Communications spooler for a mobile robot
View Patent ↗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.
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.