Remote control system for a locomotive

Abstract

A locomotive control system comprising a remote transmitter issuing RF binary-coded commands and a slave controller mounted on the locomotive that decodes the transmission and operates in dependence thereof various actuators to carry into effect the commands of the ground based operator.

1. A remote control system in connection with a locomotive including a main tank with compressed air under pressure, a pneumatic brake line in which compressed air flows, and a member applying tractive power, said remote control system comprising:
 a) a transmitter for generating an RF signal; and  
 b) a slave controller mounted on-board the locomotive, said slave controller having a first sensor responsive to the pressure of the compressed air in the main tank of the locomotive and a second sensor responsive to the flow of compressed air in the pneumatic brake line, said slave controller being responsive to outputs of said sensors to enable application of tractive power to the locomotive only when the pressure in the main tank is above a predetermined level and the flow of air in the pneumatic brake line is below a predetermined level.  
 
     
     
       2. A remote speed control system in connection with a locomotive that includes a main tank with compressed air, a pneumatic brake line in which compressed air flows, a throttle having a plurality of settings allowing tractive power regulation, and a brake system having a plurality of settings allowing braking power regulation, said speed control system comprising:
 a transmitter generating an RF signal indicative of a desired speed of travel of the locomotive; and  
 a slave controller mounted on-board the locomotive, said slave controller having: 
 a) receiver means for sensing said RF signal and providing data relative to the desired speed of travel of the locomotive,  
 b) a first sensor responsive to the pressure of the compressed air in the main tank of the locomotive,  
 c) a second sensor responsive to the flow of compressed air in the pneumatic brake line of the locomotive, and  
 d) processor means for receiving said data relative to the desired speed of travel of the locomotive from said receiver means, said processor means responsive to said first sensor means, to said second sensor means, and to said data relative to the desired speed of travel for generating a throttle setting signal causing the throttle of the locomotive to acquire a selected setting only when the pressure of the compressed air in the main tank is above a predetermined level and the flow of compressed air in the pneumatic brake line is below a predetermined level.  
 
 
     
     
       3. A remote speed control system in connection with a locomotive that includes a throttle having a plurality of settings allowing tractive power regulation and a brake system having a plurality of settings allowing braking power regulation, said speed control system comprising:
 a transmitter generating an RF signal indicative of a desired speed of travel of the locomotive; and    a slave controller mounted on-board the locomotive, said slave controller having: 
 a) receiver means for sensing said RF signal and providing data relative to the desired speed of travel of the locomotive,  
 b) velocity sensor means for generating data representative of an actual speed of travel of the locomotive, and  
 c) processor means for receiving data relative to the desired speed of travel of the locomotive from said receiver means and generating a throttle setting signal causing the throttle of the locomotive to acquire a selected setting and a brake setting signal causing the brake system of the locomotive to acquire a selected setting, said processor means being responsive to said velocity sensor means and to said data relative to the desired speed of travel and generating one of said throttle setting signal and said brake setting signal correlated to a difference between the desired speed of travel and the actual speed of travel of the locomotive to change the actual speed of travel of the locomotive and diminish that difference.  
   
     
     
       4. The invention as claimed in claim  3   36 , wherein said processor means includes means for comparing said data relative to the desired speed of travel of the locomotive with said data representative of an actual speed of travel of the locomotive and generating an error signal correlated to the difference between the actual and desired speeds, said throttle setting signal being a linear combination of said error signal, its derivative, and its integral. 
     
     
       5. The invention as claimed in claim  3   36 , wherein said processor means includes means for comparing said data relative to the desired speed of travel of the locomotive with said data representative of an actual speed of travel of the locomotive and generating an error signal correlated to the difference between the actual and desired speeds, said brake setting signal being a linear combination of said error signal, its derivative, and its integral. 
     
     
       6. The invention as claimed in claim  3   36 , wherein said velocity sensor means includes a first velocity sensor generating a first signal representative of a speed of travel of the locomotive and a second velocity sensor generating a second signal representative of a speed of travel of the locomotive, said processor means being responsive to a discrepancy between said first and second speed of travel signals and issuing a brake setting signal causing the brake system of the locomotive to apply braking power. 
     
     
       7. The invention as claimed in claim  3   36 , wherein said slave controller has means for generating data representative of a direction of travel of the locomotive. 
     
     
       8. A remote coast control system in connection with a locomotive that includes a throttle having a plurality of settings allowing tractive power regulation and a brake system having a plurality of settings allowing braking power regulation, said coast control system comprising:
 a transmitter generating an RF signal providing a coast command to the locomotive;    a slave controller mounted on-board the locomotive, said slave controller having: 
 a) receiver means for sensing said RF signal and providing said coast command,  
 b) means for generating data representative of a velocity variation of the locomotive with relation to time, and  
 c) processor means receiving said coast command from said receiver means and generating in response to said data representative of a velocity variation of the locomotive with relation to time one of (i) a brake setting signal causing the brake system of the locomotive to increase braking power when said velocity variation denotes a positive acceleration, and (ii) a brake setting signal causing the brake system of the locomotive to decrease braking power when said velocity variation denotes a negative acceleration, said processor means controlling the velocity of the locomotive without effecting any application of tractive power.  
   
     
     
       9. The invention as claimed in  claim 8 , wherein said brake setting signal is a linear combination of an error signal representing a difference between an actual velocity of the locomotive and a velocity of the locomotive measured at a previous moment, its derivative, and its integral. 
     
     
       10. The invention as claimed in  claim 9 , further comprising a velocity sensor measuring an actual speed of travel of the locomotive, said velocity sensor communicating actual speed of travel data to said processor means. 
     
     
       11. The invention as claimed in  claim 8 , wherein said brake setting signal generated when said velocity variation denotes a negative acceleration represents a non-nil brake system setting, whereby braking power is applied to the locomotive at all times when said velocity variation denotes one of a positive and a negative acceleration. 
     
     
       12. A remote control system in connection with locomotive that includes a throttle allowing tractive power regulation and a brake system allowing braking power regulation, said remote control system comprising:
 a transmitter generating an RF signal providing a drive command that signals the locomotive to move in a first direction of travel;    a slave controller mounted on-board the locomotive, said slave controller having: 
 a) receiver means for sensing said RF signal and providing data indicative of said drive command,  
 b) sensor means for generating data representative of a direction of travel of the locomotive, and  
 c) processor means receiving said data indicative of said drive command from said receiver means and generating a throttle signal causing application of tractive power to the locomotive, said processor means also receiving said data representative of a direction of travel of the locomotive from said sensor means and generating a brake signal causing application of the brakes when the locomotive moves in a direction other than said first direction of travel.  
   
     
     
       13. The invention as claimed in  claim 12 , wherein said processor means generates said brake signal causing application of the brakes when the locomotive moves in a direction other than said first direction of travel after a predetermined amount of time has elapsed from the application of tractive power to the locomotive. 
     
     
       14. The invention as claimed in  claim 12 , wherein said predetermined amount of time is about 20 seconds. 
     
     
       15. A remote drive control system in connection with a locomotive with rollback protection, the locomotive including a throttle allowing tractive power regulation and a brake system allowing braking power regulation, said remote drive control system comprising:
 a transmitter generating an RF signal providing a drive command that signals the locomotive to start moving in a first direction of travel;    a slave controller mounted on-board the locomotive, said slave controller comprising: 
 a) receiver means for sensing said RF signal and providing data indicative of said drive command,  
 b) sensor means generating data representative of an actual direction of travel of the locomotive, and  
 c) processor means receiving said data indicative of said drive command from said receiver means and issuing a throttle signal causing application of tractive power to the locomotive, said processor means also receiving said data representative of an actual direction of travel of the locomotive from said sensor means and generating a brake signal causing application of the brakes when the locomotive moves in a direction other than said first direction of travel and a predetermined period of time has elapsed from the application of tractive power to the locomotive.  
   
     
     
       16. The invention as claimed in  claim 15 , wherein said predetermined period of time is about 20 seconds. 
     
     
       17. A remote speed control system in connection with a locomotive that includes a throttle having a plurality of settings allowing tractive power regulation and a brake system having a plurality of settings allowing braking power regulation, said speed control system comprising:
   a transmitter generating an RF signal indicative of a desired speed of travel of the locomotive; and        a slave controller mounted on - board the locomotive, said slave controller having:      a )  receiver means for sensing said RF signal and providing data relative to the desired speed of travel of the locomotive,        b )  velocity sensor means for generating data representative of an actual speed of travel of the locomotive,        c )  a first sensor responsive to pressure of compressed air in a main tank of the locomotive,        d )  a second sensor responsive to a flow of compressed air in a pneumatic brake line of the locomotive, and        e )  processor means for receiving data relative to the desired speed of travel of the locomotive from said receiver means and generating a throttle setting signal causing the throttle of the locomotive to acquire a selected setting and a brake setting signal causing the brake system of the locomotive to acquire a selected setting, said processor means being responsive to said velocity sensor means and to said data relative to the desired speed of travel and generating one of said throttle setting signal and said brake setting signal correlated to a difference between the desired speed of travel and the actual speed of travel of the locomotive to change the actual speed of travel of the locomotive and diminish that difference; and          wherein said slave controller is responsive to outputs of said first and second sensors to enable application of tractive power to the locomotive only when the pressure in the main tank is above a predetermined level and the flow of air in the pneumatic brake line is below a predetermined level.     
     
     
       18. The remote speed control system as defined in  claim 17 , wherein said transmitter assembles a locomotive status word representing one or more requested operative states of the locomotive. 
     
     
       19. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes locomotive speed information. 
     
     
       20. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes locomotive brake information. 
     
     
       21. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes reset information. 
     
     
       22. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes direction of movement of the locomotive information. 
     
     
       23. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes locomotive bell/horn ring information. 
     
     
       24. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes locomotive lights control information. 
     
     
       25. The remote speed control system as defined in  claim 18 , wherein said locomotive status word includes information indicating intent to relinquish command authority to another transmitter. 
     
     
       26. The remote speed control system as defined in  claim 18 , wherein said transmitter appends to said locomotive status word transmitter identifier information. 
     
     
       27. The remote speed control system as defined in  claim 18  wherein said transmitter repeatedly transmits information in said locomotive status word at a unique repetition rate with respect to other transmitters. 
     
     
       28. The remote speed control system as defined in  claim 17 , wherein said receiver means is synchronized with said transmitter. 
     
     
       29. The remote speed control system as defined in  claim 17 , wherein said processor means is capable of detecting a fault condition associated with said velocity sensor means, when the fault condition is detected said processor means generating the brake setting signal to cause the locomotive to stop. 
     
     
       30. A remote speed control system in connection with a locomotive that includes a throttle having a plurality of settings allowing tractive power regulation and a brake system having a plurality of settings allowing braking power regulation, said speed control system comprising:
   a portable transmitter generating an RF signal indicative of a desired speed of travel of the locomotive; and        a slave controller mounted on - board the locomotive, said slave controller having:      a )  receiver means for sensing said RF signal and providing data relative to the desired speed of travel of the locomotive,        b )  velocity sensor means for generating data representative of an actual speed of travel of the locomotive and an airflow sensor responsive to a flow of compressed air in a pneumatic brake line of the locomotive, and        c )  processor means for receiving data relative to the desired speed of travel of the locomotive from said receiver means and generating a throttle setting signal causing the throttle of the locomotive to acquire a selected setting and a brake setting signal causing the brake system of the locomotive to acquire a selected setting, said processor means being responsive to said velocity sensor means and to said data relative to the desired speed of travel and generating one of said throttle setting signal and said brake setting signal correlated to a difference between the desired speed of travel and the actual speed of travel of the locomotive to change the actual speed of travel of the locomotive and diminish that difference; and          wherein said processor means initiates a brake line check to enable application of tractive power by the locomotive only when the flow of air sensed by said airflow sensor is below a predetermined level.     
     
     
       31. The remote speed control system as defined in  claim 17 , wherein when processing means enables application of tractive power but the locomotive is not caused to move after a predetermined amount of time has elapsed from application of tractive power, said processing means causes application of the brake system. 
     
     
       32. The remote speed control system as defined in  claim 17 , wherein said processing means causes application of the brake system when a rollback condition exceeds a predetermined time period. 
     
     
       33. The remote speed control system as defined in  claim 17 , wherein said transmitter is operative to convey a coast command to said receiver means, said processing means being responsive to said coast command to preclude application of tractive power to the locomotive and control movement of the locomotive by regulating application of said brake system. 
     
     
       34. A remote speed control system as defined in  claim 17 , wherein said transmitter is operative to convey a coast with brake command to said receiver means, said processing means being responsive to said coast with brake command to preclude application of tractive power to the locomotive and cause said brake system to be continuously applied during movement of the locomotive. 
     
     
       35. The remote speed control system as defined in  claim 17 , wherein said transmitter includes a display panel displaying a current setting of one or more controls. 
     
     
       36. The remote speed control system as defined in  claim 35 , wherein said display panel displays locomotive speed control information. 
     
     
       37. The remote speed control system as defined in  claim 36 , wherein said locomotive speed control information includes at least one of a coast with brake indication, a stop indication, a coast indication and a couple indication. 
     
     
       38. The remote speed control system as defined in  claim 35 , wherein said display panel displays information on a direction of movement of the locomotive. 
     
     
       39. The remote speed control system as defined in  claim 35 , wherein said display panel displays brake information. 
     
     
       40. The remote speed control system as defined in  claim 17 , wherein said transmitter includes manually operable controls and wherein said manually operable controls include a multi position control element to control locomotive speed. 
     
     
       41. The remote speed control system as defined in  claim 40 , wherein said multi position control element includes a stop setting. 
     
     
       42. The remote speed control system as defined in  claim 40 , wherein said multi position control element includes a coast with brake setting. 
     
     
       43. The remote speed control system as defined in  claim 40 , wherein said multi position control element includes a coast setting. 
     
     
       44. The remote speed control system as defined in  claim 40 , wherein said multi position control element includes a couple setting. 
     
     
       45. The remote speed control system as defined in  claim 40 , wherein said multi position control element to control locomotive speed is mounted a sidewall of said transmitter. 
     
     
       46. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a multi position control element to control locomotive braking. 
     
     
       47. The remote speed control system as defined in  claim 35 , wherein said display panel is mounted on a top wall of said transmitter. 
     
     
       48. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element having a reset function. 
     
     
       49. The remote speed control system as defined in  claim 40  wherein said manually operable controls include a multi position control element to control a direction of movement of the locomotive. 
     
     
       50. The remote speed control system as defined in  claim 49 , wherein said transmitter has a front wall, said multi position control element to control a direction of movement of the locomotive being mounted on said front wall. 
     
     
       51. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element to ring a bell/horn on the locomotive. 
     
     
       52. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element to control a train brake. 
     
     
       53. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element to control lights on the locomotive. 
     
     
       54. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element to perform a locomotive status request function. 
     
     
       55. The remote speed control system as defined in  claim 40 , wherein said manually operable controls include a control element to signal intent to relinquish control to a another transmitter. 
     
     
       56. The remote control system as defined in  claim 1 , wherein said member applying tractive power includes a throttle having a plurality of settings allowing tractive power regulation, said slave controller being responsive to said RF signal to generate a throttle setting signal causing the throttle of the locomotive to acquire a selected setting for imparting movement to the locomotive, when the pressure in said main tank is above said predetermined level and the flow of air in said pneumatic brake line is below said predetermined level. 
     
     
       57. The remote control system as defined in  claim 56 , wherein the locomotive has a brake system having a plurality of settings allowing braking power regulation, the RF signal conveying a desired speed of travel of the locomotive, said slave controller generating one of the throttle setting signal and a brake setting signal causing the brake system of the locomotive to acquire a selected setting such as to regulate the speed of the locomotive in accordance with the desired speed of travel. 
     
     
       58. The remote control system as defined in  claim 1 , wherein said slave controller is responsive to the RF signal to impart movement to the locomotive when the pressure in said main tank is above said predetermined level and the flow of air in said pneumatic brake line is below said predetermined level, wherein said transmitter is one of two or more transmitters, one of which holds command authority, the command authority being transferable between the two or more transmitters. 
     
     
       59. The remote control system as defined in  claim 2 , wherein said slave controller causes the brake system of the locomotive to acquire a selected setting such as to regulate the speed of the locomotive in accordance with the desired speed of travel. 
     
     
       60. The remote control system as defined in  claim 2 , wherein said transmitter is one of two or more transmitters, one of which holds command authority, the command authority being transferable between the two or more transmitters.