Systems for installing fiber optic cable about 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, wherein:
the rotation subsystem is coupled to a container that defines a volume about an axis such that the container at least partially surrounds the powerline conductor when adjacent to the powerline conductor;
the container is configured to carry a segment of fiber optic cable for coupling to the powerline conductor; and
the rotation subsystem coupled to the drive subsystem is configured to rotate the container about the powerline conductor such that the segment of fiber optic cable is wrapped about the powerline conductor while the drive subsystem of the robotic system translates along the powerline conductor; and
a first pitch adjustment assembly and a second pitch adjustment assembly, each pivotally coupled to the drive subsystem.
2 . The robotic system of claim 1 , wherein the drive subsystem comprises:
a first drive subsystem end portion that leads the rotation subsystem while translating the robotic system along the powerline conductor; and
a second drive subsystem end portion that follows the rotation subsystem while translating the robotic system along the powerline conductor.
3 . The robotic system of claim 2 , wherein when the robotic system is in operation, each drive subsystem end portion operates independently in a retracted or an extended state.
4 . The robotic system of claim 2 , wherein the drive subsystem comprises a first drive gripper and a second drive gripper.
5 . The robotic system of claim 4 , wherein the drive subsystem comprises a first crossing gripper and a second crossing gripper, wherein each of the first crossing gripper and second crossing gripper is positioned to operate in tandem to secure the drive subsystem to the powerline conductor at a different location along the powerline conductor from that of the first drive gripper and second drive gripper to facilitate obstacle avoidance along the powerline conductor.
6 . The robotic system of claim 2 , further comprising a telescoping assembly that longitudinally extends the first drive subsystem end portion and the second drive subsystem end portion substantially along powerline conductor.
7 . 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.
8 . 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 is configured to selectively engage 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 is configured to selectively engage the powerline conductor to translate the robotic system along the powerline conductor.
9 . The robotic system of claim 8 , wherein, during operation of the robotic system, 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.
10 . The robotic system of claim 8 , wherein, during operation of the robotic system, 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.
11 . The robotic system of claim 1 , wherein the first pitch adjustment assembly and the second pitch assembly facilitate vertical changes in orientation to the drive subsystem on the powerline conductor.
12 . The robotic system of claim 1 , wherein the rotation subsystem further comprises at least one stabilization component configured to maintain a rotational position of the rotation subsystem relative to the powerline conductor.
13 . The robotic system of claim 12 , wherein the at least one stabilization component comprises one or more thrusters.
14 . The robotic system of claim 1 , further comprising an extension subsystem that mechanically couples the rotation subsystem to the drive subsystem and to selectively extend the rotation subsystem and the container away from the powerline conductor to avoid obstacles along the powerline conductor.