GB2550378A - Rider warning system for a bicycle and rider warning method for a bicycle rider - Google Patents

Abstract

A warning system for a bicycle comprising front 10 and rear side 20 proximity sensors, a front side warning apparatus 14, a first vibration motor 24, and front side 12 and rear side processors 22. Front side proximity sensor 10 generates a detection signal when an object is detected within a specified range on the front side, and the front side processor 12 then sends a signal to activate the front side warning apparatus 14. Similarly, rear side proximity sensor 20 generates a rear side detection signal when an object is detected within a specified range on the rear side, and the first vibration motor 24 is operated in response to a signal from the rear side processor 22. The system may also include a speed sensor, an inertial sensor, environment (i.e. temperature, humidity) sensors, an altitude sensor and/or a GPS sensor. The range of the proximity sensors may be adjusted based upon the speed of the bicycle, and the vibration motor may be configured to vibrate at a set one of a plurality of different frequencies depending upon how close a detected object is. The front warning apparatus 14 may be a second vibration motor.

Description

Rider Warning System for a Bicycle and Rider Warning Method for a Bicycle

Rider

The present invention lies in the field of intelligent or smart transport technology. Specifically, the invention relates to a rider warning system for a bicycle.

Road traffic accidents involving bicycles are a significant cause of serious injury and fatalities. In addition, road traffic accidents involving bicycles are a major cause of congestion, disruption, and a significant use of emergency service and health service resource. In particular, sections of road which are subject to mixed use by different categories of vehicle can pose a significant risk to slower moving vehicles, for example, bicycles. Every year some 19,000 cyclists are killed or injured in reported road accidents in the UK alone, and according to the US Department of Transportation, 677 cyclists were killed in motor vehicle accidents in 2011, while 48,000 were injured. Cyclist casualties have risen in recent years as the amount of cycling has increased, with the number of journeys made by bicycle in Greater London having doubled between 2000 and 2012 to over 540,000 per day; in November 2013 alone six cyclists were killed on London streets within a two-week period, bringing the number of cyclists killed in London in the year to 14.

It is desirable to alert a rider of a bicycle to potential hazards.

Embodiments include a rider warning system for a bicycle, the rider warning system comprising: a front side proximity sensor for attachment to a front side of the bicycle, and configured to monitor a front side and to generate a front side detection signal when an object is detected within a specified range on the front side; a rear side proximity sensor for attachment to a rear side of the bicycle, and configured to monitor a rear side and to generate a rear side detection signal when an object is detected within a specified range on the rear side; a front warning apparatus for attachment to the bicycle, and configured to issue a warning in response to receiving a front side warning request signal; a first vibration motor for attachment to a first end of the handlebar of the bicycle, and configured to vibrate in response to receiving a first vibration motor control signal; a front side processor configured to receive the front side detection signal, and in response to receiving the front side detection signal, to transmit the front side warning request signal to the front side warning apparatus; and a rear side processor configured to receive the rear side detection signal, and in response to receiving the rear side detection signal, to transmit the first vibration motor control signal to the first vibration motor.

Advantageously, embodiments effectively provide additional front and rear sensing for the rider of a bicycle. A warning is a signal for a rider making the rider aware that a hazard may be approaching (either from the front or from behind). Traditionally, the rider of a bicycle receives warnings about the proximity of objects by sensing visible light with an eye, and interpreting the sensed visible light in the brain. In addition, the rider of a bicycle receives warnings about the proximity of objects by sensing sound waves with an ear, and interpreting the sensed sound waves in the brain.

Embodiments augment these senses by using front and rear side proximity sensors to sense the presence of objects, and processors and vibration motors and warning systems to convert the sensed information to tactile information (i.e. vibrations) and other warnings, which tactile information is sensed by the rider of the bicycle, and hence their brain (i.e. the rider becomes conscious of the information) becomes aware of the object and potential hazard. Embodiments provide signals to the brain of the bicycle rider using the sense of touch, via vibrating handlebars, which augments the use of vision and hearing already practiced by the rider.

The front side warning system may also serve as a warning or alert to a person controlling the detected object that the bicycle is approaching, so that action to mitigate a collision could be taken by said person instead of or in addition to the rider of the bicycle.

Optionally, the front and rear side proximity sensors are configured so that the respective front and rear side detection signals are generated when the detected object is approaching the bicycle.

By providing sensory information to the rider of a bicycle via the sense of touch, embodiments may be beneficial in assisting bicycle riders who are hearing- or vision-impaired in being made aware of potential hazards.

The “processor” of front side processor and rear side processor is taken as an indication that a process is performed on a signal received by the processor. The process may be receiving the signal (e.g. the front/rear side detection signal), generating a signal in consequence of the receiving, and transmitting the generated signal to another component (e.g. the first/second vibration motor). The process may include level adjustment, that is to say, a level of the generated signal may be dependent upon a level of the received signal. The process may include executing processing logic, and hence the front/rear side processor may be circuitry arranged to execute logic operations, and/or may include a field programmable gate array. Optionally, each of the front and rear side processors may be a CPU running software, such as middleware or firmware, or may be hard-wired circuitry, or a combination thereof. The front or rear side processor, or the single processor realising the functionality of both the front and rear side processor, may be a microcontroller. The signals may be data signals encoding information.

The front and rear side processors may be a single processor configured to function as both the front side processor and the rear side processor. The front and rear side processors are not limited to being attached to the bicycle or to being attached at the front or rear side of the bicycle. The front and rear side processors may be a communications device such as a mobile telephone having processing functionality, for example, being carried by the rider of the bicycle. The front and rear side processors may be attachable to the bicycle.

The front and rear side proximity sensors may perform noise filtration so that a front/rear side detection signal is generated in response to an object being detected within the specified range on the front/rear side that is detectable above the noise detected by the respective front/rear side proximity sensors. As an alternative, the front and rear side proximity sensors may generate the front/rear side detection signal as raw data for processing by the respective front/rear side processor, and the respective front/rear side processor forms noise filtration. As a further alternative, the two approaches may be combined.

The front side warning system may be a second vibration motor, attachable to an opposite end of the handlebar from the first vibration motor. The front side warning request signal being a second vibration motor control signal.

The front side warning system may be a light configured to flash in response to receiving the front side warning request signal. The front side warning system may be a speaker configured to sound an alert, such as a bell, in response to receiving the front side warning request signal.

The front side warning system may include more than one of the second vibration motor, the light, and the speaker.

The front and rear side proximity sensors may be configured so that the specified range on the front side is longer than the specified range on the rear side.

For example, the specified range on the front side is 5 metres and the specified range on the rear side is 3 metres.

As a further example, the specified range on the front side is approximately 5 metres and the specified range on the rear side is approximately 3 metres.

The specified range denotes a longitudinal (i.e. along the line of travel) maximum distance at which an object is detectable by the respective proximity sensor. Each proximity sensor is configured to detect objects within a detection angle in each of the horizontal and vertical plane. The detection angles may be predefined at manufacture and initial calibration of the system. In other words, one or more cone-shaped volumes of space is monitored by each proximity detector, with an emitter/detector at the apex of each cone. The specified range is a length of the axis of the cone. The cone may be circular or elliptical.

Embodiments may further comprise a speed sensor for attachment to the bicycle and configured to detect a speed of travel of the bicycle, and to transmit a speed indication signal indicating the detected speed of travel to the rear side processor and/or to the front side processor; wherein: the rear side proximity sensor is configured to change the specified range on the rear side in response to receiving a rear side detection range adjustment signal; the rear side processor is configured to receive the speed indication signal, to generate the rear side detection range adjustment signal according to the received speed indication signal, and to transmit the generated rear side detection range adjustment signal to the rear side proximity sensor. Furthermore, the front side proximity sensor may be configured to change the specified range on the front side in response to receiving a front side detection range adjustment signal; and the front side processor may be configured to receive the speed indication signal, to generate the front side detection range adjustment signal according to the received speed indication signal, and to transmit the generated front side detection range adjustment signal to the front side proximity sensor.

Wherein the front/rear side detection range adjustment signal being generated according to the received speed indication signal means that the specified detection range or the change in specified range initiated by the signal is a function of the speed indicated by the speed indication signal. Wherein it may be that the signal level of the speed indication signal corresponds to the speed indicated by said signal, and/or that the signal level of the front/rear side detection range adjustment signal corresponds to the specified range or the change in specified range initiated by said signal.

The speed sensor may a GPS sensor with a timer and a processor, the processor configured to use GPS sensor signals to calculate displacement and timer signals to convert the displacement into speed measurements. Alternatively, the speed sensor may be a 9-axis inertial motion sensor with a timer and a processor, the processor configured to use timer signals to integrate acceleration measurements with respect to time and hence to obtain speed measurements.

Optionally, the rear side proximity sensor is configured to quantify a level of proximity at which the object is detected within the specified range on the rear side and to generate the rear side detection signal to indicate said level of proximity; the first vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received first vibration motor control signal; and the rear side processor is configured to generate the first vibration motor control signal to set the vibration frequency of the first vibration motor according to the level of proximity indicated by the received rear side detection signal.

In embodiments in which the front side warning system is or includes the second vibration motor, it may be that the front side proximity sensor is configured to quantify a level of proximity at which the object is detected within the specified range on the front side and to generate the front side detection signal to indicate said level of proximity; the second vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received second vibration motor control signal; and the front side processor is configured to generate the second vibration motor control signal to set the vibration frequency of the second vibration motor according to the level of proximity indicated by the received front side detection signal.

Wherein generating the front/rear side detection signal to indicate a level of proximity means that the front/rear side detection signal is a function of the indicated level of proximity. Wherein it may be that the signal level of the front/rear side detection signal corresponds to the indicated level of proximity. It may be that there are two, or more than two, predefined proximity levels within the respective specified range (i.e. which may be a predefined proportion of the respective specified range), for example, more or less than half of the respective specified range.

The front/rear side processor being configured to generate the first/second vibration motor control signal to set the vibration frequency according to the level of proximity indicated by the received front/rear side detection signal may mean, for example, that a signal level of the first/second vibration motor control signal is dependent upon a signal level of the front/rear side detection signal.

The first/second vibration motor has a configurable vibration frequency, wherein configurable means configurable by the first/second vibration motor control signal generated by the front/rear side processor.

Embodiments may include an inertial sensor for attachment to the bicycle; and a network connector for attachment to the bicycle; wherein the inertial sensor is connectable to the network connector, the inertial sensor being configured to sense movement of the bicycle, to communicate an indication of the sensed movement to the network connector, and the network connector is configured to transmit the indication of the sensed movement to a communications device over the network.

The inertial sensor may be connectable to the network connector via a processor. The processor may be included as a component of the inertial sensor itself. The processor may be the front or rear side processor. The processor may convert the communicated indication of sensed movement from the inertial sensor into data for transmission over the network by the network connector, the conversion changing the physical form of the communicated indication but retaining the information indicating the sensed movement.

The processor may be configured to determine one or more of position, location, speed, and posture of the bicycle from the readings of the inertial sensor. It may be that the determined one or more of position, location, speed, and posture are communicated to the network connector either as, or in addition to, the indication of the sensed movement.

The inertial sensor may be an accelerometer. The sensed movement is acceleration of the bicycle. The inertial sensor may be a 3-axis accelerometer. The sensed movement is acceleration of the bicycle in any of the three axes.

The inertial sensor may include an accelerometer and a gyroscope. The sensed movement is acceleration and rotation of the bicycle. The inertial sensor may be a 6-axis inertial sensor, comprising a 3-axis accelerometer and a 3-axis gyroscope. The sensed movement is acceleration in any of the three axes of the accelerometer and rotations around any of the three axes of the gyroscope.

The inertial sensor may include an accelerometer, a gyroscope, and a magnetometer. The sensed movement is acceleration and rotation of the bicycle. The inertial sensor may be a 9-axis sensor comprising a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The magnetometer provides absolute direction information to augment the sensed acceleration and rotation. The extra magnetic field information provided by the magnetometer compensates drifts of the accelerometer. The processor of the inertial sensor, or a processor to which the inertial sensor is connectable, may execute an algorithm which uses readings of the magnetometer to compensate for drift in the accelerometer and/or gyroscope readings.

The network connector may be a sim card connecting to a mobile communications network, such as a 3G, 4G, or 5G sim. The network connector may be a wi-fi transceiver. The network connector may be a Bluetooth transceiver. The network connector may be a combination of more than one of the above.

Embodiments may include: a GPS (global positioning satellite) sensor for attachment to the bicycle; and a network connector for attachment to the bicycle; wherein the GPS sensor is connectable to the network connector, the GPS sensor being configured to sense a location of the bicycle, to communicate an indication of the sensed location to the network connector, and the network connector is configured to transmit the indication of the sensed location to a communications device over the network.

The GPS sensor may be connectable to the network connector via a processor. The processor may be included as a component of the GPS sensor itself. The processor may be the front or rear side processor. The processor may convert the communicated indication of sensed location from the GPS sensor into data for transmission over the network by the network connector, the conversion changing the physical form of the communicated indication but retaining the information indicating the sensed location.

The rider warning system may be operable in a plurality of operation modes, including: a secure mode, in which secure mode, the inertial sensor and/or the GPS sensor is configured to sense movement and/or location of the bicycle, to communicate an indication of the sensed movement and/or location of the bicycle to the network connector, and the network connector is configured to transmit the indication of the sensed movement and/or location of the bicycle as an alert to the communications device and/or to a central server.

For example, the secure mode may be implemented by the communications device (i.e. a mobile telephone belonging to the bicycle owner) sending a signal to the rider warning system via the network connector, which signal instructs the system to enter secure mode. Alternatively, the rider warning system or the communications device may be configured to detect when a displacement of the rider warning system from the communications device exceeds a threshold distance, and in response to instruct the system to enter secure mode. For example, the communications device or the rider warning system may be configured to compare location information of one another. Alternatively, Bluetooth or another signalling mechanism may be used to determine displacement of the rider warning system and the communications device from one another. The displacement being reduced below the threshold distance may disarm the secure mode. The operation mode may be set by a processor, for example the front or rear side processor, of the rider warning system.

Embodiments may further comprise a surface detection processor for attachment to the bicycle; wherein the rider warning system is operable in a plurality of operation modes, including: a surface mapping mode, in which surface mapping mode: the inertial sensor is configured to sense movement continuously, and to transmit an indication of the continuously sensed movement to the surface detection processor, the surface detection processor being configured to divide the indication into chronologically ordered portions, to associate each chronologically ordered portion with an indication of sensed location received from the GPS sensor, and to communicate the chronologically ordered portions with respective associated indication of sensed location to an external surface mapping server.

In other words, the system may be configured to operate in a surface mapping mode, in which surface mapping mode the inertial sensor is configured to continuously sense movement of the bicycle and to transmit an indication of the continuously sensed movement of the bicycle to the surface detection processor, and the GPS sensor is configured to sense a series of locations of the bicycle and to transmit an indication of the sensed series of locations to the surface detection processor; and the surface detection processor is configured to associate portions from the indication of the continuously sensed movement of the bicycle with a respective indication of location from the indication of the series of sensed locations according to time of receipt of the respective portion from the continuously sensed movement at the processor and time of receipt of the respective indication of location from the indication of the series of sensed locations at the processor.

The indications of sensed locations from the GPS sensor may be time-stamped by the GPS sensor.

The surface detection processor may be the front side processor or the rear side processor. A single processor, which may be a microcontroller, may realise all processor functionality in the rider warning system. In such examples, the surface detection processor is configured to communicate the chronologically ordered portions with respective associated indication of sensed location to the external surface mapping server via the network connector.

Alternatively, it may be that the surface detection processor is a function of a communications device, or an application running thereon, that forms part of the system and is configured to receive the indication of the continuously sensed movement and the sensed locations from the GPS sensor via the network connector (in particular, via Bluetooth).

Embodiments may also include an environment information processor, and one or more environment sensors for attachment to the bicycle, including a temperature sensor configured to sense environmental temperature and to communicate an indication of the sensed environmental temperature to the environment information processor, and/or a humidity sensor configured to sense environmental humidity and to communicate an indication of the sensed environmental humidity to the environment information processor; wherein the environment information processor is configured to provide feedback to a rider of the bicycle regarding environmental conditions for cycling.

The environment information processor may be the front side processor or the rear side processor. A single processor, which may be a microcontroller, may realise all processor functionality in the rider warning system. In such examples, the environment information processor is configured to provide feedback to the rider of the bicycle regarding environmental conditions for riding via the vibration motors, or, for example, via feedback apparatus such as a speaker or lights. Environment is taken to mean the air conditions at the location of the bicycle.

Alternatively, it may be that the environment information processor is a function of a mobile communications device, or an application running thereon, that forms part of the system and is configured to receive the indications of sensed environmental temperature/humidity via the network connector (in particular, via Bluetooth). The feedback provided to the rider of the bicycle may be in the form of a message displayed on the screen of the mobile communications device, or may be a message read out over the speaker of the mobile communications device. Alternatively, feedback may be provided via a vibration motor of the mobile communications device, or accompanied by vibration of the vibration motor of the mobile communications device.

Embodiments may also include an altitude sensor for attachment to the bicycle; and an altitude information processor; the altitude sensor being configured to sense altitude of the bicycle, and to communicate an indication of the sensed altitude to the altitude information processor, the altitude information processor being configured to associate each indication of sensed altitude with an indication of sensed location received from a GPS sensor.

For example, the altitude information processor may be configured to communicate the indication of sensed altitude with respective associated indication of sensed location to an external surface mapping server. Such communication may be via the network connector.

Either of both of the indication of sensed location and the indication of sensed altitude may be time stamped by the GPS sensor and/or the altitude sensor, respectively.

The altitude information processor may be for attachment to the bicycle. The altitude information processor may be the front side processor or the rear side processor. A single processor, which may be a microcontroller, may realise all processor functionality in the rider warning system.

Alternatively, it may be that the environment information processor is a function of a mobile communications device, or an application running thereon, that forms part of the system and is configured to receive the indications of sensed altitude via the network connector (in particular, via Bluetooth).

Optionally, the front side warning apparatus is a second vibration motor for attachment to the handlebar of the bicycle at an end distal from the first end; the front side warning request signal is a second vibration motor control signal; and the second vibration motor is configured to vibrate in response to receiving a first vibration motor control signal. In such embodiments, it may be that the front side proximity sensor is configured to determine a speed at which the detected object within the specified range on the front side is approaching the bicycle, and to communicate an indication of the determined speed to the front side processor; the second vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received second vibration motor control signal; and the front side processor is configured to generate the second vibration motor control signal to set the vibration frequency of the second vibration motor according to the indicated determined speed communicated by the front side proximity sensor.

Optionally, the rear side proximity sensor is configured to determine a speed at which the detected object within the specified range on the rear side is approaching the bicycle, and to communicate an indication of the determined speed to the rear side processor; the first vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received first vibration motor control signal; and the rear side processor is configured to generate the first vibration motor control signal to set the vibration frequency of the first vibration motor according to the indicated determined speed communicated by the rear side proximity sensor.

Wherein communicating an indication of speed to the front/rear side processor may comprise sending an alert if the determined speed exceeds a predefined alert threshold. Alternatively, it may be that data comprising a numeric indication of the determined speed is communicated in or with the front/rear side detection signal.

The front/rear side processor being configured to generate the first/second vibration motor control signal to set the vibration frequency according to the indicated determined speed may mean, for example, that a signal level of the first/second vibration motor control signal is dependent upon whether or not the alert is included in or with the front/rear side detections signal.

The first/second vibration motor has a configurable vibration frequency, wherein configurable means configurable by the first/second vibration motor control signal generated by the front/rear side processor.

Optionally, the front side proximity sensor is a hypersonic wave type radar; and/or the rear side proximity sensor is a hypersonic wave type radar.

For example, hypersonic may be interpreted as meaning mach 5 and above. A detailed description of embodiments will now be provided, with reference to the accompanying drawings, in which: FIGURE1 is a schematic diagram of a system of an embodiment; FIGURE 2a is an illustration of an emitter/detector arrangement in an embodiment; FIGURE 2b is an illustration of another emitter/detector arrangement in an embodiment; FIGURE 3 is a schematic diagram of another system of an embodiment; and FIGURE 4 illustrates an arrangement of a system of an embodiment on a bicycle.

Figure 1 illustrates a system of an embodiment. The system comprises a front side proximity sensor 10, a front side processor 12, and a front side warning apparatus 14. The system also comprises a rear side proximity sensor 20, a rear side processor 22, and a first vibration motor 24.

The front side proximity sensor 10 and the front side warning apparatus 14 are separate components, which communicate (from the front side proximity sensor to the front side warning apparatus) via the front side processor 12. The front side processor 12 may be realised by hardware included as part of either or both of the front side proximity sensor 10 and the front side warning apparatus 14.

The rear side proximity sensor 20 and the first vibration motor 24 are separate components, which communicate (from the rear side proximity sensor to the first vibration motor) via the rear side processor 22. The rear side processor 22 may be realised by hardware included as part of either or both of the rear side proximity sensor 20 and the first vibration motor 24.

The front and rear side processors may be realised by a single processor. The single processor may be a unit, such as a CPU or microcontroller. The single processor may be physically attached to any of the rear side proximity sensor 20, the front side proximity sensor 10, the first vibration motor 24, or the front side warning apparatus 14. The single processor may be a system controller that coordinates signalling between all of the other system components, and performs processing on the signals received from one component and being transmitted to another. The system may also include a power source and power supply controlled by the system controller, and a local storage controlled by the system controller.

The front side warning system may be a second vibration motor, attachable to an opposite end of the handlebar from the first vibration motor. The front side warning request signal being a second vibration motor control signal. The front side warning system 14 may be a light configured to flash in response to receiving the front side warning request signal. The front side warning system may be a speaker configured to sound an alert, such as a bell, in response to receiving the front side warning request signal. The front side warning system may include more than one of the second vibration motor, the light, and the speaker.

The components illustrated in Figure 1 are attachable to a bicycle. It may be that one or more among the components, and the components described elsewhere in this document, include or are provided with an attachment mechanism. The attachment mechanism may be an adjustable length of rubber with a locking mechanism that enables the component to be attached to bicycles having frames of various diameter or shapes. The first (and second) vibration motor(s) may be attachable to respective ends of the handlebar of the bicycle by fitting inside a plug that is dimensioned for an interference fit with the inner radius of the handlebar, that is, the plug fits inside the end of the handlebar. Optionally, several diameters of such plugs may be available for different handlebar diameters.

The system can be retrofitted to a bicycle. There is no component in the system of claim 1 nor as described in any of the other embodiments that must be included in the bicycle at the time of manufacture. Thus, any embodiments are suitable for retrofitting to a bicycle.

The front side proximity sensor 10 is configured to monitor a front side and to generate a front side detection signal when an object is detected within a specified range on the front side.

The front side proximity sensor 10 is connectable to the front side processor 12 for signalling. The connection may be wired or wireless. In use, the front side proximity sensor 10 and the front side processor 12 are in signal communication with one another, or specifically the front side processor 12 is configured to receive front side detection signals from the front side proximity sensor 10. In a wireless implementation, the signals may be sent via Bluetooth, WiFi, infrared, or radio.

The rear side proximity sensor 20 is connectable to the rear side processor 22 for signalling. The connection may be wired or wireless. In use, the rear side proximity sensor 20 and the rear side processor 22 are in signal communication with one another, or specifically the rear side processor 22 is configured to receive rear side detection signals from the rear side proximity sensor 20. In a wireless implementation, the signals may be sent via Bluetooth, WiFi, infrared, or radio.

The front side warning apparatus 14 is connectable to the front side processor 12 for signalling. The connection may be wired or wireless. In use, the front side warning apparatus 14 and the front side processor 12 are in signal communication with one another, or specifically the front side warning apparatus 14 is configured to receive front side warning request signals from the front side processor 12. In a wireless implementation, the signals may be sent via Bluetooth, WiFi, infrared, or radio.

The first vibration motor 24 is connectable to the rear side processor 22 for signalling. The connection may be wired or wireless. In use, the first vibration motor 24 and the rear side processor 22 are in signal communication with one another, or specifically the first vibration motor 24 is configured to receive first vibration motor control signals from the rear side processor 22. In a wireless implementation, the signals may be sent via Bluetooth, WiFi, infrared, or radio.

The front side proximity sensor 10 may be a radar sensor, for example, a supersonic or hypersonic radar sensor. The front side proximity sensor 10 may transmit raw radar data to the front side processor 12 for interpretation, that is, to execute processing such as noise elimination to isolate and detect an object from background noise. Alternatively, such processing may be performed at the front side proximity sensor 10. For example, it may be that the front side proximity sensor 10 is configured to detect objects that are approaching (i.e. approaching the bicycle to which the detector is attached) and to generate a front side detection signal when an approaching object is detected. Some determination of whether or not detected objects are approaching the sensor may be performed by the front side proximity sensor 10. The front side proximity sensor 10 may be configured to determine a location of a detected object within the specified range on the front side, and, by making a series (in time) of location determinations of the object, to determine whether or not the object is approaching and a speed of approach. The processing to make such determinations may be provided by a processor included in the front side proximity sensor 10, which processor may also function as the front side processor 12.

The front side proximity sensor 10 is configured to sense the presence of an object or an approaching object within a specified range on the front side. The specified range on the front side may be, for example, 5 metres. Other exemplary specified ranges on the front side are (approximately) 2 metres, 3 metres, 4 metres, 5 metres, 6 metres, 7 metres, 8 metres, 9 metres, or 10 metres. The specified range on the front side may be configurable during use of the system by the front side processor 12 transmitting a front side detection range adjustment signal to the front side proximity sensor 14.

The front side proximity sensor 10 comprises a signal emitter 101, a signal detector 101, and may also comprise a signal processor (some or all processing to convert detected signals to front side detection signal may be performed by said signal processor). Figures 2a and 2b illustrate different arrangements of signal emitter/detectors 101, 102, 103, and 201, attached to a bicycle.

In Figure 2a, the front side proximity sensor comprises a front side signal emitter/detector 101 a left side signal emitter/detector 103 and a right side signal emitter/detector 102. Each signal emitter has a corresponding co-located signal detector. By the combined signals of the front side detector 101, the left side detector 103 and the right side detector 102, the front side proximity sensor is configured to sense the presence of an object or an approaching object on a front side of the bicycle, within a specified range.

In Figure 2a, the rear side proximity sensor comprises a rear side signal emitter/detector 201 a left side signal emitter/detector 103 and a right side signal emitter/detector 102. Each signal emitter has a corresponding co-located signal detector. By the combined signals of the rear side detector 201, the left side detector 103 and the right side detector 102, the rear side proximity sensor is configured to sense the presence of an object or an approaching object within a specified range on the rear side.

In Figure 2b, the front side proximity sensor comprises a single emitter/detector 101, whereas the rear side proximity sensor comprises two emitter/detectors 201.

The rear side proximity sensor 20 may be a radar sensor, for example, a supersonic or hypersonic radar sensor. The rear side proximity sensor 20 may transmit raw radar data to the rear side processor 22 for interpretation, that is, to execute processing such as noise elimination to isolate and detect an object from background noise. Alternatively, such processing may be performed at the rear side proximity sensor 20. For example, it may be that the rear side proximity sensor 20 is configured to detect objects that are approaching (i.e. approaching the bicycle to which the detector is attached) and to generate a rear side detection signal when an approaching object is detected. Some determination of whether or not detected objects are approaching the sensor may be performed by the rear side proximity sensor 20. The rear side proximity sensor 20 may be configured to determine a location of a detected object within the specified range on the rear side, and, by making a series (in time) of location determinations of the object, to determine whether or not the object is approaching and a speed of approach. The processing to make such determinations may be provided by a processor included in the rear side proximity sensor 20, which processor may also function as the rear side processor 22.

The rear side proximity sensor 20 is configured to sense the presence of an object or an approaching object within a specified range on the rear side. The specified range on the rear side may be, for example, 3 metres. Other exemplary specified ranges on the rear side are (approximately) 2 metres, 3 metres, 4 metres, 5 metres, 6 metres, 7 metres, 8 metres, 9 metres, or 10 metres. The rear side detection range may be configurable during use of the system by the rear side processor 22 transmitting a rear side detection range adjustment signal to the rear side proximity sensor 24.

The front side processor 12 is configured to receive the front side detection signal, and in response to receiving the front side detection signal, to transmit the front side warning request signal to the front side warning apparatus 14. The front side detection signal received by the front side processor 12 may be a data signal comprising the raw data generated by the front side proximity detector 10. The front side processor 12 then processes the raw data to determine when it is necessary to respond by issuing a warning via the front side warning apparatus 14, and hence to transmit a front side warning request signal to the front side warning apparatus 14. Such a determination is a determination either than an object is detected on the front side, within the specified range, or that an approaching object is detected on the front side, within the specified range. Alternatively, the front side detection signal may be transmitted to the front side processor 12 by the front side proximity detector 10 only in the case of an object (or an approaching object) being detected on the front side, within the specified range, so that it is always necessary to respond to receipt of the front side detection signal by issuing a warning via the front side warning apparatus 14, and hence to transmit a front side warning request signal to the front side warning apparatus 14. That is to say, initial processing and interpretation of information sensed by the front side proximity detector 10 is performed at the front side proximity sensor 10.

The rear side processor 22 is configured to receive the rear side detection signal, and in response to receiving the rear side detection signal, to transmit the first vibration motor control signal to the first vibration motor 24. The rear side detection signal received by the rear side processor 22 may be a data signal comprising the raw data generated by the rear side proximity detector 20. The rear side processor 22 then processes the raw data to determine when it is necessary to respond by vibrating the first vibration motor 24, and hence to transmit a first vibration motor control signal to the first vibration motor 24. Such a determination is a determination either than an object is detected on the rear side, within the specified range, or that an approaching object is detected on the rear side, within the specified range. Alternatively, the rear side detection signal may be transmitted to the rear side processor 22 by the rear side proximity detector 20 only in the case of an object (or an approaching object) being detected on the rear side within the specified range, so that it is always necessary to respond to receipt of the rear side detection signal by vibrating the first vibration motor 24, and hence to transmit a first vibration motor control signal to the first vibration motor 24. That is to say, initial processing and interpretation of information sensed by the rear side proximity detector 20 is performed at the rear side proximity sensor 20.

The front side warning apparatus may be a flashing light, a speaker, or a second vibration motor. A second vibration motor is a vibration motor for attachment to a second end of a handlebar of a bicycle, and configured to vibrate in response to receiving a second vibration motor control signal from the front side processor 12 as a front side warning request signal. The first vibration motor 24 is a vibration motor for attachment to a first end of a handlebar of a bicycle, and configured to vibrate in response to receiving a first vibration motor control signal from the rear side processor 22. The first and second ends are on opposite sides of the bicycle, with the first end being on the rider’s right or left hand side, and the second end being on the other of the rider’s right or left hand side.

The vibration motors (collectively referring to the first and second vibration motors) may be, for example, eccentric rotating mass vibration motors (ERM) or linear resonant actuators. In either case, each of the vibration motors may contain a single mass, or plural masses of varying weights, which varying masses provide a means for pluralising the number of signals that can be communicated to the bicycle rider. The vibration motors are configured to vibrate at a frequency (or range of frequencies), and with a mass (or range of masses), and amplitude of vibration (or range of amplitudes), that is detectable by the bicycle rider having a hand placed on the handlebar to which the vibration motor is attached, but does not cause discomfort to the bicycle rider. The system may allow a user to configure the speed (or range of speeds) or amplitude (or range of amplitudes) of vibration.

Figure 3 is a schematic diagram of a system of an embodiment. The system includes processors 80, a 9-axis sensor 30, a GPS sensor 50, an altitude sensor 70, a network connector 40, and an environment sensor 60, all provided in a hub package 90. The hub package is attachable to the bicycle. The system may also include the bicycle. The system also comprises a front side proximity sensor 10, front side warning apparatus 14, rear side proximity sensor 20, and first vibration motor 24. A user communication device 110 and external server 120 are also illustrated, these are communicable with the system and may or may not be included as components of the system.

The processors 80 includes the front side processor, the rear side processor, and any combination of: a surface detection processor, an environment information processor, and an altitude information processor. The processors 80 may be a system controller, such as a microcontroller, which performs processing of signals received from the sensors in order to determine which signals to transmit to the front side warning apparatus 14 and the first vibration motor 24, and also which information to transmit via the network connector 40 and to which destination. The microcontroller may also control a power supply from a system power source, and information being written to/from a local storage.

The network connector may be a sim card connecting to a mobile communications network, such as a 3G, 4G, or 5G sim. The network connector may be a WiFi transceiver. The network connector may be a Bluetooth transceiver. The network connector may be a combination of the above.

The 9-axis sensor 30 is an example of an inertial sensor. The 9-axis sensor is a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer. The 9-axis sensor 30 may be configured to function as a speed sensor. Alternatively, the GPS sensor 50 may function as a speed sensor.

The speed sensor is configured to measure speed of motion of the bicycle, and to report the measured speed to the front and rear side processors. The specified ranges on the front and rear sides, that is, the specified ranges within which the front and rear side proximity sensors detect objects or approaching objects, are configurable according to the measured speed, via front/rear side detection range adjustment signals generated and transmitted from the front/rear side processor. For example, it may be that there are two or more specified ranges for each of the proximity sensors, each specified range having an associated range of speeds. It may be that there are high/medium/low speed ranges, wherein high is >20kph; medium is <20kph and >10kph; and low is <10kph. The specified range on the front side may be 7m for the high speed range, 5m for the medium speed range, and 3m for the low speed range. The specified range on the rear side may be 5m for the high speed range, 3m for the medium speed range, and 1m for the low speed range. It may be that the front/rear side detection range adjustment signals can be at one of three signal levels, each corresponding to a detection range.

The 9-axis sensor 30 can be used to record movement of the bicycle, and to transmit, via the network connector 40, an indication or record of said movement to one or both of a user communication device 110, such as a mobile telephone, or to an external server 120. The indication or record may serve to inform the user of the user communication device that the bicycle has been moved, or tipped over. Such information may be useful for security purposes, to indicate that the bike is at risk of being stolen or damaged, and/or to notify the user of the user communication device that the bicycle has been involved in an accident. The external server may be, for example, a control server for a fleet of bicycles, such as hire bicycles or a fleet of bicycle couriers. Alternatively, the external server may be operated by a security service to which system owners can subscribe to provide tracking of the bicycle and alerts if the bicycle is tipped over or moved.

As a further example of how movement sensed via the 9-axis sensor can be utilised, it may be that the sensed movement is combined with location sensing from the GPS sensor to combine sensed movement with a location at which the movement was sensed. By appropriate processing at the external server 120, a type and/or quality of road/track surface can be determined, and a map can be maintained of cycling surfaces and location information. Such a map can be made available to users, for example, as a web service accessible via personal computers and user communication devices. Furthermore, the external server may be configured to determine the locations of accident hot spots and pot holes and other hazards from the combined movement and location information.

The 9-axis sensor may be linked to a controller of the system that determines an on/off state of the whole system. For example, when the 9-axis sensor senses movement, the system enters an on state. When the 9-axis sensor does not sense movement for a predefined blackout period following the end of a period of sensed movement, the system enters an off state. Alternatively, on/off state of the system may be controllable by a switch. Noting that, even if switched off, certain components remain active if the system is in a secure mode, in order that movement can be detected and reported to the user communication device 110 and/or the external server 120.

The system may include a local storage for storing sensor readings from any of the sensors. Such stored sensor readings may then be transmitted to the user communication device 110 and/or the external server 120 periodically and/or in response to trigger events, such as start or end of a period of movement.

The front side warning apparatus 14 includes one or more of a warning light, a speaker, and a second vibration motor. The first and second vibration motors may both be configured to vibrate at a plurality of frequencies, with the frequency of vibration being selectable from among the plurality of frequencies by the rear/front side processor respectively. The mechanism for selecting the frequency is the generation and transmission of the first or second motor control signal, wherein it may be that the signal level can take one of a plurality of signal levels, each corresponding to one of the plurality of vibration frequencies.

The front side proximity sensor 10 and rear side proximity sensor 20 are configured to determine a level of proximity of the detected object, and to indicate said level of proximity in the detection signal. The front/rear side processors are configured to respond to said indicated level by generating and transmitting vibration motor control signals corresponding to a higher frequency of vibration for objects detected at a closer level of proximity than for those detected at a lower level of proximity.

The front side proximity sensor 10 and rear side proximity sensor 20 may be supersonic or hypersonic radar detectors, and be configured to determine a speed of approach of detected objects, and to communicate an indication of the determined speed to the front side processor. The front/rear side processors are configured to respond to said determined speed by generating and transmitting vibration motor control signals corresponding to a higher frequency of vibration for objects that are approaching more quickly than for those approaching less quickly. For example, there may be two or more ranges of approach speeds, separated from one another by single value thresholds, with each range of approach speeds having an associated frequency of vibration.

Optionally, the 9-axis sensor may provide feedback to the vibration motors, or, for example, to a system controller, about the vibration of the bicycle. For example, the processors 80 may Fourier transform portions of continuously-sensed movement from the 9-axis sensor, identify resonant frequencies of the bicycle, and then configure the first and second vibration motors so that the vibration frequencies of the vibration motors do not overlap with the resonant frequencies of the bicycle. In the same manner, the phase of vibration of the vibration motors can be configured to provide separation from a phase of vibration of the bicycle.

The system may be operable in a plurality of modes. In a particular mode, certain functionality may be enabled/disabled. For example, in a secure mode, it is assumed that the bicycle is not being ridden, and hence the environment sensor and altitude sensor are configured to remain in a sleep mode. However, in a secure mode, it is assumed that an alert should be generated and communicated to the user communication device 110 and/or the external server 120 if the bicycle to which the system is attached is moved. Such movement may be sensed by the 9-axis sensor and/or the GPS sensor, and an alert transmitted to the user communication device 110 and/or the external server 120 via the network connector 40. The alert may comprise a notification that the bicycle has been moved, an indication of the force of movement, and/or a GPS reading from the GPS sensor 50. The mode of operation of the system may be controllable by signalling (e.g. from a user communication device 110) to the network connector 40, and in turn to a system controller.

In a surface mapping mode, the movement is continuously sensed by the 9-axis sensor, combined with GPS readings indicating the location at which the movement was sensed, and the combined information transmitted to the external server 120 functioning as a surface mapping server. The combined information may be stored in a local storage at the system pending transmission to the external server 120 by the network connector 40.

The environment sensors 60 is one or both of a temperature sensor and humidity sensor. Periodically, or in response to a trigger event such as movement sensed by the 9-axis sensor 30 following a period of no movement, the environment sensors take readings of respective physical properties of the environment (temperature/humidity). The readings are reported to an environment information processor which is configured to provide feedback to a rider of the bicycle regarding environmental conditions for cycling. The feedback may be a warning via a speaker or light or vibration motor if conditions for cycling are bad (as determined by the environment information processor based on either the temperature reading, the humidity reading, or a combination of the two). An example of bad conditions for cycling is an environmental temperature being below 1 degree Celsius, so that icy patches may be present on the cycling surface.

The system may also include an altitude sensor 70, with a cooperative altitude information processor. The altitude sensor 70 is configured to sense altitude of the bicycle, and to communicate an indication of the sensed altitude to the altitude information processor, the altitude information processor being configured to combine each indication of sensed altitude with an indication of sensed location received from a GPS sensor. Such combined information may be transmitted to the user communication device 110 and/or external server 120 via the network connector 40. It may be that a local storage at the system stores the combined information pending transmission by the network connector 40. At a user communication device 100, the combined altitude and location information may be used to supplement 2-dimensional mapping information. Likewise at an external server 120. Such supplemented maps may then be stored and made available to users.

Figure 4 illustrates a system of an embodiment. The system is attached to a bicycle 1. The bicycle 1 may or may not be included as a component of the system. The front side warning apparatus 14 is attached to an end of the handlebar. The first vibration motor 24 is attached to the other end of the handlebar. The hub package 90 is attached to the frame at an approximately central position, to facilitate communication with the rear side proximity sensor 20, the front side proximity sensor 10, the front side warning apparatus 14, and the first vibration motor 24. Such communication may be wired or wireless, or a combination of the two. Alternatively, the hub package 90 may be concealed in the underside of the saddle, or attached to a different section of the frame. The front side proximity sensor, which may comprise a single emitter/detector, is attachable to a section at the front of the frame of the bicycle 1, for example, above the fork (not shown). The rear side proximity sensor, which may comprise a pair of emitters/detectors, is attachable to a section at the rear of the frame of the bicycle 1, for example, with one emitter/detector either side of the rear wheel. The hub package 90 may be divided into plural separate packages, each attachable to a different portion of the bicycle 1.

Claims (15)

1. A rider warning system for a bicycle, the rider warning system comprising: a front side proximity sensor for attachment to a front side of the bicycle, and configured to monitor a front side and to generate a front side detection signal when an object is detected within a specified range on the front side; a rear side proximity sensor for attachment to a rear side of the bicycle, and configured to monitor a rear side and to generate a rear side detection signal when an object is detected within a specified range on the rear side; a front side warning apparatus for attachment to the bicycle, and configured to issue a warning in response to receiving a front side warning request signal; a first vibration motor for attachment to a first end of the handlebar of the bicycle, and configured to vibrate in response to receiving a first vibration motor control signal; a front side processor configured to receive the front side detection signal, and in response to receiving the front side detection signal, to transmit the front side warning request signal to the front side warning apparatus; and a rear side processor configured to receive the rear side detection signal, and in response to receiving the rear side detection signal, to transmit the first vibration motor control signal to the first vibration motor.

2. The rider warning system according to claim 1, wherein the specified range on the front side is longer than the specified range on the rear side.

3. The rider warning system according to any of the preceding claims, further comprising: a speed sensor for attachment to the bicycle and configured to detect a speed of travel of the bicycle, and to transmit a speed indication signal indicating the detected speed of travel to the rear side processor and/or to the front side processor; wherein: the rear side proximity sensor is configured to change the specified range on the rear side in response to receiving a rear side detection range adjustment signal; the rear side processor is configured to receive the speed indication signal, to generate the rear side detection range adjustment signal according to the received speed indication signal, and to transmit the generated rear side detection range adjustment signal to the rear side proximity sensor; and/or, wherein: the front side proximity sensor is configured to change the specified range on front side in response to receiving a front side detection range adjustment signal; the front side processor is configured to receive the speed indication signal, to generate the front side detection range adjustment signal according to the received speed indication signal, and to transmit the generated front side detection range adjustment signal to the front side proximity sensor.

4. The rider warning system according to any of the preceding claims, wherein: the rear side proximity sensor is configured to quantify a level of proximity at which the object is detected within the specified range on the rear side and to generate the rear side detection signal to indicate said level of proximity; the first vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received first vibration motor control signal; and the rear side processor is configured to generate the first vibration motor control signal to set the vibration frequency of the first vibration motor according to the level of proximity indicated by the received rear side detection signal.

5. The rider warning system according to any of the preceding claims, further comprising: an inertial sensor for attachment to the bicycle; and a network connector for attachment to the bicycle; wherein the inertial sensor is connectable to the network connector, the inertial sensor being configured to sense movement of the bicycle, to communicate an indication of the sensed movement to the network connector, and the network connector is configured to transmit the indication of the sensed movement to a communications device over the network.

6. The rider warning system according to any of the preceding claims, further comprising: a GPS sensor for attachment to the bicycle; and a network connector for attachment to the bicycle; wherein the GPS sensor is connectable to the network connector, the GPS sensor being configured to sense a location of the bicycle, to communicate an indication of the sensed location to the network connector, and the network connector is configured to transmit the indication of the sensed location to a communications device over the network.

7. The rider warning system according to claim 5 or 6, wherein the rider warning system is operable in a plurality of operation modes, including: a secure mode, in which secure mode, the inertial sensor and/or the GPS sensor is configured to sense movement and/or location of the bicycle, to communicate an indication of the sensed movement and/or location of the bicycle to the network connector, and the network connector is configured to transmit the indication of the sensed movement and/or location of the bicycle as an alert to the communications device and/or to a central server.

8. The rider warning system according to claims 5, 6, and/or 7, further comprising: a surface detection processor for attachment to the bicycle; wherein the rider warning system is operable in a plurality of operation modes, including: a surface mapping mode, in which surface mapping mode: the inertial sensor is configured to sense movement continuously, and to transmit an indication of the continuously sensed movement to the surface detection processor, the surface detection processor being configured to divide the indication into chronologically ordered portions, to associate each chronologically ordered portion with an indication of sensed location received from the GPS sensor, and to communicate the chronologically ordered portions with a respective associated indication of sensed location to an external surface mapping server.

9. The rider warning system according to any of the preceding claims, further comprising: an environment information processor, and one or more environment sensors for attachment to the bicycle, including a temperature sensor configured to sense environmental temperature and to communicate an indication of the sensed environmental temperature to the environment information processor, and/or a humidity sensor configured to sense environmental humidity and to communicate an indication of the sensed environmental humidity to the environment information processor; wherein the environment information processor is configured to provide feedback to a rider of the bicycle regarding environmental conditions for cycling.

10. The rider warning system according to any of the preceding claims, further comprising: an altitude sensor for attachment to the bicycle; and an altitude information processor; the altitude sensor being configured to sense altitude of the bicycle, and to communicate an indication of the sensed altitude to the altitude information processor, the altitude information processor being configured to associate each indication of sensed altitude with an indication of sensed location received from a GPS sensor.

11. The rider warning system according to any of the preceding claims, wherein the front side warning apparatus is a second vibration motor for attachment to the handlebar of the bicycle at an end distal from the first end; and the front side warning request signal is a second vibration motor control signal; and the second vibration motor is configured to vibrate in response to receiving a second vibration motor control signal.

12. The rider warning system according to claim 11, wherein the front side proximity sensor is configured to determine a speed at which the detected object within the specified range on the front side is approaching the bicycle, and to communicate an indication of the determined speed to the front side processor; the second vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received second vibration motor control signal; and the front side processor is configured to generate the second vibration motor control signal to set the vibration frequency of the second vibration motor according to the indicated determined speed communicated by the front side proximity sensor.

13. The rider warning system according to any of the preceding claims, wherein the rear side proximity sensor is configured to determine a speed at which the detected object within the specified range on the rear side is approaching the bicycle, and to communicate an indication of the determined speed to the rear side processor; the first vibration motor is configured to vibrate at a set one from among a plurality of different vibration frequencies in dependence upon the received first vibration motor control signal; and the rear side processor is configured to generate the first vibration motor control signal to set the vibration frequency of the first vibration motor according to the indicated determined speed communicated by the rear side proximity sensor.

14. The rider warning system according to any of the preceding claims, wherein the front side proximity sensor is a hypersonic wave type radar; and/or the rear side proximity sensor is a hypersonic wave type radar.

15. A rider warning method for a bicycle rider, the rider warning method comprising: at a front side proximity sensor attached to a front side of the bicycle, monitoring a front side and generating a front side detection signal when an object is detected within a specified range on the front side; at a rear side proximity sensor attached to a rear side of the bicycle, monitoring a rear side and generating a rear side detection signal when an object is detected within a specified range on the rear side; at a front side warning apparatus attached to the bicycle, issuing a warning in response to receiving a front side warning request signal; at a first vibration motor attached to a first end of the handlebar of the bicycle, vibrating in response to receiving a first vibration motor control signal; at a front side processor, receiving the front side detection signal, and in response to receiving the front side detection signal, transmitting the front side warning request signal to the front side warning apparatus; and at a rear side processor, receiving the rear side detection signal, and in response to receiving the rear side detection signal, transmitting the first vibration motor control signal to the first vibration motor.