Communications spooler for a mobile robot

• US 8,042,663 B1
• Filed: 12/27/2007
• Issued: 10/25/2011
• Est. Priority Date: 03/26/2003
• Status: Expired due to Fees

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: More, Grinnell, Sawyer, Tyson, Won, Chikyung, Pack, Robert Todd
• Primary Examiner(s): KIM, SANG K
• Application Number:
  US11/965,348
• Time in Patent Office: 1,398 Days
• Field of Search: 191/12.2 A, 191/12.2 R, 901/1, 89/11.3
• US Class Current: 191/12.20A
• CPC Class Codes: B65H 75/425 attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
• CPC Class Codes: B65H 75/4484 Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
• CPC Class Codes: B65H 75/4486 Electric motors
• CPC Class Codes: F41H 11/16 Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: F42B 15/04 using wire, e.g. for guiding ground-to-ground rockets
• CPC Class Codes: H02G 11/02 using take-up reel or drum

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.

Claims

1. A method for controlling a cable handling system for a mobile robotic platform, the method comprising:

providing at least one of an idle mode, a track mode, a track reverse mode, a track-in mode, and a track-out mode;

providing an error mode, wherein the error mode comprises holding a cable reel and a cable roller motionless and sending an error signal when the slack in a cable between the cable reel and the cable roller exceeds a predetermined threshold;

selecting at least one mode; and

controlling the cable handling system in accordance therewith.

2. The method of claim 1 wherein the idle mode comprises holding a cable reel and a cable roller motionless.

3. The method of claim 1 wherein the track mode comprises reeling out a cable when the mobile robotic platform moves forward.

4. The method of claim 1 wherein the track reverse mode comprises reeling in a cable when the mobile robotic platform moves forward.

5. The method of claim 1 wherein the track-in mode comprises reeling in a cable.

6. The method of claim 1 wherein the track-out mode comprises reeling out a cable.