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.
Claims11
A cable handling system comprising:
- a cable reel drive;
- a downstream tension roller drive comprising an idler;
- an idler sensor for monitoring a movement of the idler, the idler sensor determining at least one of a position along a length of cable and a cable speed;
- and
- a system controller in communication with the sensor for controlling the cable reel drive and the tension roller drive for dispensing and retrieving cable downstream of the tension roller drive at substantially zero tension.
A control system for a cable handling system comprising:
- a cable reel drive controller;
- a tension roller drive controller;
- an idler sensor for monitoring a movement of an idler, the idler sensor determining at least one of a position along a length of cable and a cable velocity;
- and
- a system controller for providing commands to the cable reel drive controller and commands to the tension roller drive controller, the commands based at least in part on a signal from the idler sensor, whereby a cable is dispensed and retrieved from the cable handling system at substantially zero tension.
Dependencies are inferred from the claim text.