Claims:CLAIMS
We Claim:

1. A cable inspecting robot (100a) to manoeuvre between a duct (202) and a cable (204) installed in the duct (202), wherein the duct (202) is defined by an inner duct diameter, an outer duct diameter and an inner curved duct surface and the cable (204) is defined by an outer cable diameter and an outer cable surface, the cable inspection robot (100a) comprising:
a cylindrical body (100) defined by an outer diameter, the outer diameter is less than a difference between the inner duct diameter and the outer cable diameter;
the cylindrical body having a first semi-circular curved surface (114) towards the inner curved duct surface and a second semi-circular curved surface (116) towards the outer cable surface, wherein the first semi-circular curved surface and the second semi-circular curved surface are joined together to form the cylindrical body (100), wherein two or more slots (118) are present parallelly on the second semi-circular curved surface (116) of the cylindrical body, extending longitudinally on the cylindrical body and wherein each slot of the two or more slots (118) is present on either side line between a center of the cylindrical body and a center of the cable and is equidistant from a line between the center of the cylindrical body and the center of the cable;
two or more wheels (102) connected to and driven by a motor (104) present inside the cylindrical body (100), wherein the two or more wheels (102) are partially present in the cylindrical body and partially present outside the cylindrical body, extending from inside of the cylindrical body to outside of the cylindrical body through the two or more slots (118); and
a probe head (112) configured to have a sensing unit, the probe head (112) extends from a surface of the cylindrical body (100) that is used for inspecting the cable (204) present inside the duct (202).

2. The cable inspecting robot (100a) as claimed in claim 1, wherein the cylindrical body is a hollow body and encloses the motor (104), the sensing unit, a controller (108) and a trans-receiver (108a).

3. The cable inspecting robot (100a) as claimed in claim 1, wherein a carrier board is mounted in center of the cylindrical body to support the motor (104), the two or more wheels (102), the probe head (112), the worm (106), the worm wheel (110), the controller (108) and the trans-receiver (108a), where the carrier board is an integrated part of the cylindrical body (100) or is fixed to the cylindrical body (100) using fasteners.

4. The cable inspecting robot (100a) as claimed in claim 1, wherein the sensing unit present in the probe head (112) includes an image recording sensor and a distance measuring sensor.

5. The cable inspecting robot (100a) as claimed in claim 1, wherein the controller (110) controls functioning of the motor (104) and the probe head (112) having the sensing unit and the trans-receiver (108a) sends and receives operational commands of the cable inspecting robot (100a).

6. The cable inspecting robot (100a) as claimed in claim 1, wherein the motor (104) is connected to the two or more wheels (102) using a gear set including a worm (106) and a worm wheel (110) to transmit motion from the motor to the two or more wheels.

7. The cable inspecting robot (100a) as claimed in claim 1, wherein the trans-receiver (108a) receives the operational commands wirelessly using a wireless device present on the controller (108) to control the motor (104).

8. The cable inspecting robot (100a) as claimed in claim 1, wherein the trans-receiver receives (108a) the operational commands through a wired connection to control the motor (104) through the controller (108).

9. The cable inspecting robot (100a) as claimed in claim 1, wherein the probe head (112) projects out of a plane surface of the cylindrical body in a direction towards motion of the cable inspecting robot (100a).

10. The cable inspecting robot (100a) as claimed in claim 1, wherein the probe head (112) comprises the image recording sensor and the distance measurement sensor that project out of the cylindrical body through the probe head.

11. The cable inspecting robot (100a) as claimed in claim 1, wherein the image recording sensor and the distance measurement sensor send their respective feed to a robot operator using the trans-receiver (108a) present on the carrier board of the cylindrical body.

12. The cable inspecting robot (100a) as claimed in claim, wherein an axis of the two or more wheels (102) is same and perpendicular to the line connecting the center of the cylindrical body and the center of the cable installed in the duct.

13. The cable inspecting robot (100a) as claimed in claim 1, wherein the axis of the two or more wheels moves independently of each other, in a direction parallel to the line connecting the center of the cylindrical body and the center of the cable installed in the duct.

Description:TECHNICAL FIELD
[0001] The present invention relates to the field of robotic inspection devices, and more particularly, relates to an cable inspecting robot.

BACKGROUND
[0002] With the advent of technology, network infrastructure has flourished at a rapid pace. The network infrastructure plays a vital role in providing requisite telecommunication services such as exchange of information over significant distances by electronic means via voice, data and video transmission. Of late, we have seen an increasing demand in usage of the telecommunication services.
[0003] The high speed exchange of information over significant distances needs a high bandwidth internet connectivity. The information travels over a long distance using an optical fiber cable. The optical fiber cable comprises a plurality of optical fibers and is installed inside a duct or pipe. The duct or pipe is mostly laid underground using methods like open trench ducting/piping or horizontal drilling ducting/piping to form a passage for the optical fiber cable.
[0004] However, the duct or pipe laid underground has many problems. For example, sometimes, rodents intrude into the duct and damage the optical fiber cable that further disturbs the networking operations. Additionally, dust settles inside the duct over a significant period of time and may pose a blockage for any new cable installation. To mitigate with such issues, there are in-duct or in pipe inspection devices or in pipe robots are available that can monitor the duct or pipe from inside and can locate the damages or blockages so that a repair and maintenance work can be followed immediately.
[0005] A prior art reference CN107623280A discloses an in-pipe robot that is used for inspecting cables present in the pipe. The in-pipe robot has two covers that circumscribe the cable. A camera unit is present on the two covers, facing the cable for inspection and a wheel arm is projecting towards an inner surface of the pipe. Similarly, another prior art reference RU2707306C1 discloses a two wheeled duct inspecting robot where wheels of the two wheeled duct inspecting robot are in the shape of hemispheres. The camera unit is provided in between the two hemispherical wheels. Further, a prior art reference CN211030033U discloses an in-pipe cable inspecting robot that comprises sensing units, a semi cylindrical enclosure, rollers and cable clamping wheels. The cable clamping wheels clamp the cable while the sensing units inspect the cable and pipe. Similarly, another prior art reference CN105619418B discloses a two roller cable detection and positioning robot, where the robot is used for monitoring and positioning cable present inside a pipe. The robot is provided with probe heads for monitoring the cables and fields around the cables.
[0006] However, none of the prior art references mentioned above disclose a robot design that always maintain its position on the cable.
[0007] In view the aforementioned discussions, a robot design is desired that always maintains its position on the cable to properly monitors the pipe or duct and the optical fiber cable.

OBJECT OF THE DISCLOSURE
[0008] A primary object of the present disclosure is to provide a cable inspecting robot for monitoring and inspecting a pipe (or duct) and a cable installed in the duct.
[0009] Another object of the present disclosure is to provide the cable inspecting robot for real-time monitoring and inspection of the duct and the cable installed in the duct.
[0010] Another object of the present disclosure is to provide the cable inspecting robot having a hollow cylindrical body with a diameter less than or equal to a difference between an inner diameter of the duct and an outer diameter of the cable installed in the duct.
[0011] Another object of the present disclosure is to provide the cable inspecting robot having two or more wheels that is projected out of the hollow cylindrical body and positioned to move on the cable installed in the duct.

SUMMARY
[0012] The present disclosure provides a cable inspecting robot for monitoring, inspecting and locating any rodent intrusion, damages caused by rodents and blockages formed by dust inside a pipe or duct. The cable inspecting robot manoeuvres between the duct and a cable installed in the duct. The duct is defined by an inner duct diameter, an outer duct diameter and an inner curved duct surface and the cable is defined by an outer cable diameter and an outer cable surface. The cable inspection robot comprises a cylindrical body defined by an outer diameter, the outer diameter is less than a difference between the inner duct diameter and the outer cable diameter. The cylindrical body is having a first semi-circular curved surface towards the inner curved duct surface and a second semi-circular curved surface towards the outer cable surface. The first semi-circular curved surface and the second semi-circular curved surface are joined together to form the cylindrical body. Two or more slots are present parallelly on the second semi-circular curved surface of the cylindrical body, extending longitudinally on the cylindrical body and each slot of the two or more slots is present on either side line between a center of the cylindrical body and a center of the cable and is equidistant from a line between the center of the cylindrical body and the center of the cable. The cable inspection robot further comprises two or more wheels connected to and driven by a motor present inside the cylindrical body. The two or more wheels are partially present in the cylindrical body and partially present outside the cylindrical body, extending from inside of the cylindrical body to outside of the cylindrical body through the two or more slots. The cable inspection robot further comprises a probe head that is configured to have a sensing unit. The probe head extends from a surface of the cylindrical body that is used for inspecting the cable present inside the duct. The cylindrical body is a hollow body and encloses the motor, the sensing unit, a controller and a trans-receiver. Further, a carrier board is mounted in center of the cylindrical body to support the motor, the two or more wheels, the probe head, the controller and the trans-receiver, where the carrier board is an integrated part of the cylindrical body or is fixed to the cylindrical body using fasteners. The controller controls functioning of the motor and the probe head having the sensing unit and the trans-receiver sends and receives operational commands of the cable inspecting robot. The motor is connected to the two or more wheels using a gear set including a worm and a worm wheel to transmit motion from the motor to the two or more wheels. The trans-receiver receives the operational commands wirelessly using a wireless device present on the controller to control the motor. The trans-receiver receives the operational commands through a wired connection to control the motor through the controller. The probe head projects out of a plane surface of the cylindrical body in a direction towards motion of the cable inspecting robot. The sensing unit present in the probe head includes an image recording sensor and a distance measuring sensor. The probe head comprises the image recording sensor and the distance measurement sensor that project out of the cylindrical body through the probe head. The image recording sensor and the distance measurement sensor send their respective feed to a robot operator using the trans-receiver present on the carrier board of the cylindrical body. An axis of the two or more wheels is same and perpendicular to the line connecting the center of the cylindrical body and the center of the cable installed in the duct. The axis of the two or more wheels moves independently of each other, in a direction parallel to the line connecting the center of the cylindrical body and the center of the cable installed in the duct.
[0013] These and other aspects herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the invention herein without departing from the spirit thereof.

BRIEF DESCRIPTION OF FIGURES
[0014] The invention is illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in the drawings. The invention herein will be better understood from the following description with reference to the drawings, in which:
[0015] FIG. 1 is a block diagram of a cable inspecting robot.
[0016] FIG. 1A is a block diagram of a system having the cable inspecting robot communicatively coupled with a remote device.
[0017] FIG. 2 is a perspective view of the cable inspecting robot installed in a duct (or pipe).
[0018] FIG. 3 is a front cross-sectional view of the cable inspecting robot installed in the duct.
[0019] FIG. 4 is a side cross-sectional view of the cable inspecting robot installed in the duct.
[0020] FIG. 5 is a top cross-sectional view of the cable inspecting robot installed in the duct.

DETAILED DESCRIPTION
[0021] In the following detailed description of the invention, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be obvious to a person skilled in the art that the invention may be practiced with or without these specific details. In other instances, well known methods, procedures and components have not been described in details so as not to unnecessarily obscure aspects of the invention.
[0022] Furthermore, it will be clear that the invention is not limited to these alternatives only. Numerous modifications, changes, variations, substitutions and equivalents will be apparent to those skilled in the art, without parting from the scope of the invention.
[0023] The accompanying drawings are used to help easily understand various technical features and it should be understood that the alternatives presented herein are not limited by the accompanying drawings. As such, the present disclosure should be construed to extend to any alterations, equivalents and substitutes in addition to those which are particularly set out in the accompanying drawings. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are generally only used to distinguish one element from another.
[0024] The key idea of the present disclosure is to provide a cable inspecting robot for a cable installed in a duct or a pipe. The term duct or pipe may synonymously and interchangeably be used throughout the present disclosure. With the use of the cable inspecting robot, post network deployment operations and maintenance activity of a telecom network or any other type of network is simplified. The cable inspecting robot reduces time required for inspecting the cable as well as the pipe and ensures that a thorough inspection of the installed cable is carried out without removing the cable from the duct. A minimalist construction and a compact design of the cable inspecting robot enables it to travel in tight gaps between the duct and the cable laid (installed) inside the duct.
[0025] The cable inspecting robot positioned/installed between the duct and the cable to monitor the duct and the cable. Further, the cable inspecting robot is capable of detecting any blockages inside the duct and its location. Unlike conventional in-duct inspection devices or robots, the cable inspecting robot of the present disclosure has a cylindrical body that touches the cable and duct. Further, the cable inspecting robot has two wheels that is projected and positioned on the cable, thereby ensuring that the cable inspecting robot always move on the cable. The cable may be an optical fiber cable. Alternatively, the cable may be a power cable. Alternatively, the cable may be a data cable. Alternatively, the cable may be a hybrid cable. Alternatively, the cable may be of any other type.
[0026] Referring now to the drawings, and more particularly to FIGS. 1 through 5.
[0027] FIG. 1 is a block diagram of a cable inspecting robot (100a). FIG. 1A is a block diagram of a system (100b) having the cable inspecting robot (100a) communicatively coupled with a remote device (100c). FIG. 2 is a perspective view (200) of the cable inspecting robot (100a) installed in a duct (202). FIG. 3 is a front cross-sectional view (300) of the cable inspecting robot (100a) installed in the duct (202). FIG. 4 is a side cross-sectional view (400) of the cable inspecting robot (100a) installed in the duct (202). FIG. 5 is a top cross-sectional view (500) of the cable inspecting robot (100a) installed in the duct (202).
[0028] The cable inspecting robot (100a) may be called as an in-duct inspection device or a bot. The cable inspecting robot (100a) may monitor and inspect the duct (202) for any blockage, rodent intrusion or problem and may derive blockage location in real-time by maneuvering between the duct (202) and the cable (204). The duct (202) may be characterized by an inner duct diameter, an outer duct diameter and an inner curved duct surface. In an example, the duct may have the inner duct diameter of 33 mm, the outer duct diameter of 40 mm and an empty space around 17 mm. Other dimensions are also possible. In the empty space, the cable inspecting robot (100a) may be installed or positioned. Further, the duct (202) may be an underground duct and may have the cable (204) laid (installed) in it. In an example, the cable (204) may be an optical fiber cable. The cable (204) may be characterized by an outer cable diameter and an outer cable surface. The cable (204) may have 6 to 288 fibers and may have the outer cable diameter between 14 to 16 mm. The cable inspecting robot (100a) may also monitor and/or inspect the cable (204) usually by crawling or moving over the cable.
[0029] The cable inspecting robot (100a) may comprise a cylindrical body (100). The cylindrical body (100) may be a hollow body and may enclose two or more wheels (102), a motor (104), a gear set formed using a worm (106) and a worm wheel (110), a controller (108) and a trans-receiver (108a). Further, the cable inspecting robot (100a) may include a probe head (112). Furthermore, a carrier board (not shown) may be mounted in a center of the cylindrical body to support aforesaid components, where the carrier board may be made as an integrated part of the cylindrical body or may be fixed to the cylindrical body using fasteners.
[0030] The cylindrical body (100) may be defined by an outer diameter less than or equal to a difference between the inner duct diameter and the outer cable diameter. The cylindrical body (100) may have a length, a breadth and a width less than 20 mm. Alternatively, the length, breadth and width of the cylindrical body (100) may vary. Alternatively, the cylindrical body (100) may have an appropriate diameter and dimension to allow placement of the aforesaid components suitably. The cylindrical body (100) has a first semi-circular curved surface (114) and a second semi-circular curved surface (116) (as shown in FIG. 3). The first semi-circular curved surface (114) lies towards the inner curved duct surface and the second semi-circular curved surface (116) lies towards the outer cable surface. The first semi-circular curved surface and the second semi-circular curved surface are joined together to form the cylindrical body (100). Alternatively, the cylindrical body may be a single and standalone body. The second semi-circular curved surface (116) may have two or more slots (118). The two or more slots (118) may be present on the second semi-circular curved surface (116) of the cylindrical body (100) and extend along a longitudinal length of the second semi-circular curved surface (116), parallel to an axis of the cylindrical body (100). The two or more slots (118) are parallel to each other and extend along the length of the cylindrical body (100). The two or more slots (118) may be present at same depth from the axis of the cylindrical body (100). In an example, each slot of the two or more slots (118) is present on either side line between a center of the cylindrical body (100) and a center of the cable and is equidistant from a line between the center of the cylindrical body (100) and the center of the cable (204) installed in the duct (202).
[0031] The two or more wheels (102) may be projected out of the cylindrical body (100). The cylindrical body (100) is formed in such a way that allows movement of the two or more wheels (102) over the cable (204). The cylindrical body (100) may have necessary tolerances for frictionless movement. The two or more wheels (102) are partially present inside the cylindrical body (100) and partially present outside the cylindrical body, extending from inside of the cylindrical body to outside of the cylindrical body through the two or more slots (118) present on the second semi-circular curved surface and touch the surface of the cable (204), thereby ensuring that the cable inspecting robot (100a) always travels on the cable. In other words, the two or more wheels (102) enable the cable inspecting robot (100a) to move forward or retreat backward over the cable inside the duct. The two or more wheels (102) may be made from steel, aluminium, magnesium alloys or any suitable material.
[0032] Further, the two or more wheels (102) have an axis passing through a geometrical centre of the two or more wheels. In an example, the axis of the two or more wheels is same, where the axis is perpendicular to the line connecting the centre of the cylindrical body and the centre of the cable installed in the duct. In another example, the axis of the two or more wheels can move independently of each other, in a direction parallel to the line connecting the centre of the cylindrical body and the centre of the cable installed in the duct. Herein, a lower point of the cylindrical body of the cable inspecting robot (100a) contacts the cable at a first position and the two or more wheels contact the cable at a second position and a third position respectively, thereby ensuring that the cable inspecting robot (100a) maintains its position over the cable throughout its movement over the cable.
[0033] The two or more wheels (102) are coupled with the gear set having the worm (106) and the worm wheel (110), where the worm wheel (110) is attached with the worm (106). The worm (106) and the worm wheel (110) are connected to the two or more wheels (102) that are projected out of the cable inspecting robot (100a) to provide power for its movement. The worm (106) and the worm wheel (110) have a perpendicular axes of power transfer and require lesser space for wide range of power transfer. The worm (106) and the worm wheel (110) are driven by the motor (104) that further drives the two or more wheels (102), where the gear set transmits motion from the motor to the two or more wheels.
[0034] The motor (104) is connected with the worm (106) through a single axle. The motor may be, but not limited to, AC brushless motors, DC brushed motors, DC brushless motors, direct drive, linear motors, servo motors, stepper motors. In an implementation, the motor (104) may be a micro DC motor such as a coreless motor. The motor (104) may have a speed, but not limited to, 1600 to 1700 RPM (rotations per minute) and may drive the two or more wheels (102) at a speed, but not limited to, 300 to 400 RPM. In an example, the motor (104) may have the speed of 1650 RPM and the two or more wheels (102) may have the speed of 370 RPM. An available torque may be 0.2 mNm and the motor (104) may have a torque as 0.9 mNm. Further, a worm gear or worm ratio may be 5:1. Furthermore, the required voltage may be 3V and a power transfer efficiency may be around 90%.
[0035] The motor (104) is driven by the controller (108). The controller (108) controls functioning of the motor (104), thus the functioning of the cable inspecting robot (100a). The controller (108) controls the functioning of the motor (104) by using the trans-receiver (108a). In an implementation, the trans-receiver (108a) may be a standalone unit. In another implementation, the trans-receiver (108a) may be integrated within the controller (108). The trans-receiver (108a) may send and receive operational commands or instructions to the controller (108) to control the motor (104). The trans-receiver may use a wired connection or a wireless connection for sending and receiving the instructions to control the motor (104). Additionally, the trans-receiver (108a) may receive/send inputs from/to the remote device (100c) as shown in FIG. 1A to drive the motor (104). That is, the trans-receiver may send and/or receive instructions to and/or from the controller and the remote device to control the motor. In an example, the controller may be an Arduino Nano (18x45 mm) microcontroller. Alternatively, the controller (108) may be any other suitable circuitry. The controller (108) may also be equipped with other necessary components/electronics for smooth working of the cable inspecting robot (100a). The components may be, but not limited to, a transmitter, a receiver, a wireless device, a power unit (not shown). The wireless device allows configuring the wireless connection to enable communication. Further, the power unit enables the cable inspecting robot (100a) to receive power and signals either via the wired connection/channel or via the wireless connection/channel. A power supply to the controller (108) may be received by the power unit through a flexible wire. In an implementation, the flexible wire may be a hybrid wire that may provide power supply to the controller (108) as well as may allow transmission of inspection data captured by a sensor pack or a sensing unit connected through the probe head (112). That is, the hybrid wire may have provisions of both a power cable and an optical fiber cable. The hybrid wire may transmit power for locomotion of the cable inspecting robot (100a) and may transmit captured data for inspection.
[0036] The data may be captured with the help of the sensor pack connected on the probe head (112), whose functions may be controlled by the controller (108). The probe head (112) extends from the surface of the cylindrical body (100). The probe head (112) projects out of a plane surface of the cylindrical body, in a direction towards motion of the cable inspecting robot (100a).
[0037] The sensor pack or the sensing unit may be, but not limited to, an image recording sensor such as a camera and a distance measuring sensor and a combination thereof. In an implementation, the sensing unit may detachably be placed within the cylindrical body (100). Alternatively, the sensing unit may detachably be placed/installed on outer surface of (or within) the cylindrical body (100). The sensing unit may be coupled with the cylindrical body (100) via suitable means such as via a wired connection such as the probe head (112).
[0038] The image recording sensor may be fit or installed on a frame i.e., on the cylindrical body (100). The distance measuring sensor may be connected to a cable/tail of the cable inspecting robot (100a) coming outside the cylindrical body (100). In an example, the sensing unit may extend from a surface of the cylindrical body that is used for inspecting the cable present inside the duct. Alternatively, the image recording sensor and the distance measuring sensor may be installed at any other suitable location. The distance measuring sensor may have a scale or meter based configuration that is set to zero for proper readings. The distance measuring sensor may be provided to detect the location of the cable inspecting robot (100a) and the image recording sensor may be provided for sensing application with its probe head projecting out of the front of the cylindrical body (100). As the cable inspecting robot (100a) moves in the duct (202), the image recording sensor may capture or record the visuals inside the duct or may sense the surrounding to highlight any dust blockage or rodent presence and thus helps in identifying any anomaly on the cable (204) or inside the duct. Similarly, the distance measuring sensor may detect or record the location of the cable inspecting robot (100a) inside the duct and also, with the movement of the cable inspecting robot (100a), the distance measuring sensor measures the length of the cable. The distance measuring sensor may help gain a measure of where the blockage or damage is on the cable (204) and identify location for repair requirement.
[0039] The captured data such as footage or live feed from the image recording sensor or reading from the distance measuring sensor helps in detecting blockage type and mapping the location of the blockage present along with the cable (204). Typically, the cable (204) may have an average diameter of 15mm and the duct (202) may have an internal diameter of 33mm.
[0040] In an example, the image recording sensor may be a boresope that passes through the cylindrical body (100) with the probe end projecting out of the front of the cylindrical body and the distance measuring sensor may be a trumeter that is attached to the cable inspecting robot (100a) to accurately determine the location of the cable inspecting robot (100a). Generally, trumeter is used to measure the length of the cable having a diameter ranging from 0.5 to 15 mm. The trumeter has a continuous operation at up to 25m/sec (82 ft/sec). As an alternative or second affirmative step; along with the trumeter for identifying the location of the cable inspecting robot (100a) in the duct from a start point, an encoder based (or built-in hall sensor based) motor may be used instead of a simple DC motor to further re-affirm or confirm values presented by the trumeter regarding exact distance of the cable inspecting robot (100a) from end of the duct. . In general, the encoder is an electromechanical device that provides an electrical signal that is used for speed and/or position control. The encoder turns mechanical motion into the electrical signal that is used by the control system to monitor specific parameters of the application and adjust if necessary, to maintain the machine operating as desired. This implementation would be dependent on the availability of miniature sized motors (with built-in encoders or hall sensors) and some minor modifications to the driving circuit board components. Sometimes, the presence of only one motor (i.e., driving motor) (104) connected to the two or more wheels (102) through the gear set cannot directly provide exact values of wheel-ground contact as there might be chances of slipping of any of the two or more wheels (102) of the cable inspecting robot (100a) inside the duct thereby causing wrong value output. Hence, the encoder based (or built-in hall sensor based) motor may act as a backup for distance measurement use if the trumeter suddenly stops working.
[0041] The sensing unit may receive power either from the controller (108) or from the hybrid wire as mentioned earlier. Alternatively, the sensing unit may be battery powered. The sensing unit having the image recording sensor and the distance measuring sensor send their respective feed to a robot operator using the trans-receiver (108a). The sensing unit may transmit the sensed or captured data to the remote device (100c) for real-time inspection. The sensing unit or the controller (108) may be configured with in-built memory to record and save the captured data for later inspection. In this case, the sensing unit may be configured with a display to show the captured data or readings. Alternatively, the sensing unit or the controller (108) may be configured to have a flash memory such as secure digital card that may record and save the captured data and may allow to view the captured data or readings on the remote device (100c).
[0042] The remote device (100c) may be, for example, a portable, a hand-held, a computer-comprised, or a vehicle-mounted mobile devices, enabled to communicate with the cable inspecting robot (100a). The remote device (100c) may act as a remote control for the cable inspecting robot (100a). In an implementation, the cable inspecting robot (100a) is connected to the remote device (100c) via a wired connection. Alternatively, the cable inspecting robot (100a) is connected to the remote device (100c) via a wireless connection. The cable inspecting robot (100a) may be Internet-of-Things enabled.
[0043] Further, the cable inspecting robot (100a) may be enabled with navigation controls. Alternatively, the navigation may be controlled by the remote device (100c).
[0044] Advantageously, the cable inspecting robot (100a) has a compact structure and is formed in such a manner that allows crawling of the two or more wheels over the laid cable in the duct to detect blockage type such as dust, rodent presence or the like and to map the location of the blockage present along with the cable that helps in removing the blockage and repairing or maintaining the cable (204).
[0045] The embodiments disclosed herein can be implemented using at least one software program running on at least one hardware device and performing network management functions to control the elements.
[0046] It will be apparent to those skilled in the art that other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention. While the foregoing written description of the invention enables one of ordinary skill to make and use what is considered presently to be the best mode thereof, those of ordinary skill will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The invention should therefore not be limited by the above described embodiment, method, and examples, but by all embodiments and methods within the scope of the invention.
[0047] The methods and processes described herein may have fewer or additional steps or states and the steps or states may be performed in a different order. Not all steps or states need to be reached. The methods and processes described herein may be embodied in, and fully or partially automated via, software code modules executed by one or more general purpose computers. The code modules may be stored in any type of computer-readable medium or other computer storage device. Some or all of the methods may alternatively be embodied in whole or in part in specialized computer hardware.
[0048] The results of the disclosed methods may be stored in any type of computer data repository, such as relational databases and flat file systems that use volatile and/or non-volatile memory (e.g., magnetic disk storage, optical storage, EEPROM and/or solid state RAM).
[0049] The various illustrative logical blocks, modules, routines, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. The described functionality can be implemented in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosure.
[0050] Moreover, the various illustrative logical blocks and modules described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a general purpose processor device, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components or any combination thereof designed to perform the functions described herein. A general purpose processor device can be a microprocessor, but in the alternative, the processor device can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor device can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor device includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor device can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor device may also include primarily analog components. A computing environment can include any type of computer system, including, but not limited to, a computer system based on a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computational engine within an appliance, to name a few.
[0051] The elements of a method, process, routine, or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor device, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of a non-transitory computer-readable storage medium. An exemplary storage medium can be coupled to the processor device such that the processor device can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor device. The processor device and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor device and the storage medium can reside as discrete components in a user terminal.
[0052] Conditional language used herein, such as, among others, "can," "may," "might," "may," “e.g.,” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments 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 other input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. The terms “comprising,” “including,” “having,” and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Also, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term “or” means one, some, or all of the elements in the list.
[0053] Disjunctive language such as the phrase “at least one of X, Y, Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (e.g., X, Y, and/or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.
[0054] While the above detailed description has shown, described, and pointed out novel features as applied to various embodiments, it can be understood that various omissions, substitutions, and changes in the form and details of the devices or algorithms illustrated can be made without departing from the scope of the disclosure. As can be recognized, certain embodiments described herein can be embodied within a form that does not provide all of the features and benefits set forth herein, as some features can be used or practiced separately from others.
[0055] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the embodiments as described herein.