Systems and Methods for Extending Physical Sensor Range Using Virtual Sensors

• US 20130173028A1
• Filed: 12/28/2011
• Published: 07/04/2013
• Est. Priority Date: 12/28/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Felty, Timothy Joe, Mason, James Robert, Smith, Stuart Paul, Grichnik, Anthony James, Williams, Gavin Peter
• Granted Patent: US 8,977,373 B2
• Time in Patent Office: Days
• US Class Current: 700/79
• CPC Class Codes: G05B 13/02 electric

Abstract

A control system is disclosed. The control system may have a physical sensor that may output a physical output value, and a virtual sensor network that may output a virtual output value. The control system may also have an electronic control module that may be configured to receive the physical output value from the physical sensor and receive the virtual output value from the virtual sensor. The electronic control module may be further configured to determine a trust level of the physical sensor based on the physical output value, and determine that the trust level of the physical sensor is below a first threshold trust value. The electronic control module may control a machine based on the virtual output value responsive to determining that the trust level of the physical sensor is below the first threshold trust value.

Claims

1. A computer-implemented method for extending a range of a physical sensor comprising:

receiving a physical output value from a physical sensor;

receiving a virtual output value from a virtual sensor;

determining a trust level of the physical sensor based on the physical output value;

determining that the trust level of the physical sensor is below a first threshold trust value; and

controlling a machine based on the virtual output value responsive to determining that the trust level of the physical sensor is below the first threshold trust value.

2. The computer-implemented method of claim 1, controlling the machine based on the virtual output value including:

determining a trust level of the virtual sensor based on the virtual output value;

controlling the machine using the virtual output value if the trust level of the virtual sensor is equal to or below a second threshold trust value; and

controlling the machine to cease operation if the trust level of the virtual sensor is above the second threshold trust value.

3. The computer-implemented method of claim 1, further including:

determining that the trust level of the physical sensor is above the first threshold trust value and below a third threshold trust value; and

controlling the machine using a combined output value that is a weighted average of the physical output value and the virtual output value responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value.

4. The computer-implemented method of claim 1, further including:

determining that the trust level of the physical sensor is above the first threshold trust value and below a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value;

calculating a difference between the physical output value and a virtual output value; and

controlling the machine using the virtual output value if the difference between the physical output value and the virtual output value exceeds a threshold difference value, or controlling the machine using the physical output value if the difference between the physical output value and the virtual output value is less than or equal to the threshold difference value.

5. The computer-implemented method of claim 1, further including:

determining a trust level of the virtual sensor based on the virtual output value;

determining that the trust level of the physical sensor is above the first threshold trust value and below a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value, controlling the machine using one of the virtual output value or the physical output value that corresponds to a higher trust level.

6. The computer-implemented method of claim 5, wherein the trust level of the virtual sensor is based on a deviation of input values that correspond to the virtual output value from training values used to generate the virtual sensor.

7. The computer-implemented method of claim 1, further including:

determining a trust level of the virtual sensor based on the virtual output value;

determining that the trust level of the physical sensor is above the first threshold trust value and below a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value;

determining a combined output value that is a weighted average of the virtual output value and the physical output value weighted based on the trust level of the virtual sensor and the trust level of the physical sensor; and

controlling the machine using the combined output value.

8. The computer-implemented method of claim 7, wherein the trust level of the virtual sensor is based on a deviation of input values that correspond to the virtual output value from training values used to generate the virtual sensor.

9. The computer-implemented method of claim 1, further including, after controlling a machine based on the virtual output value responsive to determining that the trust level of the physical sensor is below the first threshold trust value:

receiving a subsequent physical output value from the physical sensor;

receiving a subsequent virtual output value from the virtual sensor;

determining a subsequent trust level of the physical sensor based on the physical output value;

determining that the subsequent trust level of the physical sensor exceeds or is equal to the first threshold trust value; and

controlling the machine using the subsequent physical output value responsive to determining that the subsequent trust level of the physical sensor exceeds or is equal to the first threshold trust value.

10. A system comprising:

a physical sensor configured to output a physical output value;

a virtual sensor network configured to output a virtual output value; and

an electronic control module configured to;

receive the physical output value from the physical sensor;

receive the virtual output value from the virtual sensor;

determine a trust level of the physical sensor based on the physical output value;

determine that the trust level of the physical sensor is below a first threshold trust value; and

control a machine based on the virtual output value responsive to determining that the trust level of the physical sensor is below the first threshold trust value.

11. The system of claim 10, the electronic control module being further configured to:

determine a trust level of the virtual sensor based on the virtual output value;

control the machine using the virtual output value if the trust level of the virtual sensor is equal to or below a second threshold trust value; and

cause the machine to cease operation if the trust level of the virtual sensor is above the second threshold trust value.

12. The system of claim 10, the electronic control module being further configured to:

determine whether the trust level of the physical sensor is above the first threshold trust value and below a third threshold trust value; and

control the machine using a combined output value that is an average of the physical output value and the virtual output value responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value.

13. The system of claim 10, the electronic control module being further configured to:

compare the trust level of the physical sensor to the first threshold trust value and a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value;

calculate a difference between the physical output value and a virtual output value; and

control the machine using the virtual output value if the difference between the physical output value and the virtual output value exceeds a threshold difference value, or control the machine using the physical output value if the difference between the physical output value and the virtual output value is less than or equal to the threshold difference value.

14. The system of claim 10, the electronic control module being further configured to:

determine a trust level of the virtual sensor based on the virtual output value;

compare the trust level of the physical sensor to the first threshold trust value and a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value, control the machine using one of the virtual output value or the physical output value that corresponds to a higher trust level.

15. The system of claim 14, wherein the trust level of the virtual sensor is based on a deviation of input values that correspond to the virtual output value from training values used to generate the virtual sensor.

16. The system of claim 10, the electronic control module being further configured to:

determine a trust level of the virtual sensor based on the virtual output value;

compare the trust level of the physical sensor to the first threshold trust value and a third threshold trust value; and

responsive to determining that the trust level of the physical sensor is above the first threshold trust value and below the third threshold trust value;

determine a combined output value that is a weighted average of the virtual output value and the physical output value weighted based on the trust level of the virtual sensor and the trust level of the physical sensor; and

control the machine using the combined output value.

17. The system of claim 16, wherein the trust level of the virtual sensor is based on a deviation of input values that correspond to the virtual output value from training values used to generate the virtual sensor.

18. The system of claim 10, the electronic control module being further configured to:

receive a subsequent physical output value from the physical sensor;

receive a subsequent virtual output value from the virtual sensor;

determine a subsequent trust level of the physical sensor based on the physical output value;

determine whether the subsequent trust level of the physical sensor exceeds or is equal to the first threshold trust value; and

control the machine using the subsequent physical output value responsive to determining that the subsequent trust level of the physical sensor exceeds or is equal to the first threshold trust value.

19. A computer-implemented method for extending a range of a physical sensor comprising:

receiving a physical output value from a physical sensor;

receiving a virtual output value from a virtual sensor;

comparing the physical output value to a trusted range; and

responsive to determining that the physical output value is outside of the trusted range, generating a combined output value that is a combination of the physical output value and the virtual output value.

20. The computer-implemented method of claim 19, wherein the combined output value is a weighted average of the physical output value and the virtual output value.