Stabilization of a robotic system in an unstable equilibrium configuration
The disclosed systems for suspending cable (e.g., fiber optic cable) from an overhead powerline may include a payload subsystem for housing and dispensing a cable, a rotation subsystem for winding the cable around the powerline, an extension subsystem for raising at least a portion of the payload subsystem vertically upward from the powerline, a stabilization subsystem for stabilizing the system at least when the payload system is extended away from the powerline by the extension subsystem, and a drive subsystem for driving the system along the powerline. Various other related systems, devices, mechanisms, and methods are also disclosed.
1. A system for suspending cable from an overhead powerline, the system comprising:
a payload subsystem for housing and dispensing the cable;
a rotation subsystem for winding the cable from the payload subsystem around the powerline;
an extension subsystem for raising at least a portion of the payload subsystem vertically upward from the powerline;
a stabilization subsystem comprising at least one thruster for stabilizing the system at least when the payload subsystem is extended away from the powerline by the extension subsystem; and
a drive subsystem for driving the system along the powerline.
2. The system of claim 1 , wherein the at least one thruster is configured to force air laterally away from the system and to apply an opposing force against the system.
3. The system of claim 2 , wherein the at least one thruster comprises at least one fan.
4. The system of claim 2 , wherein the stabilization subsystem comprises at least one controller configured to control operation of the at least one thruster.
5. The system of claim 4 , wherein the at least one controller comprises a proportional-integral-derivative (PID) controller.
6. The system of claim 2 , wherein the at least one thruster comprises at least four upper thrusters positioned on the system to be above the powerline when the payload subsystem is extended away from the powerline by the extension subsystem, wherein the at least four upper thrusters are configured to be selectively driven to stabilize a rolling of the system.
7. The system of claim 6 , wherein the at least four upper thrusters are positioned to be above the powerline also when the extension subsystem is in an initial, retracted state.
8. The system of claim 6 , wherein the at least one thruster further comprises at least four lower thrusters positioned on the system to be closer to the powerline than the at least four upper thrusters, wherein the at least four lower thrusters are configured to be selectively driven to stabilize a sway of the system.
9. The system of claim 1 , wherein the stabilization subsystem comprises an inertial measurement unit configured to sense at least one of movement or orientation of the system.
10. The system of claim 1 , wherein the drive subsystem comprises at least one roller positioned to engage with the powerline.
11. The system of claim 1 , wherein the cable housed and dispensed by the payload subsystem comprises a fiber optic cable.