Object-sensing systems and robotic systems including the same

A robotic system for suspending cable from an overhead powerline, the system comprising:

• a drive subsystem for driving the robotic system along the powerline;
• an obstacle detection subsystem for detecting obstacles along the powerline, the obstacle detection subsystem comprising:
• a light transmitter subsystem positioned on a first side of the powerline and configured to generate a collimated linear beam of light having a length of at least 3 inches;
• and
• a light receiver subsystem positioned on a second, opposite side of the powerline and comprising a linear sensor array having a length of at least 3 inches, the light receiver subsystem positioned to detect shadows caused by the obstacles blocking at least a portion of the collimated linear beam of light;
• and
• an extension subsystem for moving at least a portion of the robotic system to avoid the obstacles detected by the obstacle detection subsystem.

A method of fabricating an object-sensing system, the method comprising:

• operatively coupling a collimator to a laser light source such that the collimator forms a collimated beam of light from laser light from the laser light source;
• positioning a Powell lens to receive the collimated beam of light and to form a linear fan of light from the collimated beam of light;
• positioning a linear lens to receive the linear fan of light and to form a collimated linear beam of light from the linear fan of light, the collimated linear beam of light having a length of at least 3 inches;
• and
• positioning a linear sensor array having a length of at least 3 inches to receive the collimated linear beam of light and to detect shadows caused by objects blocking at least a portion of the collimated linear beam of light.