Autonomous robotic systems for data center cable layout

Abstract

An autonomous robot 200 configured to receive a first cable spool 220, the autonomous robot 200 comprises a cable spool mount configured to support the first cable spool 220; a first motor 260 config

Description

BACKGROUND

[0001] As users increasingly make online purchases and online activity increases, data center development may also increase to support increased traffic. Development of data centers and installation of hardware can also become increasingly complicated. For example, a data center may have hundreds of miles of cables that need to be routed. Typically such cable routing and management is performed manually. Accordingly, improvements in various aspects of data center development and hardware installation may be desired. BRIEF DESCRIPTION OF THE DRAWINGS

[0002] FIG. 1 is a hybrid schematic illustration of an example use case for autonomous robotic systems for data center cable layout and an example process flow in accordance with one or more embodiments of the disclosure.

[0003] FIGS. 2-3 are schematic illustrations of an example autonomous robotic system for data center cable layout in various views in accordance with one or more embodiments of the disclosure.

[0004] FIG. 4 is a schematic illustration of an example cable spool hopper for use with an autonomous robotic system for data center cable layout in accordance with one or more embodiments of the disclosure.

[0005] FIG. 5 is a schematic illustration of an example turntable module for use with an autonomous robotic system for data center cable layout in accordance with one or more embodiments of the disclosure.

[0006] FIG. 6 depicts schematic illustrations of example spool engagement mechanisms for autonomous robotic systems for data center cable layout in accordance with one or more example embodiments of the disclosure.

[0007] FIG. 7 schematically illustrates an example architecture of a computer system associated with an autonomous robotic system for data center cable layout in accordance with one or more embodiments of the disclosure.

[0008] The detailed description is set forth with reference to the accompanying drawings. The drawings are provided for purposes of illustration only and merely depict example embodiments of the disclosure. The drawings are provided to facilitate understanding of the disclosure and shall not be deemed to limit the breadth, scope, or applicability of the disclosure. The use of the same reference numerals indicates similar, but not necessarily the same or identical components. Different reference numerals may be used to identify similar components. Various embodiments may utilize elements or components other than those illustrated in the drawings, and some elements and / or components may not be present in various embodiments. The use of singular terminology to describe a component or element may, depending on the context, encompass a plural number of such components or elements and vice versa. DETAILED DESCRIPTION OVERVIEW

[0009] Large data centers are sprawling facilities filled with row upon row of server racks, each housing dozens of interconnected devices. As these data centers grow to accommodate hundreds of racks, the task of laying communication fibers to connect networked equipment becomes increasingly daunting. The challenges of this endeavor are many, including vast scale, as the magnitude of cabling required is staggering, with hundreds of thousands of feet of cable laid daily in a typical large data center, which results in high cost upfront and for maintenance. Efficiency is another concern as cabling must be carefully routed to minimize signal distance, thereby reducing latency and ensuring seamless data transmission. In addition, manual cabling processes are prone to human error, leading to costly rework and delays. Communication fibers are fragile and susceptible to breakage, further complicating the cabling process.

[0010] Embodiments of the disclosure solve many of these issues by describing autonomous robotic systems that automate the process of laying cable, and can deployed continuously throughout a facility. The autonomous robotic systems can be configured to travel along existing grids of reorientable rails, such as those formed by parts of cable trays on which cables can be laid. The autonomous robotic systems may be configured to automatically determine start and end points for routing cable, and certain cable spools can be associated with different start and end points based at least in part on machine-readable codes or identifiers associated with the cable spools. The autonomous robotic systems may be configured to determine continuous paths to travel between two points, with or without use of the rails and / or cable trays. In some instances, the autonomous robotic systems may be suspended from the rails and dispense communication fibers or cables from a spool mounted on the autonomous robotic systems into cable trays positioned underneath the rails. The autonomous robotic systems can be self-powered and / or have onboard power sources, and may synchronize robot motion with the rate of delivery of the cable by monitoring the tension of the fiber as it is being dispensed. The autonomous robotic systems can calculate current position through various techniques, including relative position determinations based on stepper motor count, absolute position determinations based on machine-readable codes, such as QR codes and the like, disposed on the rails and / or in the facility. For example, the autonomous robotic systems may include a camera or other sensor to determine absolute positioning, and may use a stepper motor or other hardware to drive the motion of the robot determine distance traveled. The autonomous robotic systems may be configure to determine a routing path using one or more algorithms to minimize communication latency and to maximize the capacity of the cable trays. In order to navigate at intersections, intersections can be equipped with a turntable assembly. The turntable assembly can be equipped with a rail which allows the autonomous robotic systems to enter the intersection, rotate to the correct direction, then communicate with the autonomous robotic systems to indicate that the robot can proceed in the new direction.

[0011] Embodiments may therefore increase throughput and speed of deploying cable or communication fiber throughout a facility. Some embodiments include optimized process flows for routing path determination, as well as process flows or equipment to increase speed of movement during deployment of cable.

[0012] Referring to FIG. 1, an example use case 100 for autonomous robotic systems for data center cable layout and an example process flow is depicted in accordance with one or more embodiments of the disclosure. Although discussed in the context of laying cable, other embodiments may be directed to any suitable use case where communication fibers are deployed, and in facilities where cable trays are not used.

[0013] In FIG. 1, at process block 110, cable routing may be planned. For example, a particular spool of cable may be designated for deployment from Point A to Point B in a facility, where a machine-readable code, such as a barcode, QR code, NFC chip, or other type of machine-readable code, may be associated with the routing path. In some instances, the cable spool may be associated with start and end points, and an autonomous robot may determine the most optimal routing for the cable between the start and end points.

[0014] At process block 120, the spool of cable may be loaded onto the autonomous robot. The spool may be loaded from a hopper onboard the autonomous robot, or may be otherwise loaded into a main carriage of the autonomous robot. At process block 130, the autonomous robot may be deployed to guide the cable. For example, the autonomous robot may be coupled to rails and / or cable trays and may be deployed to move along the determined routing path while dispensing cable from the cable spool. At block 140, the autonomous robot may navigate the routing path and release the cable as the autonomous robot moves. As a result, the autonomous robot may deploy cable without manual intervention.

[0015] As depicted in FIG. 1, examples of cable spools 150, 152, 154, 156 depict the difficulty of managing cable during manual layout. Given the sensitive nature of the communication fibers and the volume of cable in a spool and / or multiple spools, manual handling and placement of cables can result in damage to cables and a time-consuming process. Cable may be laid in example cable trays 158 throughout a facility. Although discussed in the context of communication cable, embodiments may be used to dispense various types of cable, such as electrical cable, copper cable, power cable, and / or other types of cable. The autonomous robot may be configured to mitigate cable damage by monitoring tension during the dispensing process, as described herein.

[0016] Example embodiments of the disclosure provide a number of technical features or technical effects. For example, in accordance with example embodiments of the disclosure, certain embodiments of the disclosure may improve speed, throughput, and / or efficiency of data center hardware deployment. The above examples of technical features and / or technical effects of example embodiments of the disclosure are merely illustrative and not exhaustive.

[0017] One or more illustrative embodiments of the disclosure have been described above. The above-described embodiments are merely illustrative of the scope of this disclosure and are not intended to be limiting in any way. Accordingly, variations, modifications, and equivalents of the embodiments disclosed herein are also within the scope of this disclosure. The above-described embodiments and additional and / or alternative embodiments of the disclosure will be described in detail hereinafter through reference to the accompanying drawings. ILLUSTRATIVE EMBODIMENTS AND USE CASES

[0018] FIGS. 2-3 are schematic illustrations of an example autonomous robotic system 200 for data center cable layout in various views in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustrations of FIGS. 2-3 are not to scale, and may not be illustrated to scale with respect to other figures. The autonomous robot of FIGS. 2-3 may be the same autonomous robot discussed with respect to FIG. 1.

[0019] The autonomous robot 200 may be configured to engage one or more support rails 210 that may be part of a data center facility. In other embodiments, the autonomous robot 200 may be configured to engage a support rail, a cable tray or other type of support structure. The autonomous robot 200 may be configured to move along the support rails 210 and dispense cable. In some instances, the support rails 210 may be aluminum extrusion rails having a rectangular cross section of 20mm by 40mm. The support rails 210 may have a V-shaped slot on the sides, allowing the autonomous robot 200 to power itself along the rail. The rails 210 may be mounted above the communication fiber cable trays, which in turn can be mounted above the server racks. To allow the fiber from the autonomous robot to feed into the cable trays, the autonomous robot 200 can mounted underneath the rails. Other types of support rails or support structures can be used.

[0020] The autonomous robot 200 may be a mobile robot that is configured to receive one or more cable spools, such as a first cable spool 220, a second cable spool, and so forth. The autonomous robot 200 may autonomously navigate a routing path, and in some instances may determine a routing path, along which cable is dispensed. For example, the autonomous robot 200 may determine a start and end point for cable from a particular spool. The start and end points or positions may be associated with the spool via a machine-readable code or other type of indicator. In some instances, the cable spool may be associated with a particular routing path that can be executed autonomously by the autonomous robot 200. The autonomous robot 200 may include a cable spool mount configured to support the first cable spool.

[0021] The autonomous robot 200 may include an onboard electronics assembly 230, which may include a controller, a power source, such as a battery, a transceiver or radio, and / or other electronics. The electronics assembly 230 may facilitate connectivity with other nodes (e.g., turntable modules, other autonomous robots, etc.) and communication with other subsystems. The local controller may provide battery and voltage monitoring, which can be used to determine whether the autonomous robot 200 is to return to base or a home position, for example when the battery charge is below a threshold.

[0022] The autonomous robot 200 may include a first motor 260 configured to drive motion of the autonomous robot 200 along the support rails 260. The autonomous robot 200 may include a second motor 250 configured to rotate the first cable spool 220, such as to wind and / or unwind cable from the first cable spool 220. Any number of motors may be used. The spool mount may be powered by the second motor 250. The spool mount may interface with the spool of communication cable, allowing the cable to be dispensed in a controlled manner. Other embodiments may have different types of actuators or devices configured to impart motion instead of, or in addition to, motors. In one example, the first motor 260 may be a stepper motor, which feedback from the stepper motor can be used by the autonomous robot 200 to determine relative positioning. The first motor 260 may be a motorized wheel that pushes the autonomous robot 200 along the rails for propulsion. The controller may be configured to determine a relative position of the mobile robot along the cable tray and / or support rail based at least in part on feedback from the stepper motor.

[0023] In some embodiments, the first motor 260 may be coupled to a cable guide assembly 262 or a fiber lead assembly. The cable being dispensed by the spool can be routed through the cable guide assembly 262 to ensure cable is being laid correctly. The cable guide assembly 262 can include a load cell or other type of sensor to measure the tension being applied to the cable. This tension value can be fed back as a closed loop system, ensuring that the cable is not damaged.

[0024] The autonomous robot 200 may include one or more sensors. For example, the autonomous robot 200 may include an imaging sensor 240. The imaging sensor 240 may be any suitable sensor configured to detect machine-readable codes, such as QR codes, barcodes, alphanumeric codes, etc. For example, the imaging sensor 240 may be used to determine machine-readable codes associated with cable spools, determine machine-readable codes associated with the support rails 210, and / or other types of inputs. Machine-readable codes associated with the support rails 210 or facility may be used by the autonomous robot 200 to determine absolute positioning of the autonomous robot 200. The imaging sensor 240 may be an upward facing camera in some embodiments. The autonomous robot 200 may optionally include a light source to provide illumination for the imaging sensor 240. The controller may be configured to determine a machine-readable code disposed on the cable tray or support rail, and determine an absolute position of the mobile robot based at least in part on the machine-readable code.

[0025] The autonomous robot 200 may include a second sensor 270 that may be used to determine tension in the cable dispensed by the autonomous robot 200. For example, the second sensor 270 may be a load cell configured to detect a load in dispensed cable. Data measurements may be used to determine corresponding tension values. Other types of suitable sensors may be used.

[0026] FIG. 3 depicts the autonomous robot 200 and support rails 210 of FIG. 2 in a partial top perspective view. As depicted in FIG. 3, the second motor 250 of the autonomous robot 200 may impart motion to the cable spool support, such as via a belt and pulley system 310. Other types of drive mechanisms may be used. The first motor 260 may cause the autonomous robot 200 to move along the support rails 210 using one or more wheels or other types of coupling mechanisms to move the autonomous robot 200 along the support rails 210.

[0027] Accordingly, the autonomous robot 200 may be a mobile robot and may include a first motor configured to cause a first cable spool to dispense cable, a first sensor configured to determine tension in the cable dispensed from the mobile robot, and a controller. The controller may be configured to determine a routing path along which to dispense the cable, cause the mobile robot to move along the routing path and dispense the cable, and monitor the tension in the cable while the mobile robot is moving along the routing path. The autonomous robot 200 may include an onboard power source. The controller may be configured to determine that a power level of the mobile robot satisfies a threshold, such as a low battery threshold of 10% or other value, and cause the mobile robot to return to a home position, such as a charging station, based at least in part on the power level of the mobile robot satisfying the threshold.

[0028] The controller may use the sensors of the autonomous robot 200 to determine tension values in the cable being dispensed, and make adjustments to cable dispensing speed to avoid damage to the cable. For example, the controller may determine that the tension satisfies a high tension threshold, such as a load cell measurement equal to or greater than a certain value, and may cause the first motor to dispense additional cable. By dispensing additional cable, tension may be decreased to mitigate a risk of damage to the cable.

[0029] In another example, the controller may determine, at a first instance, that the tension satisfies a low tension threshold, such as a load cell measurement equal to or less than a certain value, and may cause the first motor to reduce a speed of dispensing the cable from a first speed to a second speed. By reducing dispensing speed, potentially to zero (e.g., pausing dispensing, etc.), cable tension may increase and mitigate risk of damage to the cable. The controller may determine, at a second instance, that the tension is greater than the low tension threshold, and cause the first motor to dispense the cable at the first speed. Once the tension is no longer too low, regular dispensing can resume.

[0030] FIG. 4 is a schematic illustration of an example cable spool hopper for use with an autonomous robotic system for data center cable layout in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustration of FIG. 4 may not be to scale, and may not be illustrated to scale with respect to other figures. The cable spool hopper illustrated in FIG. 4 may be used with the robots discussed with respect to FIGS. 1-3.

[0031] In FIG. 4, a cable spool hopper 400 is depicted in perspective view. The cable spool hopper 400 may be coupled to the autonomous robots described herein, or may be a standalone station at which the autonomous robots can move to in order to receive new cable spools when previous cable spools are dispensed. The cable spool hopper 400 may be mounted along a rail 410, which may be the same as the support rails 210 of FIG. 2.

[0032] The cable spool hopper 400 may include a spool support 420 configured to move cable spools 430, 450 from a spool hopper 440 to an opening 460. The autonomous robot can be configured to receive spools that move through the opening 460. The spool support 420 may transfer spools 430 along one or more guide rails 470. The spool hopper 440 may store spools 450 in a stacked arrangement. In some embodiments, the spool hopper 440 itself may move along the guide rails 470 via one or more support arms 480. In embodiments where the cable spool hopper 400 is coupled to the autonomous robot, the cable spool hopper 400 may be disposed along an upper portion of the autonomous robot, where the cable spools can be dropped through the opening 460 into the cable spool support of the autonomous robot.

[0033] The autonomous robot may identify a particular cable spool using a machine-readable code. For example, the controller of the autonomous robot may be configured to determine, using a sensor, a machine-readable code disposed on a cable spool, and the controller may determine the routing path along which to dispense the cable based at least in part on the machine-readable code.

[0034] The autonomous robot may therefore include a spool hopper configured to support a second cable spool and a third cable spool. In such instances, the controller can be configured to determine that the first cable spool is empty, cause the first cable spool to be ejected, cause the second cable spool to be loaded from the spool hopper, and cause the autonomous robot to dispense cable from the second cable spool. Ejected cable spools may be disposed through the opening 460 or moved to another spool hopper that can be positioned on a lower portion of the autonomous robot.

[0035] FIG. 5 is a schematic illustration of an example turntable module for use with an autonomous robotic system for data center cable layout in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustrations of FIG. 5 may not be to scale, and may not be illustrated to scale with respect to other figures. The turntable module illustrated in FIG. 5 may be coupled to the support rails along which an autonomous robot may move.

[0036] The turntable module may be a turntable assembly 500 and may facilitate turns that the autonomous robot is to execute while moving along a routing path. The turntable assembly 500 can be disposed between support rails 540, 560. The turntable assembly 500 is depicted in upper perspective view 502 and lower perspective view.

[0037] The turntable assembly 500 may include a static portion 530 and a rotating portion 520, where the rotating portion 520 rotates with respect to the static portion 530. The turntable assembly 500 may include rail segments 510 that the autonomous robot can engage. As the rotating portion 520 rotates, the rail segments 510 may rotate, thereby allowing the autonomous robot to turn and then engage the support rail corresponding to the turn. The turntable assembly 500 may include a motor 550 configured to impart the rotation motion of the rotating portion 520.

[0038] An autonomous robot may therefore approach the turntable assembly 500 and engage the rail segment 510. The autonomous robot may send a signal to a controller associated with the turntable assembly 500, and the turntable assembly 500 may determine a rotation direction. The turntable assembly 500 may receive direction commands from the autonomous robot. The turntable assembly 500 may execute the corresponding rotation and send a signal to the autonomous robot indicating that the turn has been executed. The autonomous robot may engage the corresponding support rails and move off the turntable assembly 500.

[0039] The turntable assembly 500 may therefore include a motorized turntable. The turntable assembly 500 can have a segment of rail 522 mounted underneath it, allowing an autonomous robot to continue straight, turn 90 degrees to perpendicular rails, or reverse course. The turntable assembly 500 may include one or limit switches that ensure that the turntable has absolute positioning so that the rails are correctly aligned with incoming and outgoing rails. The turntable assembly 500 may include a local controller to receive and send data. For instances with more than one mobile robot approaching the turntable assembly 500, the turntable assembly 500 may execute one or more queueing functions to optimize flow through the turntable assembly 500 based at least in part on directions of rotation, wait times, and / or other factors. The turntable assembly 500 may cause one or more mobile robots to reverse to create space for other mobile robots in some instances.

[0040] The autonomous robot may therefore determine that the routing path includes a turn. The autonomous robot may determine that it is at a turntable assembly associated with the turn, and the autonomous robot may send a signal to a turntable assembly to initiate a turning operation. The autonomous robot may determine that the turntable assembly has completed the turning operation, and the autonomous robot may move downstream.

[0041] In some embodiments, to ensure the cable is not tangled or damaged at the turntable assembly 500 or during a turn, the autonomous robot may dispense additional cable prior to initiating the turning operation. For example, the controller of the autonomous robot may cause the first motor to dispense additional cable prior to sending the signal to the turntable assembly.

[0042] FIG. 6 depicts schematic illustrations of example spool engagement mechanisms for autonomous robotic systems for data center cable layout in accordance with one or more example embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustrations of FIG. 6 may not be to scale, and may not be illustrated to scale with respect to other figures. The spool support and hopper illustrated in FIG. 5 may be the same spool support and hopper discussed with respect to FIGS. 1-5.

[0043] A spool support 600 is depicted and may be part of the autonomous robot. For example, the spool support 600 may be used to support the first cable spool 220 of FIG. 2. The spool support 220 may include a spindle portion 620 and one or more cutouts 610 to facilitate locking of the spool to the spool support 600. Such features may facilitate accurate control of spool rotation during dispensing. The cutouts 610 may engage corresponding features 602 of a cable spool.

[0044] A portion of a spool hopper 630 is depicted, which may be part of the autonomous robot or a separate component at which spools can be reloaded into an autonomous robot. The autonomous robot may engage a spool 650 via a cable spool mover 640. The spool may include a machine-readable code 660 that is scanned or otherwise read by the autonomous robot to determine at least the start and end points associated with the cable on the spool. The autonomous robot may therefore determine, using a sensor, a machine-readable code disposed on the first cable spool, and may determine the routing path along which to dispense the cable based at least in part on the machine-readable code.

[0045] Accordingly, embodiments include an autonomous robot configured to receive a first cable spool, the autonomous robot having a cable spool mount configured to support the first cable spool, a first motor configured to cause the first cable spool to dispense cable, a first sensor, and a controller. The controller may be configured to determine, using the first sensor, a machine-readable code disposed on the first cable spool, determine a routing path along which to dispense the cable based at least in part on the machine-readable code, and cause the mobile robot to move along the routing path and dispense the cable. The controller may be further determine, using a sensor, tension in the cable dispensed from the mobile robot, and to monitor the tension in the cable while the mobile robot is moving along the routing path.

[0046] One or more operations of the methods, process flows, or use cases of FIGS. 1-6 may have been described above as being performed by a user device, or more specifically, by one or more program module(s), applications, or the like executing on a device. It should be appreciated, however, that any of the operations of the methods, process flows, or use cases of FIGS. 1-6 may be performed, at least in part, in a distributed manner by one or more other devices, or more specifically, by one or more program module(s), applications, or the like executing on such devices. In addition, it should be appreciated that processing performed in response to the execution of computer-executable instructions provided as part of an application, program module, or the like may be interchangeably described herein as being performed by the application or the program module itself or by a device on which the application, program module, or the like is executing. While the operations of the methods, process flows, or use cases of FIGS. 1-6 may be described in the context of the illustrative devices, it should be appreciated that such operations may be implemented in connection with numerous other device configurations.

[0047] The operations described and depicted in the illustrative methods, process flows, and use cases of FIGS. 1-6 may be carried out or performed in any suitable order, such as the depicted orders, as desired in various example embodiments of the disclosure. Additionally, in certain example embodiments, at least a portion of the operations may be carried out in parallel. Furthermore, in certain example embodiments, less, more, or different operations than those depicted in FIGS. 1-6 may be performed.

[0048] Although specific embodiments of the disclosure have been described, one of ordinary skill in the art will recognize that numerous other modifications and alternative embodiments are within the scope of the disclosure. For example, any of the functionality and / or processing capabilities described with respect to a particular device or component may be performed by any other device or component. Further, while various illustrative implementations and architectures have been described in accordance with embodiments of the disclosure, one of ordinary skill in the art will appreciate that numerous other modifications to the illustrative implementations and architectures described herein are also within the scope of this disclosure.

[0049] Certain aspects of the disclosure are described above with reference to block and flow diagrams of systems, methods, apparatuses, and / or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and the flow diagrams, respectively, may be implemented by the execution of computer-executable program instructions. Likewise, some blocks of the block diagrams and flow diagrams may not necessarily need to be performed in the order presented, or may not necessarily need to be performed at all, according to some embodiments. Further, additional components and / or operations beyond those depicted in blocks of the block and / or flow diagrams may be present in certain embodiments.

[0050] Accordingly, blocks of the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions, and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, may be implemented by special-purpose, hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special-purpose hardware and computer instructions. ILLUSTRATIVE COMPUTER ARCHITECTURE

[0051] FIG. 7 is a schematic block diagram of one or more illustrative computer system(s) 700 in accordance with one or more example embodiments of the disclosure. The computer system(s) 700 may include any suitable computing device including, but not limited to, a server system, a voice interaction device, a mobile device such as a smartphone, a tablet, an e-reader, a wearable device, or the like; a desktop computer; a laptop computer; a content streaming device; or the like. The computer system(s) 700 may correspond to an illustrative device configuration for a computer system used in conjunction with any one of the robotic system(s) of FIGS. 1-6, such as an autonomous robotic system for data center cable layout.

[0052] The computer system(s) 700 may be configured to communicate with one or more servers, user devices, or the like. The computer system(s) 700 may be configured to cause the robotic system(s) to determine cable spool identifiers and associated routing paths, retrieve cable spools, determine tension values, determine routing paths, transport cable spools, eject cable spools, detect machine readable codes, and so forth.

[0053] The computer system(s) 700 may be configured to communicate via one or more networks. Such network(s) may include, but are not limited to, any one or more different types of communications networks such as, for example, cable networks, public networks (e.g., the Internet), private networks (e.g., frame-relay networks), wireless networks, cellular networks, telephone networks (e.g., a public switched telephone network), or any other suitable private or public packet-switched or circuit-switched networks. Further, such network(s) may have any suitable communication range associated therewith and may include, for example, global networks (e.g., the Internet), metropolitan area networks (MANs), wide area networks (WANs), local area networks (LANs), or personal area networks (PANs). In addition, such network(s) may include communication links and associated networking devices (e.g., linklayer switches, routers, etc.) for transmitting network traffic over any suitable type of medium including, but not limited to, coaxial cable, twisted-pair wire (e.g., twisted-pair copper wire), optical fiber, a hybrid fiber-coaxial (HFC) medium, a microwave medium, a radio frequency communication medium, a satellite communication medium, or any combination thereof.

[0054] In an illustrative configuration, the computer system(s) 700 may include one or more processors (processor(s)) 702, one or more memory devices 704 (also referred to herein as memory 704), one or more input / output (I / O) interface(s) 706, one or more network interface(s) 708, one or more sensor(s) or sensor interface(s) 710, one or more transceiver s) 712, one or more optional display(s) 714, one or more optional microphone(s) 716, and data storage 720. The computer system(s) 700 may further include one or more bus(es) 718 that functionally couple various components of the computer system(s) 700. The computer system(s) 700 may further include one or more antenna(s) 730 that may include, without limitation, a cellular antenna for transmitting or receiving signals to / from a cellular network infrastructure, an antenna for transmitting or receiving Wi-Fi signals to / from an access point (AP), a Global Navigation Satellite System (GNSS) antenna for receiving GNSS signals from a GNSS satellite, a Bluetooth antenna for transmitting or receiving Bluetooth signals, a Near Field Communication (NFC) antenna for transmitting or receiving NFC signals, and so forth. These various components will be described in more detail hereinafter.

[0055] The bus(es) 718 may include at least one of a system bus, a memory bus, an address bus, or a message bus, and may permit the exchange of information (e.g., data (including computer-executable code), signaling, etc.) between various components of the computer system(s) 700. The bus(es) 718 may include, without limitation, a memory bus or a memory controller, a peripheral bus, an accelerated graphics port, and so forth. The bus(es) 718 may be associated with any suitable bus architecture including, without limitation, an Industry Standard Architecture (ISA), a Micro Channel Architecture (MCA), an Enhanced ISA (EISA), a Video Electronics Standards Association (VESA) architecture, an Accelerated Graphics Port (AGP) architecture, a Peripheral Component Interconnect (PCI) architecture, a PCI-Express architecture, a Personal Computer Memory Card International Association (PCMCIA) architecture, a Universal Serial Bus (USB) architecture, and so forth.

[0056] The memory 704 of the computer system(s) 700 may include volatile memory (memory that maintains its state when supplied with power) such as random access memory (RAM) and / or non-volatile memory (memory that maintains its state even when not supplied with power) such as read-only memory (ROM), flash memory, ferroelectric RAM (FRAM), and so forth. Persistent data storage, as that term is used herein, may include non-volatile memory. In certain example embodiments, volatile memory may enable faster read / write access than non-volatile memory. However, in certain other example embodiments, certain types of non-volatile memory (e.g., FRAM) may enable faster read / write access than certain types of volatile memory.

[0057] In various implementations, the memory 704 may include multiple different types of memory such as various types of static random access memory (SRAM), various types of dynamic random access memory (DRAM), various types of unalterable ROM, and / or writeable variants of ROM such as electrically erasable programmable read-only memory (EEPROM), flash memory, and so forth. The memory 704 may include main memory as well as various forms of cache memory such as instruction cache(s), data cache(s), translation lookaside buffer(s) (TLBs), and so forth. Further, cache memory such as a data cache may be a multilevel cache organized as a hierarchy of one or more cache levels (LI, L2, etc.).

[0058] The data storage 720 may include removable storage and / or non-removable storage including, but not limited to, magnetic storage, optical disk storage, and / or tape storage. The data storage 720 may provide non-volatile storage of computer-executable instructions and other data. The memory 704 and the data storage 720, removable and / or non-removable, are examples of computer-readable storage media (CRSM) as that term is used herein.

[0059] The data storage 720 may store computer-executable code, instructions, or the like that may be loadable into the memory 704 and executable by the processor(s) 702 to cause the processor(s) 702 to perform or initiate various operations. The data storage 720 may additionally store data that may be copied to the memory 704 for use by the processor(s) 702 during the execution of the computer-executable instructions. Moreover, output data generated as a result of execution of the computer-executable instructions by the processor(s) 702 may be stored initially in the memory 704, and may ultimately be copied to the data storage 720 for non-volatile storage.

[0060] More specifically, the data storage 720 may store one or more operating systems (O / S) 722; one or more database management systems (DBMS) 724; and one or more program module(s), applications, engines, computer-executable code, scripts, or the like. Some or all of these module(s) may be sub-module(s). Any of the components depicted as being stored in the data storage 720 may include any combination of software, firmware, and / or hardware. The software and / or firmware may include computer-executable code, instructions, or the like that may be loaded into the memory 704 for execution by one or more of the processor(s) 702. Any of the components depicted as being stored in the data storage 720 may support functionality described in reference to corresponding components named earlier in this disclosure.

[0061] The data storage 720 may further store various types of data utilized by the components of the computer system(s) 700. Any data stored in the data storage 720 may be loaded into the memory 704 for use by the processor(s) 702 in executing computer-executable code. In addition, any data depicted as being stored in the data storage 720 may potentially be stored in one or more datastore(s) and may be accessed via the DBMS 724 and loaded in the memory 704 for use by the processor(s) 702 in executing computer-executable code. The datastore(s) may include, but are not limited to, databases (e.g., relational, object-oriented, etc.), file systems, flat files, distributed datastores in which data is stored on more than one node of a computer network, peer-to-peer network datastores, or the like.

[0062] The processor(s) 702 may be configured to access the memory 704 and execute the computer-executable instructions loaded therein. For example, the processor(s) 702 may be configured to execute the computer-executable instructions of the various program module(s), applications, engines, or the like of the computer system(s) 700 to cause or facilitate various operations to be performed in accordance with one or more embodiments of the disclosure. The processor(s) 702 may include any suitable processing unit capable of accepting data as input, processing the input data in accordance with stored computer-executable instructions, and generating output data. The processor(s) 702 may include any type of suitable processing unit including, but not limited to, a central processing unit, a microprocessor, a Reduced Instruction Set Computer (RISC) microprocessor, a Complex Instruction Set Computer (CISC) microprocessor, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), a System-on-a-Chip (SoC), a digital signal processor (DSP), and so forth. Further, the processor(s) 702 may have any suitable microarchitecture design that includes any number of constituent components such as, for example, registers, multiplexers, arithmetic logic units, cache controllers for controlling read / write operations to cache memory, branch predictors, or the like. The microarchitecture design of the processor(s) 702 may be capable of supporting any of a variety of instruction sets.

[0063] Referring now to other illustrative components depicted as being stored in the data storage 720, the O / S 722 may be loaded from the data storage 720 into the memory 704 and may provide an interface between other application software executing on the computer system(s) 700 and the hardware resources of the computer system(s) 700. More specifically, the O / S 722 may include a set of computer-executable instructions for managing the hardware resources of the computer system(s) 700 and for providing common services to other application programs (e.g., managing memory allocation among various application programs). In certain example embodiments, the O / S 722 may control execution of the other program module(s). The O / S 722 may include any operating system now known or which may be developed in the future including, but not limited to, any server operating system, any mainframe operating system, or any other proprietary or non-proprietary operating system.

[0064] The DBMS 724 may be loaded into the memory 704 and may support functionality for accessing, retrieving, storing, and / or manipulating data stored in the memory 704 and / or data stored in the data storage 720. The DBMS 724 may use any of a variety of database models (e.g., relational model, object model, etc.) and may support any of a variety of query languages. The DBMS 724 may access data represented in one or more data schemas and stored in any suitable data repository including, but not limited to, databases (e.g., relational, object-oriented, etc.), file systems, flat files, distributed datastores in which data is stored on more than one node of a computer network, peer-to-peer network datastores, or the like. In those example embodiments in which the computer system(s) 700 is a mobile device, the DBMS 724 may be any suitable lightweight DBMS optimized for performance on a mobile device.

[0065] Referring now to other illustrative components of the computer system(s) 700, the input / output (I / O) interface(s) 706 may facilitate the receipt of input information by the computer system(s) 700 from one or more I / O devices as well as the output of information from the computer system(s) 700 to the one or more I / O devices. The I / O devices may include any of a variety of components such as a display or display screen having a touch surface or touchscreen; an audio output device for producing sound, such as a speaker; an audio capture device, such as a microphone; an image and / or video capture device, such as a camera; a haptic unit; and so forth. Any of these components may be integrated into the computer system(s) 700 or may be separate. The I / O devices may further include, for example, any number of peripheral devices such as data storage devices, printing devices, and so forth.

[0066] The I / O interface(s) 706 may also include an interface for an external peripheral device connection such as universal serial bus (USB), FireWire, Thunderbolt, Ethernet port or other connection protocol that may connect to one or more networks. The VO interface(s) 706 may also include a connection to one or more of the antenna(s) 730 to connect to one or more networks via a wireless local area network (WLAN) (such as Wi-Fi) radio, Bluetooth, ZigBee, and / or a wireless network radio, such as a radio capable of communication with a wireless communication network such as a Long Term Evolution (LTE) network, WiMAX network, 3G network, a ZigBee network, etc.

[0067] The computer system(s) 700 may further include one or more network interface(s) 708 via which the computer system(s) 700 may communicate with any of a variety of other systems, platforms, networks, devices, and so forth. The network interface(s) 708 may enable communication, for example, with one or more wireless routers, one or more host servers, one or more web servers, and the like via one or more networks.

[0068] The antenna(s) 730 may include any suitable type of antenna depending, for example, on the communications protocols used to transmit or receive signals via the antenna(s) 730. Non-limiting examples of suitable antennas may include directional antennas, non-directional antennas, dipole antennas, folded dipole antennas, patch antennas, multipleinput multiple-output (MIMO) antennas, or the like. The antenna(s) 730 may be communicatively coupled to one or more transceivers 712 or radio components to which or from which signals may be transmitted or received.

[0069] As previously described, the antenna(s) 730 may include a cellular antenna configured to transmit or receive signals in accordance with established standards and protocols, such as Global System for Mobile Communications (GSM), 3G standards (e.g., Universal Mobile Telecommunications System (UMTS), Wideband Code Division Multiple Access (W-CDMA), CDMA2000, etc.), 4G standards (e.g., Long-Term Evolution (LTE), WiMax, etc.), direct satellite communications, or the like.

[0070] The antenna(s) 730 may additionally, or alternatively, include a Wi-Fi antenna configured to transmit or receive signals in accordance with established standards and protocols, such as the IEEE 802.11 family of standards, including via 2.4 GHz channels (e.g., 802.11b, 802.11g, 802.1 In), 5 GHz channels (e.g., 802.1 In, 802.1 lac), or 60 GHz channels (e.g., 802.Had). In alternative example embodiments, the antenna(s) 730 may be configured to transmit or receive radio frequency signals within any suitable frequency range forming part of the unlicensed portion of the radio spectrum.

[0071] The antenna(s) 730 may additionally, or alternatively, include a GNSS antenna configured to receive GNSS signals from three or more GNSS satellites carrying time-position information to triangulate a position therefrom. Such a GNSS antenna may be configured to receive GNSS signals from any current or planned GNSS such as, for example, the Global Positioning System (GPS), the GLONASS System, the Compass Navigation System, the Galileo System, or the Indian Regional Navigational System.

[0072] The transceiver(s) 712 may include any suitable radio component(s) for - in cooperation with the antenna(s) 730 - transmitting or receiving radio frequency (RF) signals in the bandwidth and / or channels corresponding to the communications protocols utilized by the computer system(s) 700 to communicate with other devices. The transceiver(s) 712 may include hardware, software, and / or firmware for modulating, transmitting, or receiving -potentially in cooperation with any of antenna(s) 730 - communications signals according to any of the communications protocols discussed above including, but not limited to, one or more Wi-Fi and / or Wi-Fi direct protocols, as standardized by the IEEE 802.11 standards, one or more non-Wi-Fi protocols, or one or more cellular communications protocols or standards. The transceiver(s) 712 may further include hardware, firmware, or software for receiving GNSS signals. The transceiver(s) 712 may include any known receiver and baseband suitable for communicating via the communications protocols utilized by the computer system(s) 700. The transceiver(s) 712 may further include a low noise amplifier (LNA), additional signal amplifiers, an analog-to-digital (A / D) converter, one or more buffers, a digital baseband, or the like.

[0073] The sensor(s) / sensor interface(s) 710 may include or may be capable of interfacing with any suitable type of sensing device such as, for example, inertial sensors, force sensors, thermal sensors, photocells, and so forth. Example types of inertial sensors may include accelerometers (e.g., MEMS-based accelerometers), gyroscopes, and so forth.

[0074] The optional display(s) 714 may be configured to output light and / or render content. The optional speaker(s) / microphone(s) 716 may be any device configured to receive analog sound input or voice data.

[0075] It should be appreciated that the program module(s), applications, computerexecutable instructions, code, or the like depicted in FIG. 7 as being stored in the data storage 720 are merely illustrative and not exhaustive and that processing described as being supported by any particular module may alternatively be distributed across multiple module(s) or performed by a different module. In addition, various program module(s), script(s), plug-in(s), Application Programming Interface(s) (API(s)), or any other suitable computer-executable code hosted locally on the computer system(s) 700, and / or hosted on other computing device(s) accessible via one or more networks, may be provided to support functionality provided by the program module(s), applications, or computer-executable code depicted in FIG. 7 and / or additional or alternate functionality. Further, functionality may be modularized differently such that processing described as being supported collectively by the collection of program module(s) depicted in FIG. 7 may be performed by a fewer or greater number of module(s), or functionality described as being supported by any particular module may be supported, at least in part, by another module. In addition, program module(s) that support the functionality described herein may form part of one or more applications executable across any number of systems or devices in accordance with any suitable computing model such as, for example, a client-server model, a peer-to-peer model, and so forth. In addition, any of the functionality described as being supported by any of the program module(s) depicted in FIG. 7 may be implemented, at least partially, in hardware and / or firmware across any number of devices.

[0076] It should further be appreciated that the computer system(s) 700 may include alternate and / or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. More particularly, it should be appreciated that software, firmware, or hardware components depicted as forming part of the computer system(s) 700 are merely illustrative and that some components may not be present or additional components may be provided in various embodiments. While various illustrative program module(s) have been depicted and described as software module(s) stored in the data storage 720, it should be appreciated that functionality described as being supported by the program module(s) may be enabled by any combination of hardware, software, and / or firmware. It should further be appreciated that each of the above-mentioned module(s) may, in various embodiments, represent a logical partitioning of supported functionality. This logical partitioning is depicted for ease of explanation of the functionality and may not be representative of the structure of software, hardware, and / or firmware for implementing the functionality. Accordingly, it should be appreciated that functionality described as being provided by a particular module may, in various embodiments, be provided at least in part by one or more other module(s). Further, one or more depicted module(s) may not be present in certain embodiments, while in other embodiments, additional module(s) not depicted may be present and may support at least a portion of the described functionality and / or additional functionality. Moreover, while certain module(s) may be depicted and described as sub-module(s) of another module, in certain embodiments, such module(s) may be provided as independent module(s) or as sub-module(s) of other module(s).

[0077] One or more operations of the methods, process flows, and use cases of FIGS. 1-6 may be performed by a device having the illustrative configuration depicted in FIG. 7, or more specifically, by one or more engines, program module(s), applications, or the like executable on such a device. It should be appreciated, however, that such operations may be implemented in connection with numerous other device configurations.

[0078] The operations described and depicted in the illustrative methods and process flows of any of FIGS. 1-6 may be carried out or performed in any suitable order as desired in various example embodiments of the disclosure. Additionally, in certain example embodiments, at least a portion of the operations may be carried out in parallel. Furthermore, in certain example embodiments, less, more, or different operations than those depicted in FIGS. 1-6 may be performed.

[0079] Although specific embodiments of the disclosure have been described, one of ordinary skill in the art will recognize that numerous other modifications and alternative embodiments are within the scope of the disclosure. For example, any of the functionality and / or processing capabilities described with respect to a particular device or component may be performed by any other device or component. Further, while various illustrative implementations and architectures have been described in accordance with embodiments of the disclosure, one of ordinary skill in the art will appreciate that numerous other modifications to the illustrative implementations and architectures described herein are also within the scope of this disclosure.

[0080] Certain aspects of the disclosure are described above with reference to block and flow diagrams of systems, methods, apparatuses, and / or computer program products according to example embodiments. It will be understood that one or more blocks of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and the flow diagrams, respectively, may be implemented by execution of computer-executable program instructions. Likewise, some blocks of the block diagrams and flow diagrams may not necessarily need to be performed in the order presented, or may not necessarily need to be performed at all, according to some embodiments. Further, additional components and / or operations beyond those depicted in blocks of the block and / or flow diagrams may be present in certain embodiments.

[0081] Accordingly, blocks of the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions, and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, may be implemented by special-purpose, hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special-purpose hardware and computer instructions.

[0082] Program module(s), applications, or the like disclosed herein may include one or more software components including, for example, software objects, methods, data structures, or the like. Each such software component may include computer-executable instructions that, responsive to execution, cause at least a portion of the functionality described herein (e.g., one or more operations of the illustrative methods described herein) to be performed.

[0083] A software component may be coded in any of a variety of programming languages. An illustrative programming language may be a lower-level programming language such as an assembly language associated with a particular hardware architecture and / or operating system platform. A software component comprising assembly language instructions may require conversion into executable machine code by an assembler prior to execution by the hardware architecture and / or platform.

[0084] Another example programming language may be a higher-level programming language that may be portable across multiple architectures. A software component comprising higher-level programming language instructions may require conversion to an intermediate representation by an interpreter or a compiler prior to execution.

[0085] Other examples of programming languages include, but are not limited to, a macro language, a shell or command language, a job control language, a script language, a database query or search language, or a report writing language. In one or more example embodiments, a software component comprising instructions in one of the foregoing examples of programming languages may be executed directly by an operating system or other software component without having to be first transformed into another form.

[0086] A software component may be stored as a file or other data storage construct. Software components of a similar type or functionally related may be stored together such as, for example, in a particular directory, folder, or library. Software components may be static (e.g., pre-established or fixed) or dynamic (e.g., created or modified at the time of execution).

[0087] Software components may invoke or be invoked by other software components through any of a wide variety of mechanisms. Invoked or invoking software components may comprise other custom-developed application software, operating system functionality (e.g., device drivers, data storage (e.g., file management) routines, other common routines and services, etc.), or third-party software components (e.g., middleware, encryption, or other security software, database management software, file transfer or other network communication software, mathematical or statistical software, image processing software, and format translation software).

[0088] Software components associated with a particular solution or system may reside and be executed on a single platform or may be distributed across multiple platforms. The multiple platforms may be associated with more than one hardware vendor, underlying chip technology, or operating system. Furthermore, software components associated with a particular solution or system may be initially written in one or more programming languages, but may invoke software components written in another programming language.

[0089] Computer-executable program instructions may be loaded onto a special-purpose computer or other particular machine, a processor, or other programmable data processing apparatus to produce a particular machine, such that execution of the instructions on the computer, processor, or other programmable data processing apparatus causes one or more functions or operations specified in the flow diagrams to be performed. These computer program instructions may also be stored in a computer-readable storage medium (CRSM) that upon execution may direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement one or more functions or operations specified in the flow diagrams. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational elements or steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process.

[0090] Additional types of CRSM that may be present in any of the devices described herein may include, but are not limited to, programmable random access memory (PRAM), SRAM, DRAM, RAM, ROM, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD- ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the information and which can be accessed. Combinations of any of the above are also included within the scope of CRSM. Alternatively, computer-readable communication media (CRCM) may include computer-readable instructions, program module(s), or other data transmitted within a data signal, such as a carrier wave, or other transmission. However, as used herein, CRSM does not include CRCM.

[0091] Although embodiments have been described in language specific to structural features and / or methodological acts, it is to be understood that the disclosure is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as illustrative forms of implementing the embodiments. Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments could include, while other embodiments do not include, certain features, elements, and / or steps. Thus, such conditional language is not generally intended to imply that features, elements, and / or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular embodiment.

Claims

That which is claimed is:

1. A system comprising:an autonomous robot configured to receive a first cable spool, the autonomous robot comprising:a cable spool mount configured to support the first cable spool;a first motor configured to cause the first cable spool to dispense cable;a first sensor; anda controller configured to:determine, using the first sensor, a machine-readable code disposed on the first cable spool;determine a routing path along which to dispense the cable based atleast in part on the machine-readable code; andcause the mobile robot to move along the routing path and dispense the cable; anda turntable assembly configured to turn the autonomous robot from a first orientation to a second orientation;wherein the autonomous robot and the turntable assembly are coupled to a cable tray configured to support the cable.

2. The system of claim 1, wherein the autonomous robot further comprises:a second sensor configured to determine tension in the cable dispensed from the mobile robot;wherein the controller is further configured to:monitor the tension in the cable while the mobile robot is moving along therouting path.

3. The system of any one of claims 1 or 2, wherein the controller is further configured to:determine, at a first instance, that the tension satisfies a low tension threshold;cause the first motor to reduce a speed of dispensing the cable from a first speed to a second speed;determine, at a second instance, that the tension is greater than the low tension threshold; andcause the first motor to dispense the cable at the first speed.

4. The system of any one of claims 1 to 3, wherein the autonomous robot further comprises:a spool hopper configured to support a second cable spool and a third cable spool; wherein the controller is further configured to:determine that the first cable spool is empty;cause the first cable spool to be ejected;cause the second cable spool to be loaded from the spool hopper; and cause the autonomous robot to dispense cable from the second cable spool.

5. A mobile robot configured to receive a first cable spool, the mobile robot comprising: a cable spool mount configured to support the first cable spool;a first motor configured to cause the first cable spool to dispense cable;a first sensor configured to determine tension in the cable dispensed from the mobile robot; anda controller configured to:determine a routing path along which to dispense the cable;cause the mobile robot to move along the routing path and dispense the cable; andmonitor the tension in the cable while the mobile robot is moving along the routing path.

6. The mobile robot of claim 5, further comprising: a second sensor;wherein the controller is further configured to:determine, using the second sensor, a machine-readable code disposed on the first cable spool;wherein the controller is configured to determine the routing path along which to dispense the cable based at least in part on the machine-readable code.

7. The mobile robot of any one of claims 5 or 6, wherein the controller is further configured to:determine that the routing path comprises a turn;determine that the mobile robot is at a turntable assembly associated with the turn; cause the mobile robot to send a signal to a turntable assembly to initiate a turning operation;determine that the turntable assembly has completed the turning operation; and cause the mobile robot to move downstream.

8. The mobile robot of claim 7, wherein the controller is further configured to: cause the first motor to dispense additional cable prior to sending the signal to the turntable assembly.

9. The mobile robot of any one of claims 5 to 8, wherein the controller is further configured to:determine that the tension satisfies a high tension threshold; and cause the first motor to dispense additional cable.

10. The mobile robot of any one of claims 5 to 9, wherein the controller is further configured to:determine, at a first instance, that the tension satisfies a low tension threshold;cause the first motor to reduce a speed of dispensing the cable from a first speed to a second speed;determine, at a second instance, that the tension is greater than the low tension threshold; andcause the first motor to dispense the cable at the first speed.

11. The mobile robot of any one of claim 5 to 10, further comprising:an onboard power source;wherein the controller is further configured to:determine that a power level of the mobile robot satisfies a threshold; and cause the mobile robot to return to a home position based at least in part on the power level of the mobile robot satisfying the threshold.

12. The mobile robot of any one of claims 5 to 11, wherein the mobile robot is configured to engage a support rail adjacent to a cable tray, the mobile robot further comprising:a second motor configured to move the mobile robot along the support rail.

13. The mobile robot of claim 12, wherein the second motor is a stepper motor, and wherein the controller is further configured to:determine a relative position of the mobile robot along the cable tray based at least in part on feedback from the stepper motor.

14. The mobile robot of claim 12, further comprising:a second sensor;wherein the controller is further configured to:determine a machine-readable code disposed on the cable tray; anddetermine an absolute position of the mobile robot based at least in part on the machine-readable code.

15. The mobile robot of any one of claim 5 to 14, further comprising:a cable guide assembly configured to guide cable dispensed from the mobile robot; anda spool hopper configured to support a second cable spool and a third cable spool; wherein the controller is further configured to:determine that the first cable spool is empty;cause the first cable spool to be ejected;cause the second cable spool to be loaded from the spool hopper; and cause the autonomous robot to dispense cable from the second cable spool.

16. An autonomous robot configured to receive a first cable spool, the autonomous robot comprising:a cable spool mount configured to support the first cable spool;a first motor configured to cause the first cable spool to dispense cable;a first sensor; anda controller configured to:determine, using the first sensor, a machine-readable code disposed on the first cable spool;determine a routing path along which to dispense the cable based at least in part on the machine-readable code; andcause the mobile robot to move along the routing path and dispense the cable.

17. The autonomous robot of claim 16, further comprising:a second sensor configured to determine tension in the cable dispensed from the mobile robot;wherein the controller is further configured to:monitor the tension in the cable while the mobile robot is moving along the routing path.

18. The autonomous robot of any one of claims 16 or 17, wherein the controller is further configured to:determine that the routing path comprises a turn;determine that the mobile robot is at a turntable assembly associated with the turn;cause the mobile robot to send a signal to a turntable assembly to initiate a turning operation;determine that the turntable assembly has completed the turning operation; and cause the mobile robot to move downstream.

19. The autonomous robot of any one of claims 16 to 18, wherein the controller is further configured to:determine, at a first instance, that the tension satisfies a low tension threshold;cause the first motor to reduce a speed of dispensing the cable from a first speed to a second speed;determine, at a second instance, that the tension is greater than the low tension threshold; andcause the first motor to dispense the cable at the first speed.

20. The autonomous robot of any one of claims 16 to 19, wherein the mobile robot is configured to engage a support rail adjacent to a cable tray, the mobile robot further comprising:a second motor configured to move the mobile robot along the support rail.A

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