US 11,810,289 B2
Estimating the moving state of rotating machines systems and methods
Peter J. Petrany, Peoria, IL (US); and Jacob C. Maley, Peoria, IL (US)
Assigned to Caterpillar Inc., Peoria, IL (US)
Filed by Caterpillar Inc., Peoria, IL (US)
Filed on Mar. 31, 2021, as Appl. No. 17/219,790.
Prior Publication US 2022/0318974 A1, Oct. 6, 2022
Int. Cl. G06T 7/00 (2017.01); G01D 5/26 (2006.01); G06T 7/70 (2017.01); G06T 7/60 (2017.01); G01P 3/38 (2006.01)
CPC G06T 7/001 (2013.01) [G01D 5/26 (2013.01); G01P 3/38 (2013.01); G06T 7/60 (2013.01); G06T 7/70 (2017.01); G06T 2207/30164 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors, and
one or more memories storing instructions that, when executed by the one or more processors, cause the system to perform a process for estimating machine rotation state, the process comprising:
receiving one or more image data records from a camera device of a machine entity, wherein the one or more image data records are timestamped consecutively;
for each particular image data record of the one or more image data records:
generating one or more optical flow vectors for a set of pixels of the particular image data record;
selecting a subset of pixels from the set of pixels of the particular image data record; and
determining a hue and intensity of the subset of pixels, corresponding to the particular image data record, based on the one or more optical flow vectors for the subset of pixels;
generating an intensity plot over time based on the determined hues, intensities, and timestamps of the one or more image data records;
calculating an integral of the generated intensity plot over time; and
determining a rotation angle of the machine entity based on the calculated integral of the intensity plot over time.