EP4042400A1 - Détecteur de position et système - Google Patents

Détecteur de position et système

Info

Publication number
EP4042400A1
EP4042400A1 EP19948714.1A EP19948714A EP4042400A1 EP 4042400 A1 EP4042400 A1 EP 4042400A1 EP 19948714 A EP19948714 A EP 19948714A EP 4042400 A1 EP4042400 A1 EP 4042400A1
Authority
EP
European Patent Office
Prior art keywords
penalty
vehicle
proximity monitor
proximity
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19948714.1A
Other languages
German (de)
English (en)
Other versions
EP4042400A4 (fr
Inventor
Marcus Neary CLYNE
James Colin ELVERY
Dylan Charles MCNEICE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Prec Triathlon Systems Ltd
Precision Triathlon Systems Ltd
Original Assignee
Prec Triathlon Systems Ltd
Precision Triathlon Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Prec Triathlon Systems Ltd, Precision Triathlon Systems Ltd filed Critical Prec Triathlon Systems Ltd
Publication of EP4042400A1 publication Critical patent/EP4042400A1/fr
Publication of EP4042400A4 publication Critical patent/EP4042400A4/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B62J6/22—Warning or information lights
    • B62J6/26—Warning or information lights warning or informing other road users, e.g. police flash lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B60Q1/535—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J27/00—Safety equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/25—Information-providing devices intended to provide information to other road users, e.g. signs or flags
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/002—Transmission of position information to remote stations for traffic control, mobile tracking, guidance, surveillance or anti-collision
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/08—Sport
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries

Definitions

  • the present subject matter relates generally to position monitoring and analysis and more specifically, although not exclusively, to drafting detection devices and penalty notification systems used in cycle races and triathlons.
  • GPS or DGPS
  • DGPS DGPS
  • communicate GPS positions back to race officials, in order for a central system to detect drafting events, can be affected by loss of cell phone coverage. Consequently, there may be large sections of the race course in which it is difficult to detect drafting accurately, or even impossible to determine if drafting has occurred at all.
  • Using a cell phone for such applications is power-hungry and requires the addition of an external battery to enable tracking during long races.
  • Another solution uses a bicycle-mounted sonar-based distance sensor to determine the distance to a leading rider, to apply the appropriate rules to any sensed distance, and to warn or inform the trailing rider of any potential or actual violation of those rules.
  • Sonar-based systems may detect unintended objects such as trees and road signs, casing "false positive" rule violation determinations. This system will also struggle if multiple competitors or other moving objects are present within the range of the distance sensor. It is possible that rider #3 is drafting off two riders ahead (#1,#2), while rider #2 is also drafting off rider #1. Rider #3's device needs to also be aware of rider #l's position. If communicating with race officials with a cell phone, loss of signal may cause interruptions in tracking or penalty processing.
  • Some races include referees who are required to apply penalties and cautions and may also be required to ensure that a competitor properly serves the penalty. These may require referees to quickly go to a penalty enforcement area after applying a penalty to ensure it is served, which can be inconvenient and may distract from the task of applying rules. They may also be open to circumvention or otherwise unreliable because a rider may go out of sight of a referee who had been previously monitoring their behavior and may have issued a caution or penalty. Other referees may then be unaware of the rider's past behavior and any cautions or penalties applied to them. With systems such as these, and others of a similar nature, penalties must be applied at the end of a race stage when the riders are under the control of race officials.
  • a proximity monitor for monitoring a zone associated with a vehicle, the proximity monitor comprising: a first radiofrequency (RF) transmitter configured to communicate data with one or more proximate RF receivers of a proximate vehicle in the monitored zone; a first RF receiver configured to acquire signal timing information from signals transmitted by one or more proximate RF transmitters of the proximate vehicle; a processor configured to: generate spacing information as to the spacing between the vehicle and the proximate vehicle; generate an alert signal if the spacing information satisfies an alert criterion.
  • RF radiofrequency
  • a race communication system comprising: a plurality of vehicles, each vehicle including a proximity monitor as set out in the preceding paragraph and a user indicator; and one or more remote devices, each including an RF transceiver and a user interface; wherein the proximity monitor of each vehicle is configured to: transmit a signal to the remote device based on the spacing between the vehicle and a proximate vehicle; and wherein the remote device is configured to: receive the signal from the vehicle using the RF transceiver, present information based on the spacing between the vehicle and the proximate vehicle to a user via the user interface; receive an input from the user via the user interface; generate a penalty signal based on the input from the user; and wherein the penalty signal indicates that a penalty is to be applied to the proximate vehicle or a user thereof.
  • a proximity monitor comprising: a. a RF transmitter configured to periodically communicate data with proximate RF receivers; b. a RF receiver configured to acquire signal timing information from signals transmitted by proximate RF transmitters to develop spacing information as to the spacing between proximate transmitter and receiver pairs; c. a GPS receiver for obtaining GPS position information; d. a processor configured to: i. receive the GPS position information and spacing information, ii. provide this information to the transmitter to communicate with proximate receivers, iii. receive GPS position information and spacing information received by the receiver from proximate transmitters; and iv. develop an alert signal if position and spacing information satisfies an alert criterion.
  • a proximity monitor comprising: a. a RF transmitter configured to periodically communicate with proximate receivers; b. a RF receiver configured to acquire signal timing information from signals transmitted by proximate transmitters to develop spacing information as to the spacing between proximate transmitter and receiver pairs; c. a processor configured to: i. receive the spacing information, and ii. develop an alert signal if the spacing information satisfies an alert criterion.
  • a proximity monitor having a front and rear to be aligned with the front and rear of a vehicle in use, comprising: a. a proximity detector for detecting the proximity of a second proximity monitor; and b. a processor for generating an alert signal when a proximity based criteria is satisfied; and c. a light driven when the alert signal is generated oriented to project light from the rear of the detector.
  • a passing detector comprising: a. a housing for mounting to a vehicle; b. a GPS receiver for obtaining GPS position information; c. one or more lights generating lateral beams from the sides; d. one or more detector which detect the presence of light incident on the sides and generate a detection signal when specified characteristics of incident light are detected; e. a processor configured to: i. receive the GPS position information; ii. receive the detection signal; and iii. generate an alert signal.
  • a method of determining the relative positions of a first and second vehicle, each having a RF transceiver and a GPS receiver comprising: a. determining the positions of vehicles based on GPS signals received by each GPS receiver; b. determining the spacing between vehicles based on the timing of signals between transceivers; and c. developing an alert signal if position and spacing information satisfies an alert criterion.
  • a vehicle ordering method to be use between two race vehicles wherein each vehicle includes: a. front-mounted optical detector; and b.
  • a rear-mounted and rear-facing optical transmitter whereby the rear-facing optical transmitter transmits a beam that identifies the race vehicle associated with the optical transmitter, and whereby the leading race vehicle transmits its identifying code to the detector of the trailing race vehicle, which the front-mounted detector detects when it is within a beam transmitted rearwardly by the rear-facing optical transmitter.
  • a race communication system comprising: a. a plurality of race vehicles, each including an RF transceiver; b. at least one fixed RF transceiver, located at a known location around the race course; c. a central computing device; and d. a display device.
  • each RF transceiver is configured to: a. communicate with other RF transceivers; b. communicate location information between other RF transceivers; c. communicate with the central computing device either directly or via at least one other RF transceiver; and d. communicate penalty information between other RF transceivers.
  • a pass detecting system comprising: a. A plurality of position detectors, each including: i. a housing for mounting to a vehicle; ii. a GPS receiver for obtaining GPS position information; iii. one or more light generating lateral beams from the sides; and iv. one or more detector which detect the presence of light incident on the sides and generates a detection signal when specified characteristics of incident light are detected; and b. a central computer in communication with the position detectors which receives the GPS position information and detection signals from at least some of the position detectors and develops an alert signal if GPS position information and detection signal timing satisfies alert criteria.
  • an on-course penalty enforcement system comprising: a. a race communication system; b. a penalty alerting device; and c. a plurality of penalty detection devices, wherein the plurality of penalty detection devices are configured to detect a rule infraction and communicate via the race communication system to the penalty alerting device, and wherein the penalty alerting device displays a penalty alert to a user.
  • a method of enforcing an on-course penalty via a penalty alerting device comprising: a. detecting a rules infraction; b. indicating the rules infraction to a user by notification via the penalty alerting device; c. monitoring the position of the user; d. determining when the user has satisfied a penalty condition; and e. indicating the termination of the penalty to a user.
  • Figure 1A is a block diagram of a distance measuring device
  • Figure IB is a block diagram of a further embodiment of a distance measuring device
  • Figure 2 is a timing diagram showing the distance measurement process
  • Figure 3A is a diagram showing a triangulated distance measurement
  • Figure 3B is a block diagram of a distance measuring device that uses triangulation
  • Figure 4 is a diagram showing warning and drafting zones behind a cyclist
  • Figure s is a flow chart showing a drafting detection and penalty application process
  • Figure 6 is a diagram showing possible communication paths between devices
  • Figure 7 is a diagram showing how a rider may be informed of their proximity to another rider
  • Figure 8 is a block diagram of a further embodiment of a user device that detects passing events
  • Figure 9 is a diagram showing communication paths between passing event detectors
  • Figure 10A is a diagram showing a penalty enforcement system
  • Figure 10B is a diagram showing an alternative penalty enforcement system
  • Figure 11 is a flowchart showing the penalty enforcement process
  • Figure 12 is a diagram showing the use of communication beacons around a race course
  • Figure 13 is a block diagram of a further embodiment of a distance detection system.
  • Figure 14 is a diagram showing how the system of figure 13 may be used.
  • Figure 15 is a block diagram of an example remote device that may be used by a referee. DETAILED DESCRIPTION
  • FIG. 1A illustrates a proximity monitor or distance measuring device according to an example embodiment.
  • the proximity monitor 1 includes an RF transmitter 2, an RF receiver 3, a global positioning system (GPS) receiver 4, a microprocessor 5, an alert generator 6, memory 7 and communications module 8.
  • GPS global positioning system
  • the GPS receiver 4 receives GPS signals 9 from a plurality of GPS satellites 10 and sends the resulting position information to the microprocessor 5.
  • the RF transmitter 2 and receiver 3 can exchange data 14 with a second proximity monitor 11, which includes its own transmitter 12 and receiver 13.
  • the proximity monitor 1 may be configured to monitor the presence of other devices in a monitored zone.
  • the monitored zone is a zone around the proximity monitor or a vehicle bearing the proximity monitor. In some examples the monitored zone may be towards the rear of the vehicle. In some examples the monitored zone may be defined by a spacing/distance from the vehicle. In some examples, the monitored zone may be defined by an angle to the front-rear axis of the vehicle.
  • the data sent by the proximity monitor 1 includes a unique identification code and the GPS position information determined by the GPS receiver 4. This data is sent to the second device 11 which then sends back its own set of data, and the timing information associated with this data exchange can be used to determine the spacing between the proximity monitor 1 and the other device 11.
  • the microprocessor 5 activates the alert module 6.
  • the microprocessor may also store this alert event in memory 7.
  • the alert module can then generate an alert signal.
  • the alert signal can be used to activate an indicator coupled to the proximity monitor or forming part of the proximity monitor. This could, for example, be a visual or audible indicator to indicate an alert to another vehicle or user of another device.
  • FIG. IB illustrates a proximity monitor or distance measuring device according to a further example embodiment.
  • the proximity monitor 15 is the same as the proximity monitor 1 except that it does not include the GPS module.
  • a GPS module 18 may be provided in a separate unit 17, which includes its own memory 19.
  • Data 16 communicated to the second device 11 now does not include GPS information.
  • the microprocessor 5 now activates the alert module 6 if the spacing between the proximity monitor 15 and the second device 11 satisfies some pre-determined condition or set of conditions.
  • Any alert events can be stored in memory 7 along with time stamps, and compared at some later time with the GPS record stored in the GPS memory 19, which may be for the purposes of determining event locations, discounting events based on their location, or some other event analysis.
  • information such as one or more of the spacing, GPS position and alert status is transmitted to a remote device (discussed later with respect to Figures 12A and 12B).
  • the proximity monitor could include a camera and the output of the camera could be transmitted to the remote device.
  • the proximity monitor 1 or 15 can also receive information, such as alert information, from the remote device. This information can be transmitted between the proximity monitor 1 or 15 and the remote device using the RF transmitter and receiver 2, 3 or using one or more other communication modules 8.
  • the information can be transmitted to the remote device continuously, periodically or upon satisfaction of a predetermined condition or set of conditions.
  • the remote device or a user thereof can assess the spacing and/or GPS position information.
  • the remote device can transmit a message to the proximity monitor 1 or 15.
  • the proximity monitor 1 or 15 may activate its alert module 6.
  • the remote device can transmit a message to the second device 11 and in response to this message the second device 11 may activate an associated alert module.
  • the other communications modules 8 can include a Bluetooth module, a LoRa module, LoRaWAN module, a cellular communication module and/or a Sigfox module.
  • a Bluetooth module is provided for communicating with similar modules of other cycles via ad hoc mesh networking.
  • the Bluetooth module may be used to transmit information such as GPS location information.
  • a LoRa module is provided for longer range communications with the remote devices discussed above.
  • FIG. 2 illustrates how the device separation may be determined from the data exchange timing.
  • TX1 and RX1 are the RF transmitter 2 and receiver 3 (respectively) of the proximity monitor 1 or 15; TX2 and RX2 are the corresponding elements of the second device 11.
  • the second device has its own microprocessor 202.
  • the microprocessor 5 starts an internal timer at time 21 and sends data to the transmitter 2 which broadcasts the data as a packet 20. This is received by the receiver 13 at time 25 and passed to microprocessor 202.
  • microprocessor 202 receives the data, it waits for a fixed time 26 and then issues its own data to its transmitter 12 at time 27.
  • This return data packet 24 is received by the first receiver 3 at time 28 and is passed to the microprocessor 5, which then stops its internal timer.
  • the time recorded by thistimer 29 is the sum of the known delay time 26 and twice the device separation divided by the speed of light.
  • the delay time 26 is typically made sufficiently long to overcome any internal microprocessor delays or triggering times, so that the two transit delays may be accurately recorded.
  • Figure 2 illustrates this process with the leading edge of the data packets 20 and 24 defining the time measurement points, but it will be understood by those skilled in the art that any defined point in the data packets will serve equally well.
  • UWB ultrawideband
  • UWB signals can not only communicate data packets effectively over a variety of network configurations but can also, using the method illustrated in figure 2, effectively act as low-powered RADAR systems.
  • the UWB antennas are omni-directional, the relative orientation of the communicating devices may be unknown (i.e. the other device could be anywhere on the perimeter of a sphere having the known device spacing).
  • the omni-directional UWB antennas can be replaced with directional versions, however in some situations such as cycle races omnidirectional antennas may be preferable due to the increased flexibility with regard to antenna orientation.
  • Adding GPS position information to the UWB separation information may provide information as to the order, locations, speeds and/or directions of travel of riders (or of their monitoring devices, at least). When a number of monitoring devices share their GPS and spacing information accuracy may be enhanced. Further, as rider order changes relatively slowly, and consistent with changes in spacing information, a historic record of both GPS positions and UWB separation information can be used to interpolate any gaps in the GPS data, such as would be obtained if riders pass through a short tunnel or forested area or nearby mountains or tall buildings.
  • the GPS signal can often have a limited resolution, especially if few GPS satellites are in line of sight. It can therefore be advantageous to combine the proximity monitors 1 or 15 with a second RF receiver, separated from the first receiver 3 by a fixed distance, and then use signal triangulation to determine both the separation and the bearing of the second device 11 (i.e. the direction to the second device).
  • This arrangement is illustrated in Figures 3A and 3B, where receivers 3 and 30 are separated by a fixed distance 33.
  • the microprocessor 5 associated with receivers 3 and 30 uses the timing information from the two receivers to determine the distances 31 and 32 between the receivers and the transmitter 12. Knowing the three distances, the angle 34 to the transmitter 12 can be determined using the formula 35.
  • the receiver positions 3 and 30 there are two transmitters 2 and 36 co- located at the receiver positions 3 and 30.
  • An alternative embodiment uses two transmitters at known locations, with a single receiver and a microprocessor performing the triangulation calculations.
  • the two receivers 3 and 30 and/or the two transmitters 2 and 36 can be spaced apart along the longitudinal axis of the cycle (i.e. the general direction of travel of the cycle) in use. This is to enable the proximity monitor 1 or 15 or a remote device to distinguish between transmitter locations in front of and behind the cycle bearing the proximity monitor 1 or 15.
  • the two transmitters 2 and 36 and two receivers 3 and 30 are part of the same proximity monitor, however two separate proximity monitors 1 or 15 may be provided on each cycle with each proximity monitor 1 or 15 having a single RF transmitter and a single RF receiver.
  • Figure 4 illustrates the separations and directions that can be used to determine whether a drafting event is occurring and to generate the appropriate alert in the alert module 6.
  • the microprocessors of the proximity monitors 1 or 15 determines whether a drafting event is occurring.
  • the microprocessor 5 may determine a potential drafting event and, in response, transmit a message to a remote device, in which case the remote device or a user thereof may determine whether a drafting event is occurring or has occurred.
  • the proximity monitor 1 or 15 may continuously transmit information to the remote device without the need to make a determination of a drafting event or potential drafting event.
  • a rule based drafting zone 41 Immediately behind a cyclist 40 there is a rule based drafting zone 41, symmetrical on the longitudinal or front-rear axis 42 of the cycle and defined by a fixed radius 43 and segment angle 44. Any cyclist detected in this zone must be in the process of passing the lead cyclist 40 or falling back behind the lead cyclist 40, and so must not be in this zone for more than a certain length of time and must not enter the zone from behind then exit from behind. A pass manoeuvre, once initiated by entering the lead cyclist's drafting zone 41, must be completed by overtaking that lead rider within the specified length of time. There can also be a warning zone 45 behind the drafting zone 41 and this is defined by the same segment angle 44 and a second distance 46.
  • the microprocessor may trigger the alert module 6 to generate a warning signal if a trailing rider enters this warning zone.
  • the exact definition of a drafting zone is rule and condition dependent - gradient, speed, wind, and the course can all affect what criteria are applied to determine the relevant drafting and warning zone parameters.
  • drafting detection and proximity monitoring is disabled, for example at the start of the race or in steep sections of the course where speeds fall below a certain level (causing following distances to decrease) and are so low that drafting gives trailing riders very little real or measurable advantage. Drafting may also be disabled for slow competitors falling below a given metric (speed, position etc.). GPS position information can be used to determine when to enable or disable drafting detection for these and other reasons (e.g.
  • non-drafting zones may be mass pre-loaded to memory 7 of a monitoring device 1 of each competitor prior to a race.
  • the batteries of monitoring units may also be mass charged, preferably via wireless charging.
  • GPS information can also be used to record the cyclist's speed and heading, and whether they have entered certain areas for specific purposes, such as waiting out any allotted penalty time.
  • FIG. 5 shows a flow chart for identifying warning and drafting events according to one embodiment.
  • the proximity monitor will (at step 50) first detect an approaching rider further away than the warning zone. The proximity monitor periodically checks whether the rider has entered the warning zone (at step 51) and, if so, trigger a warning event (step 52) which may take the form of a solid or flashing coloured or white light, an audible alarm or some other suitable indication. As long as the trailing rider stays in the warning zone, the warning event will continue. If it is determined that the trailing rider moves into the drafting zone (step 53) then a timer is started (step 54) and a drafting event is indicated (step 55).
  • the proximity monitor periodically checks whether the trailing rider is still in the drafting zone (at step 56) and, if not, stops the timer and indicator (at step 57). If the trailing rider remains in the drafting zone for more than a specific length of time (at step 58) then a penalty may be applied to the trailing rider. If the trailing rider enters the drafting zone, and then drops backwards from the leading rider, this is recorded as a drafting event, and the time spent in the drafting zone for the duration of this drafting event is recorded and a penalty may be applied to the trailing rider.
  • the leading rider is passed by another rider and does not drop back in a suitable amount of time, this may be recorded as a drafting event and a penalty may be applied to the passed rider.
  • This penalty is typically stored in the memory of the trailing rider's own proximity monitor but a record may also be kept in the memory of the proximity monitor of the leading rider, may be shared with all devices in range, out may be output to a referee presently within range or when they subsequently come within range.
  • the proximity monitor of the rider being passed includes speed or acceleration sensors, and can determine if the lead rider significantly increases their speed when a trailing rider is in the lead rider's warning or drafting zones, as would be the case if the lead rider was trying to prevent the trailing rider from passing them.
  • GPS position data is exchanged at a variable rate between two proximity monitors. This exchange rate is typically increased during passing events.
  • the order of riders can be determined optically if each bicycle is fitted with a forward-mounted optical detector and a rear-facing optical emitter.
  • the emitter emits a broad beam of light that substantially covers the angle 44 of the warning and drafting zones, and repeatedly transmits a code which is unique to the bicycle. Any detector within range of a leading emitter will receive the code, so any associated processor will record which rider is ahead.
  • steps 50, 51, 53, 54 and 56-59 can be performed by a remote device or a user thereof.
  • the method may proceed as discussed above up to step 58.
  • a potential drafting event may be determined, which prompts a remote device or user thereof to determine whether a penalty should be applied.
  • a human referee is provided with information that enables them to determine whether a penalty should be applied and to cause the penalty to be applied to the trailing rider.
  • steps 52 and 54 are performed by a corresponding proximity monitor associated with the trailing rider.
  • FIG. 7 whereby a rear-facing visual indicator is included in the proximity monitor of each rider. This can indicate to a trailing rider when they have entered another rider's drafting or warning zones.
  • the trailing rider 73 has moved to within a certain distance 74 of the lead rider 72, causing the proximity monitor of the lead rider 71 to generate a warning and activate the visual indicator 70.
  • this may take the form of a solid or flashing lamp if the trailing rider is in the warning zone, or a continuous light if the trailing rider is in the drafting zone.
  • Different colours or spatial or temporal patterns may also be used to indicate different alerts in other embodiments of the invention. For example, an accrued penalty may be indicated with a flashing red/blue light.
  • a visual signal may be presented at the front of the trailing rider's bicycle, so that it may be seen if the rider is looking at, for example, their handlebar-mounted cycle computer.
  • An audio signal may be presented to trailing rider.
  • the audio signal may be presented by the trailing rider's cycle or proximity monitor or by the other rider's cycle or proximity monitor.
  • a speaker is mounted to the forks of each cycle.
  • a light is mounted at the front of each cycle and configured to direct light upwards to the rider's face.
  • the trailing rider is presented with an audio signal from a device on their own cycle and subsequently presented with a light signal directed upwards at their face from a light source near the front of their cycle.
  • Presenting the alert on a trailing rider's cycle may be advantageous in cases where applying a penalty takes a significant amount of time, for example when a referee makes a determination to apply a penalty. In these cases, the leading rider's cycle may not be easily viewable by the time the penalty is applied.
  • proximity and passing detection can be performed optically, as illustrated in Figure 8 which is the block diagram of a passing detector.
  • the passing detector 80 includes a GPS unit 81, an alert module 82, a microprocessor 83, a memory module 84 and a means of data communication 85. It also includes two optical modules 86, pointed in different directions. In each of these modules, a light source 87 (which could be a laser or LED) emits light in a fan 89 through a lens 88. Any light 90 received from a light source of a detector on another bike will be captured by lens 91 and focused onto a detector 92.
  • the light fan 89 can be positioned, shaped and oriented so that it is directed across a desired passing zone.
  • the light from one or more of these modules may be modulated with a code that identifies the passing detector that these modules are attached to.
  • Microprocessor 83 may use detection information from detector 92 to determine the moment of pass.
  • a code modulated onto light 90 may also be used to identify the detector of the other bike.
  • Such a unit provides precise determination of a pass so that a lead rider may be informed that a pass has occurred and that they must drop back.
  • Events and GPS positions can be stored in memory 84 and this data 93 can be communicated to another device 94 using the communication means 85 and 95.
  • FIG. 9 illustrates how these passing detectors can be used in a race.
  • the passing detectors 96, 98, 99 and 100 are attached to bicycles (not shown) and are receiving GPS signals 9 from GPS satellites 10 so that each passing detector knows its own position.
  • Detector 98 is in the process of passing detector 96.
  • all passing detectors are in communication 102 with a central computer 101.
  • the central computer 101 has received the position and passing event information from detector 96, has determined that detectors 96 and 98 are in a zone where drafting is not permitted, so has activated the event module of detector 96, causing it (in this illustration) to flash a warning light 97.
  • each cycle includes two RF transmitters 2, 36 and two RF receivers 3, 30 and performs triangulation to determine the angle to other cycles as discussed with respect to Figures 3A and 3B.
  • the determined angle can be used to detect when one cycle has passed the other.
  • a penalty enforcement system can then be used.
  • this penalty enforcement system includes a plurality of penalty detectors or one or more referees, a means of communicating any accrued penalties and some indicator that indicates a penalty to a rider.
  • the penalty enforcement system also includes monitoring the position of a penalty notification device and/or a rider, and a means of informing the rider when their accrued penalty has been served.
  • the penalty may be served by a rider in several possible ways, including:
  • Geo-fence GPS based
  • rider must go to a demarcated zone and stop until penalty period completed (light turns off or different light turns on).
  • Beacon proximity - rider must go to a demarcated zone and remain in required proximity to a beacon until penalty observed.
  • FIG 10A illustrates the geo-fence embodiment of the penalty enforcement system.
  • a course beacon 105 communicates with a rider's proximity monitor 107 and determines that the rider 107 has accrued a penalty.
  • the beacon 105 then communicates 129 with an illuminated sign 108, which directs the rider to stop within a certain area 111.
  • the sign 108 may also indicate that the rider 107 has accrued a caution.
  • the beacon also communicates to an audible alarm to attract the rider's attention.
  • the rider's name and competitor ID can be displayed on the illuminated sign 108. This may have the effect of discouraging future drafting by the penalised rider or other riders.
  • the beacon 105 communicates 110 with the penalty monitor 112 and checks that the rider is within the zone. Once a certain time has elapsed, the beacon 105 communicates 129 with the sign 108 (or communicates 109 with another screen or sign 114), which then informs the rider that they can leave the zone 113. In other embodiments of this invention, the beacon 105 may be included in the signs 108 and/or 114, or the signs 108 and/or 114 may communicate directly with the proximity monitor 107, 112 without an additional beacon 105. The signs may also take the form of an indicator (Figure 13, 158) mounted in sight of the rider.
  • a referee 170 receives communications from the proximity monitors 107. These may be long-range communications transmitted and received using long-range communication modules of the proximity monitors 107 and of a remote device 180 (detailed in Figure 15) carried by the referee 170. In one example, the communications are LoRa or LoRaWAN communications transmitted and received using LoRa or LoRaWAN modules.
  • the proximity monitors may communicate 171 with each other to transfer information between each other but also to propagate information to the referee 170 or a beacon (shown as 105 in Figure 10A).
  • the communication 171 between proximity units can be relatively short-range communication. In one example, the communications are via Bluetooth.
  • the proximity monitor 107 of one rider may communicate to the referee's monitoring device 180 information regarding a proximate rider. If the referee 170 applies a penalty or a caution, a message can be transmitted to the proximate rider's monitor 107, the penalty monitor 112, and/or to the sign(s) 108,
  • Figure 11 shows a flowchart of the penalty enforcement system according to one embodiment.
  • a rider's proximity monitor communicates with the penalty enforcement system at 115.
  • the penalty system checks whether a rule infraction has occurred (116); if not (117), no penalty is applied. If there has been a rule infraction, the rider is notified (118) of a penalty.
  • the system may, if desired, check the rider location (119) and determine (120) whether the rider has entered a penalty waiting zone within an allotted time. If the rider has not entered the zone within this time, the penalty is retained (121). This check can also be whether the rider has moved past the penalty zone. If the rider has entered the zone, then a timer is started (122).
  • the system then waits until the penalty time has elapsed (123) and then checks whether the rider is still within the penalty zone (124). If the rider has left early, then the penalty is not removed (125). Otherwise the penalty is cleared (126) and the rider is notified that they can proceed (127).
  • one or more of the steps of 116-127 is performed by, or with the input of, a user of a remote device. This user may be a race referee.
  • FIG. 12 shows an embodiment of such a race communication system.
  • the race course 134 starts and stops within a certain area 133, at which is commonly located a central processor 130 that may include a penalty enforcement or monitor module 131, and a display unit 132 that lets spectators see the race in progress. Spectators may follow riders' online viewing race metrics as well as penalty information for each rider. In other embodiments of the invention, the race course may have different starting and finishing locations.
  • beacons 136 are placed at fixed positions along the course 134.
  • the central processor 130 can communicate 138 with these beacons and the beacons can communicate 139 between each other to form an ad-hoc mesh network, ring network or other suitable network architecture.
  • Individual riders also have proximity monitors 135 and these monitors can communicate 140 with each other.
  • the proximity monitors 135 can also communicate 139 with course beacons 136.
  • the proximity monitors 135 can also communicate 141 with the central processor 130.
  • These multiple communication pathways also form an ad-hoc network that can be dynamically configured or re-configured in use as its topology changes. Communication 139 between a single proximity monitor and two course beacons can be used to triangulate the position of the proximity monitor.
  • penalty information can be passed back to the penalty enforcement module 131 or retained and adjudicated within the proximity monitors 135 themselves.
  • the beacons 136 may include illuminated signs 108 ( Figures 10A, 10B).
  • GPS position, biometric information, penalty data or other race history data can be stored within individual proximity monitors 1S5 for downloading into the central processor ISO at the end of the race. Centralised monitoring of GPS positions can also be used to check whether riders have gone off-course or have stopped unexpectedly, which may be due to a crash.
  • one or more referees 170 may carry monitoring devices 180.
  • the monitoring devices 180 may be configured to communicate 173 with the proximity monitors 135 directly or communicate 172 via beacons 136.
  • the proximity monitors 135 may transmit information to the referees' monitoring devices 180 such that referee 170 can assess the data to determine, for example, whether a penalty should be applied or whether a penalty has been served.
  • the monitoring devices 180 may also be configured to communicate with a wide area network 187 such as the internet.
  • one or more radio transceivers 186 may be employed to communicate 188 with the monitoring devices 180.
  • the transceivers 186 may be, for example, cellular communication towers.
  • the transceivers 186 may in turn communicate 189 with the wide area network 187.
  • each monitoring device 180 has installed thereon an application which can be used to monitor competitor's locations, separations and other data, assess potential offences and issue penalties or cautions, and/or view penalties or cautions applied by other referees.
  • the application may be a client-side application in communication with a remote server over the network 187, such as a cloud-based server. When referees issue penalties and cautions, this information may be uploaded to the remote server over the network 187. The referees may also view the information uploaded by other referees over the network 187.
  • the proximity monitors 135 communicate with each other using Bluetooth communications.
  • the proximity monitors communicate 173 with beacons 136 and/or referees' monitoring devices 171 using LoRa or LoRaWAN communications.
  • the various embodiments of the proximity monitors or passing detectors can also be augmented by the addition of other functions or modules.
  • One such embodiment of an augmented proximity monitor is shown in figure 13.
  • This proximity monitor 145 includes a microprocessor 153, an RF transmitter 147, an RF receiver 148, a Bluetooth link
  • the monitors can perform Bluetooth beaconing for advertising their presence to other monitors within range. Based on Bluetooth beacon signals, the monitor may determine which other monitors to determine the distance to using the RF transmitter 147 and receiver 148. For example, the monitor could measure the distance to the nearest N other monitors or measure the distance to all other monitors within X metres. In one example, N is approximately 5. In one example, X is approximately 30. The may reduce the bandwidth used by the RF transmitters and receivers for ranging. It may also reduce power consumption because Bluetooth beaconing is relatively low-power but long range. In orderto determine which other monitors are nearest, a proximity monitor could use an indication of the signal strength of received messages. For example, the 4 or 5 monitors with the highest received signal strengths could be selected for the distance measurement. Alternatively, all monitors with a signal strength above a threshold could be selected. In this scenario, the Bluetooth mesh can still be used to communicate information between the monitoring devices of the competitors. This monitor also includes:
  • BLE 154 and ANT+ 155 modules for communicating with cycling computers, watches or other biometric or other telemetry devices;
  • a front-mounted module 150 that includes: o a user alert module 158 that gives the rider a visual or audible indication of proximity or penalty information; and o a front-mounted camera that can record images of any rider being approached or road situation.
  • the rear alert indicator 151 could produce a flashing light signal that flashes once a rider enters a drafting zone and that flashes with an intensity or colour pattern that helps a trailing rider keep track of time spent in the drafting zone. For example, it could flash with a different colour or intensity every 5 seconds.
  • the accelerometer may be supplemented with a rider-activated push-button, used as a means to summon help or indicate that help is not required.
  • the user alert module 158 of the front mounted module 150 includes a numeric display that can show the user:
  • a timer that provides an indication of the time that the user has spent in the lead rider's drafting zone, which can take the form of an elapsed time or a time remaining to pass; and • other race-dependent data.
  • Figure 14 illustrates how some of these additional features may be used in a race.
  • a rider 160 has entered the drafting zone of a leading rider 161.
  • the proximity monitor 164 of the leading rider 161 has determined that the trailing rider 160 is within the drafting zone and has activated its illuminated rear-facing indicator 165.
  • the proximity monitor 164 also communicates the spacing information to the trailing rider's proximity monitor 168. This in turn activates an audio alarm 175 and/or an illuminated front-mounted indicator 166 in case the trailing rider 160 has not seen the rear-facing indicator 165.
  • the proximity monitor 168 also activates the front-mounted camera 167, which records images of the leading rider 161, including their race ID number 162 and the surrounding road situation. These images may be accessed after the race as evidence should a protest be raised. The images may also be offered for sale to competitors or supporters during or after the race.
  • the referee may also issue a caution to the trailing rider 160.
  • a caution may be issued due to the trailing rider being in the warning zone discussed with respect to Figure 4, i.e. could be equivalent to the warning discussed previously, or could be issued for other reasons.
  • a penalty or caution can be transmitted to a penalty enforcement system.
  • the penalty or caution can be transmitted to the penalty monitor 112, and/or to the sign(s) 108, 114 of the penalty enforcement system of Figure 10A or 10B.
  • the proximity monitor 164 of the leading rider determines a potential drafting event when the trailing rider 160 enters their drafting zone.
  • the proximity monitor 164 transmits spacing and/or GPS position information to a remote device to determine whether a penalty should be applied.
  • a referee operating the remote device determines to apply a penalty or a caution and the remote device transmits a message to the proximity monitor 168 of the trailing rider 160.
  • the audio alarm 175 and/or illuminated front- mounted indicator 166 are then activated.
  • Any of the data accumulated during the race including positions, images, passing events or other telemetry data may be used to identify areas of the course associated with a high number of penalties, so that non-penalty zones may be applied to these areas in future races, or so that the course may be redesigned for future races.
  • the rider may also wear a wrist- mounted tracking device 169 that includes a GPS receiver and an indicator, and that can communicate with a proximity monitor or proximity detector using an RF transceiver.
  • This RF transceiver may be a Bluetooth transceiver or a UWB transceiver which will enable the tracking device to also communicate with other fixed or mobile UWB transceivers, so that if the race involves stages such as running or swimming, the wearer of the device 169 can still be tracked by a race communication system.
  • the tracking device 169 may also incorporate a cellphone data transceiver so that it can communicate with the race communication system if the tracking device 169 is in range of a mobile phone network.
  • the indicator on the tracking device 169 may be an audio indicator, a visual indicator, may generate some detectable haptic vibration or may provide any combination of these indication signals.
  • the indicator can indicate information to a wearer such as cautions, penalty information, or any other race-based information.
  • FIG 15 shows one example of a monitoring device 180 that could be carried by a referee.
  • the monitoring device 180 includes a communications modules 182 and 190 and a user interface 181.
  • the communications module 182 may be configured for long range communications with proximity monitors, beacons, penalty systems and other devices.
  • the communications module 182 is a LoRa or LoRaWAN module.
  • the communications module 190 may be configured for communications with a wide area network.
  • the communications module 190 is a cellular communications module.
  • the user interface is configured to present information to, and receive inputs from, a user such as a referee.
  • the user interface 181 could include one or more of a display screen, a speaker, or another visual display such as one or more indicator lights for presenting information to a user.
  • the user interface 181 could include one or more of a touch screen, a mouse or trackpad, a keyboard or one or more other buttons for receiving user inputs.
  • the monitoring device is a general-purpose computing device.
  • the monitoring device is a tablet computer.
  • Bluetooth mesh technology allows for a large ad-hoc network to form amongst nearby riders.
  • LoRa or similar output to a referee means the referee can 'watch' and scrutinise riders from afar, which may reduce drafting or other rule infringements.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif de surveillance de proximité destiné à surveiller une zone associée à un véhicule, par exemple pendant une course. Dans une course, chaque véhicule peut avoir un dispositif de surveillance de proximité pour permettre la surveillance de distances entre des véhicules à proximité. Chaque dispositif de surveillance de proximité peut comprendre un émetteur RF et un récepteur RF pour communiquer avec des dispositifs de surveillance proches et utiliser des informations de synchronisation de signal pour déterminer un espacement entre des dispositifs de surveillance. Le dispositif de surveillance peut utiliser des signaux à bande ultra-large (UWB) pour déterminer l'espacement et d'autres protocoles pour la communication. Le dispositif de surveillance peut également détecter si un autre dispositif de surveillance passe. Un signal d'alerte peut être généré si les informations d'espacement, et éventuellement d'autres informations, satisfont un critère d'alerte. Un système comprenant de tels dispositifs de surveillance peut permettre à des officiers de course de surveiller une violation de règles et d'appliquer des pénalités en temps réel sur une course.
EP19948714.1A 2019-10-07 2019-10-07 Détecteur de position et système Pending EP4042400A4 (fr)

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US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
WO2006079165A1 (fr) * 2005-01-25 2006-08-03 Alert Systems Pty Ltd Systeme avertisseur de proximite
US8352107B2 (en) * 2009-07-29 2013-01-08 The Invention Science Fund I, Llc Vehicle system for varied compliance benefits
KR101326943B1 (ko) * 2012-06-29 2013-11-11 엘지이노텍 주식회사 추월차량 경고 시스템 및 추월차량 경고 방법
AU2012227260B9 (en) * 2012-09-21 2014-05-29 Safemine Ag Method and device for generating proximity warnings
US9381445B2 (en) * 2013-03-15 2016-07-05 Zebra Innovations, LLC Distance detector
ES2570830B1 (es) * 2015-12-02 2016-12-20 Pixel Ingeniería, S.L. Sistema y método para la detección y análisis de golpes en carreras de vehículos a motor
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KR101915456B1 (ko) * 2017-04-18 2018-11-06 최병주 횡단보도의 보행자 안전 장치
US10668971B2 (en) * 2018-02-21 2020-06-02 Timothy Denholm Bicycle safety apparatus and methods

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