Communications spooler for a mobile robot
AssigneeiRobot Corporation
InventorsRobert Todd Pack, Tyson Sawyer, Chikyung Won, Grinnell More
Life of this patent
Estimating the term…
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.
Claims13
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.
A method of automatically dispensing and retrieving a cable comprising:
- 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.
A control system for cable management of a mobile platform comprising:
- 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.
Dependencies are inferred from the claim text.