprising:
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a platform; a drive system; a drive system sensor that monitors the drive system of the mobile platform; a cable handling system secured to the platform and having an outlet for dispensing and retrieving cable from the mobile platform; and a system controller for controlling the cable handling system, the controller determining platform velocity according to the drive system sensor, and determining a substantially zero tension cable velocity based at least in part on platform velocity and on a position of the outlet with respect to a point around which the mobile platform turns. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of automatically dispensing and retrieving a cable comprising:
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providing a cable handling system secured to a mobile platform; determining at least one of a position along a length of cable comprising a known length and a cable speed; and controlling the cable handling system and a movement of the mobile platform such that the cable downstream of the platform is dispensed and retrieved at substantially zero tension, by determining platform velocity and determining a substantially zero tension cable velocity based at least in part on platform velocity and on a position of a cable outlet from the cable handling system with respect to a point around which the mobile platform turns.
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13. A control system for cable management of a mobile platform comprising:
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a platform drive system including a sensor for determining platform velocity; and a system controller for dispensing and retrieving a cable from the mobile platform at substantially zero tension, the system controller determining an effective cable velocity based at least in part on platform velocity and determining a substantially zero tension cable velocity based at least in part on platform velocity and on a position of a cable outlet from the mobile platform with respect to a point around which the mobile platform turns.
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Specification