Systems and methods for installing fiber optic cable onto a powerline conductor
The disclosed system may include (1) a drive subsystem that translates along a powerline conductor, (2) a rotation subsystem that rotates a segment of fiber optic cable about the powerline conductor while the drive subsystem translates along the powerline conductor such that the segment of fiber optic cable is wrapped helically about the powerline conductor, and (3) an extension subsystem that (a) mechanically couples the rotation subsystem to the drive subsystem, and (b) selectively extends the rotation subsystem away from the drive subsystem and the powerline conductor to avoid obstacles along the powerline conductor. Various other systems and methods are also disclosed.
1. A method comprising:
upon reaching an obstacle while translating along a powerline conductor:
controlling a drive subsystem to unclamp at least two leading drive wheels of an automated cable installing system; and
controlling an extension subsystem to extend a rotation subsystem of the automated cable installing system away from the powerline conductor;
upon translating past the obstacle with the leading drive wheels:
controlling at least two trailing drive wheels to unclamp the trailing drive wheels; and
controlling the drive subsystem to re-clamp the leading drive wheels; and
upon translating past the obstacle with the trailing drive wheels:
controlling the drive subsystem to re-clamp the trailing drive wheels; and
controlling the extension subsystem to retract the rotation subsystem toward the powerline conductor.
2. The method of claim 1 , wherein an orientation of the extension subsystem relative to the drive subsystem remains constant as the rotation subsystem rotates a segment of fiber optic cable about the powerline conductor.
3. The method of claim 1 , wherein the extension subsystem selectively extends the rotation subsystem linearly upward away from the drive subsystem and the powerline conductor.
4. The method of claim 1 , wherein the drive subsystem includes one or more engaging components that engage the powerline conductor.
5. The method of claim 4 , wherein the one or more engaging components selectively clamp the powerline conductor as the drive subsystem translates along the powerline conductor.
6. The method of claim 5 , further comprising:
during a first time period, spreading apart a first pair of engaging components to allow passage of the obstacle therebetween while a second pair of the engaging components clamp the powerline conductor therebetween;
during a second time period after the first time period, clamping the powerline conductor using the first pair of the engaging components; and
during a third time period after the second time period, spreading apart a second pair of the engaging components to allow passage of the obstacle therebetween while the first pair of the engaging components clamps the powerline conductor therebetween.
7. The method of claim 6 , wherein during a subsequent time period after the first time period, the first pair of the engaging components clamps the powerline conductor therebetween and the second pair of the engaging components clamps the powerline conductor therebetween after the first pair and the second pair have passed the obstacle.
8. The method of claim 6 , wherein during a previous time period prior to the first time period, the first pair of the engaging components clamps the powerline conductor therebetween and the second pair of the engaging components clamps the powerline conductor therebetween before the first pair and the second pair encounter the obstacle.
9. The method of claim 5 , wherein at least one of the first pair of the engaging components or the second pair of the engaging components rotates about vertical axes in opposing directions.
10. The method of claim 5 , wherein at least one of the first pair of the engaging components or the second pair of the engaging components selectively clamps the powerline conductor at any of a range of angles at which the powerline conductor lies relative to a longitudinal axis of the drive subsystem.
11. A method comprising:
upon reaching an obstacle while translating along a powerline conductor:
unclamping at least two leading drive wheels of a drive subsystem of an automated cable installing system; and
extending a rotation subsystem of the automated cable installing system away from the powerline conductor;
upon translating past the obstacle with the leading drive wheels:
unclamping at least two trailing drive wheels; and
re-clamping the leading drive wheels; and
upon translating past the obstacle with the trailing drive wheels:
re-clamping the trailing drive wheels; and
retracting the rotation subsystem toward the powerline conductor.
12. The method of claim 11 , wherein an orientation of the extension subsystem relative to the drive subsystem remains constant as the rotation subsystem rotates a segment of fiber optic cable about the powerline conductor.
13. The method of claim 11 , wherein the extension subsystem selectively extends the rotation subsystem linearly upward away from the drive subsystem and the powerline conductor.
14. The method of claim 11 , wherein the drive subsystem includes one or more engaging components that engage the powerline conductor.
15. The method of claim 14 , wherein the one or more engaging components selectively clamp the powerline conductor as the drive subsystem translates along the powerline conductor.
16. The method of claim 15 , further comprising:
during a first time period, spreading apart a first pair of engaging components to allow passage of the obstacle therebetween while a second pair of the engaging components clamp the powerline conductor therebetween;
during a second time period after the first time period, clamping the powerline conductor using the first pair of the engaging components; and
during a third time period after the second time period, spreading apart a second pair of the engaging components to allow passage of the obstacle therebetween while the first pair of the engaging components clamps the powerline conductor therebetween.
17. The method of claim 16 , wherein during a subsequent time period after the first time period, the first pair of the engaging components clamps the powerline conductor therebetween and the second pair of the engaging components clamps the powerline conductor therebetween after the first pair and the second pair have passed the obstacle.
18. The method of claim 16 , wherein during a previous time period prior to the first time period, the first pair of the engaging components clamps the powerline conductor therebetween and the second pair of the engaging components clamps the powerline conductor therebetween before the first pair and the second pair encounter the obstacle.
19. The method of claim 15 , wherein at least one of the first pair of the engaging components or the second pair of the engaging components rotates about vertical axes in opposing directions.
20. A non-transitory computer-readable medium comprising one or more computer-executable instructions that, when executed by at least one controller, cause the controller to perform the following:
upon reaching an obstacle while translating along a powerline conductor:
controlling a drive subsystem to unclamp at least two leading drive wheels of an automated cable installing system; and
controlling an extension subsystem to extend a rotation subsystem of the automated cable installing system away from the powerline conductor;
upon translating past the obstacle with the leading drive wheels:
controlling at least two trailing drive wheels to unclamp the trailing drive wheels; and
controlling the drive subsystem to re-clamp the leading drive wheels; and
upon translating past the obstacle with the trailing drive wheels:
controlling the drive subsystem to re-clamp the trailing drive wheels; and
controlling the extension subsystem to retract the rotation subsystem toward the powerline conductor.