Automatic deployment and retrieval tethering system

摘要

A system for a mobile vehicle such as a remotely controlled robot, for deploying and retrieving cable into the environment external to the vehicle. The system includes a frame, a cable reel mounting device for a cable storage reel having cable wound thereon for rotatable motion. A rotatable electric/fiber optic joint is provided for coupling one end of the cable to the vehicle. The device has a mechanism for feeding the cable on and off the cable storage reel and for guiding the unwound cable from the vehicle. A sensor senses the tension in the cable in any direction in an arc of 360° as the cable exits a cable exit opening. An electronic circuit receives a signal from the sensor related to the tension in the cable for controlling the feeding of cable so as to maintain a preset tension or no tension in the cable. Preferably, the tension sensor is a strain gauge. The system can be attached to any mobile vehicle, e.g. a robot, requiring a cable for control, power and/or communication. It can allow two way transmission of voice, data, video, power and commands through all speeds, directions, motions and turns, including pivot turns, of the vehicle. The system can be used for deploying and retracting fiber optic, metallic or combination cables.