Cable-coiling system
An automated system for coiling a large (e.g., >1000 km) length of cable in a cable tank. In an example embodiment, the system comprises a gantry positioned above the cable tank and a swarm of robots deployed on the floor of the tank. The gantry operates to controllably move a touchdown point of the cable, which is being fed into the tank by a cable engine. Each of the robots is equipped with a rake that can be used to push or pull downed sections of the cable on the floor of the tank. An electronic controller operates to control the speed of the cable engine and movements of the gantry and individual robots to coil the cable in the tank in spirally wound, vertically stacked layers. Different embodiments of the system may be used for cable coiling at the cable factory and on the deck of a cable-laying ship.
1 . An apparatus, comprising:
a movable head to guide a hanging section of a cable;
a plurality of independently movable robots, each of the robots (i) having one or more rakes for moving downed sections of the cable and (ii) configured to move independent of the movable head and independent of each other robot; and
an electronic controller to coordinate movements of the movable head and individual ones of the robots to coil the cable in spirally wound, vertically stacked, horizontal layers.
2 . The apparatus of claim 1 , further comprising:
first and second parallel stationary rails; and
a third rail mounted on and translatable along the first and second parallel stationary rails; and
wherein the movable head is mounted on and translatable along the third rail.
3 . The apparatus of claim 1 , wherein each individual one of the robots is operable to horizontally push or pull the downed sections of the cable using the one or more rakes thereof.
4 . The apparatus of claim 1 , further comprising a cable tank to hold the spirally wound, vertically stacked, horizontal layers of the cable.
5 . The apparatus of claim 4 ,
wherein the cable tank comprises a circular horizontal base and outer and inner walls attached to the base; and
wherein the robots are positioned to move in the cable tank between the outer and inner walls.
6 . The apparatus of claim 1 , further comprising one or more sensors to monitor catenary shape of the hanging section.
7 . The apparatus of claim 6 , wherein at least one of the one or more sensors is mounted on the movable head.
8 . The apparatus of claim 6 , wherein the electronic controller is configured to adjust movements of the movable head in response to monitoring data received from the one or more sensors.
9 . The apparatus of claim 1 , wherein the movable head and robots are operable, in communication with the electronic controller, to coil at least 1000 km of the cable in the spirally wound, vertically stacked, horizontal layers.
10 . The apparatus of claim 1 , wherein the individual ones of the robots are configured to communicate with the electronic controller via respective wireless links.
11 . The apparatus of claim 1 , further comprising an engine to feed sections of the cable to the movable head.
12 . The apparatus of claim 1 , wherein the cable comprises one or more optical fibers.
13 . The apparatus of claim 1 , wherein the cable is a submarine communications cable.
14 . The apparatus of claim 1 , further comprising:
first and second parallel stationary rails;
a third rail mounted on and translatable along the first and second parallel stationary rails, wherein the movable head is mounted on and translatable along the third rail;
a cable tank to hold the spirally wound, vertically stacked, horizontal layers of the cable, wherein (i) the cable tank comprises a circular horizontal base and outer and inner walls attached to the base and (ii) the robots are positioned to move in the cable tank between the outer and inner walls;
one or more sensors to monitor catenary shape of the hanging section, wherein (i) at least one of the one or more sensors is mounted on the movable head and (ii) the electronic controller is configured to adjust movements of the movable head in response to monitoring data received from the one or more sensors; and
an engine to feed sections of the cable to the movable head, wherein:
each individual one of the robots is operable to horizontally push or pull the downed sections of the cable using the one or more rakes thereof; and
the individual ones of the robots are configured to communicate with the electronic controller via respective wireless links.
15 . An automated cable-coiling method, comprising:
guiding a hanging section of a cable using a movable head;
moving downed sections of the cable using rakes of a plurality of independently movable robots, each of the robots configured to move independent of the movable head and independent of each other robot; and
coordinating movements of the movable head and individual ones of the robots using an electronic controller to coil the cable in spirally wound, vertically stacked, horizontal layers.
16 . The method of claim 15 , further comprising holding the spirally wound, vertically stacked, horizontal layers of the cable in a cable tank.
17 . The method of claim 15 , further comprising:
translating a third rail along first and second parallel stationary rails; and
translating the movable head along the third rail.
18 . The method of claim 15 , further comprising:
at least one of the robots horizontally pushing or pulling the downed sections of the cable using the one or more rakes thereof.
19 . The method of claim 15 , further comprising:
holding the spirally wound, vertically stacked, horizontal layers of the cable in a cable tank.
20 . The method of claim 15 , further comprising:
moving at least one of the robots in the cable tank between outer and inner walls of the cable tank further comprising a circular horizontal base attached to the outer and inner walls.