Image-based cable spooling drum speed estimation

A data processing and control system, comprising:

• one or more processors configured to execute instructions stored on memory media of the data processing and control system, wherein the instructions, when executed by the one or more processors, cause the data processing and control system to:
• position one or more regions of interest on at least one image of a plurality of images of a drum;
• detect one or more markers disposed on the drum within the one or more regions of interest using the plurality of images of the drum at a first time;
• detect the one or more markers disposed on the drum within the one or more regions of interest using the plurality of images of the drum at a second time;
• compute an elapsed time between the first time and the second time;
• compute an estimated angular velocity of the drum using an angle of movement of the one or more markers through the one or more regions of interest during the elapsed time;
• and
• control a commanded angular velocity of the drum using the estimated angular velocity of the drum.

A cable spooling system, comprising:

• a drum configured to rotate about a central axis of the drum to wind and unwind a cable onto and from the drum as the drum rotates;
• one or more cameras configured to capture images of the drum as it rotates;
• one or more markers disposed on one or more flanges of the drum, wherein the one or more markers are configured to be in view of the one or more cameras during a portion of rotation of the drum;
• and
• a data processing and control system configured to estimate an angular velocity of the drum using the images captured by the one or more cameras.