Gripper tool for a cable preparation system

Abstract

Describes techniques, systems, and articles for preparing cables connected to an electrical grid. In one example, a cable preparation system includes: a tool head mount configured to couple to a cutting tool head, where the cutting tool head is configured to receive a first portion of a cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut at least one layer of the cable; a cable clamp configured to hold a second portion of the cable; and a guide rail extending from the tool head mount to the cable clamp parallel to the longitudinal axis of the cable, where the guide rail guides the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable.

Description

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 953,780, filed on Dec. 26, 2019, entitled “AUTOMATED CABLE PREPARATION WITH MODULAR SYSTEM”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of electrical equipment for power facilities, including power cables and their accessories. BACKGROUND ART

[0003] Power grids include many components for operation in different locations and conditions, such as above ground, underground, cold weather climates, hot weather climates, etc. A power grid can include thousands of discrete components, such as transformers, cables, cable accessories (e.g., cable joints, terminals), etc., and a fault in the power grid can be caused by a fault in any single component or subset of components. The installation of cables is a manual process prone to errors, which can lead to faults in the cables or cable accessories. SUMMARY OF THE INVENTION

[0004] The present disclosure provides techniques for preparing a cable for connection to a cable accessory for use in a power grid. According to an example of the present disclosure, a cable preparation system including various interconnected modular components is configured to remove one or more layers of a cable to couple the cable to a cable accessory (e.g., a cable joint body or a terminal).

[0005] In some examples, the cable preparation system includes a plurality of interconnected modular components. According to various examples, the modular components can include one or more of the following: an imaging device having a telecentric lens, the imaging device being configured to accurately image and measure the cross-section of a cable; a handheld rotatable tool head having a plurality of rollers and at least one rotatable cutting tool configured to cut or score one or more layers of the cable; and a gripper module having a drive device configured to axially drive the rotatable tool head along the cable while the cutting tool rotates around the circumference of the cable, wherein the cable preparation system is configured to coordinate the axial speed of the tool head with the rotational speed of the cutting tool to produce a desired cut, such as a helical cut.

[0006] Another technique provides a cable preparation device configured to remove one or more layers of a cable. The device may have: a tool head mount configured to couple to a cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut at least one layer of the cable; a cable clamp configured to hold a second portion of the cable; and a guide rail extending from the tool head mount to the cable clamp parallel to the longitudinal axis of the cable, wherein the guide rail guides the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable.

[0007] In another technique, there is provided a cable preparation device configured to remove one or more layers of a cable, the device including: a cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut one or more layers of the cable; a cable clamp configured to hold a second portion of the cable; a guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; and a drive device for driving the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable.

[0008] In another example, a cable preparation system includes: a cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut one or more layers of the cable; a cable clamp configured to hold a second portion of the cable; a guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; a drive device for driving the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable; and a computing device configured to cause the drive device to control the axial speed of the axial movement of the cutting tool head and cause the cutting tool head to control the rotational speed of the rotatable cutting tool, wherein the axial speed is coordinated with the rotational speed to produce a desired cut in at least one layer of the cable.

[0009] In another example, there is provided a method including: receiving an indication of a desired cut in one or more layers of a cable; determining, based on the indication of the desired cut, an axial speed of an axial movement of a cutting tool head along an axial length of the cable; determining, based on the indication of the desired cut, a rotational speed of a rotatable cutting tool of the cutting tool head around a circumference of the cable, wherein the axial speed and the rotational speed are coordinated with each other; and causing a drive device to drive the axial movement of the cutting tool head and cause the rotatable cutting tool to rotate around the circumference of the cable to produce the desired cut.

[0010] Details of one or more examples of the present disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present disclosure will be apparent from the specification, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1A is a block diagram illustrating various example components of a power system, such as an electric grid, including cables and cable accessories, according to various techniques of the present disclosure.

[0012] Figure 1B is a diagram depicting an example system for fabricating a cable for use within a power system according to various techniques of the present disclosure.

[0013] Figure 2 is according to various techniques of the present disclosure Figure 1B a diagram of an example of a cable fabrication system.

[0014] Figure 3 is according to various techniques of the present disclosure Figure 1B a diagram of another example of a cable fabrication system that includes cable fabrication equipment.

[0015] Figure 4A and Figure 4B is according to various techniques of the present disclosure Figure 3 a perspective view of an example of a hand-held cable fabrication device of a cable fabrication system.

[0016] Figure 5A and Figure 5B are, respectively, a top profile view and a side profile view of another example of a main working module (“MWM”) according to various techniques of the present disclosure Figure 3 of the cable fabrication system.

[0017] Figure 6 is according to various techniques of the present disclosure Figure 3 an exploded view of another example of a hand-held cable fabrication device of the cable fabrication system.

[0018] Figure 7 is according to various techniques of the present disclosure Figure 3 a diagram of an example rotating head assembly of a cable fabrication device of the cable fabrication system.

[0019] Fig. 8A is according to various techniques of the present disclosure Figure 3 a diagram of an example insulation blade holder mechanism of a cable fabrication device of the cable fabrication system.

[0020] Figure 8B is according to various techniques of the present disclosure Figure 3 a diagram of an example insulation shield blade holder mechanism of a cable fabrication device of the cable fabrication system.

[0021] Fig. 9A Examples of sheaths and insulation blades of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0022] Fig. 9B Examples of sheaths and insulation blades of a cable preparation device for removing a cable sheath layer according to various techniques of the present disclosure Figure 3 FIG.

[0023] Fig.10 Examples of screwdriver assemblies of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0024] Fig.11A 、 Fig.11D and Fig.11G Examples of contour diagrams of screwdriver and camshaft assemblies of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0025] Fig. 11B 、 Fig.11E and Fig.11H Examples of side views of screwdriver and camshaft assemblies of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0026] Fig. 11C 、 Fig.11F and Fig.11I Examples of front views of screwdriver and camshaft assemblies of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0027] Fig. 12A and Fig. 12B Respectively show contour diagrams and exploded diagrams of an example direct drive mechanism of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0028] Fig.13 Examples of a bidirectional gear and a main motor assembly of a cable preparation device according to various techniques of the present disclosure Figure 3 FIG.

[0029] Fig.14A FIG. of an example interface and control module (ICM) of a cable preparation system according to various techniques of the present disclosure

[0030] Fig. 14B Examples of a screen display of an ICM according to various techniques of the present disclosure Fig.14A FIG.

[0031] FIG. 15A to FIG. 15C Examples of a cable preparation device according to various techniques of the present disclosure Figure 3Diagram of an example of a cable preparation system that includes a cable preparation device and a cable clamp with a retroreflector.

[0032] Fig.16A and Fig. 16B are diagrams of examples of cable preparation systems according to various techniques of the present disclosure Figure 3 Diagram of an example of a cable preparation system that includes a cable preparation device and a cable clamp with a retroreflector mounted on a cable.

[0033] FIG. 17A to FIG. 17F are diagrams of examples of cable preparation devices according to various techniques of the present disclosure, such as those used during the removal of a cable sheath layer Figure 3 Diagram of an example of a cable preparation device.

[0034] Fig.18 is a flowchart of an example process for cable preparation using an example of a cable preparation system according to various techniques of the present disclosure Figure 3 Diagram of an example of a cable preparation system for cable preparation.

[0035] 19A to 19D are illustrative diagrams of examples of cable preparation devices according to various techniques of the present disclosure, such as those used during the adjustment and homing of an insulation blade Figure 3 Diagram of an example of a cable preparation device.

[0036] FIG. 20A to FIG. 20E are diagrams of examples of cable preparation devices according to various techniques of the present disclosure, such as those used during the removal of a cable insulation layer Figure 3 Diagram of an example of a cable preparation device.

[0037] Fig.21A and Fig. 21B are diagrams of examples of cable preparation systems according to various techniques of the present disclosure Figure 3 Diagram of an example of a cable preparation system that includes a piston module coupled to an example cable preparation device.

[0038] Fig. 22 is a flowchart of an example process for cable preparation using an example of a cable preparation device according to various techniques of the present disclosure Figure 3 Diagram of an example of a cable preparation system for cable preparation.

[0039] FIG. 23A to FIG. 23C are diagrams of examples of cable preparation systems according to various techniques of the present disclosure Figure 3 Diagram of an example of a cable preparation system that includes a piston module (PM) coupled to an example cable preparation device, an example ICM, and an example cross-sectional sensing module (CSSM).

[0040] FIG. 24A to FIG. 24E are diagrams of examples of cable preparation devices according to various techniques of the present disclosure, such as those used during the removal of a cable conductive shield layer Figure 3 Diagram of an example of a cable preparation device.

[0041] Fig.25 is the utilization of various techniques according to the present disclosure Figure 3 A flowchart of an example process of an example cable preparation system that includes a cable preparation device and a piston module.

[0042] Fig.26A and Fig.26B is a perspective view of an example gripper module according to various techniques of the present disclosure, and the example gripper module can be a modular component of a cable preparation system 300 according to various techniques of the present disclosure Figure 3

[0043] FIG. 27A to FIG. 27E depicts the use of according to various techniques of the present disclosure Fig.26A and Fig.26B A diagram of an example process of cable preparation using the gripper module

[0044] Fig.28A and Fig.28B depicts the use of according to various techniques of the present disclosure Fig.26A and Fig.26B Another diagram of another example process of cable preparation using another example of the gripper module

[0045] Fig.29A and Fig.29B depicts the use of according to various techniques of the present disclosure Fig.26A and Fig.26B Another diagram of another example process of cable preparation using another example of the gripper module

[0046] Fig. 30A and Fig. 30B is a perspective view of an example cable imaging and measurement device for cable preparation according to various techniques of the present disclosure

[0047] Fig.31 is Fig. 30A and Fig. 30B A cross-sectional view of an example handheld cable imaging and measurement device

[0048] FIG. 32A to FIG. 32C illustrates an example method for using Fig. 30A and Fig. 30B The cable imaging and measurement device

[0049] Fig.33 depicts an illustrative diagram of an example graphical user interface (GUI) that can be generated by or used in conjunction with the cable imaging and measurement device of Fig. 30A and Fig. 30B

[0050] ​​It should be understood that embodiments may be used and structural changes may be made without departing from the scope of the present invention. These drawings are not necessarily to scale. Like reference numerals used in the drawings refer to like components. However, it should be understood that the use of reference numerals to refer to components in each figure is not intended to limit the component so labeled in another figure. Detailed Description

[0051] The installation of a cable accessory requires preparing the cable end by removing layers to manage electrical stress at the correct length and depth. The cable end becomes an integral part of a complete cable termination, splice, or separable connector. The cable preparation step can be very time-consuming, typically lasting more than half of the duration of the entire installation process of the splice, and must be done correctly and precisely to avoid defects that could lead to failure of the cable system at the accessory (e.g., arcing and permanent faults).

[0052] Common defects include stray knife cuts into the insulation, incorrect trimming for specific cables and accessories, remaining insulation shields (e.g., semiconductive polymers) on the cable insulation, burrs or scratches at the transition from the cable insulation to the insulation shield (e.g., semiconductive layer), contamination on the insulation surface, etc. In some cases, these insulation defects can be eliminated by filling the defect with grease or compound to displace air. However, the installer may overlook or forget this step. Other issues that increase the risk of defects and the time required for installation may include inexperienced installers and complex general instructions rather than specific instructions for the particular accessory, connector, and / or cable at hand.

[0053] Accordingly, there is a need for a device to automatically and quickly prepare cable ends, rather than a manual process, and thereby reduce defects or otherwise make the resulting termination, splice, or separable connector more resistant to failure. The device should be able to perform many key functions of cable preparation with little intervention, including seamless operator input or automatic determination of trimming length and depth, real-time defect detection and correction, and the ability to be deployed and operated in various field environments such as the strict confines of a small cabinet.

[0054] Figure 1A is a block diagram illustrating various example components of a power system 100A such as an electrical grid. As Figure 1A the example of Figure 1AIn the example of, system 100A includes a plurality of electrical device articles, such as one or more power delivery nodes 122, one or more power lines 124 (including one or more individual cables 132A and 132B (collectively referred to as "cables 132")), and one or more cable accessories 134A to 134C (collectively referred to as "cable accessories 134").

[0055] The power delivery node 122 may include one or more input lines that receive power (e.g., directly from a power source or indirectly via another power delivery node 122) and one or more output lines that distribute power directly or indirectly (e.g., via another power delivery node 122) to consumers (e.g., homes, businesses, etc.). The power delivery node 122 may include a transformer that raises or lowers the voltage. In some examples, the power delivery node 122 may be a relatively small node that distributes power to nearby homes, such as an electrical cabinet, a pole-mounted transformer, or a pad-mounted transformer. As another example, the power delivery node 122 may be a relatively large node (e.g., a transmission substation) that distributes power to other power delivery nodes 122 (e.g., a distribution substation), such that the other power delivery nodes further distribute the power to consumers (e.g., homes, businesses, etc.).

[0056] The power line 124 may transmit power from a power source (e.g., a power plant) to a power consumer, such as a business or a home. The power line 124 may be underground, underwater, or suspended in the air (e.g., from wooden poles, metal structures, etc.). The power line 124 may be used to transmit power at a relatively high voltage (e.g., compared to a cable that may transmit power between about 12 volts and about 240 volts depending on the application and geographical area used within a home). For example, the power line 124 may transmit power above about 600 volts (e.g., between about 600 volts and about 1000 volts). However, the power line 124 may transmit power within any voltage and / or frequency range. For example, line 124 may transmit power within different voltage ranges. In some examples, a first type of line 124 may transmit a voltage greater than about 1000 volts, such as for distributing power between a residential or small commercial consumer and a power source (e.g., a power utility). As another example, a second type of line 124 may transmit a voltage between about 1 kV and about 69 kV, such as for distributing power to urban and rural communities. A third type of line 124 may transmit a voltage greater than about 69 kV, such as for secondary transmission and transmission of large amounts of power and connection to very large consumers.

[0057] In Figure 1AIn the example, the power line 124 includes one or more cables 132 and one or more cable accessories 134A to 134C. Throughout this disclosure, the cable 132 may also be referred to as a "power cable", a "power line cable", or simply a "cable". The cable 132 includes a conductor that may be radially surrounded by one or more insulating layers. In some examples, the cable 132 includes a plurality of stranded conductors (e.g., a three-phase cable or a multi-conductor cable). Example cable accessories 134 may include joints, separable connectors, terminals, and connectors, etc. In some examples, the cable accessory 134 may include a cable joint configured to (e.g., electrically and physically) couple two or more cables 132. For example, as Figure 1A shown, the cable accessory 134C is configured to electrically and physically couple the cable 132A to the cable 132B. In some examples, the terminal may be configured to couple the cable 132 (e.g., electrically and physically) to an additional electrical device, such as a transformer, a switching device, a substation, an enterprise, a home, or other structure. For example, as Figure 1A shown, the cable accessory 134B electrically and physically couples the cable 132B to the power delivery node 122 (e.g., a transformer coupled to the power delivery node 122).

[0058] Figure 1B is a diagram depicting an example system 100B for preparing a cable for use within a Figure 1A power system 100A in accordance with various techniques of the present disclosure. As Figure 1B shown, the cable preparation system 100B includes at least a cable preparation device 150 and a computing device 152.

[0059] The cable preparation device 150 is configured to automatically cut one or more layers of the cable 132 (e.g., Figure 1A one layer of the cable 132) to prepare the cable 132 for connection to a cable accessory (e.g., Figure 1A the cable accessory 134A). The cable preparation device 150 may be configured to automatically remove various layers of the cable 132 (e.g., a sheath layer, a shield layer, an insulating layer, an insulation shield layer, a conductor shield layer, or other layers) as the device cuts the respective layers. For example, as described in further detail below, the cable preparation device 150 may include one or more cutting tools (e.g., blades, saws, etc.) configured to cut the various layers of the cable 132.

[0060] Compared with the prior art, the cable preparation device 150 can prepare the cable 132 for installation in the power line 124 of the power system 100A more effectively and precisely. In some examples, the cable preparation device 150 includes a rotatable tool head. In some examples, the rotatable tool head includes one or more individual cutting tools, and the one or more individual cutting tools can each be configured (e.g., shaped, positioned, and / or oriented) to perform different "types" of cuts (e.g., score cuts, scrape cuts, and / or through cuts) on various layers of the cable 132 in a selected direction (e.g., longitudinally, radially, and / or circumferentially), and in some examples, remove various layers of the cable 132. In one example, the tool head includes a plurality of rollers configured to support the cable 132 when one or more cutting tools of the tool head cut the various layers.

[0061] The system 100B includes a computing device 152 that is communicatively coupled to the cable preparation device 150 and is configured to control the operation of the cable preparation device 150. In some examples, the computing device 152 controls the cable preparation device 150 to adjust various components of the cable preparation device 150 to cut various layers of the cable 132. In one example, the computing device 152 outputs a command to cause the cable preparation device 150 to adjust the depth of the plurality of rollers, which can enable the tool head to support the cable 132 when the cutting tools cut the various layers of the cable 132.

[0062] In some examples, the computing device 152 outputs various commands to control the starting position of the cutting tools and the cutting distance of the cutting tools (e.g., cutting depth or cut-down length). In one example, the computing device 152 causes the tool head to start cutting at one end of the cable 132. In another example, the computing device 152 causes the tool head to start cutting at a predetermined distance from the end of the cable 132 to produce a retaining strip of one or more layers of the cable 132. When the tool head cuts the layers of the cable 132, the retaining strip can prevent one or more layers of the cable 132 from moving or becoming loose.

[0063] In some cases, the computing device 152 outputs commands to remove one or more layers of the cable 132. In one example, a command causes the cutting tool to penetrate to a selected depth of the cable 132 to produce a protrusion within at least one layer of the cable 132. Another command causes the cutting tool to partially retract (e.g., retract to a shallower cutting depth) so that the cutting tool can remove one or more outer layers of the cable 132 without cutting one or more inner layers of the cable 132.

[0064] In this manner, computing device 152 can enable cable preparation device 150 to prepare cables faster than other techniques and more precisely control the cutting depth and the cut length of one or more layers of the cable. More precisely cutting the layers of cable 132 can reduce defects in the cable (e.g., in cable joints). For example, more precisely cutting the layers can reduce air voids and thus reduce the probability and / or number of partial discharge events. Reducing the probability and / or number of partial discharge events can reduce the probability of failure events of cable 132 and increase the expected service life of cable 132 and / or cable accessory 134. Reducing the probability of failure events can increase Figure 1A the reliability of power grid 100A. Additionally, increasing the expected life of cable 132 can reduce the costs of constructing, operating, and maintaining power grid 100A.

[0065] For purposes of example only, the examples described above and herein have been and will be discussed with respect to computing device 152. It should be understood that the described functionality can be implemented by any suitable computing device. Additionally, the term "computing device" is used to refer to any computing platform having one or more processors that provide an execution environment for programmable instructions. For example, a computing device can include one or more computers (e.g., servers, desktops, laptops, tablets, smartphones, blade computers, virtual machines, etc.) coupled to or otherwise in communication with cable preparation device 150. As other examples, a computing device can include one or more processors embedded within cable preparation device 150.

[0066] Figure 2 is Figure 1B an illustrative diagram of some example components of cable preparation system 100B. In Figure 2 the example, cable 132 includes a plurality of concentric (e.g., cylindrical) layers, such as a central conductor layer 252, a conductor shield layer 254, an insulation layer 256, an insulation shield layer 258, a sheath layer 260 (also referred to as "sheathing layer 260"), and a jacket layer 262. However, in some examples, cable 132 can include more or fewer layers. The layers of cable 132 are not necessarily drawn to scale. Cable 132 can be configured for AC and / or DC power transmission.

[0067] As some non-limiting example voltages, cable 132 can transmit voltages of 11 kV, 33 kV, 66 kV, 360 kV. In some cases, the cable 132 that transmits power between a power source and a substation can transmit a voltage of 360 kV or higher, which can be considered a "transmission-level" voltage. In some examples, the cable 132 is configured to transmit a voltage such as 66 kV or 33 kV between 33 kV and 360 kV, which can be considered a "secondary transmission-level" voltage, and the cable 132 can supply power from the power source to an end operator or consumer (e.g., a consumer using a relatively large amount of power). As another example, the cable 132 that transmits power between a distribution substation and a distribution transformer can transmit a voltage less than 33 kV, which can be considered a "distribution-level" voltage. The cable 132 can also transmit power between a distribution substation or a distribution transformer (e.g., a pad-mounted transformer or a pole-mounted transformer) and an end operator or consumer (e.g., homes and businesses), and can transmit a voltage between 360 volts and 240 volts. At such voltages, the cable 132 can be referred to as a "secondary distribution wire".

[0068] The central conductor layer 252 includes a conductive material such as copper or aluminum. In some examples, the central conductor layer 252 includes a single solid conductor or a plurality of stranded conductors. The diameter or thickness of the central conductor layer 252 is based on the current that the cable 132 is designed to transmit or conduct. In other words, the cross-sectional area of the central conductor layer 252 is based on the current that the cable 132 is designed to transmit. For example, the central conductor layer 252 can be configured to transmit a current of 1000 amperes or greater.

[0069] The conductor shield layer 254 can include a semiconductive polymer such as a carbon black loaded polymer. The semiconductive polymer can have a bulk resistivity ranging from about 5 ohm-cm to about 100 ohm-cm. The conductor shield layer 254 can be physically and electrically coupled to the central conductor layer 252. In Figure 2 an example, the conductor shield layer 254 is disposed between the central conductor layer 252 and the insulation layer 256. The conductor shield layer 254 can provide a continuous conductive surface around the outside of the central conductor layer 252, which can reduce or eliminate sparks otherwise generated by the central conductor layer 252.

[0070] In some examples, the insulation layer 256 includes polyethylene such as cross-linked polyethylene (which can be abbreviated as PEX, XPE or XLPE) or ethylene propylene rubber (which can be abbreviated as EPR). The diameter or thickness of the insulation layer 256 is based on the voltage that the cable 132 is designed to transmit or conduct.

[0071] The insulation shield layer 258 can include a semiconductive polymer-like conductor shield layer. In Figure 2In the example, an insulation shield layer 258 is disposed between an insulation layer 256 and a shield layer 260. The insulation shield layer 258 may be coupled to the insulation layer 256. In some examples, the insulation shield layer 258 is electrically coupled to the shield layer 260.

[0072] The shield layer 260 may include a conductive material, such as a metal foil, a metal film, or a metal wire. In some examples, the shield layer 260 may be referred to as a "ground conductor".

[0073] As Figure 2 illustrated, a sheath layer 262, also referred to as an "outer sheath layer", is an outer layer of the cable 132. The sheath layer 262 may be a plastic or a rubber polymer, such as polyvinyl chloride (PVC), polyethylene (PE), or ethylene propylene diene monomer (EPDM).

[0074] The cable 132 may include additional layers, such as an expandable material or a water-blocking material disposed within the conductor strands (e.g., strand fillers) or between the various layers within the cable 132.

[0075] The computing device 152 includes one or more power sources 206 that supply power to the components shown in the computing device 152. In some examples, the power source 206 includes a main power source that supplies power and an auxiliary backup power source that supplies power in the event that the main power source is unavailable (e.g., fails or otherwise does not supply power). In some examples, the power source 206 includes a battery, such as a lithium-ion battery.

[0076] One or more processors 202 may implement functions and / or execute instructions within the computing device 152. For example, the processor 202 may receive and execute instructions stored by the storage device 210. These instructions executed by the processor 202 may cause the computing device 152 to store and / or modify information within the storage device 210 during program execution. The processor 202 may execute instructions of components to cause the control module 220 to perform one or more operations in accordance with the techniques of the present disclosure. That is, the control module 220 may be operated by the processor 202 to perform the various functions described herein.

[0077] One or more communication units 204 of the computing device 152 may communicate with external devices by transmitting and / or receiving data. For example, the computing device 152 may use the communication unit 204 to transmit and / or receive radio signals over a radio network such as a cellular radio network. Examples of the communication unit 204 include a network interface card (e.g., an Ethernet card), an optical transceiver, a radio frequency transceiver, or any other type of device that can transmit and / or receive information. Other examples of the communication unit 204 may include cellular (e.g., 3G, 4G), LPWAN, and Radio. As another example, the communication unit 204 may communicate with an external device by transmitting and / or receiving data via wired communication.

[0078] The computing device 152 may include one or more sensors 208. In one example, the sensors 208 include one or more position sensors to detect the positions of various components of the cable preparation device 150 (e.g., the positions of the tool head, rollers, or cutting tools, etc.). In another example, the sensors 208 may include one or more speed sensors configured to measure the speeds of various components of the cable preparation device 150. In another example, the cable preparation device 150 may include sensors (e.g., position sensors, speed sensors, distance sensors, torque sensors, force sensors, etc.) and may transmit sensor readings to the computing device 152. In another example, all of the sensors 208 are located on other modular devices of the system 100B, such as those modular devices further described below Figure 3 The computing device 152 may be connected to the sensors 208 via a data cable (as shown in Fig.23A ) or wirelessly (as shown in Fig. 23B and Fig.23C ), and the computing device 152 interprets the sensor signals. The sensors 208 may be in a module and feed a local processor that controls the motor based on the sensor readings. In other words, an encoder may be built into the motor or torque / power feedback from the motor, as discussed in more detail below. Additionally, any or all of the modular components of the system may have a camera as the sensor 208.

[0079] The sensors 208 may include one or more imaging devices, such as cameras or barcode scanners. For example, any one or all of the cable preparation device 150, the computing device 152, or Figure 3 any additional modular components may include one or more cameras configured to acquire images of the cable 132 before, during, and / or after the layers of the cable 132 are cut.

[0080] One or more storage devices 210 may store information for processing by the processor 202. In some examples, the storage device 210 is a temporary memory, which means that long-term storage is not the primary purpose of the storage device 210. The storage device 210 may be configured as volatile memory for short-term storage of information, and thus may not retain the stored content if deactivated. Examples of volatile memory include random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), and other forms of volatile memory known in the art.

[0081] In some examples, the storage device 210 may further include one or more computer-readable storage media. The storage device 210 may be configured to store a larger amount of information than volatile memory. The storage device 210 may also be configured as non-volatile memory for long-term storage of information, e.g., retaining information after or between power-on / power-off cycles. Examples of non-volatile memory include solid state drives (SSDs), magnetic storage hard disk drives (HDDs), flash memory, or forms of electrically programmable memory (EPROM) or electrically erasable programmable (EEPROM) memory. The storage device 210 may store program instructions and / or data associated with other components such as the control module 220.

[0082] In Figure 2 examples, the storage device 210 includes an electrical equipment data repository 212. The data repository 212 may include a relational database, a multidimensional database, a map, a hash table, or any other data structure for storing data. In some examples, the electrical equipment data repository 212 includes equipment or equipment data, manufacturing data, installation data, consumer data, and / or distribution data, etc. For example, for each cable accessory 134 ( Figure 1A ), the electrical equipment data repository 212 may include data identifying: the manufacturing date, the installation date, the location (e.g., GPS coordinates, street address, etc.), the entity that installed the cable accessory, a unique identifier (e.g., serial number), the type of the cable accessory, etc. As another example, the electrical equipment data repository 212 may include data indicating cutting dimensions for various types of cables and / or cable accessories.

[0083] According to aspects of the present disclosure, the control module 220 may be operated by one or more processors 202 to implement the functions of the computing device 152 as described herein. For example, the control module 220 may output commands to control the operation of the cable preparation device 150. In some examples, the control module 220 may also respond to a combination of sensor readings and stored data by modifying the position or speed of physical components such as cutting tools in the cable preparation device according to programming logic. In some examples, the control module 220 controls the cable preparation device 150 to adjust various components of the cable preparation device 150 to cut various layers of the cable 250. In one example, the control module 220 outputs a command to cause the cable preparation device 150 to adjust the radial depth of a plurality of rollers, which may enable the tool head to support the cable 132 while the cutting tool cuts various layers of the cable 132.

[0084] In some examples, the control module 220 outputs various commands to control the starting position of the cutting tool and the cutting distance of the cutting tool (e.g., cutting depth or cut-off length). For example, the control module 220 can cause the tool head to start cutting at one end of the cable 132. In another example, the control module 220 can cause the tool head to start cutting at a predetermined distance from the end of the cable 132 to produce a retaining strip for one or more layers of the cable 132. When the tool head cuts the layers of the cable 132, the retaining strip can prevent one or more layers of the cable 132 from moving or becoming loose.

[0085] In some cases, the control module 220 outputs commands to remove one or more layers of the cable 132. In one example, a command causes the cutting tool to penetrate to the depth of the cable 132. Another command causes the cutting tool to retract partially (e.g., to a shallower cutting depth) so that the cutting tool can remove one or more outer layers of the cable 132 without cutting one or more inner layers of the cable 132.

[0086] The electrical driver 222 can control the characteristics of the power supplied to various components of the cable preparation device 150. Example components of the cable preparation device 150 include motors and / or actuators that drive the tool head or tool positioning drivers, etc. Example characteristics of the power include voltage, current, and / or frequency. In one example, the electrical driver 222 outputs commands to a power converter to control the characteristics of the power. In another example, the electrical driver 222 includes a power converter to control the characteristics of the power.

[0087] Figure 3 is an illustrative diagram of a modular cable preparation system 300 for preparing cables, such as cables for installation to Figure 1A the power grid 100A. The cable preparation system 300 is Figure 1B an example of the cable preparation system 100B, which has one or more additional "modular" components, such as discrete or different components that can be physically or communicatively coupled to each other. The cable preparation system 300 includes at least a modular cable preparation device 350, which can be used alone in a "handheld" mode and / or can be used when installed on a base 304 (also referred to herein as "carriage 304"). Several modules make up the entire cable preparation system 300, but not all modules are required for any particular cable preparation process or procedure, where the choice of using the carriage 304 (instead of the "handheld" mode of the device 350) depends on the specific parameters of a particular cable preparation application and / or on user preferences.

[0088] As Figure 3As shown, the cable preparation system 300 consists of a number of independent but interconnected modules, which include a cable preparation device 350 (also referred to herein as the "main working module 350" or "MWM 350"), a computing device 352 (also referred to herein as the "interface and control module 352" or "ICM 352"), a carriage module 304, a cross-sectional sensing module ("CSSM") 306, and a piston module 308. In one example, the modules of the system 300 may further include an axial sensing module 302 for post-preparation quality verification and recording. The axial sensing module 302 may include a camera mounted to the SM 304 to inspect the prepared cable 132 along the longitudinal axis of the cable 132. The axial sensing module 302 may be an independent module similar to the CSSM 306 or may be a camera mounted within the carriage 304. In some examples, the axial sensing module 302 may be used to capture images depicting the end of the cable 132 ( Figure 2 ) and / or the longitudinal length of the cable 132 in at least one rotational position, e.g., to identify defects in the prepared cable 132 and / or to verify and confirm that the quality of the preparation meets specific requirements. In some examples, the axial sensing module 302 and / or the CSSM 306 may include a telecentric lens (e.g., a lens with a non-angular field of view). The telecentric lens may be configured to reduce or eliminate the parallax effect within the image of the end of the cable 132. Parallax errors may distort portions of the image associated with "anomalous" portions corresponding to the end face of the cable 132 that are oriented at an oblique angle relative to the optical axis of the telecentric lens or otherwise deviate from the common transverse flat surface of the end face of the cable 132.

[0089] The system 300 includes the MWM 350, which is an example of the cable preparation device 150 of Figure 1B and Figure 2 , aside from any differences mentioned herein. The MWM 350 is a relatively small, lightweight, handheld unit that can be used, for example, in environments with limited available space. In other examples, such as when operating in an environment with unrestricted available space, the MWM 350 may be coupled to the carriage 304 to provide stability and functionality. In some examples, such as the examples shown in Fig.23A and Fig. 23B below, the system 300 includes various connection cables to carry power, sensor feedback, and control data. The various connection cables may be used to interconnect the various modules as needed. In some examples, such as the examples shown in Fig.23CIn the example shown, system 300 can include wireless communication capabilities to send data from one module to another. Some components within a module can be removed and integrated with other modules. Additionally, there can be a variety of different combinations of all of the modules 350, 352, 304, 306, and 308.

[0090] ICM 352 is Figure 1B and Figure 2 an example of computing device 152, aside from the differences mentioned herein. ICM 352 can provide a primary operator interface, power supply, processing, battery, motor power supply, and display and user interface.

[0091] CSSM 306 can have cameras, sensors, indicators, and lighting devices for visual measurement of the cable layer diameter and thickness. Piston module 308 is configured to provide support for MWM 350 during hand-held operation and also includes drive means configured to provide axial movement to drive MWM 350 axially forward along cable 132. Piston module 308 can have clamp 310 and linear drive 312, as discussed in more detail below. For example, according to the techniques of the present disclosure, system 300 is configured to coordinate the axial movement of MWM 350 generated by the drive module with the circumferential (e.g., rotational) movement of one or more rotatable tools within MWM 350 in order to produce a desired type of cut such as a helical cut, thereby removing one or more layers of cable 132.

[0092] Carriage module 304 is configured to provide support for MWM 350 during carriage mounting operation and is also configured to drive MWM 350 axially forward along cable 132. Carriage 304 can have mounting gimbal, linear drive, brackets, cable clamp controls (e.g., jog, start, stop), and can support floor mounting, wall mounting, bucket mounting, and other mounting options for carriage 304.

[0093] Figure 4A and Figure 4B is Figure 3 a perspective view of an example of MWM 350. MWM 350 removes cable layers by adjusting and rotating blades around cable 132 (as discussed in more detail below) while providing sensor feedback to a control system such as Figure 3 ICM 352. MWM 350 is modular and can be used in hand-held mode (via handle 402) or can be mounted on carriage 304 ( Figure 3) for use thereon. When the MWM 350 is mounted on the carriage 304, the carriage 304 can provide axial movement along the cable 132. In handheld use, the axial movement of the MWM 350 along the cable 132 can be achieved by controlling the pitch of the blades for removing the cable jacket layer 262 and the insulation layer 256( Figure 2 ). The piston module 308( Figure 3 ) is used to remove the conductor shielding layer 254( Fig.25 ). The MWM 350 controls multiple blades, for example, three blades for each of the cable jacket layer 262, the insulation layer 256, and the insulation shielding layer 258. The MWM 350 can accommodate multiple cable size ranges, such as two or more cable size ranges, by replacing the blade holder (e.g., as performed by the operator of the MWM 350). The MWM 350 includes a roller mechanism configured to radially close inwardly onto the cable 132, thereby fixing the cable 132 in place during cable preparation. The cable 132 can be received within the MWM 350 through the cable opening 404.

[0094] Figure 5A and Figure 5B respectively show the top view contour and side view contour of the MWM 350 according to various techniques of the present disclosure. Figure 3 The weight and size of the MWM 350 can be reduced by separating the power supply, control device, display 502, and other components from the working components. The MWM 350 is relatively small and can be operated in a narrow space and in almost any suitable orientation. The MWM 350 is shown next to the mobile phone 500 to provide a reference perspective for the example size (e.g., dimensions) of the MWM 350. The MWM 350 can be carried and operated relatively easily by almost any operator because the MWM 350 can be configured to weigh approximately 6.8 kg (e.g., approximately 15 pounds) to approximately 9.5 kg (e.g., approximately 21 pounds). In another example, the weight of the MWM 350 is less than approximately 7 kg (e.g., less than approximately 15 pounds).

[0095] The width of an example size of the MWM 350 can be in the range from approximately 400 mm to approximately 500 mm (e.g., from approximately 15.7 inches to approximately 19.7 inches) (e.g., in the case where the handle 402 is attached); the width is in the range from approximately 100 mm to approximately 200 mm (e.g., from approximately 3.9 inches to approximately 7.9 inches) (e.g., in the case where the handle 402 is not present); the height is in the range from approximately 200 mm to approximately 300 mm (e.g., from approximately 7.9 inches to approximately 11.8 inches); and the length is in the range from approximately 150 mm to approximately 300 mm (e.g., from approximately 7.9 inches to approximately 11.8 inches), depending on whether the display 502 is attached. In some such examples, the MWM 350 can fit into many types of relatively tight, limited, or restricted spaces, such as through manholes, along utility tunnels, etc. As another example, the MWM 350 may be able to fit into almost any cabinet or cabinet-like environment (e.g., a data center) or a trench-like environment. The MWM 350 can be as small as approximately 15 centimeters (e.g., approximately 6 inches) per side. The MWM 350 can fit between three-core cable leg connectors.

[0096] Figure 6 is of an example of a cable preparation device 350 according to various techniques of the present disclosure. As Figure 3 shown in Figure 6 FIG. 2, the MWM 350 includes a motor 600, a housing or casing 604, a rotary head assembly 606, an encoder ring 608, a handle 402, buttons 622, a drive printed circuit board (“drive PCB”) 612, a screwdriver assembly 614, an input / output printed circuit board (“I / O PCB”) 616, a liquid crystal display (“LCD”) 618 (e.g., the display 502 of FIG. 5), and a chassis 620. The integration of the motor 600 within the rotary head assembly 606 can provide sufficient speed and torque for the removal of the insulation layer 256 (high torque, low speed) and the scraping of the insulation shield layer 258 (high speed, low torque).

[0097] Figure 7 is of an example of a rotary head assembly 606 according to various techniques of the present disclosure. As Figure 6 shown in Figure 7 FIG. 3, the rotary head assembly 606 includes an insulation blade assembly retainer 700, a roller key 702, a sheath blade assembly retainer 704, a head body 706, a roller bearing assembly 708 (also referred to herein as “roller chuck 708”), a roller retainer 710, an insulation shield blade retainer 712, rollers 714, and a cable channel 716.

[0098] In Figure 7In the example, the rotating head assembly 606 includes three roller bearing assemblies 708 and three blade assemblies 700, 704, and 712. Each of the blade assemblies 700, 704, and 712 includes a corresponding radial depth adjustment mechanism 720 that raises or lowers the respective blade assembly toward or away from the cable channel 716 when rotated in a clockwise or counterclockwise direction. At least one blade assembly (e.g., as shown for the sheath blade assembly holder 704 in Figure 7 ) includes a pitch adjustment mechanism 722 that can control the pitch of the corresponding blade. Additionally, all blade assemblies 700, 704, and 712 include corresponding reflective targets 724 to enable distance measurements for closed-loop position adjustment. As a non-limiting example, such distance measurements can include light-based measurements, such as laser measurements.

[0099] Fig. 8A is an example of Figure 7 the insulating blade assembly holder 700 according to various techniques of the present disclosure. The insulating blade assembly holder 700 includes a pitch adjustment mechanism 722, a blade holder mechanism 802, a blade 804 (which can be an example of an insulating blade or a sheath blade), a blade housing 806, and a mounting spring 808. In some examples, the assembly 700 includes a telescoping mechanism 720 to extend the radial movement range of the blade 804. The telescoping mechanism 720 can move the blade 804 in an upward or downward direction along the blade holder mechanism 802. The pitch adjustment mechanism 722 can rotate the blade 804 and change the pitch at which the blade 804 contacts the cable 132 ( Figure 1B ).

[0100] The telescoping mechanism 720 is configured to control the radial depth of the blade 804 when rotated. In some examples, a sheath blade may not require telescoping, while an insulating blade may require telescoping, such as when the insulating blade needs to move radially inward from an "open" position toward a radial position at the outer surface of a small conductor cable 132. The pitch adjustment mechanism 722 is configured to control the pitch of the blade 804 when rotated. When the MWM 350 is operated in a handheld configuration, the pitch adjustment mechanism can be used to support the axial movement of the MWM 350, but cannot be used to support the axial movement of the MWM 350 when the MWM 350 is mounted to the carriage 304. During operation, the blade 804 first contacts the sheath layer 262 or the insulating layer 256 ( Figure 2 ) and begins to strip the sheath layer 262 from the cable 132. The blade 804 can extend to the correct radial depth before inserting the cable 132 into the MWM 350 to strip the sheath layer 262 from the cut end of the cable 132.

[0101] Figure 8BAccording to various techniques of the present disclosure Figure 7 An exploded view of an example of an insulating shield blade holder 712. In Figure 8B the example, the insulating shield blade holder 712 includes a blade holder mechanism 850, an insulating shield knife 852 having a mounting height limiter 858, a mounting spring 854, and a blade housing 856. The insulating shield knife 852 extends beyond the mounting height limiter 858 by a predetermined distance. During the scoring operation, the mounting height limiter 858 straddles the surface of the insulating shield layer 258. The score has a predetermined radial depth (as measured from the outer surface of the cable 132). In one example, as Figure 8B shown, the insulating shield blade holder 712 may include a dome support instead of a roller. The blade 804 ( Fig. 8A ) may extend from the tip of the dome, and then the dome straddles the conductor shield layer 254 ( Figure 2 ). In some examples, the blade holder mechanism 850 may include one or more set screws or other mechanical fasteners instead of the mounting spring 854 to hold the blade (e.g., the insulating shield blade 852) within the blade holder mechanism 850.

[0102] Fig. 9A Depicts an example of a blade 804 according to various techniques of the present disclosure Fig. 8A The blade 804 may be used with either the insulating blade assembly holder 700 and / or the sheath blade assembly holder 704 of Figure 7 . The blade 804 includes an interface 900 configured to couple with a drill bit 726 ( Fig. 8A ) located at the distal end of the pitch adjustment mechanism 722. The cutting blade 902 and the positioning and lifting blade 904 are located directly below the interface 900. As Fig. 9B shown, the blade 804 can remove the sheath layer 262 (and / or the insulating layer 256) from the cable 132 by cutting the sheath layer 262 (and / or the insulating layer 256) with the cutting blade 902 and then lifting the sheath layer 262 (and / or the insulating layer 256) from the cable 132 with the positioning and lifting blade 904. The pitch adjustment mechanism 722 is configured to rotate to change the pitch of the blade 804, and particularly the cutting blade 902. The blade 804 can be formed of almost any suitable material such as metal, hard plastic, wood, etc.

[0103] Fig.10 According to various techniques of the present disclosure Figure 6 An exploded view of an example of a screwdriver assembly 614. In some examples, the screwdriver assembly 614 may be responsible for the roller 714 ( Figure 7 ) through the engagement of the telescoping mechanism 720 and the pitch adjustment mechanism 722, insulating and sheath blades (e.g., Fig. 8A of the blade 804) and the insulating shield knife 852( Figure 8B ) all the movements in

[0104] The screwdriver assembly 614 is configured to have a top sealing plate 1000, a screwdriver 1002, a bearing 1004, a camshaft plate 1006, a laser distance sensor 1008 (e.g., using laser triangulation), a motor and gearbox 1010, a bottom sealing plate 1012, a camshaft 1014, bevel gears 1016, a camshaft motor 1018, and a screwdriver motor 1020. In operation, the camshaft engine 1018 engages one or more selected screwdrivers 1002 and moves them in an upward direction to engage one or more of the roller key 702, the telescoping telescopic mechanism 720, and / or the pitch adjustment mechanism 722. When the screwdriver 1002 is engaged within the roller key 702, the telescoping telescopic mechanism 720, and / or the pitch adjustment mechanism 722, the screwdriver engine 1020 engages and rotates the screwdriver 1002 to rotate the roller key 702, the telescoping telescopic mechanism 720, and / or the pitch adjustment mechanism 722 in a clockwise or counterclockwise direction.

[0105] In some examples, the screwdriver motor 1020 may include, for example, an EC-i series motor available from maxon precision motors of Taunton, Massachusetts, having a diameter of approximately 30 mm, a rated power of approximately 75 W, and a rated torque of approximately 0.11 N-m . The screwdriver motor 1020 may be provided in combination with a gear ratio of approximately 103:1, which may transmit a torque of approximately 6 N-m. However, according to examples of the present disclosure, any suitable type of motor may be used.

[0106] In some examples, the camshaft motor 1018 may include, for example, an ECX series motor available from maxon precision motors of Taunton, Massachusetts, having a diameter of approximately 19 mm, a rated power of approximately 34 W, and a rated torque of approximately 7 mN-m . The camshaft motor 1018 may be provided in combination with a gear ratio of approximately 111:1, which may transmit a torque of approximately 0.5 N-m. However, according to examples of the present disclosure, any suitable type of motor may be used.

[0107] FIG. 11A to FIG. 11I is according to various techniques of the present disclosure Figure 6 and Fig.10 of an example of the screwdriver assembly 614, the screwdriver assembly 614 including a screwdriver 1002 and a camshaft 1014. In FIG. 11A to FIG. 11I the example, the screwdrivers 1002 together include three separate screwdrivers 1100, 1102, and 1104.

[0108] In Fig.11A 、 Fig. 11B and Fig. 11C , the screwdrivers 1100, 1102, and 1104 are set in the "diameter" position, which means that two of the rear screwdrivers (e.g., screwdrivers 1100 and 1102) are in the "engaged" position and extend to engage the roller key 702 and the telescoping mechanism 720( Figure 7 ). The camshaft 1014 is shown in the "rotated" position, in which the camshaft 1014 pushes up the screwdrivers 1100 and 1102 (as Fig. 11B shown), thereby causing the screwdrivers 1100 and 1102 to engage the roller key 702 and the telescoping mechanism 720. The operator can move the roller chuck 708 towards the cable 132( Figure 3 ) located within the MWM 350( Figure 1B ) by engaging the screwdriver 1100 with the screwdriver engine 1020 and rotating the screwdriver 1100 clockwise or counterclockwise as needed.

[0109] In addition, the operator can lower the insulating blade 804 to contact the cable 132 within the MWM 350 by engaging the screwdriver 1102 with the screwdriver engine 1020 and rotating the telescoping mechanism 720 clockwise or counterclockwise.

[0110] Fig.11D 、 Fig.11E and Fig.11F show the screwdriver 1002 in the "angle" position, which means that the screwdrivers 1100 and 1102 are in the "neutral" position and the screwdriver 1104 is in the "engaged" position. The camshaft 1014 has rotated and lifted the screwdriver 1104. The screwdriver 1104 can engage the pitch adjustment mechanism 722 and can be rotated clockwise or counterclockwise by the screwdriver engine 1020. In Fig.11G 、 Fig.11H and Fig.11I , all three screwdrivers 1100, 1102, and 1104 are in the "neutral" position, which means that the camshaft 1014 has rotated to a position where none of the screwdrivers 1100, 1102, or 1104 extend upward.

[0111] Fig. 12A and Fig. 12B respectively show Figure 6Contour and exploded views of an example of a motor 600 (alternatively, "direct drive mechanism 600" or "direct driver 600"). The direct driver 600 is shown as having a rotary head assembly 606, a spacer 1200, a stator 1202, an encoder ring 608, a stator locking plate 1204, an encoder reader 1206, a rotor locking plate 1208, a rotor 1210, a chassis 620, bearings 1212, and bushings 1214.

[0112] The rotor 1210 is a cylindrical rotor and can be made of solid steel. In some examples, the rotor 1210 includes a brushless DC ("BLDC") motor topology and contains permanent magnets. The rotor 1210, the encoder ring 608, and other components are connected to the rotary head 606 and are fixed to the frame 620 by bearings. The encoder ring 608 and the encoder ring 1206 constitute an electromechanical device configured to measure the angular position or movement of the rotor 1210, and can output the measurement results in the form of analog or digital output signals. The encoder ring 608 can be an absolute decoder or an incremental encoder.

[0113] The motor 600 is substantially a rotary electric device. The stator 1202 serves as a field magnet, interacting with the rotor 1210 to generate circular motion. The circular motion substantially causes the head body 606 to rotate around the cable 132. In some examples, the motor 600 can be a QTR-A-133-34 type linear motor available from Tecnotion in Almelo, the Netherlands, or almost any type of motor that provides rotary motion.

[0114] Fig.13 Illustrative diagram of an alternative two-way gear and main motor assembly 1350 according to various techniques of the present disclosure. The drive motor 1300 is shown as being coupled below the MWM 350 and configured to drive a two-way gear assembly 1302. The two-way gear assembly 1302 provides a gear system having a ratio of 1:1 in one direction and a ratio of 1:X in the opposite direction, where X is a number in the range of approximately 0.1 to approximately 10. For example, the gear assembly 1302 can include a bevel gear that disengages when operating in a first direction, thereby transmitting rotation to the output shaft at a ratio of 1:1, and the bevel gear engages a planetary gear assembly when operating in a second direction opposite to the first direction, and the planetary gear assembly drives the output shaft at a different gear ratio of 1:X, where X is a number in the range of approximately 0.1 to approximately 10.

[0115] Fig.14A is according to various techniques of the present disclosure Figure 3 of the ICM 352 (e.g., Figure 1B of the computing device 152) example, and Fig. 14BIllustrative diagram of an example graphical user interface (GUI) 1400 that can be generated and displayed on the screen of the ICM 352 according to various techniques of the present disclosure. As Fig. 14B shown, the GUI 1400 includes a plurality of virtual input-output mechanisms 1402 (e.g., buttons, input boxes, sliders, text boxes, etc.), the plurality of virtual input-output mechanisms 1402 being configured to enable an operator or other user to control the cable preparation device 350 ( Figure 3 ) via the ICM 352 to prepare a cable 132 for connection to the power system 100A ( Figure 1A ). Figure 1B )

[0116] FIG. 15A to FIG. 15C Diagram illustrating example techniques of using the MWM 350 with an example of the Figure 3 fixture 310 according to various techniques of the present disclosure. As Fig.15A shown, an operator can mount the fixture 310 onto the cable 132. The fixture 310 includes a retroreflector 1502 and the fixture 310 is Figure 3 part of the piston module 308 of the Fig. 15B . As shown, an operator can mount the MWM 350 onto the cable 132. The retroreflector 1502 of the fixture 310 is used with the MWM 350 to measure the cutback distance when preparing the cable 132. The cutback distance can be measured manually or alternatively via an automatic closed-loop feedback. For example, the MWM 350 can stop its forward axial movement at a desired cutback position along the cable 132 and make a circumferential cut in one or more layers of the cable 132.

[0117] The laser distance sensor 1008 of the MWM 350 can be used to determine the distance from the MWM 350 to the fixture 310. By using the laser distance sensor 1008, the performance of the MWM 350 can be significantly improved by accurately measuring the distance the MWM 350 moves when preparing or processing (e.g., cutting, scraping, etc.) the cable 132. The retroreflector 1502 and the laser distance sensor 1008 can overcome complexities caused by, for example, a bent portion of the cable 132 or an inclination of the rotary head assembly 606 ( Figure 6 ) relative to the fixture 310. The precise target provided by the retroreflector 1502 is also configured to help reduce or prevent false measurements due to detecting stray laser reflections from along the cable 132, the surrounding environment, or from other items.

[0118] In FIG. 15A to FIG. 15CIn the example, the laser distance sensor 1008 is located on the MWM 350. During operation, the distance sensor 1804 measures the distance to the fixed clamp 310 on the cable 132. As the MWM 350 moves axially along the cable 132, the operator (or alternatively, a computer processor under automatic control) can monitor the changing distance via this range measurement and compare the measured distance with a desired cut-back distance, such as with a desired position on the cable 132 at which the MWM 350 will initiate a square (e.g., "annular") cut to terminate the cut. In other examples, this range determination need not be performed using a laser, but can be based on (visible) light or on ultrasound. The laser distance sensor 1008 can be a time-of-flight (ToF) optical sensor that measures axial (cut-back) movement together with a retroreflector 1502 when the MWM 450 is used in a hand-held operation mode.

[0119] Fig.16A and Fig. 16B are diagrams depicting two alternative examples including the MWM 350, the clamp 310, and the laser distance sensor 1008 in accordance with various techniques of the present disclosure. In some examples, such as Fig.16A in the example shown, the laser distance sensor 1008 can be coupled to the clamp 310 and can be configured to directly detect the laser signal 1602. In other examples, such as Fig. 16B in the example shown, the laser distance sensor 1008 can be located on the MWM 350 and can be configured to detect the reflection of the laser signal 1602 reflected from the retroreflector 1502 of the clamp 310. In either case, the laser distance sensor 1008 can be integrated with wired or wireless communication capabilities to communicate with an interface and control module (ICM) 1600, which can be Figure 1B an example of the computing device 152 and / or Figure 3 the ICM 352. The laser distance sensor 1008 can also include an indicator mechanism 1604 or communicate data with an indicator mechanism 1604, such as the indicator lights shown in Fig.16A and Fig. 16B which are configured to indicate when the MWM 350 has reached the desired cut-back distance. The ICM 1600 can be wired or wirelessly connected to the laser distance sensor 1008. In some examples, the ICM 1600 can be used to pre-program the laser distance sensor 1008 (e.g., determine and indicate the cut-back distance) without the need for a continuous connection between the ICM 1600 and the laser distance sensor 1008 during the cable preparation operation.

[0120] FIG. 17A to FIG. 17Fis an illustrative diagram showing an example of the MWM350 involved in the cable sheath layer removal process according to various techniques of the present disclosure. The operator can start the MWM 350 by pressing the action button 622 ( Figure 6 ) on the handle 402 (Figure 4). In Fig.17A , the motor 600 rotates the rotary head assembly 606 to align the roller key 702 with the screwdriver 1100 ( Fig.17A and Fig.17F ). As described above and as shown in Fig. 17B , the screwdriver 1100 engages the roller key 702, the screwdriver motor 1020 rotates the roller key 702, the roller chuck 708 moves radially inwards towards the cable 132, and the roller 714 clamps onto the cable 132.

[0121] As shown in Fig. 17C , the roller 714 is uniformly adjusted using one screwdriver 1100 that engages the roller key 702. The screwdriver motor 1020 monitors the torque and feeds this information back to the ICM 1600. This feedback can be used to control the roller pressure to a desired level and can provide a working diameter measurement of the cable 132 being processed (e.g., where all layers, some layers in the layers of the cable 132 are removed or not removed from the cable 132) (e.g., by measuring the radial position of the roller after pressure is applied using the laser distance sensor 1008).

[0122] As shown in Fig.17D , the motor 600 then rotates the head body 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. As shown in Fig.17E , the cam motor 1018 then raises the screwdriver 1102 to connect with the roller key 702, and the screwdriver motor 1020 rotates the radial depth adjustment mechanism 720, and the blade 804 (e.g., sheath knife) is inserted into the cable 132.

[0123] As shown in Fig.17E and Fig.17F , the cam motor 1018 then lowers the screwdriver 1102 and raises the screwdriver 1104 to the "angle" position and couples it with the pitch adjustment mechanism 722. The screwdriver motor 1020 then rotates the pitch adjustment mechanism 722, and the blade 804 rotates to the desired angle.

[0124] The motor 600 then rotates the rotary head assembly 606 until cable sheath cutting is achieved. As described above, the blade 804 and the roller 714 move back to the "open" position shown in Fig.17A , and the MWM 350 is removed from the cable 132. Then, the operator can manually remove the shield layer 260 from the cable 132.

[0125] Fig.18 is a flowchart of a process for cable preparation using the handheld module 350 according to various techniques of the present disclosure. More specifically, Fig.18 depicts techniques for cutting and removing the outer sheath layer 262 and the shield layer 260 of the cable 132. Fig.18 The techniques of the process mainly target FIG. 14A to FIG. 17F the systems, devices, and techniques depicted in

[0126] An operator of the cable preparation system 300 ( Figure 3 ) can optionally select a specific cable preparation plan (1800). For example, the operator can use Fig.14A the multiple I / O widgets 1402 of the GUI 1400 of the ICM 350 ( Fig. 14B ) to select a plan from multiple plans, such as selecting a plan from a drop-down menu, etc. As Fig.15A shown, the operator can then install the fixture 310 including the retroreflector 1502 onto the cable 132 (1802). The operator can then install the MWM 350 onto the cable 132 (1804), for example as Fig. 15B illustrated. The operator can start the MWM 350 (1806) by, for example, pressing the action button 622 ( Figure 6 ) on the handle 402 of the MWM 350.

[0127] The motor 600 then rotates the rotatable tool head 606 until cable sheath reduction is achieved (1808). As Fig.17A shown, the sheath knife 804 and the roller 714 move back to the "open" position so that the MWM 350 can be removed from the cable 132 (1810). The shield layer 260, which is composed of a metal foil, a metal film, or multiple individual metal wires, can optionally be manually retracted and / or removed by the operator (1812).

[0128] 19A to 19D is an illustrative diagram of the MWM350 participating in the insulation blade adjustment and homing process according to various techniques of the present disclosure. The measurement target 724 is shaped and positioned such that at one position, the laser 1602 does not reflect from the target 724 ( Fig.19D ), but by slightly rotating, the target 724 reflects the laser 1602 ( Fig.19C ). This is the "homing" position and is used to accurately position the blade 804 at any desired angle with this position as the reference position. The laser distance sensor 1008 detects the front edge of the reflecting target 724.

[0129] When the screwdrivers 1100, 1102, and / or 1104 are engaged and adjusted to any one of the blades 804, 852, or rollers 714, the system continuously measures the torque experienced by the screwdrivers 1100, 1102, and / or 1104 while adjusting the radial position. This enables the roller 714 or the blades 804, 852 to obtain a desired radial force on the cable 350. Using this torque feedback with closed-loop distance monitoring feedback, the system can measure, for example, the roller position and thereby measure the diameter of the cable 132 during processing (with no layers removed or some layers removed from the layer), which diameter can then be fed back into the system (e.g., fed back into Figure 3 the ICM 352) for evaluation, analysis, or setting subsequent cutting operations.

[0130] FIG. 20A to FIG. 20E is a diagram depicting example cable preparation operations in accordance with various techniques of the present disclosure, where Figure 3 the MWM 350 is involved in the cable insulation layer removal process. For example, the MWM 350 can be configured to perform a deep cut through the insulation layer 256 ( Figure 2 ). In some examples, if the insulation shield layer 258 is present (e.g., positioned radially outward from the insulation layer 256), the MWM 350 simultaneously cuts the insulation shield layer 258. In some examples, but not all, the MWM 350 can simultaneously cut the conductor shield layer 254 (e.g., positioned radially inward from the insulation layer 256), if the conductor shield layer 254 is present.

[0131] In Fig. 20A , the motor 600 ( Figure 6 ) rotates the head body 606 to align the roller key 702 with the screwdriver 1100. The screwdriver 1100 engages the roller key 702, and then the screwdriver motor 1020 rotates the roller key 702, the roller chuck 708 moves radially inward toward the insulation layer 256, and the bearing is fastened to the insulation layer 256. In Fig. 20B , the motor 600 then rotates the rotary head assembly 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. In FIG. 20C to FIG. 20E , the cam motor 1018 then raises the screwdriver 1102 to connect with the radial depth adjustment mechanism 720, and the screwdriver motor 1020 rotates the radial depth adjustment mechanism 720, and the blade 804 (e.g., an insulation knife) is inserted into the insulation layer 256.

[0132] The cam motor 1018 then lowers the screwdriver 1102 and raises the screwdriver 1104 to the "angle" position and couples it to the pitch adjustment mechanism 722. The laser measurement target 724 rotates together with the blade 804. The screwdriver motor 1020 then rotates the pitch adjustment mechanism 722, and the insulation knife 804 moves to the desired angle. The motor 600 then rotates the rotating head assembly 606 until an insulation cut is achieved.

[0133] The blade 804 and the roller 714 move back to Fig. 20A the "default" diameter shown in, and the MWM 350 is removed from the cable 132. In some examples, the piston module 308 can then be installed and coupled to the MWM 350 through Fig.21A and Fig. 21B the piston holder holes 2100 of, as further detailed below. In other examples, the MWM 350 can be installed on the carriage module 304. In other examples, the MWM 350 can be installed on the gripper module 2600 ( Fig.26A and Fig.26B ), as further detailed below.

[0134] Fig.21A and Fig. 21B are illustrative views of the piston module 308 coupled to the MWM 350 according to various techniques of the present disclosure. As shown in Fig.21A and Fig. 21B , the piston module 308 can be installed between the fixture 310 and the MWM 350 to provide axial motion control for the MWM 350 as needed. The piston module 308 can be configured to be connected to the fixture holes 2102 on the fixture 310 via, for example, a split pin, a snap fit, nuts and bolts, or any other suitable attachment mechanism.

[0135] When the MWM 350 is reinstalled on the cable 132, the linear driver 312 of the piston module 308 is coupled to the MWM 350 at the other end of the piston module 308 to cut and remove the conductor shield 254, as further detailed below. The piston hole 2104 can be coupled to the piston holder hole 2100 of the MWM 350 via, for example, a split pin, a snap fit, nuts and bolts, or any other suitable attachment mechanism.

[0136] Fig. 22 is a flow chart of a process for cable preparation using a handheld main work module 350 according to various techniques of the present disclosure. More specifically, Fig. 22Describes a technique for cutting and removing at least a portion of the insulating layer 256 of the cable 132, as well as the insulating shield layer 258 (e.g., radially outward from the insulating layer 256) and the conductor shield layer 254 (e.g., radially inward from the insulating layer 256) - if the insulating shield layer 258 and the conductor shield layer 254 exist. Fig. 22 The technique of the process is mainly directed to 19A to 19D , FIG. 20A to FIG. 20E as well as Fig.21A and Fig. 21B the systems, devices, and techniques depicted in Fig. 22 . Additionally, in some examples, but not all, Fig.18 the technique can be performed after

[0137] the technique, for example, after the outer sheath layer 262 and / or the shroud layer 260 have been removed from the cable 132.

[0137] An operator of the cable preparation system 300 can mount the MWM 250 on the outermost layer of the cable 132, such as the insulating shield layer 258 (2200). Then, the operator can activate the MWM 350 (2202) by pressing the action button 622 ( Figure 6 ) on the handle 402 of the MWM 350. As discussed above with respect to Fig. 21B , the screwdriver 1100 engages the roller key 702 and rotates the roller key 702, causing the roller chuck 708 to move radially inward toward the insulating shield layer 258, and the bearing is fastened to the insulating shield layer 258. As Fig. 21B shown, the motor 600 then rotates the head body 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. As shown in FIGS. 21C to 21E, the cam motor 1018 then raises the screwdriver 1102 to connect with the radial depth adjustment mechanism 720, and the screwdriver motor 1020 rotates the radial depth adjustment mechanism 720, and the insulation knife 804 is inserted through the insulating shield layer 258, the insulating layer 256, and the conductor shield layer 254 - if the conductor shield layer 254 exists.

[0138] Then, the motor 600 rotates the rotatable tool head 606 of the MWM 350 until insulation cutting reduction is achieved (2204). At this stage, all of the insulating shield layer 258, the insulating layer 256, and the conductor shield layer 254 may have been cut to a common axial length that is longer than the sheath layer 262 (such that a portion of the insulating shield layer 258 is exposed) and shorter than the conductor 252 - such that a portion of the conductor 252 is exposed. The insulation knife 804 and the roller 714 move back to Fig. 20A the "default" diameter shown in

[0139] At this stage, the MWM 350 can optionally be coupled to an axial drive mechanism configured to advance the MWM 350 along the cable 132, as the next cut into the radial depth of the insulation shield 258 is not sufficient to automatically advance the MWM 350 along the cable 132. For example, the piston module 308 ( Figure 3 ) or the gripper module 2600 ( Fig.26A and Fig.26B ) can then be mounted onto the MWM. For example, the piston module 308 can be coupled to the MWM 350 through the piston gripper aperture 2100 to cut or score the insulation shield 258, as described further below. In other examples, the MWM 350 is mounted on the carriage module 304.

[0140] FIG. 23A to FIG. 23C FIGS. are various examples of the piston module 308 coupled to the MWM 350, the ICM 352, and the cross-sectional sensing module (CSSM) 306. According to the techniques of the present disclosure, the piston module 308 includes a motor-driven lead screw (or other similar linear drive device of the present disclosure, such as the cable and winch 2612 described further below with reference to Fig.26A and Fig.26B ), and the motor-driven lead screw can move the MWM 350 axially toward the fixture 310 at a defined rate in concert with the rotary head assembly 606 ( Figure 6 ) to provide a helical cut or score. As shown in Fig.23A , the data cable 2300 from the MWM 350 or the ICM 352 to the piston module 308 can provide control and power for its actuation. The movement of the piston 308 can define the cutback distance by stopping the forward movement of the MWM 350 while the rotary head 606 of the MWM 350 continues to rotate, thereby creating a square cut (or equivalently, an "annular" cut or a "circumferential" cut). An annular cut can be defined as a helical cut that is formed by removing a layer of the cable 132 (e.g., by scraping, scoring, and / or slicing the layer) using the axial and rotational movement of the MWM 350. Each helical cut can be made or completed with an annular cut. For a square cut, different layers are removed to improve the interface quality with joints, connectors, etc. and to prevent electrical breakdown. In some examples, the piston module 308 can be used for some scoring operations, such as when the operator is experienced. In some examples, scoring can slightly axially pull the MWM 350 forward. When the MWM 350 reaches the end point, the braking mechanism can help stop the advancement and indicate to the operator that the cable 132 is ready for annular cutting.

[0141] In some examples, in instances where the radial depth of the cutting layer is insufficient to automatically pull the MWM 350 along the cable 132 (e.g., for scribing or scraping the insulation shield layer 258), the piston module 308 (or other axial drive device according to the present disclosure) supports the axial movement of the MWM 350 along the cable 132. Some of the cuts during cutting can be used to pull the MWM 350 along the cable length (e.g., potential sheath or insulation helical cuts), but in other cases, the piston module 308 may be required to control the axial movement.

[0142] As FIG. 23A to FIG. 23C shown, various different data communication connection options can be used between the piston module 308 and the ICM 352. For example, Fig.23A a cable connection for the CSSM 306, ICM 352, and piston module 308 is shown. In Fig. 23B this, the CSSM 306 is wirelessly connected to the ICM 352 and has its own power source (e.g., a battery). In Fig.23C this, the battery 2302 from the ICM 352 is relocated to the MWM 350, and Figure 3 the ICM 352 of Figure 23C is replaced by the ICM 1600 of FIG. 16, which may include a mobile computing device such as a tablet computer, a smart phone, or other mobile device. In

[0143] Figures 24A to 24E Examples of the MWM 350 used during the removal process of the cable insulation shield layer according to various techniques of the present disclosure are illustrated. In Figures 24A to 24E the example depicted, the sheath layer 262 and the shroud layer 260 have been cut back to a first axial length; the insulation shield layer 258, the insulation layer 256, and the conductor shield layer 254 have been cut back to a second axial length (such that a portion of the insulation shield layer 258 is exposed), and the conductor 252 has not been cut from its original axial length such that a portion of the conductor 252 is exposed.

[0144] The operator reinserts the cable 132 into the MWM 350 and couples the MWM 350 to the linear drive 312 of the piston 308 (or in other examples, couples it to Figure 26A and Figure 26B the gripper module 2600 of Figure 3 or couples it to Figure 24A the carriage module 304 ofFigure 6 )Rotate the head body 606 to align the roller key 702 with the screwdriver 1100. The screwdriver 1100 engages the roller key 702, and then the screwdriver motor 1020 rotates the roller key 702. The roller chuck 708 moves inwardly towards the insulation shield 258, and the bearing is fastened onto the insulation shield 258. As Figure 24B shown, the motor 600 ( Figure 6 ) then rotates the rotating head assembly 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. As Figures 24C to 24E shown, the cam motor 1018 then raises the screwdriver 1102 to connect with the radial depth adjustment mechanism 720, and the screwdriver motor 1020 rotates the radial depth adjustment mechanism 720, and the insulation shield knife 852 is inserted into the insulation shield 258.

[0145] Then, the motor 600 rotates the head body 606, and the head body 606 then rotates to scribe the insulation shield 258 until insulation shield cutting is achieved. The insulation shield knife 852 and the roller 714 are moved back to Figure 24A the "default" diameter shown in, and the MWM 350 is removed from the cable 132. The operator manually strips the insulation shield 258 and removes any debris, exposing the insulation layer 256.

[0146] Figure 25 is a flowchart of a process for cable preparation using a handheld MWM 350 according to various techniques of the present disclosure. More specifically, Figure 25 depicts techniques for cutting and removing the insulation shield 258 of the cable 132 ( Figure 2 ). Figure 25 The techniques mainly target Figure 21A and Figure 21B , Figures 23A to 23C and Figures 24A to 24E the systems, devices, and techniques depicted in. Additionally, in some examples, but not all, Figure 25 the techniques can be performed after Figure 18 the techniques and / or after Figure 22 the techniques, for example, after the outer sheath layer 262 and the shield layer 260 have been cut back to a first axial length ( Figure 18 ); the insulation shield 258, the insulation layer 256, and the conductor shield 254 have been cut back to a second axial length ( Figure 22 ), and the conductor 252 extends axially outward by a third axial length.

[0147] The cable preparation system 300 ( Figure 3) The operator installs the MWM 350 on the cable 132 (2500), and then optionally couples the linear drive 312 of the piston module 308 (or other linear or axial drive devices of the present disclosure) to the MWM 350, because the radial thickness of the insulation shield 258 may not be sufficient to cause the MWM 350 to automatically advance along the cable 132 during the cutting process. For example, the piston hole 2104 ( Figure 21A ) can be coupled to the piston holder hole 2100 of the MWM 350 via a split pin or other type of attachment.

[0148] Then, the operator can start the MWM 350 (2502) by pressing the Figure 6 action button 622 on the handle 402 of the MWM 350. As Figure 24A shown, the motor 600 rotates the head body 606 to align the roller key 702 with the screwdriver 1100. The screwdriver 1100 engages the roller key 702, and then the screwdriver motor 1020 rotates the roller key 702, and the roller chuck 708 moves inwardly towards the insulation shield 258, and the bearing is fastened on the insulation shield 258. As Figure 24B shown, the motor 600 then rotates the head body 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. As Figures 24C to 24E shown, the cam motor 1018 then raises the screwdriver 1102 to connect with the radial depth adjustment mechanism 720, and the screwdriver motor 1020 rotates the radial depth adjustment mechanism 720 until the insulation shield knife 852 is inserted into the insulation shield 258.

[0149] Then, the motor 600 rotates the rotary head assembly 606 of the MWM 350 while the piston module 308 drives the MWM 350 along the cable 132 (driving at a coordinated speed to produce a spiral scratch with a desired size), thereby performing a partial depth cut (or "scoring") until the insulation shield reduction is achieved (2504). The insulation shield knife 852 and the roller 714 then automatically move back to the "default" diameter, so that the operator can remove the MWM 350 from the cable 132 and manually peel any remaining part of the insulation shield 258 from the cable 132 (2506) (for example, remove any chips), thereby exposing the underlying insulation layer 256.

[0150] As described above, in some examples of the present disclosure, the MWM 350 is configured to axially move or travel along the cable 132 to perform a cut (e.g., a spiral or longitudinal cut) into or through one or more layers of the cable. In some examples, the MWM 350 includes a handle 402 (FIG. 4) to enable the operator to manually push the MWM 350 along the cable 132.

[0151] In some examples, the MWM 350 can be configured to drive or propel itself along the cable 132 when performing a cut. For example, one or more cutting tools of the tool head can be oriented at an oblique angle relative to the central longitudinal axis 2754 of the cable 132( Figures 27A to 27E ) such that when the tool head rotates the cutting tool circumferentially around the cable, the interaction (e.g., frictional force) between the thickness or depth of the cutting layer and the side surface of the cutting tool is sufficient to powerfully drive the entire tool head longitudinally forward along the cable, thereby creating a helical cut.

[0152] However, in other examples, the radial thickness or depth of the cutting layer (e.g., the insulation shield layer 258) may be too narrow or too shallow to apply sufficient forward axial pressure to the cutting tool to drive the rotatable cutting head forward. In some such examples, the cable preparation system can include a gripper module configured to couple (e.g., clamp) to the cable, wherein the gripper module includes an axial drive module configured to push, pull, or otherwise drive the MWM 350 axially forward along the cable. The piston module 308( Figure 3 ) is an example of such a drive module. In other examples according to the present disclosure, the gripper module includes a screw drive or winch configured to drive the MWM 350 along the cable 132. For example, Figure 26A and Figure 26B are perspective views of an example gripper module 2600 according to various techniques of the present disclosure, and the example gripper module 2600 can be a Figure 3 modular component of the cable preparation system 300. The gripper module 2600 includes a cable clamp 310, one or more guide rails 2508, and in some but not all examples, the gripper module 2600 includes an MWM mount 2604 and a drive module 2612 (also referred to herein as the "winch 2612"). The various sub-components of the gripper module 2600 can be arranged and assembled into a plurality of different configurations according to the specific constraints and requirements of the cable preparation task to be performed, as further detailed below. Figure 26A and Figure 26B and Figures 27A to 27E depict a first such arrangement or configuration of the components of the gripper module 2600.

[0153] In some examples, one or more components of the gripper module 2600 can be integrated with the MWM 350 (e.g., rigidly coupled to the MWM 350). In other examples, one or more components of the gripper module 2600 can be physically distinct from the MWM 350 but configured to be removably coupled to the MWM 350. For example, as Figure 26A and Figure 26BAs shown, the gripper module 2600 may include an MWM mount 2604 configured to removably couple the MWM 350 to other components of the gripper module 2600.

[0154] The cable clamp 310 is configured to removably couple to a portion of the cable 132 ( Figures 27A to 27E ). The gripper module 2600 also includes one or more elongated guides 2608, each having a guide proximal end 2608A and a guide distal end 2608B. The guides 2608 are configured to guide (e.g., direct or control) the axial movement of the MWM 350 along the cable 132, e.g., to maintain a parallel orientation of the MWM 350 relative to the central longitudinal axis of the cable 2750 ( Figures 27A to 27E ).

[0155] In Figure 26A and Figure 26B some examples of the configurations shown, where the MWM 350 is configured to be removable from other "ancillary" components of the gripper module 2600, each guide 2608 is configured to rigidly couple to the MWM mount 2604 at the guide proximal end 2608A and to the cable clamp 310 at the guide distal end 2608B. In Figure 26A and Figure 26B other examples of the configurations shown, where the MWM 350 is directly (e.g., rigidly) integrated with additional components of the gripper module 2600, each guide 2608 is configured to rigidly couple to the MWM 350 at the guide proximal end 2608A and to the cable clamp 2606 at the guide distal end 2608B.

[0156] The drive module 2612 includes a drive device configured to (as appropriate for the particular situation) drive, cause, enable, or otherwise control the axial movement of the MWM 350 along the cable 132 ( Figures 27A to 27E ), e.g., along the central longitudinal axis 2754 of the cable 132 ( Figures 27A to 27E ), e.g., to control the axial speed of the axial movement, in order to cut one or more layers of the cable 132. In some examples, the drive module 2612 is an Figure 3 example of the piston module 308 (e.g., the linear driver 312 of the piston module 308), aside from the differences mentioned herein. For example, according to the techniques of the present disclosure (and as described above with respect to the piston module 308), the ICM 352 ( Figure 3 ) is configured to control both the drive module 2612 and the MWM350 such that the axial movement of the MWM 350 is coordinated with the MWM 350 ( Figure 6) the rotational movement of the rotary head assembly 606 is coordinated "in unison" to precisely control the MWM 350 to produce a desired incision, such as a helical incision or score having a desired size or proportion (e.g., as indicated by the user or operator or retrieved from memory).

[0157] In some examples, the drive module 2612 includes a winch and an elongate wire 2616. The winch has an internal motor coupled to a rotary module (e.g., contained within the outer housing 2614 of the winch 2612). The elongate wire 2616 has a wire proximal end 2616A, a wire proximal portion (not shown), and a wire distal end 2616B. In any configuration of the components of the gripper module 2600, the wire proximal end 2616A is rigidly coupled to the rotary module of the winch 2612, and the rotary module is configured to rotate about the winch axis 2618 to wind the proximal portion of the wire 2616 around the rotary module, thereby shortening the length of the wire 2616 outside the housing 2614 (e.g., the distal portion).

[0158] In Figures 26A to 27E the example configuration of the gripper module 2600 shown, the outer housing 2614 of the winch 2612 (containing the rotary module and the proximal wire portion) is rigidly coupled to the MWM mount 2604 and / or the proximal end 2608A of the guide rail. In other examples, the housing 2614 of the winch 2612 may be removably coupled or rigidly directly coupled to the MWM 350. The wire distal end 2616B is removably coupled or rigidly coupled to the cable clamp 310.

[0159] As Figures 27A to 27E shown, the winch 2612 is configured to axially pull the MWM 350 forward along the cable 132 to cut one or more layers of the cable 2650. For example, Figure 27A is a side view of the cable 132. As Figure 27B shown, the operator can insert the proximal end of the cable 132 into the cable opening 404 of the MWM 350. The operator also secures the cable clamp 310 to a more distal portion of the cable 132. For example, the operator can rotate the clamp wheel 2752 (or other user input mechanism) to secure the clamp 310 to the outer surface of the cable 132.

[0160] As Figure 27C and Figure 27DAs shown, the operator can activate the rotatable tool head 606 of the MWM 350, which engages the cable 132 to cut, score, or scrape at least one radial layer of the cable while the winch 2612 axially pulls the MWM 350 along the cable 132 to cut one or more layers of the cable 132. When the MWM 350 reaches the desired cut length, the circumferential rotation and axial movement stop, and if desired, the rotatable tool head completes a helical cut with an end "square" cut, e.g., a cut perpendicular to the longitudinal axis 2754 of the cable. In some examples, the desired cut length can be a predetermined (e.g., user-selected) point along the axial length of the cable 132. In some such examples, the cable preparation system can use the laser distance sensor 1008 and the retroreflector on the cable clamp 310 as described above to determine when the MWM 350 reaches the desired cut length. In other examples, the user can select or indicate the desired cut length by positioning the cable clamp 310 at the desired end position.

[0161] As Figure 27E shown, the cut layer can then be removed from the cable 132 to produce a cut or stripped portion 2756 of the cable 132, or in some examples, the cut layer can remain attached to the cable 132 for further preparation or other processing. For example, in some cases, the desired cut length of the cable 132 can be longer than either or both of the guide rail 2608 and the wire 2616. In some such examples, once the MWM 350 has reached the cable clamp 310 and has stopped moving forward, the operator can leave the MWM 350 in place on the cable 132, unlock the rotation module of the winch 2612, and axially move the cable clamp 310 (along with the distal end 2616B of the attached wire) forward along the cable 132 to a new desired cut length or to the full length of the guide rail 2608, and repeat the process as needed multiple times to achieve the full desired cut length.

[0162] In some examples in accordance with the present disclosure, the operator can utilize the guide rail 2608 of the gripper module 2600 without utilizing the winch 2612. For example, as described above, in some cases, the thickness or width of the radial layer of the cable 132 is thick or wide enough such that when the MWM 350 cuts through the layer, the layer pushes the MWM 350 forward along the cable, making the pulling force of the winch 2612 unnecessary. In some such examples, the operator can still utilize the guide rail 2608 and the cable clamp 310 as described herein to guide the axial movement of the MWM 350, e.g., to rigidly maintain the direction of movement.

[0163] Figure 28A and Figure 28Bis an illustrative diagram depicting another example gripper module 2800, which is an example of the gripper module 2600 of Figures 26A to 27E , but in which one or more of the sub-components are arranged and assembled relative to each other in different orientations. In the example arrangements shown in Figure 28A and Figure 28B , the cable 132 is oriented vertically (e.g., within a threshold range of an angle relative to gravity). In such an example where the cable 132 is oriented vertically, the gripper module 2800 can be configured to use gravity to cause the MWM 350 to travel vertically downward along the cable 132 to cut one or more layers of the cable. In some such examples, rather than using the winch 2612 to advance the MWM 350 along the cable 132 (as in the example arrangements of Figure 26A and Figure 26B ), the winch 2612 can be arranged and configured to at least partially slow down or resist the natural downward movement of the MWM 350 due to gravity in order to control the axial speed of the MWM 350. For example, the gripper module 2800 can be configured to control the rotation of the rotating module of the winch 2612 to control the release (e.g., unwinding) of the proximal portion of the wire 2616 from the rotating module in order to control the rate at which the MWM 350 descends axially downward along the cable 132.

[0164] As shown in Figure 28A , the outer housing 2614 of the winch 2612 is functionally coupled to the MWM 350 via an extension bracket 2850, which can be the same as or different from the MWM mount 2604 of Figure 26A . The distal end 2616B of the wire 2616 is coupled to the proximal end 2608A of the guide rail 2608B. The MWM 350 (including the rotatable cutting tool head 606 of Figure 6 ) is vertically mounted to the cable 132 above the cable clamp 310. The rotating module of the winch 2612 can then be actuated to rotate at a predetermined rotational speed (e.g., as measured in revolutions per minute (RPM)), thereby unwinding the wire 2616 from the rotating module of the winch at a controlled speed. As shown in Figure 28BAs shown, the MWM 350 descends downward along the cable 132 at a controlled speed while being suspended from the proximal end 2608A of the guide rail 2608. In this way, the cable preparation system 300 can precisely control the parameters of the cutting performed within one or more layers of the cable 132 via the computing device 352 and the gripper module 2800. As described above, by simultaneously controlling the axial speed of the MWM 350 (e.g., via the gripper module 2800) and the rotational speed of the rotary tool head 606, the computing device 352 can thereby control the ratio of the axial movement to the circumferential movement, thereby producing a specific desired type of cut, such as a helical cut, a longitudinal cut, or other types of cuts.

[0165] Figure 29A and Figure 29B is an illustrative diagram depicting a third example gripper module 2900, which is Figure 26A and Figure 26B another example of the gripper module 2600, in which the sub-components are arranged and assembled relative to each other in another orientation. In the Figure 29A and Figure 29B example arrangement shown, the cable 132 is shown to be oriented generally horizontally (relative to gravity). However, the arrangement of the components of the gripper module 2900 can be used in conjunction with a cable oriented in almost any alignment relative to gravity.

[0166] Except for being oriented substantially opposite to the corresponding orientation of the winch 2612 shown in Figure 26A and Figure 26B the arrangement of the components in the gripper module 2900 is substantially similar to Figure 26A and Figure 26B the arrangement of the components in the gripper module 2600. In other words, as shown in Figure 29A the housing 2614 of the winch 2612 is functionally coupled to the cable clamp 310 and / or the distal end 2608B of the guide rail 2608, rather than being coupled to the MWM 350 (e.g., as shown in Figure 25 A and Figure 25 B).

[0167] In some examples, the housing 2614 of the winch 2612 can be directly or rigidly coupled to the cable clamp 310 and / or the distal end 2608B of the guide rail. In other examples such as Figure 29A and Figure 29BIn the example shown, the housing 2614 of the winch 2612 is flexibly coupled to the cable clamp 310 via an intermediate cable sheath 2910. The cable sheath 2910 enables the winch 2612 to be physically separated from the remainder of the gripper module 2900, which can enable the gripper module 2900 to be used in more diverse environments, such as environments where physical space is substantially limited. The cable sheath 2910 defines a lumen configured to receive a proximal portion of the wire 2616. The cable sheath 2910 can include any suitable material or polymer having a compressive strength sufficient to adequately resist compression when the winch 2612 pulls the MWM 350 along the cable 132.

[0168] Similarly, as Figure 29A and Figure 29B shown, the distal end portion 2616B of the wire is fixedly coupled to the MWM 350 rather than to the cable clamp 310 and / or the distal end portion 2608B of the guide rail (e.g., as Figure 26A and Figure 26B shown). In such an example, when the rotating module within the winch housing 2614 rotates, the proximal portion of the wire 2616 wraps around the rotating module, causing the winch 2612 to pull the MWM 350 along the cable 132 toward the cable clamp 310. In this manner, the cable preparation system 300 can precisely control the parameters of the cuts made within one or more layers of the cable 132 via the computing device 352 and the gripper module 2900. As described above, by simultaneously controlling the axial velocity of the MWM 350 (e.g., via the gripper module 2900) and the rotational velocity of the rotary tool head 606, the computing device 352 can thereby control the ratio of the axial motion to the circumferential motion, thereby producing a particular desired type of cut, such as a helical cut, a longitudinal cut, or other types of cuts.

[0169] Figure 30A and Figure 30B are perspective views of an example handheld cross-sectional sensing module (CSSM) 3006, and Figure 31 is a cross-sectional view of an example handheld cross-sectional sensing module (CSSM) 3006, the example handheld cross-sectional sensing module (CSSM) 3006 being Figure 3 and Figures 23A to 23CAn example of the modular CSSM 306, except for the specific differences described herein. CSSM 3006 is configured to image the end face 3150 of the cable 132. According to the techniques of the present disclosure, CSSM 3006 includes a telecentric lens 3106 that is configured to automatically correct defects or other anomalies on the end face 3150 of the cable 132 when imaging the end face, enabling significantly more precise measurement of the layers of the cable 132 compared to imaging devices with different lens configurations, as further described below. The CSSM 3006 described herein is configured to provide cable measurement results that are nearly instantaneous, such as within 30 seconds, often within 15 seconds, and typically within 10 seconds.

[0170] In Figure 30A and Figure 30B CSSM 3006 is depicted as a physically distinct handheld module. In other examples, CSSM 3006 can be integrated into any of the other modules of the system 300 of Figure 3 , including within the MWM 350, within the carriage module 304, or within another module. As Figure 30A and Figure 30B illustrate, the handheld CSSM 3006 includes a housing 3002, a cable inlet port 3004, a handle 3008, a light trigger 3010, an indicator light 3012, and in some examples, the handheld CSSM 3006 includes a data / power cable 3014.

[0171] CSSM 3006 includes a housing 3002 that encloses a volume including an image capture device 3110 such as a camera and defines a cable inlet port 3004 (also referred to herein as "opening 3004"). The housing 3002 can be made of any type of material suitable for providing structural support for the components within the enclosed volume. The housing 3002 can be, for example, opaque to block ambient light from entering the volume. In the illustrated example, the housing 3002 includes an opening 3004 opposite the enclosed end, and the camera 3110 is attached within the housing to the enclosed end. In the illustrated example, an end portion of the cable 132 including the end face 3150 can be inserted into the opening 3004. The camera 3110 is located within the housing 3002 and is oriented to face the opening 3004 and the cable end face 3150. As Figure 31 illustrate, the camera 3110 has an optical axis 3120. The opening 3004 can be large enough to accommodate the cable 132 and can be larger than the diameter or maximum cross-sectional dimension of the cable 132.

[0172] In some examples, the CSSM 3006 includes an indicator 3012 configured to output a signal or other indication to a user. For example, the indicator 3012 can output a signal indicating one or more of "device powered on", "insert cable now", "cable inserted to correct depth", "image capture", "image capture and cable analysis complete", and / or any other message indicating the functionality of the CSSM 3006. In Figure 30A and Figure 30B the example shown in, the indicator 3012 includes a pair of indicator lights, where the lights are configured to indicate a message regarding the functionality of the CSSM 3006 by being powered on, flashing, etc. As a non-limiting example, the indicator lights 3012 can include a green LED indicating that the cable is being imaged correctly (e.g., by analyzing the sharpness and / or focus of the image) and a red LED indicating that the captured image is currently being processed (e.g., during a short period of time after the image capture mechanism 3110 has been activated).

[0173] In some examples, the cross-sectional sensing module 3006 includes an internal computing device 3116. The computing device 3116 can be Figure 1B an example of the computing device 152 of Figure 3 and / or the ICM 352 of

[0174] except for the differences mentioned herein. The computing device 3116 can control the camera 3110 to capture images, store images, process images and other data or information, and transmit the images via wired or wireless communication. The computing device 3110 can control and / or receive data and / or images from other components of the CSSM 3006, such as the indicator 3012, the camera 3110, and the light source 3102. In some examples, the computing device 3116 can receive the images captured by the camera 3110 and perform image processing to determine (e.g., measure) various cable construction parameters. For example, the computing device 3116 can determine the number of conductor strands in the cable, the arrangement (e.g., stranding) of the conductor strands, the specification (e.g., size) of the conductor strands, the number of shield wires, the shape (e.g., circular and / or flat) of the shield wires, the specification (e.g., size) of the shield wires, the color and gray level of the insulation layer, etc.

[0175] CSSM 3006 may also include one or more transparent protectors 3104. The transparent protector 3104 may be configured to prevent the cable 132 from reaching or damaging the camera 3110. The transparent protector 3104 may have a flat shape, a tapered shape, or an annular shape. In some examples, the transparent protector 3104 may diffusely transmit light. For example, the transparent protector 3104 may be disposed between the light source 3102 and the cable end face 3150 and diffusely transmit, e.g., transmit and scatter, the light from the light source 3102 to diffusely illuminate the cable end face 3150. In some examples, the diffuse illumination of the cable end face 3150 may reduce or eliminate unwanted reflections, such as specular reflections or flashes. In some examples, the light source 3102 may be disposed along the edge of the transparent protector 3104, and the transparent protector 3104 may be configured to diffuse and emit the light injected into the transparent protector by the light source 3102 toward the cable end face 3150. For example, the transparent protector 3104 may be an edge-light light guide and / or illuminator.

[0176] In some examples, CSSM 3006 may include a data cable 3014 for power and / or data input / output. In some examples, CSSM 3006 may be battery-powered and / or include wireless data transmission capabilities to transmit and receive data (e.g., as shown in various examples of Figures 23A to 23C ) using one or more other modules of system 300.

[0177] In some examples, CSSM 3006 includes a locking ring 3114 configured to removably secure the cable 132 in place within the housing 3002, e.g., to fix the relative position of the end face 3150 with respect to the camera 3110 and to orient the end face 3150 of the cable 132 within the field of view of the telecentric lens 3106. For example, in accordance with the techniques of the present disclosure, CSSM 3006 includes a telecentric lens 3106 oriented substantially transverse (e.g., perpendicular) to the lens axis 3120 of the camera lens 3112. As used throughout this disclosure, a "telecentric" lens is defined as an optical lens having a constant, non-angular field of view. For example, at any distance from the telecentric lens, the lens will always have the same field of view, thereby eliminating the amount of parallax, e.g., the amount of imaging distortion due to the parallax effect experienced by a conventional lens. In other words, when viewed through the telecentric lens 3106, any two objects of the same size will still appear to be the same size, regardless of the distance of each object from the lens.

[0178] The telecentric lens 3106 provides many benefits that are particularly advantageous for imaging the cable end face 3150 using CSSM 3006. For example, as described below in Figures 32A to 32CAs shown, when imaging through the telecentric lens 3106, all parts, regions or areas of the cable end face 3150 of the cable 132 appear to be at the same distance and aligned with the same orientation relative to the camera 3110, thus giving the appearance that the cable end face 3150 conforms to a substantially "ideal" flat cross-section, even in cases where the cable end face 3150 actually includes one or more defects, such as regions or areas that deviate from a perfect representation of the axial cross-section of the cable 132. In fact, although it can be observed that the outer radial edge or inner radial edge of an object such as a layer of the cable 132 becomes blurred (e.g., the resolution decreases) as it moves away from the telecentric lens 3106, since the size of the object appears unchanged, the edges of the object remain in the same position within the telecentric-based image regardless of its distance from the lens 3106. Therefore, the radial position of the edge of the object can be determined (e.g., located or measured) with a high degree of precision without having to account for any distortion based on magnification in other respects. Furthermore, the telecentric lens 3106 does not cause "fisheye" distortion near the outer edges of the field of view of the lens as experienced by more conventional lenses.

[0179] In some examples, if a part of the cable end face 3150 is farther from the optimal focus of the telecentric lens 3106 than another part of the cable end face 3150, a gradual decrease in the resolution of a part of the cable end face 3150 can be observed (e.g., it may be more blurred). However, in some such examples, this blurring effect can actually be advantageously used to more precisely identify the outer radial edge or inner radial edge of the layer of the cable 132. For example, even a substantially focused image that includes a certain number of pixels includes some minimal amount of blurring, which can be observed when viewing the pixels at an increased magnification ratio. In other words, the "blurred" region between two different objects (e.g., two objects of different colors) in a high-resolution image is limited to a smaller number of pixels. In fact, each pixel in the "narrower" blurred region is more likely to have a significantly different color compared to the consecutive pixels on either side of itself.

[0180] However, a more defocused image (e.g., due to a greater distance of the imaged object from the optimal focus of the telecentric lens 3106) effectively distributes the blurred intermediate region over a larger number of pixels, such that each pixel in the blurred region is substantially similar in color to the pixels on either side of itself. In this way, the blurred region at least partially balances the effect of any color "noise" within the image that may otherwise be generated by the camera 3110 or other sources.

[0181] Thus, in some examples, compared to a more "focused" image, the exact center of a blurred region (e.g., the exact radial position between two consecutive layers of cable 132) can be determined (e.g., located, identified, and / or measured) more easily and precisely by requiring relatively less sub-pixel color interpolation and by considering fewer random color variations, where the color difference between two consecutive pixels may be quite large and / or asymmetrically adjusted from their "true" color.

[0182] Thus, according to the techniques of the present disclosure, the telecentric lens 3106 of the CSSM 3006 can image and measure the end face 3150 of the cable 132 with even greater depth of field and more precisely than a CSSM with only a conventional optical lens. Further, certain types of telecentric lenses, such as certain Fresnel lenses, are designed to be relatively thin and lightweight and can be formed of plastic rather than solid glass sheets. Some such examples of lightweight lenses enable the CSSM 3006 to be implemented in a relatively small modular handheld device, as Figures 30A to 31 shown. Thus, in some such examples, the handheld CSSM 3006 includes a handle 3008 extending from the housing 3002. In some examples, the handle 3008 includes an image capture user input mechanism, such as a light trigger 3010, configured to enable a user to cause the camera 3110 to capture an image of the end face of the cable 132. In addition to being relatively thin and lightweight, which enables the CSSM 3006 to be compact and handheld, using a Fresnel lens as the telecentric lens 3106, the Fresnel lens can be less expensive than a typical machine vision telecentric lens, although having an approximately the same aperture. Although these types of Fresnel lenses may result in a slightly reduced resolution of the image of the end face 3150 of the cable 132, the loss of resolution can be negligible in proportion to the magnification required for high-precision measurement of the cable end face 3150.

[0183] Figures 32A to 32C illustrates Figure 30A and Figure 30B the example functionality of the CSSM 3006. For example, Figure 32A depicts a first example cable 132A having a theoretically "ideal" end face 3150A, where the end face 3150A (at least substantially) conforms to a single flat surface, and where the flat surface of the end face 3150A (at least substantially) is perpendicular to the central longitudinal axis 2754A of the cable 132A. In such an example, the cross-sectional sensing module 3006 including the telecentric lens 3106 may substantially capture an image 3202A that is visually similar to an image 3204A captured by a cross-sectional sensing module that does not include a telecentric lens. In other words, primarily due to the "ideal" surface of the end face 3150A, the two images 3202A and 3204A will be substantially similar.

[0184] However, Figure 32B Figure 13 depicts a second exemplary cable 132B having a non-ideal end face 3150B, where the end face 3150B (at least substantially) conforms to a single flat surface, but where the flat surface is not substantially perpendicular to the central longitudinal axis 2754B of the cable 132B. For example, as Figure 32B shown in FIG. 14, the cable end face 3150B is oriented at an oblique angle relative to the central longitudinal axis 2754B. In such an example, the CSSM 3006 including the telecentric lens 3106 is configured to capture an image 3202B that is substantially different from the image 3204B captured by a CSSM that does not include a telecentric lens (e.g., includes only a conventional optical lens). For example, as Figure 32B shown in FIG. 15, the lower portion of the end face 3150B appears distorted in the image 3204B because the lower portion of the camera 3110 that is slightly further from the CSSM shrinks or decreases by a certain amount based on its distance from the camera 3110. Thus, the image 3204B would otherwise result in inaccurate measurements of the layers of the cable 132B, such as measurements of diameter, radius, radial thickness, arc length, or other similar dimensions. These inaccurate measurements may result in inaccurate cutting or scraping of one or more layers because the corresponding cable preparation system may determine the radial depth of its cutting tool at least in part based on the inaccurate measurements. However, by incorporating the telecentric lens 3106 into the CSSM 3006, each portion of the end face 3150B is magnified by the same amount regardless of its distance from the lens 3106, resulting in the image 3202B having the appearance of an end face 3150B that is substantially “ideal,” e.g., substantially flat and substantially perpendicular to the cable axis 2754B.

[0185] Similarly, Figure 32C Figure 16 depicts a third exemplary cable 132C having a non-ideal end face 3150C, where the end face 3150C neither conforms to a single flat surface nor has any one (e.g., any) of the flat surfaces substantially perpendicular to the central longitudinal axis 2754C of the cable 132C, e.g., is oriented at an oblique angle relative to the central longitudinal axis 2654C. In such an example, the CSSM 3006 including the telecentric lens 3106 is configured to capture an image 3202C that is substantially different from the image 3204C captured by a CSSM that does not include a telecentric lens. For example, as Figure 32CAs shown, both the upper and lower portions of the end face 3150C appear distorted in the image 3204C because the upper and lower edges are slightly further from the camera 3110 of the CSSM 3006 than the middle portion, and thus, but the upper and lower portions are shrunk or reduced by a certain amount based on their respective distances from the camera 3110. As a result, the image 3204C will otherwise result in inaccurate measurements of the layers of the cable 132C, such as measurements of diameter, radius, radial thickness, arc length, or other similar dimensions. These inaccurate measurements will similarly result in inaccurate cutting or scraping of one or more layers because the cable preparation system will determine the radial depth of the cutting tool at least in part based on the measurements. However, by incorporating the telecentric lens 3106 into the CSSM 3006, the magnification of each portion of the end face 3150C is magnified by the same amount regardless of its distance from the camera 3110, resulting in the image 3202C having a substantially ideal appearance of the end face 3150C.

[0186] Figure 33 is an illustrative diagram depicting an example graphical user interface (GUI) 3300 that can be generated by Figure 30A and Figure 30B a handheld cable measurement device or associated with the handheld cable measurement device.

[0187] The GUI 3300 includes an image 3302 of the end face 3150 of the cable 132 as captured by the CSSM 3006. In some examples, a computing device (e.g., the computing device 3116 of the CSSM 3006, or Figure 3 any other computing device of the system 300) is configured to process the image 3302 to identify or determine the approximate locations of the various layers of the cable 132 within the image 3302 or the demarcation (e.g., distinction) between the various layers. Thus, as Figure 33As shown in [Figure Reference], the image 3302 may include one or more geometric objects (e.g., rings, etc.) 3304 that overlay the image 3302 and indicate the estimated demarcation between the layers of the cable 132. The GUI 3300 may also include estimates of various measurements and dimensions corresponding to the estimated positions or demarcations between the various layers of the cable. In some examples, the GUI 3300 also includes an input device 3306 that enables the user to appropriately confirm or reject ("cancel") the estimated measurements. When a "cancel" indication is received from the user, the system may automatically re-capture another image 3302 of the end face 3150 of the cable 132 and regenerate the measurements based on the new image. When a "confirm" indication is received from the user, the system may transmit the measured dimensions to another computing device (e.g., from the computing device 3116 of the CSM 3006 to the ICM 352 of the system 300). Additionally or alternatively, in response to receiving a "confirm" indication from the user via the GUI 3300, the corresponding computing system may be configured to automatically generate and execute corresponding program instructions to configure the MWM 350 for preparing the cable 132 (e.g., adjusting the orientation and / or radial depth of one or more cutting blades), and / or cause the MWM 350 to start cutting one or more layers of the cable 132.

[0188] In some examples in accordance with the present disclosure, the computing system may be configured to determine and output additional or different indications to the user, such as via the GUI 3300. For example, the computing system of the present disclosure (e.g., the computing device 3116 and / or the ICM 352) may be configured to determine whether the measured dimensions correspond to the cable type indicated by the user (e.g., via the GUI 3300 or other user input means) based on the measured dimensions within the image 3302 of the cable 132. For example, the computing system may be configured to determine whether the imaged cable 132 includes the expected number of layers, the expected layer types, the expected layer thicknesses (e.g., within a threshold tolerance), the conductor size and stranding, the insulation thickness and voltage rating, the shield type, the overall cable diameter, etc. In the case where the computing system determines that such cable parameters are outside the expected values or ranges, the computing system may generate and output an alert, such as via the GUI 3300, to notify the user that the cable is different from the cable type previously indicated or described by the user, such that the user can determine whether the difference is based on user error or whether the CSSM 3006 needs to be recalibrated.

[0189] In some examples in accordance with the present disclosure, a computing system may be configured to determine that cable 132 is overly deformed or otherwise out of specification based on measured dimensions within image 3302 of cable 132 such that an attempt to fabricate the cable is unlikely to be successfully completed, or alternatively, such that a fabrication procedure may be completed but may result in a fabricated cable that is unsafe to use. For example, the computing system may be configured to determine (e.g., measure) an eccentricity (e.g., “roundness”) of a cross-section of cable 132, or an oversize or undersize layer thickness, or any other similar parameter that is not within the safety or expected tolerances of the cable fabrication system. In some such examples, the computing system may generate and output, e.g., via GUI 3300, an alert that the cable should not be used with the cable fabrication system and should likely be discarded.

[0190] Unless otherwise indicated, all numbers expressing feature sizes, amounts, and physical properties used in the specification and claims are to be understood as being modified in all instances by the term “about.” Accordingly, unless indicated to the contrary, the numerical parameters set forth in the foregoing specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained by those skilled in the art utilizing the teachings disclosed herein.

[0191] As used in this specification and the appended claims, unless the context clearly dictates otherwise, the singular forms “a,” “an,” and “the” include embodiments having plural referents. As used in this specification and the appended claims, unless the context clearly dictates otherwise, the term “or” is generally employed in its sense including “and / or.”

[0192] If spatial relative terms including but not limited to “proximate,” “distal,” “lower,” “upper,” “beneath,” “below,” “above,” and “on top” are used herein, they are used for ease of description to describe the spatial relationship of one or more elements to another element. Such spatial relative terms include different orientations of the device in use or operation in addition to the orientation depicted in the figures and described herein. For example, if an object depicted in the figures is inverted or flipped, a portion previously described as beneath or below other elements will be above or on top of those other elements.

[0193] As used herein, when an element, component, or layer is described, for example, as forming a "coincident interface" with another element, component, or layer or as being "on", "connected to", "coupled with", "stacked on", or "in contact with" it, the element, component, or layer can be directly on, directly connected to, directly coupled with, directly stacked on, or in direct contact with the other element, component, or layer, or, for example, intervening elements, components, or layers can be on, connected to, coupled with, or in contact with a particular element, component, or layer. When an element, component, or layer is referred to, for example, as being "directly on another element", "directly connected to another element", "directly coupled with another element", or "directly in contact with another element", there are no intervening elements, components, or layers, for example. The techniques of the present disclosure can be implemented in a variety of computer devices such as servers, laptop computers, desktop computers, notebook computers, tablet computers, handheld computers, smart phones, and the like. Any component, module, or unit has been described as emphasizing functional aspects and does not necessarily need to be implemented by different hardware units. The techniques described herein can also be implemented in hardware, software, firmware, or any combination thereof. Any feature described as a module, unit, or component can be implemented together in an integrated logic device or separately as discrete but interoperable logic devices. In some cases, the various features can be implemented as integrated circuit devices, such as integrated circuit chips or chip sets. Additionally, although several different modules have been described throughout the specification, many of these modules perform unique functions, but all of the functions of all of the modules can be combined into a single module or even split into additional other modules. The modules described herein are merely exemplary and are described as such for better ease of understanding.

[0194] If implemented in software, the techniques can be realized, at least in part, by a computer-readable medium that includes instructions that, when executed by a processor, perform one or more of the methods described above. The computer-readable medium can include a tangible computer-readable storage medium and can form part of a computer program product that can include packaging material. The computer-readable storage medium can include random access memory (RAM), such as synchronous dynamic random access memory (SDRAM), read-only memory (ROM), non-volatile random access memory (NVRAM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic data storage media, or optical data storage media, among others. The computer-readable storage medium can also include non-volatile storage devices, such as hard disks, magnetic tapes, compact discs (CDs), digital versatile discs (DVDs), Blu-ray discs, holographic data storage media, or other non-volatile storage devices.

[0195] As used herein, the term "processor" can refer to any of the foregoing structures or any other structure suitable for implementing the techniques described herein. Additionally, in some aspects, the functionality described herein can be provided within a dedicated software module or a hardware module configured to perform the techniques of the present disclosure. Even when implemented in software, these techniques can use hardware such as a processor to execute the software and use a memory to store the software. In any such case, the computers described herein can define a particular machine capable of performing the particular functions described herein. Moreover, these techniques can be fully implemented in one or more circuits or logic elements, which can also be regarded as processors.

[0196] In one or more examples, the described functionality can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality can be stored on or transmitted via a computer-readable medium as one or more instructions or code and executed by a hardware-based processing unit. The computer-readable medium can include: a computer-readable storage medium, which corresponds to a tangible medium such as a data storage medium; or a communication medium, which includes any medium that facilitates, for example, the transfer of a computer program from one place to another according to a communication protocol. In this way, the computer-readable medium generally can correspond to (1) a non-transitory tangible computer-readable storage medium or (2) a communication medium such as a signal or a carrier wave. The data storage medium can be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code, and / or data structures for implementing the techniques described in the present disclosure. A computer program product can include a computer-readable medium.

[0197] By way of example, and not limitation, such a computer-readable storage medium can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, or any other medium that can be used to store the desired program code in the form of instructions or data structures and that can be accessed by a computer. Additionally, any connection is properly termed a computer-readable medium. For example, if instructions are transmitted using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of the medium. However, it should be understood that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but instead are directed to non-transient tangible storage media. As used herein, disk and optical disks include compact disk (CD), laser disk, optical disk, digital versatile disk (DVD), floppy disk, and Blu-ray disk, where disks typically reproduce data magnetically, while optical disks utilize lasers to optically reproduce data. Combinations of the above should also be included within the scope of computer-readable media.

[0198] The instructions can be executed by one or more processors, such as one or more digital signal processors (DSPs), general microprocessors, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Thus, as used herein, the term "processor" can refer to any of the foregoing structures or any other structure suitable for implementing the described techniques. Additionally, in some aspects, the described functionality can be provided within dedicated hardware and / or software modules. Moreover, the techniques can be fully implemented in one or more circuits or logic elements.

[0199] The techniques of the present disclosure can be implemented in a variety of devices or apparatus, including wireless handsets, integrated circuits (ICs), or a group of ICs (e.g., a chipset). In the present disclosure, various components, modules, or units are described to emphasize the functional aspects of the devices configured to perform the disclosed techniques, but they do not necessarily need to be implemented by different hardware units. Instead, as described above, the various units can be combined in a hardware unit or provided by a collection of interoperating hardware units including one or more processors as described above, in conjunction with suitable software and / or firmware.

[0200] It should be recognized that, according to the examples, certain actions or events of any method described herein may be performed in a different order, may be added, combined, or entirely omitted (e.g., not all of the described actions or events are necessary for the practice of the method). Additionally, in some examples, the actions or events may be performed concurrently, rather than sequentially, for example, by multithreaded processing, interrupt processing, or multiple processors.

[0201] In some examples, a computer-readable storage medium includes a non-transitory medium. In some examples, the term "non-transitory" indicates that the storage medium is not embodied in a carrier wave or a propagated signal. In certain examples, the non-transitory storage medium stores data that may change over time (e.g., in RAM or a cache).

Claims

1. A device, comprising: a tool head mount configured to be coupled to a cutting tool head, wherein the cutting tool head is configured to receive a first portion of a cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut at least one layer of the cable; a cable clamp configured to hold a second portion of the cable; a guide rail extending from the tool head mount to the cable clamp parallel to the longitudinal axis of the cable, wherein the guide rail guides the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable; and a drive device for controlling the axial speed of the axial movement of the cutting tool head along the cable, wherein the drive device is configured to coordinate the axial speed of the axial movement of the cutting tool head with the rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device, wherein the drive device for controlling the axial speed of the axial movement includes at least one of a winch, a screw drive, or a piston, the winch including a wire, a rotating module, and a motor, the wire having a proximal portion of the wire and a distal end of the wire, the motor configured to rotate the rotating module to wind the proximal portion of the wire around the rotating module, wherein the rotating module of the winch is coupled to the tool head mount, wherein the distal end of the wire is coupled to the cable clamp, and wherein the rotating module is configured to rotate to wind the proximal portion of the wire around the rotating module, so that the winch pulls the cutting tool head toward the cable clamp.

2. The device according to claim 1, further comprising an extension bracket configured to rigidly couple the rotating module of the winch to the cutting tool head.

3. The device according to claim 1, wherein, the cable clamp includes a knob configured to fasten the cable clamp to the outer surface of the cable.

4. A device, comprising: a tool head mount configured to be coupled to a cutting tool head, wherein the cutting tool head is configured to receive a first portion of a cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut at least one layer of the cable; a cable clamp configured to hold a second portion of the cable; a guide rail extending from the tool head mount to the cable clamp parallel to the longitudinal axis of the cable, wherein the guide rail guides the cutting tool head along the axial movement of the cable when the cutting tool head cuts one or more layers of the cable; and A drive device for controlling an axial speed of the cutting tool head along an axial direction of the cable, wherein the drive device is configured to coordinate the axial speed of the axial movement of the cutting tool head with a rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device. Wherein the drive device for controlling the axial speed of the axial movement includes at least one of a winch, a screw drive, or a piston. The winch includes a wire, a rotating module, and a motor. The wire has a proximal portion of the wire and a distal end of the wire. The motor is configured to rotate the rotating module to wind the proximal portion of the wire around the rotating module. Wherein the rotating module of the winch is coupled to the cutting tool head. Wherein the distal end of the wire is coupled to a proximal end of the guide rail. Wherein the cable is vertically oriented. Wherein the cutting tool head is vertically mounted on the cable above the cable clamp. And wherein the rotating module is configured to rotate to unwind the proximal portion of the wire from the rotating module, so that the winch at least partially resists gravity on the cutting tool head towards the cable clamp.

5. An apparatus comprising: A tool head mount configured to be coupled to a cutting tool head, wherein the cutting tool head is configured to receive a first portion of a cable and includes a plurality of rollers and at least one rotatable cutting tool configured to cut at least one layer of the cable; A cable clamp configured to hold a second portion of the cable; A guide rail extending from the tool head mount to the cable clamp parallel to a longitudinal axis of the cable, wherein the guide rail guides the cutting tool head along an axial movement of the cable when the cutting tool head cuts one or more layers of the cable; and A drive device for controlling an axial speed of the cutting tool head along an axial direction of the cable, wherein the drive device is configured to coordinate the axial speed of the axial movement of the cutting tool head with a rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device. Wherein the drive device for controlling the axial speed of the axial movement includes at least one of a winch, a screw drive, or a piston. The winch includes a wire, a rotating module, and a motor. The wire has a proximal portion of the wire and a distal end of the wire. The motor is configured to rotate the rotating module to wind the proximal portion of the wire around the rotating module. Wherein the rotating module of the winch is mechanically coupled to the cable clamp. And wherein the distal end of the wire is coupled to the cutting tool head. And wherein the rotating module is configured to rotate to wind the proximal portion of the wire around the rotating module, so that the winch pulls the cutting tool head towards the cable clamp.

6. The apparatus according to claim 5, wherein, The winch further includes a wire sheath oriented between the rotary module and the cable clamp around a proximal portion of the wire, wherein the wire sheath is configured to mechanically couple the winch to the cable clamp.

7. A cable preparation device configured to remove one or more layers of a cable, the device comprising: A cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool, the rotatable cutting tool being configured to cut one or more layers of the cable; A cable clamp configured to hold a second portion of the cable; A guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; and A drive device for driving the cutting tool head to move axially along the cable while the cutting tool head cuts one or more layers of the cable, wherein the drive device is configured to coordinate an axial speed of the axial movement of the cutting tool head with a rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device; wherein the drive device for driving the axial movement of the cutting tool head includes a winch, the winch including a wire, a rotary module, and a motor, the wire having a proximal portion of the wire and a distal end of the wire, the motor being configured to rotate the rotary module to wind the proximal portion of the wire around the rotary module, wherein the rotary module of the winch is coupled to the cutting tool head, wherein the distal end of the wire is coupled to the cable clamp, and wherein the rotary module is configured to rotate to wind the proximal portion of the wire around the rotary module, thereby causing the winch to pull the cutting tool head toward the cable clamp.

8. The device according to claim 7, wherein the drive device is configured to drive the axial movement of the cutting tool head at an axial speed coordinated with the rotational speed of the cutting tool head to produce a desired cut in at least one layer of the cable.

9. A cable preparation device configured to remove one or more layers of a cable, the device comprising: A cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool, the rotatable cutting tool being configured to cut one or more layers of the cable; A cable clamp configured to hold a second portion of the cable; A guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; and A drive device for driving the cutting tool head to move axially along the cable while the cutting tool head cuts one or more layers of the cable, wherein the drive device is configured to coordinate an axial speed of the axial movement of the cutting tool head with a rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device; Wherein, the driving device for driving the axial movement of the cutting tool head includes a winch, the winch includes a wire, a rotating module and a motor, the wire has a proximal part of the wire and a distal end of the wire, the motor is configured to rotate the rotating module so that the proximal part of the wire winds around the rotating module, wherein, the rotating module of the winch is coupled to the cutting tool head, wherein, the distal end of the wire is coupled to the proximal end of the guide rail, wherein, the cable is vertically oriented relative to gravity, wherein, the cutting tool head is vertically mounted on the cable above the cable clamp, and wherein, the rotating module is configured to rotate so that the proximal part of the wire unwinds from the rotating module, thereby causing the winch to at least partially resist the gravity on the cutting tool head.

10. A cable preparation device configured to remove one or more layers of a cable, the device comprising: A cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool, the rotatable cutting tool being configured to cut one or more layers of the cable; A cable clamp configured to hold a second portion of the cable; A guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; and A driving device for driving the cutting tool head to move axially along the cable when the cutting tool head cuts one or more layers of the cable, wherein the driving device is configured to coordinate the axial speed of the axial movement of the cutting tool head with the rotational speed of at least one of the cutting tools around the cable in response to one or more commands from a computing device; Wherein, the driving device for driving the axial movement of the cutting tool head includes a winch, the winch includes a wire, a rotating module and a motor, the wire has a proximal part of the wire and a distal end of the wire, the motor is configured to rotate the rotating module so that the proximal part of the wire winds around the rotating module, wherein, the rotating module of the winch is mechanically coupled to the cable clamp, and wherein, the distal end of the wire is coupled to the cutting tool head, and wherein, the rotating module is configured to rotate so that the proximal part of the wire winds around the rotating module, thereby causing the winch to pull the cutting tool head towards the cable clamp.

11. A system, comprising: A cutting tool head, wherein the cutting tool head is configured to receive a first portion of the cable and includes a plurality of rollers and at least one rotatable cutting tool, the rotatable cutting tool being configured to cut one or more layers of the cable, the cutting tool head being coupled to a tool head mount; A cable clamp configured to hold a second portion of the cable; A guide rail extending from the cutting tool head to the cable clamp parallel to the longitudinal axis of the cable; A drive device for driving a cutting tool head to move axially along a cable when the cutting tool head cuts one or more layers of the cable; and A computing device configured to issue one or more commands to the drive device to cause the drive device to control an axial speed of the axial movement of the cutting tool head and to cause the cutting tool head to control a rotational speed of the rotatable cutting tool, wherein the axial speed is coordinated with the rotational speed to produce a desired cut in at least one layer of the cable Wherein the drive device for controlling the axial speed of the axial movement includes at least one of a winch, a screw drive, or a piston, the winch includes a wire, a rotating module, and a motor, the wire has a proximal portion of the wire and a distal end of the wire, the motor is configured to rotate the rotating module to wind the proximal portion of the wire around the rotating module, wherein the rotating module of the winch is coupled to the tool head mount, wherein the distal end of the wire is coupled to the cable clamp, and wherein the rotating module is configured to rotate to wind the proximal portion of the wire around the rotating module, so that the winch pulls the cutting tool head towards the cable clamp.

12. A method Comprising:[[]] Receiving, by a computing device and from a user, an indication of a desired cut of one or more layers of a cable, wherein the cable is held by a cable clamp; Determining, by the computing device based on the indication of the desired cut, an axial speed of the axial movement of the cutting tool head along the axial length of the cable, wherein the cutting tool head is coupled to a tool head mount; Determining, by the computing device based on the indication of the desired cut, a rotational speed of the rotatable cutting tool of the cutting tool head around the circumference of the cable, wherein the axial speed and the rotational speed are coordinated with each other; and Issuing, from the computing device, one or more commands to a drive device to cause the drive device to drive the axial movement of the cutting tool head and to cause the rotatable cutting tool to rotate around the circumference of the cable to produce the desired cut, Wherein the drive device for controlling the axial speed of the axial movement includes at least one of a winch, a screw drive, or a piston, the winch includes a wire, a rotating module, and a motor, the wire has a proximal portion of the wire and a distal end of the wire, the motor is configured to rotate the rotating module to wind the proximal portion of the wire around the rotating module, wherein the rotating module of the winch is coupled to the tool head mount, wherein the distal end of the wire is coupled to the cable clamp, and wherein the rotating module is configured to rotate to wind the proximal portion of the wire around the rotating module, so that the winch pulls the cutting tool head towards the cable clamp.

13. The method according to claim 12 Wherein The drive device is configured to drive the axial movement by rotating a winch's rotating element with a motor in response to the one or more commands to wind or unwind a proximal portion of the wire around the rotating element.

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