Systems and methods for installing fiber optic cable onto a powerline conductor
The disclosed robotic system may include (1) a drive subsystem that translates the robotic system along a powerline conductor and (2) a rotation subsystem coupled to the drive subsystem, where (a) the rotation subsystem is coupled to a container that defines an arcuate volume about an axis such that the container partially surrounds the powerline conductor when the axis aligns with the powerline conductor, (b) the container carries a segment of fiber optic cable coupled to the powerline conductor, and (c) the rotation subsystem, while the drive subsystem translates the robotic system along the powerline conductor, rotates the container about the powerline conductor while the axis is aligned with the powerline conductor such that the segment of fiber optic cable is wrapped helically about the powerline conductor. Various other systems and methods are also disclosed.
1. A robotic system for translating along a powerline conductor, the robotic system comprising:
a drive subsystem of the robotic system; and
a rotation subsystem coupled to the drive subsystem by an extension subsystem end portion, wherein:
the rotation subsystem is coupled to a container that defines an arcuate volume about an axis such that the container partially surrounds the powerline conductor when the axis aligns with the powerline conductor;
the container is configured to carry a segment of fiber optic cable coupled to the powerline conductor; and
the rotation subsystem, while the drive subsystem translates the robotic system along the powerline conductor, rotates the container about the powerline conductor while the axis is aligned with the powerline conductor such that the segment of fiber optic cable is wrapped helically about the powerline conductor.
2. The robotic system of claim 1 , wherein the drive subsystem comprises:
a first drive subsystem end portion that leads the rotation subsystem while the robotic system translates along the powerline conductor; and
a second drive subsystem end portion that follows the rotation subsystem while the robotic system translates along the powerline conductor.
3. The robotic system of claim 2 , further comprising a payload subsystem that is configured to carry the container and that is coupled to the rotation subsystem such that the rotation subsystem rotates the payload subsystem about the powerline conductor as the drive subsystem translates the robotic system along the powerline conductor.
4. The robotic system of claim 3 , wherein the payload subsystem further comprises a payout straw assembly coupled to a trailing end of the second drive subsystem end portion such that the payout straw assembly rotates about the powerline conductor with the payload subsystem to helically wrap the segment of fiber optic cable about the powerline conductor while maintaining tension on a portion of the segment of fiber optic cable being wrapped.
5. The robotic system of claim 4 , further comprising a fiber payout track that guides the segment of fiber optic cable past the second drive subsystem end portion between the container and the payout straw assembly.
6. The robotic system of claim 3 , wherein the payload subsystem further comprises a tensioner assembly that maintains tension on a portion of the segment of fiber optic cable being wrapped.
7. The robotic system of claim 2 , wherein each of the first drive subsystem end portion and the second drive subsystem end portion pivots vertically relative to the rotation subsystem.
8. The robotic system of claim 2 , wherein each of the first drive subsystem end portion and the second drive subsystem end portion extends and retracts longitudinally relative to the rotation subsystem.
9. The robotic system of claim 8 , wherein each of the first drive subsystem end portion and the second drive subsystem end portion comprises:
a driving mechanism that selectively engages the powerline conductor to translate the robotic system along the powerline conductor; and
a grasping mechanism that selectively engages the powerline conductor while a corresponding one of the first drive subsystem end portion or the second drive subsystem end portion extends and retracts longitudinally relative to the rotation subsystem to translate the robotic system along the powerline conductor.
10. The robotic system of claim 2 , wherein each of the first drive subsystem end portion and the second drive subsystem end portion comprises:
a first driving mechanism that selectively engages the powerline conductor to translate the robotic system along the powerline conductor; and
a second driving mechanism positioned between the rotation subsystem and the first driving mechanism that selectively engages the powerline conductor to translate the robotic system along the powerline conductor.
11. The robotic system of claim 10 , wherein each of the first driving mechanism and the second driving mechanism translates orthogonally to the powerline conductor relative to a corresponding one of the first drive subsystem end portion or the second drive subsystem end portion.
12. The robotic system of claim 10 , wherein at least one of the first driving mechanism or the second driving mechanism translates along the powerline conductor relative to a corresponding one of the first drive subsystem end portion or the second drive subsystem end portion.
13. The robotic system of claim 1 , further comprising:
an extension subsystem that:
mechanically couples the rotation subsystem to the drive subsystem; and
selectively extends the rotation subsystem away from the powerline conductor to avoid an obstacle along the powerline conductor.
14. The robotic system of claim 13 , wherein the rotation subsystem further comprises at least one stabilization component that maintains a desired rotational position of rotation subsystem relative to the powerline conductor.
15. The robotic system of claim 14 , wherein the at least one stabilization component comprises one or more thrusters.