Measuring tool for cable production system

Abstract

Techniques, systems, and articles for preparing cables for connection to a power grid are described. In one example, a cable cross-section measurement tool includes a housing defining a cavity, wherein the housing is configured to position an end face of a cable within the cavity; a camera exposed within the cavity of the housing, wherein the camera is configured to capture an image of the end face of the cable; and a telecentric lens optically coupled to the camera, wherein the telecentric lens includes an angle-free field of view, the telecentric lens configured to reduce distortion in the image due to parallax associated with at least one portion of the end face of the cable oriented at an oblique angle relative to an optical axis of the telecentric lens.

Description

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 953,780, filed December 26, 2019, entitled “AUTOMATED CABLE PREPARATION WITH MODULAR SYSTEM,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of electrical equipment for power facilities, including power cables and their accessories. Background Technology

[0003] A power grid comprises numerous components that operate in different locations and conditions (e.g., above ground, underground, in cold weather, in hot weather, etc.). A power grid can include thousands of discrete components, such as transformers, cables, cable accessories (e.g., cable joints, terminations), etc., and a fault in a power grid can be caused by a failure in any single component or subset of components. Cable installation is an error-prone manual process that can lead to faults in the cables or cable accessories. Summary of the Invention

[0004] This disclosure provides techniques for fabricating cables for connection to cable accessories for use in power grids. According to examples of this disclosure, a cable fabrication system comprising various interconnected modular components is configured to remove one or more layers of the cable to couple the cable to a cable accessory (e.g., a cable connector or termination).

[0005] In some examples, the cable fabrication system includes multiple interconnectable modular components. According to various examples, the modular components may include one or more of the following: an imaging device having a telecentric lens configured to accurately image and measure the cross-section of the cable; a handheld rotatable tool head having multiple rollers and at least one rotatable cutting tool configured to cut or scribble one or more layers of the cable; and a clamping module having a drive mechanism configured to drive the rotatable tool head axially along the cable as the cutting tool rotates about the circumference of the cable, wherein the cable fabrication system is configured to coordinate the axial velocity of the tool head with the rotational velocity of the cutting tool to produce a desired cut, such as a helical cut.

[0006] Another technology provides a cable imaging apparatus comprising: a housing defining a cavity, wherein the housing is configured to position an end face of a cable within the cavity; a camera exposed within the cavity of the housing, wherein the camera is configured to capture an image of the end face of the cable; and a telecentric lens optically coupled to the camera, wherein the telecentric lens includes an angleless field of view, the telecentric lens being configured to reduce distortion in the image caused by parallax associated with at least a portion of the end face of the cable oriented at an oblique angle relative to the optical axis of the telecentric lens.

[0007] In another example, a cable fabrication system includes: a cross-section sensing module comprising: a housing defining a cavity, wherein the housing is configured to position the end face of a cable within the cavity; a camera exposed within the cavity of the housing, wherein the camera is configured to capture an image of the end face of the cable; and a telecentric lens optically coupled to the camera, wherein the telecentric lens includes an angleless field of view, the telecentric lens being configured to reduce distortion in the image due to parallax associated with at least a portion of the end face of the cable oriented at an oblique angle relative to the optical axis of the telecentric lens; and a computing device configured to receive the image from the camera.

[0008] In another example, a method includes: capturing an image of the end face of a cable via a camera communicatively coupled to a processor, wherein a telecentric lens located in front of the camera removes distortion from the image due to parallax, wherein parallax is associated with at least a portion of the end face of the cable oriented at an oblique angle relative to the optical axis of the telecentric lens; and determining, by the processor, the diameter or thickness of at least one layer of the cable based on the image.

[0009] Details of one or more examples of this disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of this disclosure will be apparent from the specification, the drawings, and the claims. Attached Figure Description

[0010] Figure 1A This is a block diagram illustrating various example components of an electrical system, such as a power grid, including cables and cable accessories, according to various technologies based on this disclosure.

[0011] Figure 1B This is a diagram depicting an example system for manufacturing cables for use in a power system using various techniques according to this disclosure.

[0012] Figure 2 Various technologies based on this disclosure Figure 1B A diagram illustrating an example of a cable fabrication system.

[0013] Figure 3 Various technologies based on this disclosure, including cable manufacturing apparatus. Figure 1B A diagram of another example of a cable fabrication system.

[0014] Figure 4A and Figure 4B Various technologies based on this disclosure Figure 3 A perspective view of an example of a handheld cable preparation device for a cable preparation system.

[0015] Figure 5A and Figure 5B These are various technologies based on the content of this disclosure. Figure 3 The top and side profiles of another example of the main working module (“MWM”).

[0016] Figure 6 Various technologies based on this disclosure Figure 3 An exploded view of another example of a handheld cable preparation device.

[0017] Figure 7 Various technologies based on this disclosure Figure 3 A diagram of an example rotating head assembly of a cable preparation apparatus.

[0018] Figure 8A Various technologies based on this disclosure Figure 3 A diagram of an example insulator blade retainer mechanism for a cable manufacturing apparatus.

[0019] Figure 8B Various technologies based on this disclosure Figure 3 A diagram of an example of an insulating shield blade holder mechanism for a cable manufacturing apparatus.

[0020] Figure 9A Various technologies based on this disclosure Figure 3 A diagram of an example cable preparation apparatus, showing the sheath and insulator blades.

[0021] Figure 9B It describes various technologies based on this disclosure. Figure 3 A diagram of an example sheath and insulator blade used in a cable preparation apparatus for removing the cable sheath layer.

[0022] Figure 10 Various technologies based on this disclosure Figure 3 A diagram of an example screwdriver assembly for a cable preparation apparatus.

[0023] Figure 11A , Figure 11D and Figure 11G Various technologies based on this disclosure Figure 3 An example screwdriver and camshaft assembly outline of a cable preparation apparatus.

[0024] Figure 11B , Figure 11E and Figure 11H Various technologies based on this disclosure Figure 3 A side view of an example screwdriver and camshaft assembly for a cable preparation apparatus.

[0025] Figure 11C , Figure 11F and Figure 11I Various technologies based on this disclosure Figure 3 A front view of an example screwdriver and camshaft assembly for a cable preparation apparatus.

[0026] Figure 12A and Figure 12B Various techniques according to this disclosure are shown respectively. Figure 3 Outline and exploded view of an example direct drive mechanism for a cable preparation apparatus.

[0027] Figure 13 Various technologies based on this disclosure Figure 3 A diagram of an example bidirectional gear and main motor assembly for a cable preparation apparatus.

[0028] Figure 14A This is a diagram of an example interface and control module (ICM) for a cable fabrication system based on various techniques according to this disclosure.

[0029] Figure 14B Various technologies based on this disclosure Figure 14A The example screen display of ICM is shown in the figure.

[0030] Figures 15A to 15C Various technologies based on this disclosure include cable preparation apparatus and cable clamps with retroreflectors. Figure 3 A diagram illustrating an example of a cable fabrication system.

[0031] Figure 16A and Figure 16B Various technologies according to this disclosure include cable preparation apparatus and cable clamps with reflectors mounted on cables. Figure 3 A diagram illustrating an example of a cable fabrication system.

[0032] Figures 17A to 17F Various techniques based on this disclosure are utilized during cable sheath removal. Figure 3 A diagram illustrating an example of a cable manufacturing apparatus.

[0033] Figure 18 The use of various techniques based on the content of this disclosure Figure 3 A flowchart illustrating an example of a cable fabrication system and an example of a cable fabrication process.

[0034] Figures 19A to 19D The various techniques disclosed herein are utilized in the adjustment and repositioning process of insulator blades. Figure 3 A schematic diagram of an example of a cable manufacturing apparatus.

[0035] Figures 20A to 20E Various techniques based on this disclosure are utilized in the process of removing cable insulation. Figure 3 A diagram illustrating an example of a cable manufacturing apparatus.

[0036] Figure 21A and Figure 21B Various technologies according to this disclosure include piston modules coupled to an example cable fabrication apparatus. Figure 3 A diagram illustrating an example of a cable fabrication system.

[0037] Figure 22 The use of various techniques based on the content of this disclosure Figure 3 A flowchart of an example cable manufacturing process for an example cable manufacturing apparatus.

[0038] Figures 23A to 23C Various technologies according to this disclosure include a piston module (PM), an example ICM, and an example cross-section sensing module (CSSM) coupled to an example cable fabrication apparatus. Figure 3 A diagram illustrating an example of a cable fabrication system.

[0039] Figures 24A to 24E Various techniques based on this disclosure are utilized during the removal of cable conductor shielding. Figure 3 A diagram illustrating an example of a cable manufacturing apparatus.

[0040] Figure 25 The various technologies utilized according to this disclosure include cable fabrication apparatus and piston modules. Figure 3 The flowchart shows an example process for an example cable fabrication system.

[0041] Figure 26A and Figure 26B This is a perspective view of an example gripper module based on various techniques according to this disclosure, the example gripper module being based on various techniques according to this disclosure. Figure 3 Modular components of the cable fabrication system 300.

[0042] Figures 27A to 27E This describes the use of various technologies based on this disclosure. Figure 26A and Figure 26B A diagram illustrating an example process for cable fabrication of the clamp module.

[0043] Figure 28A and Figure 28BThis describes the use of various technologies based on this disclosure. Figure 26A and Figure 26B Another example of a clamping module is shown in the diagram, which illustrates another example of a cable fabrication process.

[0044] Figure 29A and Figure 29B This describes the use of various technologies based on this disclosure. Figure 26A and Figure 26B Another example of a clamping module is shown in the diagram, which illustrates another example of a cable fabrication process.

[0045] Figure 30A and Figure 30B This is a perspective view of an example cable imaging and measuring apparatus for cable fabrication based on various techniques according to the present disclosure.

[0046] Figure 31 yes Figure 30A and Figure 30B A cross-sectional view of an example handheld cable imaging and measuring device.

[0047] Figures 32A to 32C It shows the use Figure 30A and Figure 30B A conceptual diagram of an example method for cable imaging and measurement devices.

[0048] Figure 33 It is a description that can be made by Figure 30A and Figure 30B Cable imaging and measuring devices generate or interact with Figure 30A and Figure 30B A schematic diagram of an example graphical user interface (GUI) used in conjunction with a cable imaging and measurement device.

[0049] It should be understood that various embodiments can be utilized and structural changes can be made without departing from the scope of the invention. These figures are not necessarily drawn to scale. Similar reference numerals used in the figures refer to similar parts. However, it should be understood that the use of reference numerals to refer to parts in each figure is not intended to limit that part to being labeled with the same reference numerals in another figure. Detailed Implementation

[0050] The installation of cable accessories requires the preparation of cable ends by removing layers to the correct length and depth to manage electrical stress. The cable ends become part of a complete cable termination, joint, or detachable connector. The cable preparation step can be very time-consuming, typically lasting more than half the duration of the entire joint installation process, and must be done correctly and precisely to avoid defects that could otherwise lead to failures in the cable system at the accessory (e.g., arcing and permanent damage).

[0051] Common defects include stray cuts to the insulation, improper cutting of specific cables and accessories, excess insulating shielding (e.g., semi-conductive polymer) on the cable insulation, burrs or gaps at the transition from the cable insulation to the insulating shielding (e.g., a semi-conductive layer), contamination on the insulation surface, etc. In some cases, these insulation defects can be eliminated by filling the defects with grease or compounds and displacing the air. However, installers may overlook or forget this step. Other problems 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 accessories, connectors, and / or cables at hand.

[0052] Therefore, a device is needed to automatically and rapidly prepare cable ends, rather than manually, thereby reducing defects or otherwise making the resulting terminations, joints, or detachable connections more resistant to failure. This device should be able to perform many key functions of cable preparation with minimal intervention, including seamless operator input or automatic determination of cut length and depth, real-time defect detection and correction, and the ability to deploy and operate in a variety of field environments, such as the confined space of small cabinets.

[0053] Figure 1A This is a block diagram illustrating various example components of a power system 100A (e.g., a power grid). For example... Figure 1A As illustrated in the example, system 100A represents a physical environment in which one or more power lines 124 supply electricity from a power source (e.g., a power plant) to one or more consumers (e.g., businesses, homes, government facilities, etc.). Figure 1A In the example, system 100A includes multiple items of electrical equipment, such as one or more power transmission nodes 122, one or more power lines 124 (including one or more individual cables 132A and 132B (collectively referred to as “cable 132”)) and one or more cable accessories 134A to 134C (collectively referred to as “cable accessories 134”).

[0054] Power transmission node 122 may include one or more input lines that receive power (e.g., directly from a power source or indirectly via another power transmission node 122) and one or more output lines that distribute power directly or indirectly (e.g., via another power transmission node 122) to consumers (e.g., homes, businesses, etc.). Power transmission node 122 may include step-up or step-down transformers. In some examples, power transmission node 122 may be a relatively small node that distributes power to nearby homes, such as an electrical cabinet, pole-mount transformer, or pad-mount transformer. As another example, power transmission node 122 may be a relatively large node (e.g., a transmission substation) that distributes power to other power transmission nodes 122 (e.g., a distribution substation), allowing the other power transmission nodes to further distribute power to consumers (e.g., homes, businesses, etc.).

[0055] Power line 124 can transmit electricity from a power source (e.g., a power plant) to electricity consumers such as businesses or homes. Power line 124 can be underground, underwater, or suspended in the air (e.g., suspended from a wooden pole, metal structure, etc.). Power line 124 can be used for transmitting electricity at relatively high voltages (e.g., compared to cables typically used in homes that can transmit between about 12 volts and about 240 volts depending on the application and geographic area). For example, power line 124 can transmit electricity above about 600 volts (e.g., between about 600 volts and about 1000 volts). However, power line 124 can transmit electricity within any voltage and / or frequency range. For example, line 124 can transmit electricity within different voltage ranges. In some examples, the first type of line 124 can transmit voltages greater than about 1000 volts, for example, for distributing electricity between residential or small business consumers and a power source (e.g., a power company). As another example, the second type of line 124 can transmit voltages between approximately 1 kV and approximately 69 kV, for example, for distributing electricity to urban and rural communities. The third type of line 124 can transmit voltages greater than approximately 69 kV, for example, for secondary transmission and transmission of large amounts of electricity and for connections to very large consumers.

[0056] exist Figure 1AIn the example, power line 124 includes one or more cables 132 and one or more cable accessories 134A to 134C. Throughout this disclosure, cable 132 may also be referred to as "power cable," "power cable," or simply "cable." Cable 132 includes a conductor that may be radially surrounded by one or more insulation layers. In some examples, cable 132 includes multiple stranded conductors (e.g., a three-phase cable or a multi-conductor cable). Example cable accessories 134 may include joints, separable connectors, terminations, and connectors, etc. In some examples, cable accessories 134 may include cable joints configured to couple (e.g., electrically and physically couple) two or more cables 132. For example, as... Figure 1A As shown, cable accessory 134C is configured to electrically and physically couple cable 132A to cable 132B. In some examples, the terminal may be configured to couple (e.g., electrically and physically couple) cable 132 to additional electrical equipment such as transformers, switchgear, substations, businesses, homes, or other structures. For example, as Figure 1A As shown, cable accessory 134B electrically and physically couples cable 132B to power transmission node 122 (e.g., a transformer coupled to power transmission node 122).

[0057] Figure 1B This describes various techniques according to the present disclosure for preparing in Figure 1A A diagram of an example system 100B using cables within power system 100A. (See diagram for example.) Figure 1B As shown, the cable preparation system 100B includes at least a cable preparation device 150 and a computing device 152.

[0058] The cable preparation apparatus 150 is configured to automatically cut the cable 132 (e.g., Figure 1A One or more layers of one of the cables 132 are used to prepare a cable for coupling to a cable accessory (e.g., Figure 1A The cable 132 (cable accessory 134A). The cable preparation apparatus 150 can be configured to automatically remove layers of the cable 132 as the apparatus cuts the individual layers (e.g., sheath, cover, insulation, insulating shield, conductor shield, or other layers). For example, as described in further detail below, the cable preparation apparatus 150 may include one or more cutting tools (e.g., blades, saws, etc.) configured to cut the individual layers of the cable 132.

[0059] Compared to existing technologies, the cable preparation apparatus 150 can more efficiently and accurately prepare cables 132 for installation within power lines 124 of a power system 100A. In some examples, the cable preparation apparatus 150 includes a rotatable tool head. In some examples, the rotatable tool head includes one or more individual cutting tools, each of which can be configured (e.g., shaping, positioning, and / or orienting) to perform different “types” of cuts (e.g., scribing, scraping, through-cutting) on ​​the respective layers of the cable 132 along selected directions (e.g., longitudinal, radial, and / or circumferential), and in some examples, to remove the respective layers of the cable 132. In one example, the tool head includes a plurality of rollers configured to support the cable 132 as the one or more cutting tools of the tool head cut the respective layers.

[0060] System 100B includes a computing device 152 communicatively coupled to and configured to control the operation of the cable preparation apparatus 150. In some examples, the computing device 152 controls the cable preparation apparatus 150 to adjust various components of the cable preparation apparatus 150 to cut various layers of the cable 132. In one example, the computing device 152 outputs commands to adjust the depth of multiple rollers in the cable preparation apparatus 150, which allows the tool head to support the cable 132 as the cutting tool cuts the various layers of the cable 132.

[0061] In some examples, the computing device 152 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 length). In one example, the computing device 152 causes the tool head to begin cutting at one end of the cable 132. In another example, the computing device 152 causes the tool head to begin cutting at a predetermined distance from the end of the cable 132 to create a retaining strip of one or more layers of the cable 132. As the tool head cuts the layers of the cable 132, the retaining strip can prevent one or more layers of the cable 132 from shifting or loosening.

[0062] In some cases, the computing device 152 outputs commands to remove one or more layers of the cable 132. In one example, the command causes a cutting tool to penetrate to a selected depth in the cable 132 to create tabs 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), allowing the cutting tool to remove one or more outer layers of the cable 132 without cutting one or more inner layers of the cable 132.

[0063] In this way, the computing device 152 enables the cable fabrication apparatus 150 to fabricate cables faster and more accurately control the cutting depth and cut length of one or more layers of the cable compared to other technologies. More accurate cutting of the layers of cable 132 can reduce defects in the cable (e.g., in cable joints). For example, more accurate layer cutting can reduce air gaps 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 in cable 132 and increase the expected service life of cable 132 and / or cable accessories 134. Reducing the probability of failure events can increase... Figure 1A This improves the reliability of the power grid 100A. Furthermore, increasing the expected lifespan of cable 132 can reduce the cost of constructing, operating, and maintaining the power grid 100A.

[0064] The examples described above and herein have been and will be discussed with respect to computing device 152 for illustrative purposes only. It should be understood that the described functionality can be implemented by any suitable computing device. Furthermore, 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 may include one or more computers (e.g., servers, desktop computers, laptop computers, tablet computers, smartphones, blade computers, virtual machines, etc.) coupled to or otherwise communicating with cable preparation device 150. As another example, a computing device may include one or more processors embedded within cable preparation device 150.

[0065] Figure 2 yes Figure 1B A schematic diagram of some example components of the cable fabrication system 100B. Figure 2 In the example, cable 132 includes multiple coaxial (e.g., cylindrical) layers, such as a center conductor 252, conductor shield 254, insulator 256, insulating shield 258, sheath 260 (also referred to as "sheath 260"), and jacket 262. However, in some examples, cable 132 may 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.

[0066] As several non-limiting example voltages, cable 132 can transmit voltages of 11kV, 33kV, 66kV, and 360kV. In some cases, cable 132 transmits power between a power source and a substation by transmitting voltages of 360kV or higher—which can be considered “transmission-level voltages”. In some examples, cable 132 is configured to transmit voltages between 33kV and 360kV, such as 66kV or 33kV, which can be considered “secondary transmission-level voltages”, and cable 132 can supply power from a power source to an end operator or customer (e.g., a customer using a relatively large amount of electricity). As another example, cable 132 transmitting power between a distribution substation and a distribution transformer can transmit voltages less than 33kV, which can be considered “distribution-level voltages”. Cable 132 can also transmit power between a distribution substation or distribution transformer (e.g., a mat-mounted transformer or a pole-mounted transformer) and an end operator or consumer (e.g., a household or business), and can transmit voltages between 360 volts and 240 volts. Under such voltage, cable 132 can be referred to as a "secondary distribution cable".

[0067] The center conductor 252 comprises a conductive material, such as copper or aluminum. In some examples, the center conductor 252 comprises a single solid conductor or multiple stranded conductors. The diameter or thickness of the center conductor 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 center conductor 252 is based on the current that the cable 132 is designed to transmit. For example, the center conductor 252 may be configured to transmit a current of 1,000 amperes or greater.

[0068] The conductor shield 254 may comprise a semi-conductive polymer, such as a polymer loaded with carbon black. The semi-conductive polymer may have a bulk resistivity in the range of about 5 ohms-cm to about 100 ohms-cm. The conductor shield 254 may be physically and electrically coupled to the center conductor 252. Figure 2 In the example, conductor shield 254 is arranged between center conductor 252 and insulator 256. Conductor shield 254 can provide a continuous conductive surface around the outside of center conductor 252, which can reduce or eliminate sparks that would otherwise be generated by center conductor 252.

[0069] In some examples, insulator 256 comprises polyethylene, such as cross-linked polyethylene (which may be abbreviated as PEX, XPE, or XLPE) or ethylene propylene rubber (which may be abbreviated as EPR). The diameter or thickness of insulator 256 is based on the voltage that cable 132 is designed to transmit or conduct.

[0070] The insulating shield 258 may include a semi-conductive polymer-like conductor shield. Figure 2In one example, an insulating shield 258 is disposed between an insulator 256 and a cover 260. The insulating shield 258 may be coupled to the insulator 256. In some examples, the insulating shield 258 is electrically coupled to the cover 260.

[0071] The shield 260 may include a conductive material, such as a metal foil, metal film, or metal wire. In some examples, the shield 260 may be referred to as a "grounding conductor".

[0072] like Figure 2 As shown, the sheath 262 (also known as the "outer sheath") is the outer layer of the cable 132. The sheath 262 can be a plastic or rubber polymer, such as polyvinyl chloride (PVC), polyethylene (PE), or ethylene propylene diene monomer (EPDM).

[0073] Cable 132 may include additional layers, such as expandable or water-blocking materials placed within the conductor strands (e.g., strand filler) or between the individual layers within cable 132.

[0074] The computing device 152 includes one or more power sources 206 that provide power to the components shown in the computing device 152. In some examples, the power source 206 includes a primary power source that provides power and an auxiliary backup power source that provides power in the event that the primary power source is unavailable (e.g., fails or otherwise fails to provide power). In some examples, the power source 206 includes a battery, such as a lithium-ion battery.

[0075] One or more processors 202 may implement functions and / or execute instructions within computing device 152. For example, processor 202 may receive and execute instructions stored in storage device 210. These instructions executed by processor 202 may cause computing device 152 to store and / or modify information in storage device 210 during program execution. Processor 202 may execute instructions of components to cause control module 220 to perform one or more operations according to the technology of this disclosure. That is, control module 220 may be operated by processor 202 to perform the various functions described herein.

[0076] One or more communication units 204 of computing device 152 can communicate with external devices by sending and / or receiving data. For example, computing device 152 can use communication units 204 to send and / or receive radio signals on a radio network such as a cellular radio network. Examples of communication units 204 include network interface cards (e.g., such as Ethernet cards), optical transceivers, radio frequency transceivers, or any other type of device for sending and / or receiving information. Other examples of communication units 204 may include... Cellular (e.g., 3G, 4G), LPWAN and Radio. As another example, communication unit 204 can communicate with external devices by sending and / or receiving data via wired communication.

[0077] The computing device 152 may include one or more sensors 208. In one example, the sensor 208 includes one or more position sensors to detect the position of various components of the cable preparation apparatus 150 (e.g., the position of a tool head, roller, or cutting tool, etc.). In another example, the sensor 208 may include one or more speed sensors configured to measure the speed of various components of the cable preparation apparatus 150. In yet another example, the cable preparation apparatus 150 may include sensors (e.g., position, speed, distance, torque, force, etc.) and may transmit sensor readings to the computing device 152. In yet another example, all sensors 208 are located on other modular devices of the system 100B, such as those described below. Figure 3 Those described further. The computing device 152 can be connected via a data cable (such as...) Figure 23A (as shown) or wirelessly (e.g.) Figure 23B and Figure 23C (As shown) is connected to sensor 208, and computing device 152 analyzes the sensor signal. Sensor 208 can be in a module and feeds the sensor readings to a local processor controlling the motor. In other words, the encoder can be built into the motor or from the torque / electrical feedback of the motor, as discussed in more detail below. Furthermore, any or all modular components of the system can have a camera as sensor 208.

[0078] Sensor 208 may include one or more imaging devices, such as cameras or barcode scanners. For example, Figure 3 Any or all of the cable preparation apparatus 150, computing device 152, or any additional modular components may include one or more cameras configured to capture images of the cable 132 before, during, and / or after the layers of the cable 132 are cut.

[0079] One or more storage devices 210 may store information for processing by processor 202. In some examples, storage device 210 is temporary memory, meaning that long-term storage is not the primary purpose of storage device 210. Storage device 210 may be configured as volatile memory for short-term storage of information, and therefore the stored contents are not retained if it is 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.

[0080] In some examples, storage device 210 may also include one or more computer-readable storage media. Storage device 210 may be configured to store a larger amount of information than volatile memory. Storage device 210 may also be configured as non-volatile memory for long-term storage of information, for example, retaining information after or between activation / deactivation cycles. Examples of non-volatile memory include solid-state drives (SSDs), magnetic storage hard disk drives (HDDs), flash memory, or electrically programmable memory (EPROM) or electrically erasable programmable memory (EEPROM). Storage device 210 may store program instructions and / or data associated with other components such as control module 220.

[0081] exist Figure 2 In the example, storage device 210 includes an electrical equipment data store 212. The data store 212 may include a relational database, multidimensional database, mapping, hash table, or any other data structure for storing data. In some examples, the electrical equipment data store 212 includes device or equipment data, manufacturing data, installation data, consumer data, and / or power distribution data, etc. For example, for cable accessory 134 ( Figure 1A For each of the following, the electrical equipment data store 212 may include data identifying the following: manufacturing date, installation date, location (e.g., GPS coordinates, street address, etc.), entity with installed cable accessories, unique identifier (e.g., serial number), type of cable accessory, etc. As another example, the electrical equipment data store 212 may include data indicating cut dimensions for various types of cables and / or cable accessories.

[0082] According to various aspects of this disclosure, control module 220 can be operated by one or more processors 202 to implement the functions of computing device 152 as described herein. For example, control module 220 can output commands to control the operation of cable preparation apparatus 150. In some examples, control module 220 can also respond to a combination of readings from sensors and stored data by modifying the position or speed of physical components in the cable preparation apparatus, such as cutting tools, according to programmed logic. In some examples, control module 220 controls cable preparation apparatus 150 to adjust various components of cable preparation apparatus 150 to cut various layers of cable 250. In one example, control module 220 outputs commands causing cable preparation apparatus 150 to adjust the radial depth of multiple rollers, which allows the tool head to support cable 132 as the cutting tool cuts various layers of cable 132.

[0083] In some examples, control module 220 outputs various commands to control the starting position of the cutting tool and the cutting distance (e.g., cutting depth or cut length). For example, control module 220 can cause the tool head to begin cutting at one end of cable 132. In another example, control module 220 can cause the tool head to begin cutting at a predetermined distance from the end of cable 132 to create a retaining strip of one or more layers of cable 132. The retaining strip prevents one or more layers of cable 132 from shifting or loosening as the tool head cuts the layers.

[0084] In some cases, control module 220 outputs commands to remove one or more layers of cable 132. In one example, the command causes the cutting tool to penetrate to the depth of cable 132. Another command causes the cutting tool to partially retract (e.g., retract to a shallower cutting depth), allowing the cutting tool to remove one or more outer layers of cable 132 without cutting one or more inner layers of cable 132.

[0085] The electric actuator 222 can control the characteristics of the power supplied to the various components of the cable preparation apparatus 150. Example components of the cable preparation apparatus 150 include motors and / or actuators that drive tool heads or tool positioning drives, etc. Example characteristics of the power include voltage, current, and / or frequency. In one example, the electric actuator 222 outputs commands to a power converter to control the characteristics of the power. In another example, the electric actuator 222 includes a power converter to control the characteristics of the power.

[0086] Figure 3 It is for preparing, for example, for installation to Figure 1A A schematic diagram of a modular cable fabrication system 300 for a 100A power grid cable. The cable fabrication system 300 is... Figure 1B An example of a cable preparation system 100B is provided, 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 that can be used independently in a "handheld" mode and / or when mounted 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 need to be used for any particular cable preparation process or procedure, wherein the choice of using carriage 304 (in lieu of the "handheld" mode of device 350) depends on the specific parameters of the particular cable preparation application and / or on user preference.

[0087] like Figure 3As shown, the cable preparation system 300 comprises several independent but interconnectable modules, including a cable preparation device 350 (also referred to herein as the “Main Working Module 350” or “MWM 350”), a computing device 352 (also referred herein as the “Interface and Control Module 352” or “ICM 352”), a carriage module 304, a cross-section sensing module (“CSSM”) 306, and a piston module 308. In one example, the modules of 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 its longitudinal axis. The axial sensing module 302 may be a standalone module similar to the CSSM 306, or it may be a camera mounted within the carriage 304. In some examples, the axial sensing module 302 may be used to capture a depiction of the cable 132 in at least one rotational position. Figure 2 Images of the end face of the cable 132 and / or the longitudinal length of the cable 132 are used, for example, 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 CSSM 306 may include a telecentric lens (e.g., a lens with no angular field of view). The telecentric lens may be configured to reduce or eliminate parallax effects within the image of the end face of the cable 132. Parallax errors can cause partial distortion of the image associated with a corresponding “abnormal” portion of the end face of the cable 132, which is oriented at an oblique angle relative to the optical axis of the telecentric lens or otherwise deviates from the common transverse plane of the end face of the cable 132.

[0088] System 300 includes MWM 350, MWM 350 is Figure 1B and Figure 2 Examples of cable preparation apparatus 150, except for any differences mentioned herein. The MWM 350 is, for example, a relatively small, lightweight handheld unit that can be used in environments with limited available space. In other examples, the MWM 350 can be coupled to a carriage 304 to provide stability and functionality, for example, when operating in environments with unrestricted available space. In some examples, such as below... Figure 23A and Figure 23B As shown in the example, system 300 includes various connecting cables to transmit power, sensor feedback, and control data. These connecting cables can be used to interconnect various modules as needed. In some examples, such as those below... Figure 23C As shown in the example, system 300 may include wireless communication capabilities to transmit data from one module to another. Some components within the module can be removed and integrated with other modules. Furthermore, multiple different combinations of all modules 350, 352, 304, 306, and 308 can exist.

[0089] ICM 352 is Figure 1B and Figure 2 An example of computing device 152, other than the differences mentioned herein. ICM 352 may provide a master operator interface, power supply, processing, battery, motor power supply, and display and user interface.

[0090] CSSM 306 may include a camera, sensor, indicator, and illumination for visual measurement of cable layer diameter and thickness. Piston module 308 is configured to provide support for MWM 350 during handheld operation and includes a drive mechanism configured to provide axial movement to drive MWM 350 forward along the axial direction of cable 132. Piston module 308 may have a clamp 310 and a linear actuator 312, as discussed in more detail below. For example, according to the technology of this 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 to generate a desired type of cut, such as a helical cut, to remove one or more layers of cable 132.

[0091] The carriage module 304 is configured to provide support for the MWM 350 during operation with the carriage mounted, and is also configured to drive the MWM 350 forward along the axial direction of cable 132. The carriage 304 may have a mounting frame, linear drive, bracket, cable clamp control (e.g., jog, start, stop), and may support floor mounting, wall mounting, bucket mounting, and other mounting options for the carriage 304.

[0092] Figure 4A and Figure 4B yes Figure 3 A perspective view of an example of the MWM 350. The MWM 350 simultaneously transmits power to the control system (e.g., by adjusting and rotating the blades around cable 132 (discussed in more detail below)). Figure 3 The ICM 352 provides sensor feedback to remove cable layers. The MWM 350 is modular and can be used in handheld mode (via handle 402) or mounted on carriage 304. Figure 3 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 cable sheath 262 and insulation 256 can be removed via control. Figure 2 The pitch of the blades enables the MWM 350 to move axially along cable 132. Piston module 308 ( Figure 3 ) used to remove conductor shield 254 ( Figure 25The MWM 350 controls multiple blades, such as three blades for each of the cable sheath 262, insulator 256, and insulating shield 258. The MWM 350 can accommodate multiple cable size ranges, such as two or more, by changing the blade holder (e.g., performed by the operator of the MWM 350). The MWM 350 includes a roller mechanism configured to radially inwardly abut against the cable 132, thereby securing the cable 132 in position during cable preparation. The cable 132 can be received within the MWM 350 through a cable opening 404.

[0093] Figure 5A and Figure 5B Various techniques according to this disclosure are shown respectively. Figure 3 The diagram shows the top and side outlines of the MWM 350. By separating the power supply, controller, display 502, and other components from the working parts, the weight and size of the MWM 350 can be reduced. The MWM 350 is relatively small and can be operated in confined spaces and in virtually any suitable orientation. The MWM 350 is shown adjacent to the mobile phone 500 to provide a reference view of the MWM 350's example size (e.g., dimensions). The MWM 350 can be carried and operated relatively easily by virtually any operator, as it can be configured to weigh from approximately 6.8 kg (e.g., approximately 15 lbs.) to approximately 9.5 kg (e.g., approximately 21 lbs.). In another example, the MWM 350 weighs less than approximately 7 kg (e.g., less than approximately 15 lbs.).

[0094] The sample dimensions of the MWM 350 can range in width from approximately 400mm to approximately 500mm (e.g., approximately 15.7 inches to approximately 19.7 inches) (e.g., with handle 402 attached); in width from approximately 100mm to approximately 200mm (e.g., approximately 3.9 inches to approximately 7.9 inches) (e.g., without handle 402); in height from approximately 200mm to approximately 300mm (e.g., approximately 7.9 inches to approximately 11.8 inches); and in length from approximately 150mm to approximately 300mm (e.g., approximately 7.9 inches to approximately 11.8 inches), depending on whether display 502 is attached. In some such examples, the MWM 350 can be mounted, for example, through manholes, along public tunnels, etc., into many types of relatively small, confined, or restricted spaces. As another example, the MWM 350 can be mounted in virtually any rack-based or rack-like environment (e.g., data center) or trench-like environment. The MWM 350 can be as small as approximately 15cm per side (e.g., approximately 6 inches). The MWM 350 can be fitted between three-core cable branch connectors.

[0095] Figure 6 Various technologies based on this disclosure Figure 3 An exploded view of an example of a cable manufacturing apparatus 350. (See attached image.) Figure 6 As shown, the MWM 350 includes a motor 600, a housing or enclosure 604, a rotary head assembly 606, an encoder ring 608, a handle 402, a button 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., display 502 in Figure 5), and a chassis 620. The motor 600, integrated within the rotary head assembly 606, can provide sufficient speed and torque for both (high torque, low speed) removal of the insulator 256 and (high speed, low torque) scraping of the insulating shield 258.

[0096] Figure 7 Various technologies based on this disclosure Figure 6 A perspective view of an example of the rotating head assembly 606. Figure 7 As shown in the example, the rotating head assembly 606 includes an insulator blade assembly retainer 700, a roller key 702, a sheathed 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 insulator shielded blade retainer 712, a roller 714, and a cable channel 716.

[0097] exist Figure 7 In the example, the rotating head assembly 606 includes three roller bearing assemblies 708 and three blade assemblies 700, 704, and 712. Each blade assembly 700, 704, and 712 includes a corresponding radial depth adjustment mechanism 720 that raises or lowers the corresponding blade assembly toward or away from the cable channel 716 when rotated clockwise or counterclockwise. At least one blade assembly (e.g., as...) Figure 7 The blade assembly holder 704 (shown in the diagram) includes a pitch adjustment mechanism 722 that can control the pitch of the respective blade. Furthermore, all blade assemblies 700, 704, and 712 include corresponding reflective targets 724 to enable distance measurement for closed-loop position adjustment. As a non-limiting example, such distance measurement may include light-based measurements, such as laser measurements.

[0098] Figure 8A Various technologies based on this disclosure Figure 7An exploded view of an insulator blade assembly holder 700. The insulator blade assembly holder 700 includes a pitch adjustment mechanism 722, a blade holder mechanism 802, a blade 804 (which may be an example of an insulator blade or a sheathed blade), a blade housing 806, and a mounting spring 808. In some examples, the assembly 700 includes a telescopic mechanism 720 to extend the radial range of motion of the blade 804. The telescopic 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 contact area of ​​the blade 804 with the cable 132. Figure 1B The pitch of ).

[0099] The telescopic mechanism 720 is configured to control the radial depth of the blade 804 during rotation. In some examples, the sheath blade may not need to be telescopic, while the insulator blade may need to be telescopic, for example, when the insulator blade needs to move radially inward from the "open" position toward a radial position located on the outer surface of the small conductor cable 132. The pitch adjustment mechanism 722 is configured to control the pitch of the blade 804 during rotation. 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 it is not used to support the axial movement of the MWM 350 when the MWM 350 is mounted on the carriage 304. During operation, the blade 804 first contacts the sheath 262 or the insulator 256 ( Figure 2 The blade 804 can be extended to the correct radial depth before the cable 132 is inserted into the MWM 350, thereby stripping the sheath 262 from the cut end of the cable 132.

[0100] Figure 8B Various technologies based on this disclosure Figure 7 An exploded view of an example of an insulating shield blade holder 712. Figure 8B In one example, the insulating shield blade holder 712 includes a blade holder mechanism 850, an insulating shield blade 852 with a mounting height limiter 858, a mounting spring 854, and a blade housing 856. The insulating shield blade 852 extends beyond the mounting height limiter 858 to a predetermined distance. During the scribing operation, the mounting height limiter 858 rests on the surface of the insulating shield 258. The scribing has a predetermined radial depth (e.g., measured from the outer surface of the cable 132). In one example, as... Figure 8B As shown, the insulating shield blade holder 712 may include a dome support instead of a roller. Blade 804 ( Figure 8A ) can extend from the tip of the dome, and then the dome is mounted on the conductor shield 254 ( Figure 2On. In some examples, the blade retainer mechanism 850 may include one or more retaining screws or other mechanical fasteners instead of mounting springs 854 in order to retain the blade (e.g., insulating shield blade 852) within the blade retainer mechanism 850.

[0101] Figure 9A Various technologies according to this disclosure are described. Figure 8A An example of a 804 blade. 804 blades can be used with... Figure 7 The insulator blade assembly retainer 700 and / or sheath blade assembly retainer 704 are used together. The blade 804 includes an interface 900 configured to engage with the drill bit 726 located at the distal end of the pitch adjustment mechanism 722. Figure 8A Coupling. The cutting blade 902, together with the positioning and lifting blade 904, is located directly below the interface 900. (Example) Figure 9B As shown, blade 804 can remove the sheath 262 (and / or insulator 256) from the cable 132 by cutting the sheath 262 (and / or insulator 256) with cutting blade 902 and then lifting the sheath 262 (and / or insulator 256) from the cable 132 with positioning and lifting blade 904. Pitch adjustment mechanism 722 is configured to rotate to change the pitch of blade 804—and specifically cutting blade 902. Blade 804 can be formed from virtually any suitable material, such as metal, hard plastic, wood, etc.

[0102] Figure 10 It is based on various technologies of the present invention Figure 6 An exploded view of an example screwdriver assembly 614. In some examples, the screwdriver assembly 614 can be responsible for the roller 714 via the engagement of the telescopic mechanism 720 and the pitch adjustment mechanism 722. Figure 7 ), insulator blades and sheathed blades (e.g., Figure 8A Blade 804) and Insulated Shielding Blade 852 ( Figure 8B All moves in ).

[0103] The screwdriver assembly 614 is configured to include a top sealing plate 1000, screwdrivers 1002, bearings 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, a bevel gear 1016, a camshaft motor 1018, and a screwdriver motor 1020. In operation, the camshaft motor 1018 engages one or more selected screwdrivers 1002 and moves them upwards to engage one or more of the roller key 702, the telescopic mechanism 720, and / or the pitch adjustment mechanism 722. When the screwdrivers 1002 are engaged within the roller key 702, the telescopic mechanism 722, and / or the pitch adjustment mechanism 722, the screwdriver motor 1020 engages and rotates the screwdrivers 1002 to rotate the roller key 702, the telescopic mechanism 722, and / or the pitch adjustment mechanism 722 in a clockwise or counterclockwise direction.

[0104] In some examples, the screwdriver motor 1020 may include those available from Maxon Precision Motor in Taunton, Massachusetts. The EC-i series motors, for example, have a diameter of approximately 30 mm, a rated power of approximately 75 W, and a rated torque of approximately 0.11 Nm. A screwdriver motor 1020 can be provided with a gear ratio of approximately 103:1, which can provide a torque of approximately 6 N-m. However, based on the examples in this disclosure, any suitable type of motor can be used.

[0105] In some examples, the camshaft motor 1018 may include those available from McKesson Precision Motors in Taunton, Massachusetts. The ECX series motors, for example, have a diameter of approximately 19 mm, a rated power of approximately 34 W, and a rated torque of approximately 7 mN-m. A camshaft motor 1018 can be provided with a gear ratio of approximately 111:1, which can provide a torque of approximately 0.5 Nm. However, based on the examples in this disclosure, any suitable type of motor can be used.

[0106] Figures 11A to 11I The various technologies according to the present invention include screwdriver 1002 and camshaft 1014. Figure 6 and Figure 10 A diagram illustrating an example of screwdriver assembly 614. Figures 11A to 11I In the example, screwdriver 1002 includes a total of three separate screwdrivers 1100, 1102 and 1104.

[0107] exist Figure 11A , Figure 11B and Figure 11CIn this configuration, screwdrivers 1100, 1102, and 1104 are positioned in the "diameter" position, meaning that the two tail screwdrivers (e.g., screwdrivers 1100 and 1102) are in the "engaged" position and extend to engage the roller key 702 and the telescopic mechanism 720. Figure 7 Camshaft 1014 is shown in the following "rotational" position: wherein camshaft 1014 pushes screwdrivers 1100 and 1102 upward (e.g., Figure 11B (As shown), so that they engage with roller key 702 and telescopic mechanism 720. The operator can engage screwdriver engine 1020 with screwdriver 1100 and rotate screwdriver 1100 clockwise or counterclockwise as needed to move towards the MWM 350 ( Figure 3 Cable 132 inside ) Figure 1B )Moving roller chuck 708.

[0108] In addition, the operator can lower the insulator blade 804 to contact the cable 132 inside the MWM 350 by rotating the screwdriver engine 1020 to engage the screwdriver 1102, thereby rotating the telescopic mechanism 720 in a clockwise or counterclockwise direction.

[0109] Figure 11D , Figure 11E and Figure 11F Screwdriver 1002 is shown in the "angle" position, meaning screwdrivers 1100 and 1102 are in the "intermediate" position, and screwdriver 1104 is in the "engaged" position. Camshaft 1014 has been rotated and screwdriver 1104 has been raised. Screwdriver 1104 can engage pitch adjustment mechanism 722 and can be rotated clockwise or counterclockwise by screwdriver engine 1020. Figure 11G , Figure 11H and Figure 11I In the middle position, all three screwdrivers 1100, 1102 and 1104 are in the “middle” position, which means that the camshaft 1014 is rotated to a position where none of the screwdrivers 1100, 1102 or 1104 extend upwards.

[0110] Figure 12A and Figure 12B Various techniques according to this disclosure are shown respectively. Figure 6 Outline and exploded views of an example of a motor 600 (or alternatively, a "direct drive mechanism 600" or "direct driver 600"). The direct driver 600 is shown having a rotating 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.

[0111] Rotor 1210 is a cylindrical rotor and may be made of solid steel. In some examples, rotor 1210 includes a brushless DC (“BLDC”) motor topology and contains permanent magnets. Rotor 1210, encoder ring 608, and other components are connected to rotating head 606 and fixed to frame 620 by bearings. Encoder ring 608 and encoder ring 1206 constitute an electromechanical device configured to measure the angular position or motion of rotor 1210 and can output the measurement results in the form of analog or digital output signals. Encoder ring 608 may be an absolute decoder or an incremental encoder.

[0112] The motor 600 is essentially a rotary electric device. The stator 1202 acts as a field magnet, interacting with the rotor 1210 to produce circular motion. Circular motion essentially causes the head body 606 to rotate about the cable 132. In some examples, the motor 600 may be a linear motor, model QTR-A-133-34, available from Tecnotion in Almelo, Netherlands, or virtually any type of motor that provides rotary motion.

[0113] Figure 13 This is a schematic diagram of an alternative bidirectional gear and main motor assembly 1350 according to various techniques of this disclosure. A drive motor 1300 is shown coupled below the MWM 350 and configured to drive the bidirectional gear assembly 1302. The bidirectional gear assembly 1302 provides a gear system having a 1:1 ratio in one direction and a 1:X ratio in the opposite direction, where X is a number ranging from about 0.1 to about 10. For example, the gear assembly 1302 may include a helical gear that disengages when operating in the first direction, thereby transmitting rotation to the output shaft at a 1:1 ratio, and engages a planetary gear assembly driving the output shaft at a different transmission ratio of 1:X when operating in a second direction opposite to the first direction, where X is a number ranging from about 0.1 to about 10.

[0114] Figure 14A Various technologies based on this disclosure Figure 3 ICM 352 (e.g., Figure 1B A schematic diagram of an example of a computing device 152), and Figure 14B This is a schematic diagram of an example graphical user interface (GUI) 1400 that can be generated and displayed on the screen of the ICM 352. For example... Figure 14B As shown, the GUI 1400 includes multiple virtual input / output mechanisms 1402 (e.g., buttons, input boxes, sliders, text boxes, etc.), which are configured to allow an operator or other user to control the cable preparation device 350 via the ICM 352. Figure 3 ), to prepare for connection to a power system 100A ( Figure 1A ) cable 132 ( Figure 1B ).

[0115] Figures 15A to 15C This illustrates various techniques for integrating MWM 350 with the present disclosure. Figure 3 A diagram illustrating the example technology used in conjunction with the fixture 310. (See diagram for example.) Figure 15A As shown, the operator can install the clamp 310 onto the cable 132. As Figure 3 The clamp 310, a part of the piston module 308, includes a retro-ejector 1502. For example... Figure 15B As shown, the operator can mount the MWM350 onto cable 132. The retroreflector 1502 of the clamp 310 is used in conjunction with the MWM 350 to measure the cutting distance during the preparation of cable 132. The cutting distance can be measured manually or alternatively via an automatically closed feedback loop. For example, the MWM 350 can stop its forward axial movement along cable 132 at the desired cutting location and perform a circumferential cut on one or more layers of cable 132.

[0116] 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 accurately measuring the distance the MWM 350 moves during the preparation or processing (e.g., cutting, scraping, etc.) of the cable 132 using the laser distance sensor 1008, the performance of the MWM 350 can be significantly improved. The retroreflector 1502 and the laser distance sensor 1008 can overcome obstacles such as bends in the cable 132 or the rotating head assembly 606. Figure 6 The complexity caused by the tilt relative to the clamp 310. The precise target provided by the retroreflector 1502 is also configured to help reduce or prevent erroneous measurements due to stray laser reflections from along the cable 132, the surrounding environment, or from other objects.

[0117] exist Figures 15A to 15CIn this example, a laser distance sensor 1008 is located on the MWM 350. During operation, a distance sensor 1804 measures the distance to a 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 distance measurement and compare the measured distance to a desired cutting distance, for example, to a desired location on the cable 132 where the MWM 350 will initiate a square (e.g., "circular") cut to terminate the cut. In other examples, this distance determination does not necessarily have to be performed using a laser, but may instead be based on (visible) light or ultrasound. The laser distance sensor 1008 may be a time-of-flight (ToF) optical sensor that, when the MWM 450 is used in handheld operation mode, works in conjunction with a retroreflector 1502 to measure axial (cutting) movement.

[0118] Figure 16A and Figure 16B This is a diagram depicting two alternative examples of various technologies according to this disclosure, including MWM 350, clamp 310, and laser distance sensor 1008. In some examples, for example... Figure 16A In the example shown, the laser distance sensor 1008 can be coupled to the fixture 310 and can be configured to directly detect the laser signal 1602. In other examples, for example... Figure 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 fixture 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 The computing device 152 and / or Figure 3 An example of the ICM 352. The laser distance sensor 1008 may also include an indicator mechanism 1604 (e.g., Figure 16A and Figure 16B The indicator light shown (or data communication with indicator mechanism 1604) is configured to indicate when the MWM 350 has reached the desired reduction distance. The ICM 1600 can be wired or wirelessly connected to the laser distance sensor 1008. In some examples, the ICM 1600 may be used to pre-program the laser distance sensor 1008 (e.g., to determine and indicate the reduction distance), rather than requiring a continuous connection between the ICM 1600 and the laser distance sensor 1008 during cable preparation operations.

[0119] Figures 17A to 17FThis is a schematic diagram illustrating examples of the engagement of the MWM 350 during cable sheath removal according to various techniques of this disclosure. The operator can activate the MWM 350 by pressing the action button 622 on the handle 402 (Figure 4). Figure 6 To activate MWM 350. Figure 17A In the middle, the motor 600 rotates the rotating head assembly 606 so that the roller key 702 engages with the screwdriver 1100. Figure 17A and Figure 17F Alignment. As discussed above, and as... Figure 17B As shown, screwdriver 1100 engages roller key 702, screwdriver motor 1020 rotates roller key 702, roller chuck 708 moves radially inward toward cable 132, and roller 714 clamps cable 132.

[0120] like Figure 17C As shown, a screwdriver 1100, engaged with roller key 702, adjusts roller 714. Screwdriver motor 1020 monitors torque and feeds this information back to ICM 1600. This feedback can be used to control roller pressure to a desired level and can provide a measurement of the working diameter of cable 132 during the process (e.g., with all layers of cable 132 removed, some layers removed, or no layers removed) via laser distance sensor 1008.

[0121] like Figure 17D As shown, the motor 600 then rotates the head body 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. Figure 17E As shown, 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., a sheathed blade) is inserted into the cable 132.

[0122] like Figure 17E and Figure 17F As shown, 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 is rotated to the desired angle.

[0123] Then, motor 600 rotates the rotating head assembly 606 until the cable sheath is cut. As discussed above, blade 804 and roller 714 move back... Figure 17A The cable is positioned in the "open" position as shown, and the MWM 350 is removed from cable 132. The operator can then manually remove the cover 260 from cable 132.

[0124] Figure 18This is a flowchart illustrating the process of fabricating a cable using the various techniques described in this disclosure for the handheld module 350. More specifically, Figure 18 Techniques for cutting and removing the outer sheath 262 and the protective layer 260 of cable 132 are described. Primarily aimed at... Figures 14A to 17F The systems, devices and technologies described herein Figure 18 The technology of the process.

[0125] Cable fabrication system 300 ( Figure 3 The operator can optionally select a specific cable preparation plan (1800). For example, the operator can use... Figure 14A GUI 1400 of ICM 350 ( Figure 14B Multiple I / O widgets 1402 are used to select a plan from multiple plans, such as from a drop-down menu. Figure 15A As shown, the operator can then install the clamp 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... Figure 15B As shown. The operator can, for example, press the action button 622 on the handle 402 of the MWM 350. Figure 6 To activate MWM 350 (1806).

[0126] Then, motor 600 rotates the rotatable tool head 606 until cable sheath cutting (1808) is achieved. Figure 17A As shown, the sheath knife 804 and roller 714 move back to the "open" position, allowing the MWM 350 to be removed from the cable 132 (1810). Optionally, the sheath 260, consisting of a metal foil, a metal film, or multiple individual metal wires, can be manually retracted and / or removed by the operator (1812).

[0127] Figures 19A to 19D This is a schematic diagram of the MWM 350 engaged during the adjustment and repositioning process of the insulator blade according to various techniques of this disclosure. The measuring target 724 is shaped and positioned such that, at a certain position, the laser 1602 will not be reflected from the target 724. Figure 19D However, with a slight rotation, the target 724 reflects laser 1602. Figure 19C This is the "return" position and is used to accurately position the blade 804 at any desired angle with this position as a reference. The laser distance sensor 1008 detects the leading edge of the reflective target 724.

[0128] When screwdrivers 1100, 1102, and / or 1104 are engaged and any of blades 804, 852, or roller 714 is adjusted, the system continuously measures the torque experienced by screwdrivers 1100, 1102, and / or 1104 while adjusting their radial position. This allows roller 714 or blades 804, 852 to achieve the desired radial force on cable 350. Using this torque feedback with closed-loop distance monitoring, the system can measure, for example, roller position, and thus the diameter of cable 132 during the process (without any layers removed or with some layers removed), which can then be fed back into the system (e.g., fed back to...). Figure 3 (In the ICM 352), it is used for evaluation, analysis or setting of subsequent cutting operations.

[0129] Figures 20A to 20E This describes various techniques according to this disclosure, including the joining process during cable insulation removal. Figure 3 A diagram illustrating the example cable fabrication operation of the MWM 350. For example, the MWM 350 can be configured to perform a deep cut through insulation layer 256 ( Figure 2 In some examples, if an insulating shield 258 is present (e.g., located radially outward from insulator 256), the MWM 350 cuts the insulating shield 258 simultaneously. In some, but not all, examples, if a conductor shield 254 is present (e.g., located radially inward from insulator 256), the MWM 350 may cut the conductor shield 254 simultaneously.

[0130] exist Figure 20A In the middle, the motor is 600 ( Figure 6 The rotating head body 606 aligns the roller key 702 with the screwdriver 1100. The screwdriver 1100 engages the roller key 702, and the screwdriver motor 1020 then rotates the roller key 702. The roller chuck 708 moves radially inward toward the insulator 256, and the bearing is secured to the insulator 256. Figure 20B In the middle, the motor 600 then rotates the rotating head assembly 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. Figures 20C to 20E In the middle, the cam motor 1018 then raises the screwdriver 1102 to be connected to 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 insulated blade) is inserted into the insulator 256.

[0131] Then, the cam motor 1018 lowers the screwdriver 1102 and raises the screwdriver 1104 to the "angle" position and couples it with the pitch adjustment mechanism 722. The laser measuring target 724 rotates together with the blade 804. The screwdriver motor 1020 then rotates the pitch adjustment mechanism 722, and the insulated blade 804 is moved to the desired angle. Then, the motor 600 rotates the rotating head assembly 606 until the insulator is cut.

[0132] Blade 804 and roller 714 move back Figure 20A The "default" diameter is shown, and the MWM 350 is removed from cable 132. In some examples, piston module 308 can then be installed and... Figure 21A and Figure 21B The piston holder eyelet 2100 couples the piston module 308 to the MWM 350, as described in further detail below. In other examples, the MWM 350 may be mounted on the carriage module 304. In other examples, the MWM 350 may be mounted on the holder module 2600. Figure 26A and Figure 26B (as described in further detail below)

[0133] Figure 21A and Figure 21B This is a schematic diagram of the piston module 308 of the MWM 350 coupled to various techniques according to this disclosure. (See diagram for reference.) Figure 21A and Figure 21B As shown, piston module 308 can be mounted between clamp 310 and MWM 350 to provide axial movement control for MWM 350 as needed. Piston module 308 can be configured to be connected to clamp eyelet 2102 on clamp 310, for example, via cotter pin, snap-fit, nut and bolt or any other suitable attachment mechanism.

[0134] When the MWM 350 is reinstalled on cable 132, the linear actuator 312 of piston module 308 is coupled to the MWM 350 at the other end of piston module 308 to cut and remove conductor shield 254, as described in further detail below. Piston eyelet 2104 can be coupled to piston holder eyelet 2100 of the MWM 350, for example, via cotter pin, snap-fit, nut and bolt, or any other suitable attachment mechanism.

[0135] Figure 22 This is a flowchart illustrating the process of cable fabrication using various techniques according to this disclosure, utilizing the handheld main working module 350. More specifically, Figure 22The following technique is described: for cutting and removing at least a portion of the insulation layer 256 of cable 132, and cutting and removing the insulation shielding layer 258 and the conductor shielding layer 254 if present (e.g., radially outer side of the insulator 256) and (e.g., radially inner side of the insulator 256). Primarily for... Figures 19A to 19D , Figures 20A to 20E as well as Figure 21A and Figure 21B The systems, devices and technologies described herein Figure 22 The technique of the process. Furthermore, in some, but not all, examples, Figure 22 The technology can Figure 18 This is performed after the technology has been applied, for example, after the outer sheath 262 and / or the cover 260 have been removed from the cable 132.

[0136] The operator of the cable preparation system 300 can install the MWM 250 on the outermost layer of the cable 132, such as the insulating shield layer 258 (2200). The operator can then activate the MWM 350 by pressing the action button 622 on the handle 402 of the MWM 350. Figure 6 To activate MWM 350 (2202). (See above regarding...) Figure 21B As discussed, 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 258, and the bearing is secured to the insulating shield 258. (As...) Figure 21B As shown, motor 600 then rotates head body 606 and aligns screwdriver 1102 with radial depth adjustment mechanism 720. As shown in Figures 21C to 21E, cam motor 1018 then raises screwdriver 1102 to engage with radial depth adjustment mechanism 720, and screwdriver motor 1020 rotates radial depth adjustment mechanism 720, and insulating blade 804 is inserted through insulating shield 258 and insulator 256 and conductor shield 254 (if conductor shield 254 is present).

[0137] Then, motor 600 rotates the rotatable tool head 606 of MWM 350 until insulation cutting (2204) is achieved. At this stage, all of the insulating shield 258, insulator 256, and conductor shield 254 can be cut to a common axial length that is longer than sheath 262 (exposing a portion of insulating shield 258) and shorter than conductor 252 (exposing a portion of conductor 252). Insulating knife 804 and roller 714 move back to... Figure 20A The “default” diameter shown allows the operator to remove the MWM 350 (2206) from cable 132.

[0138] At this stage, MWM 350 can optionally be coupled to an axial drive mechanism configured to advance MWM 350 along cable 132, because the radial depth of the next cut into insulating shield 258 is insufficient to automatically advance MWM 350 along cable 132. For example, piston module 308 ( Figure 3 ) or clamp module 2600 ( Figure 26A and Figure 26B It is mounted on the MWM. For example, piston module 308 can be coupled to MWM 350 through piston holder eyelet 2100 to cut or scribble insulating shield 258, as described in further detail below. In other examples, MWM 350 is mounted on carriage module 304.

[0139] Figures 23A to 23C This is a diagram illustrating various examples of piston module 308, ICM 352, and cross-section sensing module (CSSM) 306 coupled to MWM 350. According to the technology of this disclosure, piston module 308 includes a motor-driven leadscrew (or other similar linear drive devices of this disclosure, such as those described below). Figure 26A and Figure 26B Further described are the cable and winch 2612, the motor-driven lead screw which can be coupled with the rotating head assembly 606. Figure 6 The MWM 350 moves axially toward the clamp 310 at a defined rate to provide helical cutting or scribing. Figure 23A As shown, the data cable 2300 from the MWM 350 or ICM 352 to the piston module 308 can provide control and power for its actuation. The movement of the piston 308 can be limited by stopping the forward movement of the MWM 350 while the rotating head 606 of the MWM 350 continues to rotate, thus producing a square cut (or equivalently, a "ring" cut or "circumferential" cut). A ring cut can be defined as a helical cut, which uses both the axial movement and rotational movement of the MWM 350 to form layers to remove (e.g., by scraping, scribing, and / or cutting layers) the cable 132. Each helical cut can be ended or completed with a ring cut. Different layers are removed for square cuts to improve the interface quality with connectors, joints, etc., and to prevent electrical breakdown. In some examples, such as when the operator is experienced, the piston module 308 can be used for some scribing operations. In some examples, scribing can slightly pull the MWM 350 forward axially. When the MWM 350 reaches its destination, the braking mechanism can help stop its forward movement and indicate to the operator that cable 132 is ready for circumferential cutting.

[0140] In some examples, where the radial depth of the cut layer is insufficient to automatically pull the MWM 350 along the cable 132 (e.g., for scribing or scraping the insulating shield 258), the piston module 308 (or other axial drive device according to this disclosure) supports the axial movement of the MWM 350 along the cable 132. Some cuts may be used to pull the MWM 350 along the cable length (e.g., possible sheath or insulation helical cuts), but in other cases the piston module 308 may be needed to control the axial movement.

[0141] like Figures 23A to 23C As shown, various data communication connection options can be used between the piston module 308 and the ICM 352. For example, Figure 23A Cable connections for the CSSM 306, ICM 352, and piston module 308 are shown. Figure 23B In this configuration, the CSSM 306 wirelessly connects to the ICM 352 and has its own power source (e.g., a battery). Figure 23C In this process, battery 2302 from ICM 352 was repositioned to MWM 350, and Figure 3 The ICM 352 is replaced by the ICM 1600 of Figure 16, which may include a mobile computing device such as a tablet, smartphone, or other mobile device. Figure 23C In the example, the ICM1600 is wirelessly connected, but in other examples, the ICM1600 may optionally have a wired connection.

[0142] Figures 24A to 24E Examples of MWM 350 used in the removal of cable insulation shielding according to various techniques described in this disclosure are shown. Figures 24A to 24E In the depicted example, sheath 262 and shield 260 have been cut back to the first axial length; insulating shield 258, insulator 256 and conductor shield 254 have been cut back to the second axial length (exposing a portion of insulating shield 258), and conductor 252 has not been cut from its original axial length, exposing a portion of conductor 252.

[0143] The operator reinserts cable 132 into MWM 350 and couples MWM 350 to the linear actuator 312 of piston 308 (or, in other examples, to...). Figure 26A and Figure 26B The clamp module 2600, or coupled to Figure 3 (Carriage module 304). The operator can then activate the MWM350 by pressing the action button 622 on the handle 402 of the MWM 350. Figure 24A As shown, motor 600 ( Figure 6The rotating head body 606 aligns the roller key 702 with the screwdriver 1100. The screwdriver 1100 engages the roller key 702, and the screwdriver motor 1020 then rotates the roller key 702. The roller chuck 708 moves inward toward the insulating shield 258, and the bearing is secured to the insulating shield 258. Figure 24B As shown, motor 600 ( Figure 6 Then rotate the rotating head assembly 606 and align the screwdriver 1102 with the radial depth adjustment mechanism 720. Figures 24C to 24E As 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 insulating shielding knife 852 is inserted into the insulating shield 258.

[0144] Then, the motor 600 rotates the head body 606, which is then rotated to scribble the insulating shield 258 until the insulating shield is cut. The insulating shielding knife 852 and roller 714 move back to... Figure 24A The “default” diameter is shown, and MWM 350 is removed from cable 132. The operator manually strips the insulation shield 258 and removes any scrap, thus exposing the insulation layer 256.

[0145] Figure 25 This is a flowchart illustrating the cable fabrication process using a handheld MWM 350 according to various techniques described in this disclosure. More specifically, Figure 25 The insulating shielding layer 258 for cutting and removing cable 132 is depicted. Figure 2 The technology is primarily aimed at... Figure 21A and Figure 21B , Figures 23A to 23C and Figures 24A to 24E The systems, devices and technologies described herein Figure 25 The technology. Furthermore, in some, but not all, examples, Figure 25 The technology can Figure 18 After the technology and / or Figure 22 The technique is performed afterward, for example, after the outer sheath layer 262 and the protective layer 260 have been cut back to the first axial length ( Figure 18 The insulating shielding layer 258, the insulating layer 256, and the conductor shielding body 254 have been cut back to the second axial length. Figure 22 ), and the conductor 252 extends axially outward with a third axial length after execution.

[0146] Cable fabrication system 300 ( Figure 3The operator mounts the MWM 350 onto cable 132 (2500) and then optionally couples the linear actuator 312 of piston module 308 (or other linear or axial drive device of this disclosure) to the MWM 350, because the radial thickness of insulating shield 258 may be insufficient to automatically advance the MWM 350 along cable 132 during the cutting process. For example, piston eyelet 2104 ( Figure 21A It can be coupled to the piston holder eyelet 2100 of the MWM 350 via a cotter pin or other type of attachment.

[0147] Then, the operator can press the handle 402 on the MWM 350. Figure 6 Use action button 622 to activate MWM350 (2502). Figure 24A As 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 inward toward the insulating shield 258, and the bearing is fastened to the insulating shield 258. Figure 24B As shown, the motor 600 then rotates the head body 606 and aligns the screwdriver 1102 with the radial depth adjustment mechanism 720. Figures 24C to 24E As 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 insulating shielding knife 852 is inserted into the insulating shield 258.

[0148] Then, motor 600 rotates the rotating head assembly 606 of MWM 350 while piston module 308 drives MWM 350 along cable 132 (driving at a coordinated rate to create helical grooves of the desired size), performing partial depth cuts (or “scratching”) until insulation shield reduction (2504) is achieved. Insulation shielding knife 852 and roller 714 then automatically move back to the “default” diameter, allowing the operator to remove MWM 350 from cable 132 and manually peel off any remaining portion (2506) of insulation shield 258 from cable 132 (e.g., remove any scraping), thereby exposing the underlying insulation layer 256.

[0149] As described above, in some examples of this disclosure, the MWM 350 is configured to move or travel axially along the cable 132 to perform cuts (e.g., helical or longitudinal cuts) on or through one or more layers of the cable. In some examples, the MWM 350 includes a handle 402 (FIG. 4) to allow an operator to manually push the MWM 350 along the cable 132.

[0150] In some examples, the MWM 350 can be configured to drive or propel itself along cable 132 during cutting. For example, one or more cutting tools of the tool head can be positioned relative to the central longitudinal axis 2754 of cable 132. Figures 27A to 27E Oriented at an angle, such that when the tool head rotates around the cable circumferentially to cut the tool, the interaction (e.g., friction) between the thickness or depth of the cut layer and the side of the cutting tool is strong enough to drive the entire tool head forward longitudinally along the cable, resulting in a helical cut.

[0151] However, in other examples, the radial thickness or depth of the cutting layer (e.g., insulating shield 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 may include a clamping module configured to couple (e.g., clamp) to the cable, wherein the clamping module includes an axial drive module configured to push, pull, or otherwise drive the MWM 350 forward along the cable axial direction. Piston module 308 ( Figure 3 This is an example of such a drive module. In other examples according to this disclosure, the gripper module includes a screw driver or winch configured to drive the MWM 350 along cable 132. For example, Figure 26A and Figure 26B This is a perspective view of an example gripper module 2600 according to various techniques of this disclosure, the example gripper module 2600 may be Figure 3 The cable preparation system 300 comprises modular components. The clamp module 2600 includes cable clamps 310, one or more guide rails 2508, and in some, but not all, examples includes a MWM mount 2604 and a drive module 2612 (also referred to herein as “winch 2612”). The various sub-components of the clamp module 2600 can be arranged and assembled into several different configurations depending on the specific constraints and requirements of the cable preparation task to be performed, as described further in detail below. Figure 26A and Figure 26B as well as Figures 27A to 27E The first such arrangement or configuration of the components of the clamp module 2600 is depicted.

[0152] In some examples, one or more components of the gripper module 2600 may 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 may be physically different from the MWM 350 but are configured to be removably coupled to the MWM 350. For example, as... Figure 26A and Figure 26BAs shown, the clamp module 2600 may include a MWM mount 2604 configured to removably couple the MWM 350 to other components of the clamp module 2600.

[0153] Cable clamp 310 is configured to be removably coupled to a portion of cable 132. Figures 27A to 27E The clamp module 2600 also includes one or more elongated guide rails 2608, each having a proximal end 2608A and a distal end 2608B. The guide rails 2608 are configured to guide (e.g., direct or control) the movement of the MWM 350 along the axial direction of the cable 132, for example, to maintain the parallel orientation of the MWM 350 relative to the central longitudinal axis 2750 of the cable. Figures 27A to 27E ).

[0154] exist Figure 26A and Figure 26B In some examples of the configurations shown, the MWM 350 is configured to be removable from other "accessory" components of the clamp module 2600, and each rail 2608 is configured to be rigidly coupled to the MWM mount 2604 at its proximal end 2608A and rigidly coupled to the cable clamp 310 at its distal end 2608B. Figure 26A and Figure 26B In other examples of the configuration shown, the MWM 350 is directly (e.g., rigidly) integrated with additional components of the clamp module 2600, with each rail 2608 configured to be rigidly coupled to the MWM 350 at the proximal end 2608A of the rail and rigidly coupled to the cable clamp 2606 at the distal end 2608B of the rail.

[0155] Drive module 2612 includes a drive unit configured to drive, induce, implement, or otherwise (appropriately, depending on the specific scenario) control MWM 350 along cable 132. Figures 27A to 27E For example, along the central longitudinal axis 2754 of cable 132. Figures 27A to 27E The axial movement of the drive module 2612 (e.g., to control the axial speed of the axial movement) is used to cut one or more layers of cable 132. In some examples, the drive module 2612 is... Figure 3 Examples of piston module 308 (e.g., linear actuator 312 of piston module 308), except for the differences noted herein. For example, according to the technology of this disclosure (and as described above with respect to piston module 308), ICM 352 ( Figure 3 The drive module 2612 and the MWM 350 are configured to control both in order to coordinate the axial movement of the MWM 350 with the MWM 350's rotary head assembly 606 in a "consistent" manner. Figure 6The rotational movement of the MWM 350 is used to precisely control the MWM 350 to produce the desired cut, such as a helical cut or notch with a desired size or proportion (e.g., as instructed by the user or operator or as retrieved from memory).

[0156] In some examples, the drive module 2612 includes a winch and a long line 2616 having an internal motor coupled to a rotating module (e.g., housed within an outer housing 2614 of the winch 2612). The long line 2616 has a proximal end 2616A, a proximal portion (not shown), and a distal end 2616B. In any configuration of the components of the gripper module 2600, the proximal end 2616A is rigidly coupled to the rotating module of the winch 2612, and the rotating module is configured to rotate about a winch axis 2618 to wind the proximal portion of the line 2616 around the rotating module, thereby shortening the length of the line 2616 outside the housing 2614 (e.g., the distal portion).

[0157] exist Figures 26A to 27E In the example configuration of the clamp module 2600 shown, the outer housing 2614 of the winch 2612 (containing the rotating module and the proximal cable portion) is rigidly coupled to the MWM mounting 2604 and / or one or more rail proximal ends 2608A. In other examples, the housing 2614 of the winch 2612 may be removably or rigidly coupled directly to the MWM 350. The distal cable end 2616B is removably or rigidly coupled to the cable clamp 310.

[0158] like Figures 27A to 27E As shown, winch 2612 is configured to pull MWM 350 forward along the axial direction of cable 132 to cut one or more layers of cable 2650. For example, Figure 27A This is a side view of cable 132. (As shown) Figure 27B As shown, the operator can insert the proximal end of cable 132 into the cable opening 404 of the MWM 350. The operator can also attach cable clamp 310 to a more distant portion of cable 132. For example, the operator can rotate clamp wheel 2752 (or other user input mechanism) to secure clamp 310 to the outer surface of cable 132.

[0159] like 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 pulls the MWM 350 axially along the cable 132 to cut one or more layers of the cable 132. When the MWM 350 achieves the desired cut length, circumferential rotation and axial movement cease, and if necessary, the rotatable tool head completes a helical cut using a final “square” cut (e.g., a cut perpendicular to the cable’s longitudinal axis 2754). 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 as described above and a retroreflector on the cable clamp 310 to determine when the MWM 350 has reached the desired cut length. In other examples, the user can select or indicate the desired cut length by placing the cable clamp 310 at the desired end position.

[0160] like Figure 27E As shown, the cutting layer can then be removed from cable 132 to produce a cut or stripped portion 2756 of cable 132, or in some examples, the cutting layer can remain attached to cable 132 for further preparation or other processing. For example, in some cases, the desired cut length of cable 132 can be longer than either or both of guide rail 2608 and wire 2616. In some such examples, once MWM 350 has reached cable clamp 310 and has stopped moving forward, the operator can leave MWM 350 in the appropriate position on cable 132, unlock the rotating module of winch 2612, and move cable clamp 310 (with the attached distal end 2616B of wire) forward along the axial direction of cable 132 to the new desired cut length, or to the full length of guide rail 2608, and repeat the process multiple times as needed to reach the complete desired cut length.

[0161] In some examples according to this disclosure, the operator may utilize the guide rail 2608 of the clamp module 2600 without using the winch 2612. For example, as described above, in some cases, the radial layer of the cable 132 is thick enough or wide enough that when the MWM 350 cuts through the layer, the layer pushes the MWM 350 forward along the cable, thus eliminating the need for the pull force of the winch 2612. In some such examples, the operator may still utilize the guide rail 2608 and cable clamp 310 as described herein to guide the axial movement of the MWM 350, for example, to rigidly maintain the direction of movement of the MWM 350.

[0162] Figure 28A and Figure 28BThis is a schematic diagram depicting another example clamping module 2800, which is... Figures 26A to 27E An example of a gripper module 2600, but in which one or more sub-components are arranged and assembled with respect to each other in different orientations. Figure 28A and Figure 28B In the example arrangement shown, cable 132 is vertically oriented (e.g., within a threshold range of angle relative to gravity). In such an example where cable 132 is vertically oriented, clamp module 2800 can be configured to use gravity to propel MWM 350 vertically downwards along cable 132 to cut one or more layers of cable. In some such examples, instead of using winch 2612 to advance MWM 350 along cable 132 (as in...), Figure 26A and Figure 26B In the example arrangement), instead of the winch 2612, 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., unfolding) of the proximal portion of the line 2616 from around the rotating module in order to control the rate at which the MWM 350 descends axially along the cable 132.

[0163] like Figure 28A As shown, the outer housing 2614 of the winch 2612 is functionally coupled to the MWM350 via an extension bracket 2850, which can be connected to... Figure 26A The MWM mounting component 2604 may be the same as or different from it. The distal end 2616B of line 2616 is coupled to the proximal end 2608A of guide rail 2608B. MWM 350 (including Figure 6 The rotatable cutting tool head 606 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 speed (e.g., measured in revolutions per minute (RPM)), causing the line 2616 to unwind from the rotating module of the winch at a controlled rate. Figure 28B As shown, when suspended on the proximal end 2608A of guide rail 2608, MWM 350 descends along cable 132 at a controlled rate. In this way, cable preparation system 300 can precisely control the parameters of cutting within one or more layers of cable 132 via computing device 352 and clamping module 2800. As described above, by simultaneously controlling the axial speed of MWM 350 (e.g., via clamping module 2800) and the rotational speed of rotating tool head 606, computing device 352 can thus control the ratio of axial to circumferential motion to generate a specific desired type of cut (e.g., helical cut, longitudinal cut, or other type of cut).

[0164] Figure 29A and Figure 29B This is a schematic diagram depicting a third example clamping module 2900, which is... Figure 26A and Figure 26B Another example of the gripper module 2600, in which sub-components are arranged and assembled relative to each other in a different orientation. Figure 29A and Figure 29B In the example arrangement shown, cable 132 is shown oriented approximately horizontally (relative to gravity); however, the arrangement of the components of clamp module 2900 can be used in conjunction with cables oriented in almost any alignment relative to gravity.

[0165] Except for the orientation of winch 2612—which is basically the same as Figure 26A and Figure 26B The corresponding orientation of the winch 2612 shown is opposite—otherwise, the arrangement of the components in the gripper module 2900 is substantially similar. Figure 26A and Figure 26B The arrangement of components in the gripper module 2600. In other words, as... Figure 29A As shown, the housing 2614 of the winch 2612 is functionally coupled to the distal end 2608B of the cable clamp 310 and / or the guide rail 2608, rather than to the MWM 350 (e.g., as shown). Figure 25 A and Figure 25 (as shown in B).

[0166] 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, for example... Figure 29A and Figure 29B In 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 allows the winch 2612 to be physically separated from the rest of the clamp module 2900, enabling the clamp module 2900 to be used in a wider variety of environments, such as those with substantially limited physical space. The cable sheath 2910 defines an inner cavity configured to receive the proximal portion of the cable 2616. The cable sheath 2910 may comprise any suitable material or polymer having compressive strength sufficient to substantially resist compression when the winch 2612 pulls the MWM 350 along the cable 132.

[0167] Similarly, such as Figure 29A and Figure 29B As shown, the distal end 2616B of the cable is fixedly coupled to the MWM 350, rather than to the cable clamp 310 and / or the distal end 2608B of the rail (e.g., as shown). Figure 26Aand Figure 26B (As shown). In such an example, as the rotating module within the winch housing 2614 rotates, the proximal portion of the cable 2616 winds around the rotating module, causing the winch 2612 to pull the MWM 350 along the cable 132 toward the cable clamp 310. In this way, the cable preparation system 300 can precisely control the parameters of the cuts performed within one or more layers of the cable 132 via the computing device 352 and the clamping module 2900. As described above, by simultaneously controlling the axial speed of the MWM 350 (e.g., via the clamping module 2900) and the rotational speed of the rotating tool head 606, the computing device 352 can thus control the ratio of axial to circumferential motion that produces a specific desired type of cut (e.g., helical cut, longitudinal cut, or other type of cut).

[0168] Figure 30A and Figure 30B This is a 3D view of the example handheld cross-sectional sensing module (CSSM) 3006, and... Figure 31 This is a cross-sectional view; the example is the handheld cross-sectional sensing module (CSSM) 3006. Figure 3 as well as Figures 23A to 23C An example of a modular CSSM 3006, aside from the specific differences described herein. The CSSM 3006 is configured to image the end face 3150 of cable 132. According to the technology of this disclosure, the CSSM 3006 includes a telecentric lens 3106 configured to automatically correct for defects or other anomalies on the end face 3150 of cable 132 when imaging it, thereby enabling significantly more accurate measurement of the layers of cable 132 compared to imaging devices with different lens configurations, as further described below. The CSSM 3006, as described herein, is configured to provide near-instantaneous (e.g., within 30 seconds, typically within 15 seconds, and typically within 10 seconds) cable measurement results.

[0169] exist Figure 30A and Figure 30B In this context, CSSM 3006 is depicted as a physically distinct handheld module. In other examples, CSSM 3006 can be integrated into... Figure 3 In any other module of system 300, including within MWM 350, within carriage module 304, or in another module. For example Figure 30A and Figure 30B As shown, the handheld CSSM 3006 includes a housing 3002, a cable inlet port 3004, a handle 3008, a camera trigger 3010, an indicator light 3012, and in some examples, a data / power cable 3014.

[0170] CSSM 3006 includes a housing 3002 that surrounds a volume including an image capture device 3110 (e.g., a camera) and defines a cable entry 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 components within the enclosed volume. The housing 3002 can be opaque, for example, to block ambient light from entering the volume. In the example shown, the housing 3002 includes an opening 3004 opposite to the closed end to which the camera 3110 is attached within the housing. In the example shown, an end portion of a cable 132, including an end face 3150, can be inserted into the opening 3004. The camera 3110 is located within the housing 3002 and oriented to face the opening 3004 and the cable end face 3150. The camera 3110 has an optical axis 3120, as... Figure 31 As shown. The opening 3004 can be large enough to accommodate the cable 132, and can be larger than the diameter or maximum cross-sectional size of the cable 132.

[0171] In some examples, the CSSM 3006 includes an indicator 3012 configured to output signals or other indications to the user. For example, indicator 3012 may output signals indicating one or more of the following: “Device powered on,” “Cable now inserted,” “Cable inserted to the appropriate depth,” “Image captured,” “Image capture and cable analysis complete,” and / or any other message indicating the functionality of the CSSM 3006. Figure 30A and Figure 30B In the depicted example, indicator 3012 includes a pair of indicator lights configured to indicate messages about the functionality of CSSM 3006 by energizing, flashing, etc. As a non-limiting example, indicator 3012 may include a green LED and a red LED, the green LED indicating that the cable is correctly imaged (e.g., by analyzing the image's sharpness and / or focus), and the red LED indicating that the captured image is currently being processed (e.g., for a short period after image capture mechanism 3110 has been activated).

[0172] In some examples, the cross-section sensing module 3006 includes an internal computing device 3116. The computing device 3116 may be... Figure 1B The computing device 152 and / or Figure 3Examples of ICM 352, other than the differences noted herein. Computing device 3116 can control camera 3110 to capture images, store images, process images and other data or information, and transmit images via wired or wireless communication. Computing device 3110 can control and / or receive data and / or images from other components of CSSM 3006 (e.g., indicator 3012, camera 3110, and light source 3102). In some examples, computing device 3116 can receive images captured by camera 3110 and perform image processing to determine (e.g., measure) various cable construction parameters. For example, computing device 3116 can determine the number of conductor strands in the cable, the arrangement of the conductor strands (e.g., stranding), the standard of the conductor strands (e.g., conductor strand dimensions), the number of sheath wires, the shape of the sheath wires (e.g., round and / or flat), the standard of the sheath wires (e.g., dimensions), the color and grayscale level of the insulation, etc.

[0173] The cross-section sensing module 3006 includes one or more light sources 3102. In some examples, the light source 3102 may be a dome light source. In other examples, the light source 3102 may be an LED ring or a combination of an LED ring and a diffuser between the LED and the cable end face 3150. In the example shown, the light source 3102 is configured to illuminate the cable end face 3150.

[0174] The CSSM 3006 may also include one or more transparent protectors 3104. Transparent protectors 3104 may be configured to prevent cable 132 from reaching or damaging camera 3110. Transparent protectors 3104 may have a flat, conical, or annular shape. In some examples, transparent protectors 3104 may diffusely transmit light. For example, transparent protectors 3104 may be positioned between light source 3102 and cable end face 3150, and diffusely transmit (e.g., transmit and scatter) light from light source 3102 to diffusely illuminate cable end face 3150. In some examples, diffuse illumination of cable end face 3150 may reduce or eliminate undesirable reflections, such as specular reflections or flicker. In some examples, light source 3102 may be positioned along the edge of transparent protector 3104, and transparent protector 3104 may be configured to diffuse and emit light injected into the transparent protector by light source 3102 toward cable end face 3150. For example, the transparent protector 3104 may be an edge light guide and / or illuminator.

[0175] In some examples, the CSSM 3006 may include a data cable 3014 for power and / or data input / output. In some examples, the CSSM 3006 may be battery-powered and / or include wireless data transmission capabilities to transmit and receive data with one or more other modules of the system 300 (e.g., such as...). Figures 23A to 23C(As shown in the various examples).

[0176] In some examples, the CSSM 3006 includes a locking ring 3114 configured to removably secure the cable 132 at a location within the housing 3002, for example, 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, according to the techniques of this disclosure, the CSSM 3006 includes a telecentric lens 3106 oriented substantially transversely to (e.g., perpendicularly 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, angleless field of view. For example, at any distance from the telecentric lens, the lens will always have the same field of view, thus eliminating parallax, such as the amount of imaging distortion due to parallax effects, which would otherwise be experienced by conventional lenses. In other words, when any two objects of the same size are viewed through the telecentric lens 3106, the two objects will still appear to be the same size, regardless of the distance of each object from the lens.

[0177] The telecentric lens 3106 offers many advantages, particularly beneficial for imaging the cable end face 3150 using the CSSM 3006. For example, as follows: Figures 32A to 32C As depicted, when imaged through the telecentric lens 3106, all portions, areas, or regions of the cable end face 3150 of cable 132 appear to be at the same distance and aligned with the same orientation relative to the camera 3110, thus giving the cable end face 3150 the appearance of a substantially “ideal” flat cross-sectional surface, even when the cable end face 3150 actually includes one or more imperfections (e.g., areas or regions that deviate from a perfect representation of the axial cross-section of cable 132). In practice, although objects such as the outer or inner radial edges of the layer of cable 132 may be observed to blur (e.g., reduced resolution) as they move away from the telecentric lens 3106, the edges of the object remain in the same position within the telecentric-based image, regardless of their distance from the lens 3106, because the object appears to have no change in size. Therefore, the radial position of the object's edges can be determined (e.g., located or measured) with very high precision, without having to consider any distortion otherwise based on magnification. Furthermore, the telecentric lens 3106 does not cause the "fisheye" distortion experienced by more conventional lenses near the outer edge of the lens's field of view.

[0178] In some examples, if a portion of the cable end face 3150 is further from the optimal focus of the telecentric lens 3106 than another portion of the cable end face 3150, a gradual decrease in resolution (e.g., possibly more blurry) can be observed in that portion of the cable end face 3150. However, in some such examples, this blurring effect can actually be advantageously used to more accurately identify the outer or inner radial edges of the layers of the cable 132. For example, even a substantially focused image containing a certain number of pixels includes some minimal amount of blur, which can be observed when viewing the pixels at an increased magnification. In other words, the “blurred” region between two different objects (e.g., two objects of different colors) within a high-resolution image is limited to only a small number of pixels. In fact, each pixel in the “narrower” blurred region is more likely to be characterized by a substantially different color compared to the consecutive pixels on either side of it.

[0179] However, a more defocused image (e.g., because the object being imaged is at a greater distance from the optimal focus of the telecentric lens 3106) effectively distributes the blurred intermediate region across a larger number of pixels, making each pixel in the blurred region substantially similar in color to the pixels on either side of it. In this way, the blurred region at least partially averages out the effects of any color "noise" within the image that might otherwise be generated by the camera 3110 or by other sources.

[0180] Therefore, in some examples, compared to a more “focused” image, it is easier and more accurate to determine (e.g., locate, identify, and / or measure) the precise center of a blurred region (e.g., the precise radial position between two consecutive layers of cable 132) by requiring relatively less subpixel color interpolation and by taking into account less random color variation, where the color difference between two consecutive pixels can be substantially large and / or asymmetrically adjusted according to their “true” colors.

[0181] Therefore, according to the technology of this disclosure, the telecentric lens 3106 of the CSSM 3006 enables more precise imaging and measurement of the end face 3150 of the cable 132, which has a greater depth field, compared to a CSSM with only conventional optical lenses. Furthermore, certain types of telecentric lenses (e.g., certain Fresnel lenses) are designed to be relatively thin and lightweight, and can be formed from plastic instead of solid glass blocks. Examples of some such lightweight lenses allow the CSSM 3006 to be implemented in a relatively small, modular handheld device, such as... Figures 30A to 31As depicted. Therefore, 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 (e.g., a photo trigger 3010) configured to allow the user to enable the camera 3110 to capture an image of the end face of the cable 132. Besides being relatively thin and lightweight, thus allowing the CSSM 3006 to be compact and handheld, the use of Fresnel lenses for the telecentric lens 3106 allows Fresnel lenses to be less expensive than typical machine vision telecentric lenses, despite having roughly the same aperture. Although these types of Fresnel lenses may result in a slight reduction in resolution in the image of the end face 3150 of the cable 132, the loss of resolution is negligible given the magnification required for accurate measurement of the height of the cable end face 3150.

[0182] Figures 32A to 32C It is shown Figure 30A and Figure 30B A conceptual diagram of sample features from CSSM 3006. For example, Figure 32A A first example cable 132A is depicted having a theoretically "ideal" end face 3150A, wherein the end face 3150A (at least substantially) conforms to a single plane, and wherein the plane of the end face 3150A (at least substantially) is perpendicular to the central longitudinal axis 2754A of the cable 132A. In such an example, a cross-section sensing module 3006 including a telecentric lens 3106 can substantially capture an image 3202A that is visually similar to an image 3204A captured by a cross-section sensing module excluding the telecentric lens. In other words, the two images 3202A and 3204A will be substantially similar primarily due to the "ideal" surface of the end face 3150A.

[0183] However, Figure 32B A second example cable 132B with a non-ideal end face 3150B is depicted, wherein the end face 3150B (at least substantially) conforms to a single plane, but wherein the plane is substantially not perpendicular to the central longitudinal axis 2754B of the cable 132B. For example, as Figure 32B As shown, 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 a telecentric lens 3106, is configured to capture an image 3202B that is substantially different from an image 3204B captured by a CSSM that does not include a telecentric lens (e.g., includes only conventional optical lenses). For example, as Figure 32BAs shown, the lower portion of end face 3150B is distorted in image 3204B because the lower portion of the camera 3110, which is slightly farther away from the CSSM, is contracted or reduced by an amount based on its distance from the camera 3110. Therefore, image 3204B will in other ways lead to inaccurate measurements of the layers of cable 132B, such as inaccurate measurements of diameter, radius, radial thickness, arc length, or other similar dimensions. These inaccurate measurements may lead to inaccurate cutting or scraping of one or more layers, as the corresponding cable preparation system may determine the radial depth of its cutting tool based at least in part on these inaccurate measurements. However, by incorporating the telecentric lens 3106 into the CSSM 3006, each portion of end face 3150B is magnified by the same amount, regardless of its distance from the lens 3106, resulting in image 3202B having an appearance where end face 3150B is essentially “ideal,” for example, essentially planar and essentially perpendicular to the cable axis 2754B.

[0184] Similarly, Figure 32C A third example cable 132C with a non-ideal end face 3150C is depicted, wherein the end face 3150C does not conform to a single plane, and wherein either (e.g., any) of the planes is not substantially perpendicular to the central longitudinal axis 2754C of the cable 132C, for example, oriented at an oblique angle relative to the central longitudinal axis 2654C. In such an example, a CSSM 3006 including a telecentric lens 3106 is configured to capture an image 3202C that is substantially different from an image 3204C captured by a CSSM excluding the telecentric lens. For example, as Figure 32C As shown, both the upper and lower portions of end face 3150C are distorted in image 3204C because the upper and lower edges are slightly further away from the camera 3110 of CSSM 3006 compared to the middle portion, and therefore, the upper and lower portions are contracted or reduced by an amount based on their respective distances from camera 3110. Consequently, image 3204C will, in other ways, result in inaccurate measurements of the layers of cable 132C, such as 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, as the cable preparation system will make the radial depth of the cutting tool at least partially based on these measurements. However, by incorporating the telecentric lens 3106 into CSSM 3006, the magnification of each portion of end face 3150C is amplified by the same amount, regardless of its distance from camera 3110, resulting in image 3202C having a substantially ideal appearance for end face 3150C.

[0185] Figure 33 It is a description that can be made by Figure 30A and Figure 30BHandheld cable measuring device generates or interacts with Figure 30A and Figure 30B A schematic diagram of an example graphical user interface (GUI) 3300 generated by combining a handheld cable measuring device.

[0186] GUI 3300 includes an image 3302 of the end face 3150 of cable 132, as captured by CSSM 3006. In some examples, a computing device (e.g., computing device 3116 of CSSM 3006 or...) Figure 3 Any other computing device in the system 300 is configured to process the image 3302 to identify or determine, based on the image 3302, the approximate location of the various layers of the cable 132 within the image 3302 or the boundaries (e.g., distinctions) between the various layers. Thus, as... Figure 33 As shown, image 3302 may include one or more geometric objects (e.g., loops, etc.) 3304 covering image 3302 and indicating estimated boundaries between layers of cable 132. GUI 3300 may also include estimates of various measurements and dimensions corresponding to the estimated locations of the cable layers or the boundaries between cable layers. In some examples, GUI 3300 also includes an input device 3306 that allows the user to appropriately acknowledge or reject (“cancel”) the estimated measurements. Upon receiving a “cancel” instruction from the user, the system may automatically recapture another image 3302 of the end face 3150 of cable 132 and regenerate the measurements based on the new image. Upon receiving an “acknowledge” instruction from the user, the system may transfer the measured dimensions to another computing device (e.g., from computing device 3116 of CSM 3006 to ICM 352 of system 300). Alternatively or concurrently, in response to receiving a “confirmation” instruction from the user via GUI 3300, the corresponding computing system may be configured to automatically generate and execute corresponding program instructions to configure MWM 350 for preparing cable 132 (e.g., adjusting the orientation and / or radial depth of one or more cutting blades), and / or to cause MWM 350 to begin cutting one or more layers of cable 132.

[0187] In some examples according to this disclosure, the computing system can be configured to determine and, for example, output additional or different indications to a user via GUI 3300. For example, the computing system of this disclosure (e.g., computing device 3116 and / or ICM 352) can be configured to determine whether the measured dimensions within the image 3302 of cable 132 correspond to the cable type indicated by the user (e.g., via GUI 3300 or other user input mechanism). For example, the computing system can be configured to determine whether the imaged cable 132 includes the expected number of layers, expected layer type, expected layer thickness (e.g., within threshold tolerances), conductor size and stranding, insulation thickness and voltage rating, sheath type, total cable diameter, etc. If the computing system determines that the cable parameters of this type are outside the expected values ​​or ranges, the computing system can, for example, generate an alarm and output the alarm via GUI 3300 to notify the user that the cable is different from the cable type previously indicated or described by the user, allowing the user to determine whether the difference is based on a user error or whether the CSSM 3006 may need recalibration.

[0188] In some examples according to the invention, the computing system may be configured to determine, based on dimensions measured within image 3302 of cable 132, whether cable 132 is excessively deformed or otherwise out of specification, making it unlikely that an attempt to fabricate the cable will be successful, or alternatively, the fabrication process may be completed but may result in the use of an unsafe fabricated cable. For example, the computing system may be configured to determine (e.g., measure) the eccentricity (e.g., "ellipticity") of the cross-section of cable 132, or excessive or insufficient layer thickness, or any other similar parameter not within the safety or expected tolerances of the cable fabrication system. In some such examples, the computing system may generate an alert that the cable should not be used with the cable fabrication system and may should be discarded, and output the alert, for example, via GUI 3300.

[0189] Unless otherwise indicated, all figures used in the specification and claims to indicate the size, quantity, and physical properties of features should be understood to be modified by the term “about” in all instances. Therefore, unless indicated to the contrary, the numerical parameters set forth in the foregoing specification and appended claims are approximate values ​​that may vary according to the desired properties sought by those skilled in the art using the teachings disclosed herein.

[0190] As used in this specification and the appended claims, unless otherwise expressly indicated, the singular forms “a,” “an,” and “the” include embodiments with plural references. As used in this specification and the appended claims, unless otherwise expressly indicated, the term “or” is generally used in its meaning to include “and / or.”

[0191] Spatial terms, including but not limited to “near,” “far,” “lower,” “upper,” “below,” “below,” “above,” and “on top,” when used herein, are used to readily describe the spatial relationship of one or more elements to another. In addition to the orientations depicted in the accompanying drawings and described herein, such spatial terms also include different orientations of the apparatus in use or operation. For example, if an object depicted in the accompanying drawings is inverted or flipped, a portion previously described as below or beneath other elements will now be above or on top of those other elements.

[0192] As used herein, when an element, component, or layer is described, for example, as forming an “overlapping interface” with another element, component, or layer, or as described as “on another element, component, or layer,” “connected to another element, component, or layer,” “coupled to another element, component, or layer,” “stacked on another element, component, or layer,” or “in contact with another element, component, or layer,” the element, component, or layer may be directly on another element, component, or layer, directly connected to another element, component, or layer, directly coupled to another element, component, or layer, directly stacked on another element, component, or layer, or directly in contact with another element, component, or layer. Alternatively, for example, an intermediate element, component, or layer may be on a particular element, component, or layer and connected, coupled, or in contact with that particular element, component, or layer. When an element, component, or layer is referred to, for example, as “directly on another element,” “directly connected to another element,” “directly coupled to another element,” or “directly in contact with another element,” there is no intermediate element, component, or layer. The techniques disclosed herein can be implemented in a variety of computer devices such as servers, laptops, desktop computers, notebook computers, tablet computers, handheld computers, smartphones, etc. Any component, module, or unit has been described to emphasize 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 individually as a discrete but interoperable logic device. In some cases, various features can be implemented as integrated circuit devices, such as integrated circuit chips or chipsets. Furthermore, although several different modules have been described throughout the specification, many of which perform unique functions, all the functions of all modules can be combined into a single module or even divided into other additional modules. The modules described herein are merely exemplary and have been described as such for ease of understanding.

[0193] If implemented in software, these technologies can be implemented at least in part by a computer-readable medium comprising instructions that, when executed in a processor, perform one or more of the methods described above. The computer-readable medium may include a tangible computer-readable storage medium and may form part of a computer program product, which may include packaging material. The computer-readable storage medium may 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. The computer-readable storage medium may also include non-volatile storage devices such as hard disks, magnetic tapes, compact discs (CDs), digital universal discs (DVDs), Blu-ray discs, holographic data storage media, or other non-volatile storage devices.

[0194] 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 functions described herein can be provided within a dedicated software or hardware module configured to perform the techniques of this disclosure. Even when implemented in software, these techniques can use hardware such as a processor to execute the software and memory to store the software. In any such case, the computer described herein can define a specific machine capable of performing the particular functions described herein. Furthermore, these techniques can be fully implemented in one or more circuit or logic elements, which can also be considered as processors.

[0195] In one or more examples, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functionality may be stored on or transmitted over a computer-readable medium as one or more instructions or code and executed by a hardware-based processing unit. The computer-readable medium may 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, a computer-readable medium may generally correspond to (1) a non-transitory tangible computer-readable storage medium or (2) a communication medium such as a signal or carrier wave. The data storage medium may 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 this disclosure. Computer program products may include computer-readable media.

[0196] By way of example and not limitation, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, coaxial cable, optical fiber, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium if instructions are transmitted from a website, server, or other remote source using coaxial cable, optical fiber, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave. 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 refer to non-transient tangible storage media. As used, disks and optical discs include compact discs (CDs), laser discs, optical discs, digital versatile optical discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0197] Instructions can be executed by one or more processors such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Therefore, the term "processor" as used 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. Furthermore, these techniques can be fully implemented in one or more circuit or logic elements.

[0198] The technologies disclosed herein can be implemented in a variety of devices or apparatuses, including wireless handheld devices, integrated circuits (ICs), or IC sets (e.g., chipsets). Various components, modules, or units are described in this disclosure to emphasize functional aspects of a device configured to perform the disclosed technologies, but they do not necessarily need to be implemented by different hardware units. Rather, as described above, various units can be combined within a hardware unit or provided as a collection of interoperable hardware units including one or more processors as described above, combined with suitable software and / or firmware.

[0199] It should be recognized that, based on the examples, certain actions or events of any method described herein may be performed in a different order, and may be added, combined, or excluded entirely (e.g., not all described actions or events are necessary for the practice of this method). Furthermore, in some examples, actions or events may be performed concurrently, for example, through multithreading, interrupt handling, or multiple processors, rather than sequentially.

[0200] In some examples, computer-readable storage media include non-transitory media. In some examples, the term "non-transitory" indicates that the storage medium is not implemented with a carrier or propagating signal. In some examples, non-transitory storage media (e.g., in RAM or cache) store data that can change over time.

Claims

1. A cable measuring device, comprising: A housing defining a cavity, wherein the housing is configured to position the end face of a cable within the cavity; A camera exposed within the cavity of the housing, wherein the camera is configured to capture images of the end face of the cable; and A telecentric lens optically coupled to the camera, wherein the telecentric lens includes an angleless field of view, and the telecentric lens is configured to reduce distortion in the image caused by parallax associated with at least a portion of the end face of the cable that is oriented at an oblique angle relative to the optical axis of the telecentric lens; The apparatus further includes at least one computing device configured to identify the outer or inner radial edge of at least one layer of the cable via a blurring effect at a location remote from the optimal focal point of the telecentric lens, thereby determining at least one of the diameter or radial thickness of the at least one layer of the cable based on the image. The computing device is further configured to output the diameter or radial thickness of the at least one layer to a cable preparation device, the cable preparation device being configured to cut the at least one layer of the cable based on the diameter or the radial thickness.

2. The cable measuring device according to claim 1, wherein, The telecentric lens includes a Fresnel lens.

3. The cable measuring device according to claim 1, wherein, The cable measuring device includes a handheld device, and wherein the cable measuring device further includes a handle extending from the housing.

4. The cable measuring device according to claim 3, wherein, The handle includes a trigger configured to cause the camera to capture an image of the end face of the cable.

5. The cable measuring device of claim 1, further comprising a locking ring configured to orient the end face of the cable within the field of view of the telecentric lens.

6. The cable measuring device according to claim 1, wherein, The housing includes an indicator light configured to indicate to a user that the end face of the cable is oriented within the field of view of the telecentric lens.

7. The cable measuring device according to claim 1, wherein, The computing device is also configured to: The diameter or thickness of the at least one layer is determined to be outside the expected range; and The output indicates an alarm indicating that the diameter or thickness is outside the expected range.

8. The cable measuring device according to claim 1, wherein, The telecentric lens is configured such that the computing device can determine the outer or inner edge of the at least one layer based on the color of the pixels in the image by averaging out random color distortion between the pixels.

9. The cable measuring device according to claim 1, wherein, The telecentric lens is configured such that the computing device can accurately determine the outer or inner edge of the at least one layer based on the color of the pixels in the image by reducing the amount of color interpolation of the pixels.

10. The cable measuring device according to claim 1, wherein, The telecentric lens is configured such that the computing device can accurately determine the outer or inner edge of the at least one layer based on the color of the pixels in the image by optically conforming in the image to a common plane of the cable end face that is perpendicular to the optical axis of the telecentric lens, with at least a portion of the cable end face oriented at an oblique angle relative to the optical axis of the telecentric lens.

11. The cable measuring apparatus of claim 1, further comprising at least one light source configured to illuminate the end face of the cable.

12. The cable measuring device according to claim 11, wherein, The at least one light source includes a light-emitting diode ring.

13. The cable measuring device of claim 1, further comprising a transparent protector configured to prevent the cable from contacting the telecentric lens.

14. A cable manufacturing system, comprising: The cross-section sensing module includes: A housing defining a cavity, wherein the housing is configured to position the end face of a cable within the cavity; A camera exposed within the cavity of the housing, wherein the camera is configured to capture images of the end face of the cable; and A telecentric lens, optically coupled to the camera, wherein the telecentric lens includes a zero-angle field of view, and the telecentric lens is configured to reduce distortion in the image caused by parallax associated with at least a portion of the end face of the cable oriented at an oblique angle relative to the optical axis of the telecentric lens; and A computing device configured to receive the image from the camera, wherein the computing device is configured to identify the outer or inner radial edge of at least one layer of the cable via a blurring effect at a location remote from the optimal focal point of the telecentric lens, thereby determining at least one of the diameter or radial thickness of the at least one layer of the cable based on the image; and The computing device is further configured to output the diameter or radial thickness of the at least one layer to a cable preparation device, the cable preparation device being configured to cut the at least one layer of the cable based on the diameter or the radial thickness.

15. The cable manufacturing system according to claim 14, wherein, The telecentric lens is configured such that the computing device can accurately determine the outer or inner edge of the at least one layer based on the color of the pixels in the image by optically conforming in the image to a common plane of the cable end face that is perpendicular to the optical axis of the telecentric lens, with at least a portion of the cable end face oriented at an oblique angle relative to the optical axis of the telecentric lens.

16. A method comprising: An image of the end face of a cable is captured by a camera communicatively coupled to a processor, wherein a telecentric lens located in front of the camera removes distortion caused by parallax from the image, wherein the parallax is associated with at least a portion of the end face of the cable that is oriented at an oblique angle relative to the optical axis of the telecentric lens. The processor identifies the outer or inner radial edges of at least one layer of the cable via a blurring effect at a location far from the optimal focal point of the telecentric lens, thereby determining the diameter or thickness of the at least one layer of the cable based on the image; and The processor outputs the diameter or radial thickness of the at least one layer to a cable fabrication apparatus configured to cut the at least one layer of the cable based on the diameter or radial thickness.

17. The method of claim 16, further comprising outputting the diameter or thickness of the at least one layer of the cable to a computing device, the computing device being configured to control a cable preparation apparatus to cut and remove the at least one layer from the cable.

Images