US2006071116A1PendingUtilityA1

Cable dispensing and retrieval

16
Individually held — no corporate assignee on recordPriority: Sep 27, 2004Filed: Sep 27, 2004Published: Apr 6, 2006
Est. expirySep 27, 2024(expired)· nominal 20-yr term from priority
Inventors:Steven QuennevilleForrest Macgregor
F41H 11/16B65H 75/425B65H 2551/13B65H 75/4484
16
PatentIndex Score
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Cited by
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References
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Claims

Abstract

A cable dispensing and retrieval system, which may be used to dispense and retrieve communication cable for a remote controlled vehicle, dispenses a length of cable between a release point and the ground in a generally downward direction such that at least a portion of the length of cable between the release point and the ground is permitted to move along a first axis that is parallel to the ground and controls pay out and/or retrieval of the cable to maintain a point of the cable located between the release point and the ground at a predetermined point along the first axis.

Claims

exact text as granted — not AI-modified
1 . A method comprising: 
 dispensing a length of cable between a release point and the ground in a generally downward direction such that at least a portion of the length of cable between the release point and the ground is permitted to move along a first axis that is parallel to the ground; and    controlling pay out or retrieval of the cable to maintain the portion of the length of cable located between the release point and the ground at a predetermined position along the first axis.    
     
     
         2 . The method of  claim 1  further comprising: 
 sensing a position of the cable along one or more points of the portion of the length of cable.    
     
     
         3 . The method of  claim 2  wherein sensing a position comprises: 
 using a flex sensor to sense the position in the portion of the length of cable.    
     
     
         4 . The method of  claim 1  wherein dispensing a length of cable comprises: 
 dispensing a length of cable from a spool of cable.    
     
     
         5 . The method of  claim 4  wherein the spool of cable stores cable in a level wind.  
     
     
         6 . The method of  claim 5  further comprising: 
 providing a traverse mechanism for storing cable in a level wind as cable is retrieved.    
     
     
         7 . The method of  claim 4  further comprising: 
 providing a traverse mechanism synchronizing the release point of the cable such that the release point is in line with a point at which cable is supplied to or released from the spool.    
     
     
         8 . The method of  claim 4  further comprising: 
 providing a reel motor configured to variably rotate the spool in a clockwise or counter-clockwise direction.    
     
     
         9 . The method of  claim 8  wherein controlling pay out or retrieval of cable comprises: 
 controlling speed and direction of the reel motor to maintain the portion of the length of cable located between the release point and the ground at a predetermined position along the first axis.    
     
     
         10 . The method of  claim 7  wherein the traverse assembly is mechanically coupled to the spool such that the traverse assembly traverses an axis parallel to a longitudinal axis of the spool as the spool rotates.  
     
     
         11 . The method of  claim 7  wherein the traverse mechanism includes a traverse motor for moving the traverse assembly along an axis parallel to a longitudinal axis of the spool.  
     
     
         12 . The method of  claim 11  further comprising: 
 controlling the traverse motor to synchronize the release point of the cable such that the release point is in line with a point at which cable is supplied to or released from the spool.    
     
     
         13 . The method of  claim 9  further comprising: 
 maintaining a constant tension on the cable in a direction perpendicular to the longitudinal axis of the spool as cable is supplied to or released from the spool.    
     
     
         14 . The method of  claim 13  wherein maintaining a constant tension comprises: 
 compressing cable between a pinch wheel and a drive wheel; and    operating a motor coupled to the drive wheel at a constant torque.    
     
     
         15 . The method of  claim 14  further comprising: 
 monitoring a direction of travel of the reel motor.    
     
     
         16 . The method of  claim 15  further comprising: 
 monitoring a direction of travel of the drive wheel motor.    
     
     
         17 . The method of  claim 16  further comprising: 
 detecting a fault if a direction of travel of the drive wheel motor is opposite a direction of travel of the reel drive motor.    
     
     
         18 . The method of  claim 1  further comprising: 
 preventing the portion of the cable from substantially moving along axes parallel to the ground other than the first axis.    
     
     
         19 . The method of  claim 18  further comprising: 
 providing a first guide bar and a second guide bar positioned in parallel with one another, wherein a gap defined by the space between the first and second guide bars defines the first axis.    
     
     
         20 . The method of  claim 4  wherein the first axis is parallel with a direction of travel of the spool.  
     
     
         21 . The method of  claim 1  wherein the predetermined position of the portion of the cable is a position in which the length of cable between the release point and the ground experiences no tension other than tension from the weight of the cable.  
     
     
         22 . A system for dispensing and retrieving a length of cable, wherein the cable is dispensed at a release point to the ground in a generally downward direction, the system comprising: 
 a spool adapted to contain the cable;    a motor operably connected to the spool for dispensing and retrieving cable from the spool; and    a sensor adapted to detect a position of a portion of the cable located between the release point and the ground along a first axis that is parallel to the ground; and    a controller configured to receive a signal from the sensor indicating the detected position and to control operation of the motor based to maintain the portion of the cable at a predetermined position along the first axis.    
     
     
         23 . The system of  claim 22  further comprising: 
 apparatus adapted to prevent the portion of the cable at the detected position from substantially moving along axes parallel to the ground other than the first axis.    
     
     
         24 . The system of  claim 22  where in the sensor comprises a flex sensor.  
     
     
         25 . The system of  claim 22  further comprising: 
 a traverse mechanism adapted to supply cable to the spool such that cable is wound onto the spool in a series of consecutive windings that are located adjacent to one another to form consecutive rows of overlaying cable windings.    
     
     
         26 . The system of  claim 25  wherein the traverse mechanism is further adapted to dispense cable from the spool at an angle of approximately 90 degrees from a longitudinal axis of the spool.  
     
     
         27 . The system of  claim 22  further comprising: 
 a traverse mechanism adapted to synchronize the release point of the cable such that a line defined by the release point and the point at which cable is supplied to or released from the spool is approximately perpendicular to the longitudinal axis of the spool.    
     
     
         28 . The system of  27  wherein the traverse assembly is mechanically coupled to the spool such that the traverse assembly traverses an axis parallel to a longitudinal axis of the spool as the spool rotates.  
     
     
         29 . The system of  claim 27  wherein the traverse mechanism includes a traverse motor for moving the traverse assembly along an axis parallel to a longitudinal axis of the spool.  
     
     
         30 . The system of  claim 29  wherein the system further comprises: 
 a controller that controls the traverse motor to synchronize the release point of the cable such that a line defined by the release point and the point at which cable is supplied to or released from the spool is approximately perpendicular to the longitudinal axis of the spool.    
     
     
         31 . The system of  claim 22  further comprising: 
 a pinch wheel assembly that includes a pinch wheel and a drive wheel located adjacent to the pinch wheel, wherein the pinch wheel assembly is adapted to compress cable between the pinch wheel and the drive wheel; and    a drive wheel motor coupled to the drive wheel.    
     
     
         32 . The system of  claim 31  wherein the drive wheel motor is configured to apply a constant tension on the cable in a direction away from the spool.  
     
     
         33 . The system of  claim 32  wherein the drive wheel motor is configured to operate to provide a constant torque.  
     
     
         34 . A method comprising: 
 dispensing a length of cable between a release point and the ground in a generally downward direction such that at least a portion of the length of cable between the release point and the ground is permitted to move along a first axis that is parallel to the ground and is not permitted to move substantially along other axes parallel to the ground;    sensing a position of the cable relative to a set point located between the release point and the ground, wherein the set point is located on the first axis; and    controlling pay out or retrieval of the cable to maintain the cable at the set point along the first axis.    
     
     
         35 . The method of  claim 34  wherein sensing a position comprises: 
 using a flex sensor to sense the position of the cable relative to the set point.    
     
     
         36 . The method of  claim 34  wherein dispensing a length of cable comprises: 
 dispensing a length of cable from a spool of cable.    
     
     
         37 . The method of  claim 36  wherein the spool of cable stores cable in a level wind.  
     
     
         38 . The method of  claim 36  further comprising: 
 providing a traverse mechanism for storing cable in a level wind as cable is retrieved.    
     
     
         39 . The method of  claim 36  further comprising: 
 providing a traverse mechanism that moves the release point along an axis parallel to a longitudinal axis of the spool such that a line defined by the release point and the point at which cable is supplied to or released from the spool is approximately perpendicular to the longitudinal axis of the spool.    
     
     
         40 . The method of  claim 34  further comprising: 
 providing a reel motor configured to variably rotate the spool in a clockwise or counter-clockwise direction.    
     
     
         41 . The method of  claim 40  wherein controlling pay out or retrieval of cable comprises: 
 controlling operation of the reel motor to maintain the cable at the set point along the first axis.    
     
     
         42 . The method of  claim 39  wherein the traverse assembly is mechanically coupled to the spool such that the traverse assembly traverses an axis parallel to a longitudinal axis of the spool as the spool rotates.  
     
     
         43 . The method of  claim 39  wherein the traverse mechanism includes a traverse motor for moving the traverse assembly along an axis parallel to a longitudinal axis of the spool.  
     
     
         44 . The method of  claim 11  further comprising: 
 controlling the traverse motor to move the release point along an axis parallel to a longitudinal axis of the spool such that a line defined by the release point and the point at which cable is supplied to or released from the spool is approximately perpendicular to the longitudinal axis of the spool.    
     
     
         45 . The method of  claim 34  further comprising: 
 maintaining a constant tension on the cable in a direction perpendicular to the longitudinal axis of the spool as cable is supplied to or released from the spool.    
     
     
         46 . The method of  claim 45  wherein maintain a constant tension comprises: 
 compressing cable between a pinch wheel and a drive wheel; and    operating a motor coupled to the drive wheel at a constant torque.    
     
     
         47 . The method of  claim 46  further comprising: 
 monitoring a direction of travel of the reel motor.    
     
     
         48 . The method of  claim 47  further comprising: 
 monitoring a direction of travel of the drive wheel motor.    
     
     
         49 . The method of  claim 48  further comprising: 
 detecting a fault if a direction of travel of the drive wheel motor is opposite a direction of travel of the reel drive motor.    
     
     
         50 . Apparatus for dispensing and retrieving a length of cable, wherein the cable is dispensed from the apparatus at a release point to the ground in a generally downward direction, the apparatus comprising: 
 a flexible cable guide tube located between the release point and the ground, the flexible cable guide tube defining a channel having a longitudinal axis that is generally perpendicular to the ground and configured to receive a length of cable, the flexible cable guide tube further configured to permit cable located with the channel from moving along a longitudinal axis that is generally parallel to the ground; and    a flex sensor located adjacent to the flexible cable guide tube to detect position of at least a portion of the cable located within the channel of the flexible cable guide tube.    
     
     
         51 . The apparatus of  claim 50  further comprising: 
 a controller electrically coupled to the flex sensor, the controller configured to receive a signal from the flex sensor indicating a detected position of the cable within the guide tube and control speed and direction of cable pay out to maintain the detected position of the cable at a predetermined position.    
     
     
         52 . The apparatus of  claim 50  further comprising: 
 a pair of rails defining a slot configured to receive the cable, wherein the slot is configured to constrain lateral movement of cable in directions except along the first axis.    
     
     
         53 . The apparatus of  claim 50  further comprising: 
 a scraper attached to the flexible guide tube, wherein the scraper defines an aperture slightly larger than an outer diameter of the cable.    
     
     
         54 . The apparatus of  claim 50  further comprising: 
 a rigid cable guide tube located between the release point and the ground and above the flexible guide tube, the rigid cable guide tube defining a second channel having a longitudinal axis that is generally perpendicular to the ground and configured to receive a length of cable, the rigid cable guide tube further configured to constrain cable located with the channel from moving along a longitudinal axis that is generally parallel to the ground.    
     
     
         55 . A method comprising: 
 dispensing a length of cable stored on a spool between a release point and the ground in a generally vertical direction;    passing the length of cable between a slot defined by two sidewalls, wherein constrains lateral motion of cable located within the slot except along a longitudinal axis; and    controlling speed and direction of a reel motor coupled to the spool to maintain a portion of the length cable located between the release point and the ground at a predetermined position along the longitudinal axis.    
     
     
         56 . The method of  claim 55  further comprising: 
 sensing a position of the cable relative to the predetermined position at one or more points between the release point and the ground.    
     
     
         57 . The method of  claim 55  wherein sensing a position comprises: 
 using a flex sensor to sense the position of the cable.    
     
     
         58 . The method of  claim 55  further comprising: 
 providing a traverse mechanism for storing cable in a level wind on the spool as cable is retrieved.    
     
     
         59 . The method of  claim 55  further comprising: 
 providing a traverse mechanism synchronizing the release point of the cable such that the release point is in line with a point at which cable is supplied to or released from the spool.    
     
     
         60 . The method of  claim 59  wherein the traverse assembly is mechanically coupled to the spool such that the traverse assembly traverses an axis parallel to a longitudinal axis of the spool as the spool rotates.  
     
     
         61 . The method of  claim 60  further comprising: 
 maintaining a constant tension on the cable in a direction perpendicular to the longitudinal axis of the spool as cable is supplied to or released from the spool.    
     
     
         62 . The method of  claim 61  wherein maintaining a constant tension comprises: 
 compressing cable between a pinch wheel and a drive wheel; and    operating a motor coupled to the drive wheel at a constant torque.    
     
     
         63 . The method of  claim 62  further comprising: 
 monitoring a direction of travel of the reel motor.    
     
     
         64 . The method of  claim 63  further comprising: 
 monitoring a direction of travel of the drive wheel motor.    
     
     
         65 . The method of  claim 64  further comprising: 
 detecting a fault if a direction of travel of the drive wheel motor is opposite a direction of travel of the reel drive motor.    
     
     
         66 . The method of  claim 55  wherein the predetermined position of the portion of the cable is a position in which the length of cable between the release point and the ground experiences no tension other than tension from the weight of the cable.

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