An apparatus for speed limitation of an electric mobility device

Abstract

An apparatus for modulating a speed that is dictated by a controller (8) of an electric mobility device (1), wherein the apparatus comprises a modulator device (20) for connecting to the controller (8) via a control cable (7), and one more environmental sensors (23, 30a, 30b, 40) connected to the modulator device (20). The modulator device (20) is configured to determine a hazard based on signals received from the environmental sensors, and output a control signal to the controller via the control cable (7) to modulate the speed dictated by the controller (8) based on the determined hazard.

Description

[0001] AN APPARATUS FOR AN ELECTRIC MOBILITY DEVICE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to an apparatus for an electric mobility device, for example an electric scooter, electric bike, segway, etc.

[0004] BACKGROUND OF THE INVENTION

[0005] Electric mobility devices such as electric scooters and bikes are becoming increasing popular with the development of more powerful and compact batteries and motors to propel them. They provide a convenient and economic means of travel for many persons, with reduced environmental impact in comparison to cars. There are also multiple rental schemes in operation where users can cheaply rent a device for a single journey from one place to another, without the need to purchase and take care of the device when not in use.

[0006] However, an unfortunate side effect of this increase in popularity is that more persons are becoming injured through the use of the devices and the devices present a greater nuisance to other road users.

[0007] Typically, a controller of the electric mobility device is responsible for sending power from a battery to a motor, to drive the electric mobility device forward. The controller dictates the speed that the electric mobility device should move forward at, often depending on a throttle signal from a throttle transducer.

[0008] Some controllers have inputs that may be used to further control the dictated speed, for example the controller may have different speed modes that can be selected between to set how fast the maximum speed of the electric mobility device is to be.

[0009] The inappropriate use of speed is one of the largest contributory factors towards accidents and injuries, and it would be desirable to provide improved speed control to improve safety. SUMMARY OF THE INVENTION

[0010] According to the invention, there is provided an apparatus for modulating a speed that is dictated by a controller of an electric mobility device. The apparatus comprises a modulator device for connecting to the controller via a control cable, and one more environmental sensors connected to the modulator device. The modulator device is configured to determine a hazard based on signals received from the environmental sensors, and output a control signal to the controller via the control cable to modulate the speed dictated by the controller based on the determined hazard.

[0011] Thus, the apparatus adds an extra level of speed control to an existing electric mobility device, and modulates the dictated speed based on sensed environmental conditions around the electric mobility device. The control signal typically reduces the dictated speed in the event of the detection of a hazard by the environmental sensors, to reduce the chances and consequences of accidents.

[0012] The use of a modulator device that connects to the controller via a cable means that the apparatus can easily be added to existing electric mobility devices that do not currently have any control of speed based on hazard detection.

[0013] The control cable may be for connecting a speed mode selection input of the controller, and the control signal that is output by the modulator device may be a speed mode selection signal. Accordingly, when a hazard is detected the modulator device may instruct the controller to select a slower speed mode, reducing the maximum speed that can be dictated by the controller.

[0014] The dictated speed may alternatively be reduced by attenuating a throttle signal of the electric mobility device before the throttle signal reaches the controller. Accordingly, the apparatus may be for intercepting and modulating a throttle signal of the electric mobility device, the throttle signal being sent from a throttle transducer to the controller via a signal conductor of a throttle cable. The modulator device may comprise electric terminals for connecting to a break in the signal conductor of the throttle cable, and the electric terminals may comprise an input terminal for connecting to a portion of the signal conductor leading to the throttle transducer and an output terminal for connecting to a portion of the signal conductor leading to the controller. Thus, the throttle cable leading from the modulator device to the controller may be the control cable.

[0015] The modulator device may be configured to modulate the throttle signal received at the input terminal based on the determined hazard, and output the modulated throttle signal to the output terminal, the modulated throttle signal being the control signal.

[0016] The dictated speed may also or alternatively be reduced by modulating a brake signal of the electric mobility device before the brake signal reaches the controller. Accordingly, the apparatus may be for intercepting and modulating a brake signal of the electric mobility device, the brake signal being sent from a brake transducer to the controller via a signal conductor of a brake cable. The modulator device may comprise electric terminals for connecting to a break in the signal conductor of the brake cable, and the electric terminals may comprise an input terminal for connecting to a portion of the signal conductor leading to the brake transducer and an output terminal for connecting to a portion of the signal conductor leading to the controller. Thus, the brake cable leading from the modulator device to the controller may be the control cable, or the control cable may be defined by both the throttle cable and brake cable in combination in a case where both the throttle signal and the throttle signal are modulated by the apparatus.

[0017] The modulator device may be configured to modulate the brake signal received at the input terminal based on the determined hazard, and output the modulated brake signal to the output terminal, the modulated brake signal being the control signal.

[0018] The environmental sensors may comprise one or more types of sensors capable of detecting environmental conditions, the sensors including but not limited to cameras, grip sensors, ultrasonic sensors, radar, LiDAR, proximity sensors, or other sensor technologies capable of contributing to the determination of hazards or environmental conditions affecting the operation of the electric mobility device.

[0019] Typically, the dictated speed is reduced by the apparatus in response to any hazards detected by the environmental sensors. For example, the environmental sensors may comprise a camera for detecting pedestrians, for detecting whether the electric mobility device is being used on a pavement / sidewalk / footpath, or whether the rider of the electric mobility device is wearing a helmet. The environmental sensors may comprise grip detectors for detecting whether a rider is gripping both handlebars, or water / temperature sensors for detecting poor weather conditions. A plurality of hazards may be detected by the environmental sensors simultaneously, and the dictated speed modulated accordingly.

[0020] The apparatus may be retro-fitted to existing electric mobility devices, as a cost-effective solution to improving their safety. This may particularly attractive to operators of rental schemes which already have large fleets of devices. The modulator device may be integrated into an existing electric mobility device by making a break in the cable running from throttle transducer to the controller, and modifying the throttle signal. Thus, all functions of the existing electric mobility device remain unaffected by the addition of the apparatus, and the existing electric mobility device operates as though the user were commanding a smaller throttle input or a greater braking input than what they actually are in the event of the detection of a hazard by the environmental sensors.

[0021] The vast majority of electric mobility devices use an analogue throttle signal whose voltage is increased by the throttle transducer to signal an increase in speed, and so the modulator device may be configured to reduce the voltage of the throttle signal in the event of a detection of a hazard, for example a reduction of 50%, in which case the modulator device halves the voltage signal that is received at the input terminal and sends the halved voltage signal from the output terminal. The amount of reduction of the voltage of the throttle signal may be set depending on the type of the hazard that has been identified. An analogue brake signal may be modified in a similar manner.

[0022] The throttle or brake cable of the electric mobility device may comprise positive and negative conductors leading from the controller to the throttle or brake transducer, and the throttle or brake transducer may be configured to send the throttle or brake signal towards the controller along the signal conductor of the cable. The modulator device may draw power from the positive and negative conductors, but more preferably comprises a separate power supply input to avoid unintentionally disturbing the operation of the throttle or brake signal. Accordingly, the apparatus may comprise a power cable connected to the modulator device, the power cable for connecting directly to a battery of the electric mobility device or to a power supply output of the controller. The housing may comprise power supply terminals for connecting the power cable.

[0023] The modulator device may comprise a microcontroller including a processor, wherein the processor is configured to modulate the throttle or brake signal in dependence on the signals received from the environmental sensors. The microcontroller may be connected to the input and output terminals and the environmental sensors.

[0024] The microcontroller may for example comprise an analogue-to-digital converter connected to the input terminal and for receiving the throttle or brake signal, and a digital-to-analogue converter connected to the output terminal and for sending the modulated throttle or brake signal to the controller. The processor may then operate digitally, producing a digitally modulated throttle or brake signal for sending to the digital-to-analogue converter, for onward transmission to the controller. Then, the modulator device does not interfere with the normal operation of the electric mobility device, aside from reducing its speed in the event of detection of a hazard.

[0025] The microcontroller may include a power saving feature wherein the microprocessor goes into a hibernation mode if the electric mobility device is not in use, for example if the throttle signal received at the input terminal is zero or lower than a threshold value for greater than a threshold period of time.

[0026] The microcontroller may comprise a wireless transceiver configured to communicate with a remote server, for example for remote monitoring of the modulator device, and / or to allow the modulator device to be adapted or reconfigured to suit new circumstances. The processor may be configured with a first methodology for determining a hazard based on the signals received from the environmental sensors, and the first methodology may be remotely re-configurable by signals received via the wireless transceiver. For example, the first methodology may include determining a hazard if one pedestrian is detected, and the first methodology may be re-configured by the remote server to only determine a hazard if two or more pedestrians are detected, or only if pedestrians are detected within a certain distance of the modulator device.

[0027] The processor may be configured with a second methodology for determining an amount of modulation of the throttle or brake signal based on the determined hazard, and the second methodology may be remotely re-configurable by signals received via the wireless transceiver. For example, the second methodology may include attenuating the throttle signal by 50% if the rider is detected to not be wearing a helmet, and the second methodology may be reconfigured by the remote server to attenuate the throttle signal by 75%, or 100%, if the rider is detected to not be wearing a helmet. The second methodology could also be re-configured by the remote server to modulate the brake signal to apply the brake if the rider is detected to not be wearing a helmet, to stop the rider from manually propelling the electric mobility device.

[0028] The processor may be configured to perform a system health check, for example by checking communications with the environmental sensor(s) and / or monitoring the voltages at the input and output terminals. In the event of the system health check determining there is a problem with the apparatus, the processor may output the throttle or brake signal to the output terminal without any modulation of the throttle or brake signal. Thus, if the apparatus fails in some way then this does not result in the electric mobility device becoming non-operable, but the modulation of the throttle or brake signal simply does not occur anymore.

[0029] The apparatus may comprise a housing enclosing the modulator device, the housing comprising mounting points for mounting the housing to a frame of the electric mobility device. This enables easy attachment of the modulator device to the electric mobility device at a location where the cable running from the throttle or brake transducer to the controller is present. For example, the housing may comprise a bracket for mounting the housing to a steering column of an electric scooter.

[0030] The modulator device may be configured to perform image object detection on imagery received from the camera and modulate the throttle or brake signal in response to detecting one or more types of image object. For example, if the processor of the modulator device recognises any pedestrians in the imagery from the camera, then the throttle signal may be reduced by 50%. The camera may be a front facing camera mounted at a front of the housing, to provide a view of the environment in the direction of travel of the electric mobility device. Alternatively the camera may be a rear facing camera, or the environmental sensors may include both front and rear facing cameras.

[0031] The rear facing camera may be separate from the modulator device, allowing it to be mounted in a location where there is a clear view of the rider. The processor of the modulator device may be configured to analyse imagery from the rear facing camera and modulate the throttle or brake signal if a rider of the electric mobility device shown in the imagery is not wearing a helmet. The image analysis could for example be done using a Convolutional Neural Network to determine whether the rider is not wearing a helmet.

[0032] The camera(s) may be infra-red cameras to assure correct operation even at night. The front of the housing may be fitted with infra-red lights, to illuminate the environment for the front facing camera.

[0033] DETAILED DESCRIPTION Embodiments of the invention will now be described by way of non-limiting example only and with reference to the accompanying drawings, in which:

[0034] Fig. 1 shows a schematic diagram of an electric mobility device in accordance with an embodiment of the invention;

[0035] Fig. 2 shows a schematic block diagram of the electrical elements of the electric mobility device of Fig. 1 ;

[0036] Fig. 3 shows a more detailed schematic diagram of part of Fig. 2 that relates to a throttle signal; and

[0037] Fig. 4 shows a schematic block diagram similar to that of Fig. 2 but in accordance with another embodiment of the invention; and

[0038] Fig. 5 shows a schematic block diagram similar to that of Fig. 2 but in accordance with still another embodiment of the invention.

[0039] The figures are not to scale, and same or similar reference signs denote same or similar features.

[0040] The schematic diagram of Fig. 1 shows an electric mobility device in the form of a scooter 1 , however it will be appreciated that the apparatus of the invention could equally be applied to other electric mobility devices such as electric bikes and segways.

[0041] The scooter 1 may comprise a frame including a footplate 3, a steerer tube 4 extending upwardly from the front end of the footplate, and handlebars 5 extending transversely from an opposite end of the steerer tube to the footplate. A front wheel 2a may be fitted to the lower end of the steerer tube 4 and a rear wheel 2b may be fitted to the rear end of the footplate 3.

[0042] The scooter 1 may comprise a hub motor 10 that is connected to drive the rear wheel 2b, and a controller 8 and battery 9 that are mounted to the footplate 3. The hub motor 10 may be is connected to the controller 8 via a cable 11 , and the controller may deliver power to the hub motor 10 via the cable 11 to drive the scooter forwards. The scooter 1 may comprise a hub brake 106 that is configured to slow rotation of the rear wheel 2b. The hub brake 106 may be is connected to the controller 8 via a connecting cable (not shown for clarity), and the controller 8 may signal how much braking force should be applied by the hub brake 106 via that cable to slow any movement of the scooter.

[0043] The battery 9 is connected to the controller 8 via a power cable 12, which delivers power to the controller 8. The controller 8 is also connected to a throttle transducer in the form of a throttle trigger 6, via a cable 7. The controller 8 may also be connected to a brake transducer in the form of a brake trigger 60, via a cable 67. Conventionally, a signal from the throttle trigger 6 may be sent to the controller 8 via the cable 7, to signal to the controller 8 when and how powerfully the motor 10 should be driven. A signal from the brake trigger 60 may be sent to the controller 8 via the cable 67, to signal to the controller 8 when and how powerfully the hub brake 106 should be applied to slow the scooter.

[0044] In accordance with various embodiments of the invention, the scooter 1 has been retro-fitted with an apparatus that modulates the throttle signal based on environmental sensors. The apparatus may comprise a modulator device 20 that has been added to the steerer tube 4. The modulator device may be enclosed within a housing 21 , and the housing 21 may comprise a bracket 25 that mounts the housing 21 to the steerer tube 4 and holds the housing 21 securely in place.

[0045] A break may be formed in the cable 7 and the modulator device may be connected to the cable 7 at the break in the cable 7. Thus, the cable 7 may be partially or completely broken into a first portion 7a leading from the throttle trigger 6 to the modulator device, and a second portion 7b leading from the modulator device to the controller 8. The second portion 7b of the throttle cable constitutes a control cable. The apparatus may also comprise a power cable 28 that delivers power from the battery 9 to the modulator device 20 to power the modulator device. The cable 28 may plug into a socket in the housing 21 , or the cable 28 may be permanently wired into the housing 21 . The apparatus may also comprise a front-facing camara 23 that is mounted at a front of the housing 21 , and so points forwards in the direction of travel of the scooter. The front-facing camara 23 may be an infra-red camera, and so one or more infra-red lights 22 may also be mounted at the front of the housing 21 to provide illumination for the camera. The steerer tube is a convenient place to mount the housing 21 , but the housing 21 could be configured to mount in alternate locations in other embodiments, for example on the handlebars. The front-facing camara 23 may send video signals to the modulator device inside the housing 21. The housing 21 may also include sensors such as water / temperature sensors for detecting poor weather conditions, those sensors also being connected to the modulator device.

[0046] The apparatus may also comprise a rear-facing camera 40 that may be mounted remotely from the housing 21 , for example on the handlebars of the scooter. The rear-facing camera may be able to record an improved view of the rider of the scooter when mounted on the handlebars, rather than lower down on the steerer tube with the housing 21 . The rear-facing camera 40 may send video signals to the modulator device via a cable 42, or alternatively the video signals may be sent wirelessly.

[0047] The apparatus may comprise a pair of grip sensors 30a and 30b, which may be applied to the ends of the handlebars to sense when the handlebars are being gripped by the rider. The grip sensors may for example be capacitive sensors to provide high reliability, but could alternatively be other types of sensor such as pressure sensors. The grip sensors 30a and 30b may send signals to the modulator device via the cable 32. The cables 32 and 42 may be terminated with plugs that are plugged into respective sockets of the housing 21 .

[0048] The schematic diagram of Fig. 2 shows further details of the electrical elements of the scooter of Fig. 1. The modulator device 20 may comprise a microcontroller 50, and the microcontroller 50 may comprise a processor 52, analogue-to-digital converter (ADC) 54, digital-to-analogue converter (DAC) 56, wireless transceiver 57 and power supply unit (PSU) 58. The PSU 58 may be connected to the battery 9 of the scooter by the cable 28, and the PSU may provide power to the other components of the modulator device.

[0049] The processor 52 may be connected to the grip sensors 30a and 30b, the front camera 23, rear camera 40, and to the cable portions 7a and 7b via the ADC and DAC. The controller 8 may comprise a power supply unit (PSU) 8a connected to the battery 9 via the power cable 12, and the PSU 8a may supply power to the other components of the controller 8. These other components may include a speed controller 8b, which may be connected to the second portion 7b of the cable 7 and to the cable 11 that leads to the hub motor 10. The speed controller may deliver power to the hub motor 10 via the cable 11 to drive the scooter forwards, under control of the magnitude of the voltage signal that received from the cable portion 7b.

[0050] The controller 8 may also include various other components not shown in the figures, for example the controller 8 may also comprise a processor and / or a wireless transceiver. The processor of the controller 8 may be used to vary the operation of the speed controller 8b, or to send information on the remaining battery capacity to an electronic display. The processor may be connected to the wireless transceiver, for example to send and receive information from a cloud-based server on the location and usage of the scooter via a cellular network, particularly if the scooter is available for short-term rentals. The transceiver may include a Bluetooth® or WiFi® interface, for example to communicate with an app downloaded onto a rider’s smartphone, to configure the scooter and / or authorise use of the scooter by the rider. The controller 8 may also comprise a brake controller which is connected to the brake trigger 60 and the hub brake 106. The details of the brake control are not shown in Fig. 2 for the sake of clarity, and the brake cable 67 may continue uninterrupted past the modulator device, from the brake trigger 60 to the controller 8.

[0051] The schematic diagram of Fig. 3 shows a more detailed schematic diagram of the part of Fig. 2 that relates to the throttle signal, illustrating various conductors of the cable 7. The other parts of the system are omitted for clarity. The cable 7 may comprise a positive conductor 71 , a negative conductor 72, and a signal conductor 73. The signal conductor 73 may be broken at the modulator device 20 into a first portion 73a and a second portion 73b. The first portion 73a may be connected to an input terminal 61 of the modulator device 20 and the second portion 73b may be connected to an output terminal 62 of the modulator device 20. The positive and negative conductors 71 and 72 may run continuously from the throttle trigger 6 to the speed controller 8b, as shown, or they may include a break with intervening connections to the modulator device 20, for example for monitoring purposes.

[0052] The throttle trigger 6 may comprise a potentiometer 6a, the potentiometer comprising positive and negative terminals connected to the positive and negative conductors 71 and 72 respectively. The potentiometer 6a may also comprise a signal terminal connected to the first portion 73a of the signal conductor. The potentiometer may control the voltage applied to the first portion 73a based on how strongly the rider pulls on the throttle trigger 6.

[0053] The speed controller may comprise positive and negative throttle terminals, which may be connected to the positive and negative conductors 71 and 72. The speed controller may also comprises a signal terminal, which may be connected to the second portion 73b of the signal conductor.

[0054] In use, the speed controller 8b may output a fixed voltage between the positive and negative throttle terminals, which is applied to the positive and negative terminals of the potentiometer 6a via the positive and negative conductors 71 and 72. When the rider pulls on the throttle trigger 6 to increase the speed, the potentiometer 6a may move to increase the voltage that is applied to the first portion 73a of the signal conductor and to the input terminal 61. The voltage, or in other words the throttle signal, may be digitally converted by the ADC 54, processed (i.e. modulated) by the processor 52, and converted back to an analogue voltage by the DAC 56 for output to the second portion 73b of the signal conductor at the output terminal 62. The speed controller receives the analogue voltage, or in other words the modulated throttle signal, as a control signal via the second portion 73b of the signal conductor. Then the speed controller may drive the motor 10 to rotate at a speed corresponding to the voltage magnitude of the modulated throttle signal.

[0055] It will be appreciated that there are various other ways in which the throttle trigger 6 may be configured, for example a Hall effect sensor may be used instead of a potentiometer, to provide a signal corresponding to a throttle signal that can be received at the input terminal 61 .

[0056] The addition of the apparatus to the scooter typically comprises making a break in the cable 7, including a break in the signal conductor 73 and optionally breaks in the positive and negative conductors 71 and 72 if those conductors are present, and connecting either side of the break in the signal conductor to the input and output terminals 61 and 62.

[0057] Another embodiment of the invention will now be described with reference to Fig. 4, which is the same as the embodiment of Figs 1 to 3 except for that the brake cable 67 may be interrupted by the modulator device 20 instead of the throttle cable. The throttle cable 7 may continue uninterrupted past the modulator device 20, from the throttle transducer 6 to the speed controller 8, and so the details of the throttle control are omitted from Fig. 4 for clarity. Instead, Fig. 4 shows the details of the brake control, and the brake cable 67 is broken at the modulator device 20 into a first portion 67a and a second 67b, in just the same manner as the throttle cable is broken in Fig. 2. Thus, instead of the control cable being formed by the second portion 7b of the throttle cable, the control cable may be formed by the second portion 67b of the brake cable. The second portion 67b may be connected to a brake controller 8c of the controller 8, and the brake controller 8c instructs the brake 106 via a cable 105 on how much braking force to apply to the rear wheel of the scooter.

[0058] The brake transducer and brake cable may be configured in the same manner as the throttle transducer and throttle cable. Accordingly, the brake cable may comprise positive, negative and signal conductors, which may be used to intercept and modulate the brake signal in the same manner as the interception and modulation of the throttle signal as described in Fig. 3. Thus, the signal conductor of the first portion 67a of the brake cable may be connected to the input terminal 61 of the modulator device 20, and the signal conductor of the second portion 67b of the brake cable may be connected to the output terminal 62 of the modulator device 20.

[0059] The processor 52 may be configured with a first methodology defining what scenarios detected by the environmental sensors are considered to be a hazard, and the processor 52 may be configured with a second methodology defining what modulations in throttle or brake signal are to be carried out in response to determining the hazards.

[0060] In one example of the use of the scooter 1 , the processor may perform object detection on imagery received from the front-facing camera 23 and determine that the scooter is being ridden on a pavement with pedestrians. The object detection may for example be performed by the processor based on known YOLO or SSD object detection models. According to the first methodology, riding the scooter on the pavement with pedestrians constitutes a hazard. In response, the processor may reduce the digital value of the throttle signal that it receives from the ADC 54 by 50% before outputting the reduced digital value to the DAC 56, in accordance with the second methodology. This typically has the effect of halving the speed of the scooter as the voltage at the signal terminal of the speed controller is reduced by 50%, and also halves the maximum speed that the rider is able to command the scooter to move at.

[0061] The percentage reduction may be pre-programmed at a fixed value, or it may be varied depending on the number and proximity of pedestrians that are detected, in accordance with the second methodology. In another example the processor 52 implements a trained convolutional neural network to determine that imagery from the rear-facing camera 40 shows the rider is not wearing a helmet, constituting a hazard in accordance with the first methodology. Therefore the processor reduces the digital value of the throttle signal that it receives from the ADC 54 by a percentage amount according to the second methodology before outputting the reduced digital value to the DAC 56. In another example, the processor 52 determines that the rider has taken one or both of their hands off the handlebars 5 based on signals from the grip sensors 30a and 30b, constituting a hazard in accordance with the first methodology, and so reduces the digital value of the throttle signal that it receives from the ADC 54 by a percentage amount according to the second methodology before outputting the reduced digital value to the DAC 56.

[0062] The percentages may be cumulative, so that a 50% reduction as a result of not wearing a helmet and a simultaneous 50% reduction as a result of riding one- handed may lead to a 75% reduction in the digital value of the throttle signal received from the ADC 54 before output to the DAC 56. Clearly once the hazards have passed, for example once the user puts a helmet on and returns both hands to the handlebars, the processor may resume sending the same digital value as received from the ADC 54 to the DAC 56.

[0063] In still another example, in response to the detection of a hazard based on the first methodology and in the embodiment of Fig. 4 where the ADC 54 receives the brake signal rather than the throttle signal, the processor 52 may increase the brake signal voltage that is output from the DAC 56 to a fixed percentage of the voltage difference between the positive and negative conductors of the brake cable, to apply the brake 106 of the scooter based on the detection of the hazard.

[0064] The processor 52 may be remotely programmable via the wireless transceiver 57 to define how hazards are detected based on the signals from the environmental sensors (the first methodology) and how the throttle or brake signals are modulated based on whichever hazards have been detected (the second methodology). Typically, the first and second methodologies may be programable via a cloud-based server that is in communication with the processor 52 via the wireless transceiver 57.

[0065] In another example of the use of the scooter 1 , the processor 52 may perform a health check of the environmental sensors by checking the signals received back from them. If the signals are not received, or are out-of-range, then the processor may cease making any modification to the throttle or brake signals and output a same digital value to the DAC 56 as it receives from the ADC 54. Alternatively, the processor may be configured to always reduce the throttle signal by a percentage by in the event of a failed health-check, for example to 50%, or to always increase the brake signal voltage to a fixed percentage of the voltage difference between the positive and negative conductors of the brake cable, to apply the brake. The processor may also signal a fault in the event of a failed health-check, for example by sending a signal to a cloud-based server via the wireless transceiver 57 and a cellular network.

[0066] The processor 52 may include a power saving feature in which the microprocessor goes into a hibernation mode if the electric mobility device is not in use, for example if the throttle signal received at the input terminal is zero for greater than a threshold period of time, or lower than a threshold value for greater than a threshold period of time. In the hibernation mode, the modulator device may for example cease capturing imagery with the camera and / or cease processing signals received from the environmental sensors to save power.

[0067] In an alternate embodiment, the processor may control a potentiometer to modulate the voltage of the throttle or brake signal by the desired amount, rather than by modulating digital values between an ADC and a DAC.

[0068] Another embodiment of the invention will now be described with reference to Fig. 5, which is the same as the embodiment of Figs 1 to 3 except for that the control signal is a speed mode selection signal rather than a throttle signal. Accordingly, in this embodiment the throttle cable 7 and brake cable 67 may continue uninterrupted past the modulator device, from the throttle transducer and the brake transducer respectively, to the speed controller 8. Instead of the control cable being formed by the second portion 7b of the throttle cable, the control cable 70 may be formed by a separate cable from the throttle cable, which the modulator device uses to instruct the controller which speed mode should be selected. The control cable 70 may be connected from an output of the modulator device 20 to a speed mode selection input of the speed controller 8b. The speed controller 8b may comprise an input socket, into which a plug at an end of the control cable 70 can be inserted. The control cable 70 may also be plugged into the modulator device 20 using a plug and socket arrangement, or alternatively the control cable 70 may be permanently connected to the modulator device 20. The control signal carried by the cable 70 may be an analogue or a digital signal, depending on the types of signal that the speed controller 8b will accept.

[0069] The speed controller 8b may for example provide four different modes, each mode defining a different maximum speed. The lowest mode may correspond to the lowest maximum speed and the highest mode may correspond to the highest maximum speed. The processor 52 may send a control signal along the control cable 70 to instruct the speed controller 8b to step down by one or more modes from the current mode in response to determining a hazard, or to step down to a particular mode. The determination of different hazards may result in the processor selecting different modes, depending on the seventy of the hazard(s) that have been detected.

[0070] The embodiment of Fig. 5 provides a convenient alternative to making a break in the throttle cable or brake cable, but Fig. 4 clearly requires the controller 8 to have an input port that can be used to modulate the speed dictated by the controller, which may not always be present on some types of electric mobility device. In a further embodiment the throttle cable, brake cable and / or speed mode selection embodiments of Figs 2, 4 and 5 respectively could be implemented in combination with one another, and so the modulator device could be used to intercept and modulate both the throttle signal and the break signal, and also instruct the speed controller on which speed mode should be selected, via control cables 67 and 70.

[0071] Many other variations of the described embodiments falling within the scope of the invention will be apparent to those skilled in the art.

Claims

CLAIMS1 . An apparatus for modulating a speed that is dictated by a controller of an electric mobility device, wherein the apparatus comprises a modulator device for connecting to the controller via a control cable, and one more environmental sensors connected to the modulator device, wherein the modulator device is configured to determine a hazard based on signals received from the environmental sensors, and output a control signal to the controller via the control cable to modulate the speed dictated by the controller based on the determined hazard.

2. The apparatus of claim 1 , wherein the control cable is for connecting to a speed mode selection input of the controller, and wherein the control signal that is output by the modulator device is a speed mode selection signal.

3. The apparatus of claim 1 , wherein the apparatus is for intercepting and modulating a throttle signal of the electric mobility device, the throttle signal being sent from a throttle transducer to the controller via a signal conductor of a throttle cable, wherein the modulator device comprises electric terminals for connecting to a break in the signal conductor of the throttle cable, wherein the electric terminals comprise an input terminal for connecting to a portion of the signal conductor leading to the throttle transducer and an output terminal for connecting to a portion of the signal conductor leading to the controller, the throttle cable leading from the modulator device to the controller being the control cable.

4. The apparatus of claim 3, wherein the modulator device is configured to modulate the throttle signal received at the input terminal based on the determined hazard, and output the modulated throttle signal to the output terminal, the modulated throttle signal being the control signal.

5. The apparatus of claim 1 , wherein the apparatus is for intercepting and modulating a brake signal of the electric mobility device, the brake signal being sent from a brake transducer to the controller via a signal conductor of a brake cable, wherein the modulator device comprises electric terminals for connecting toa break in the signal conductor of the brake cable, wherein the electric terminals comprise an input terminal for connecting to a portion of the signal conductor leading to the brake transducer and an output terminal for connecting to a portion of the signal conductor leading to the controller, the brake cable leading from the modulator device to the controller being the control cable.

6. The apparatus of claim 5, wherein the modulator device is configured to modulate the brake signal received at the input terminal based on the determined hazard, and output the modulated brake signal to the output terminal, the modulated brake signal being the control signal.

7. The apparatus of any preceding claim, wherein the modulator device comprises a microcontroller including a processor, wherein the microcontroller is connected to the control cable and the environmental sensors.

8. The apparatus of claim 3, 4, 5 or 6, wherein the modulator device comprises a microcontroller including a processor, wherein the microcontroller is connected to the control cable and the environmental sensors, wherein the microcontroller comprises an analogue-to-digital converter connected to the input terminal and for receiving the throttle or brake signal, and a digital-to-analogue converter connected to the output terminal and for sending the modulated throttle or brake signal to the controller.

9. The apparatus of any one of claims 7 or 8, wherein the microcontroller comprises a wireless transceiver configured to communicate with a remote server.

10. The apparatus of claim 9, wherein the processor is configured with a first methodology for determining the hazard based on the signals received from the environmental sensors, and wherein the first methodology is remotely re- configurable by signals received via the wireless transceiver.11 . The apparatus of claim 9 or 10, wherein the processor is configured with a second methodology for determining an amount of reduction of the dictated speedbased on the determined hazard, and wherein the second methodology is remotely re-configurable by signals received via the wireless transceiver.

12. The apparatus of claim 7 when appended to claims 3, 4 or 5, or the apparatus of claim 6 or any claim dependent thereon, wherein the processor is configured to perform a system health check and output the throttle or brake signal to the output terminal without any modulation of the throttle or brake signal if the system health check determines there is a problem with the system.

13. The apparatus of any preceding claim, further comprising a housing enclosing the modulator device, the housing comprising mounting points for mounting the housing to a frame of the electric mobility device.

14. The apparatus of claim 13, wherein the housing comprises a bracket for mounting the housing to a steering column of an electric scooter.

15. The apparatus of any preceding claim, wherein the environmental sensors comprise grip sensors for mounting on handlebars of the electric mobility device, the grip sensors configured to sense when the handlebars are being gripped by a person.

16. The apparatus of claim 15, wherein the grip sensors are capacitive sensors.

17. The apparatus of any preceding claim, wherein the environmental sensors comprise water sensors or temperature sensors.

18. The apparatus of any preceding claim, wherein the environmental sensors comprise a camera.

19. The apparatus of claim 18 wherein the modulator device is configured to perform image object detection on imagery received from the camera and reduce the dictated speed in response to detecting one or more types of image object.

20. The apparatus of claim 18 or 19, when claim 18 is appended to claim 13 or appended to any claim dependent on claim 13, wherein the camera is mounted to the housing.21 . The apparatus of claim 20, wherein the camera is a front facing camera mounted at a front of the housing.

22. The apparatus of claim 18 or 19, wherein the camera is a rear facing camera.

23. The apparatus of any preceding claim, wherein the modulator device is configured to determine an amount of reduction to be made to the dictated speed based upon the hazard.

24. The apparatus of claim 23, wherein the modulator device is configured to output a control signal to the controller via the control cable to reduce the speed dictated by the controller by the determined amount of reduction.

25. The apparatus of any preceding claim, further comprising a rear facing camera that is in a separate housing from the modulator device.

26. The apparatus of claim 24 or 25 wherein the modulator device is configured to analyse imagery from the rear facing camera and reduce the dictated speed if a rider of the electric mobility device shown in the imagery is not wearing a helmet.

27. The apparatus of claim 26, wherein the modulator device analyses the imagery based on a Convolutional Neural Network to determine whether the rider is not wearing a helmet.

28. The apparatus of claim 3 or any claim dependent thereon, wherein the modulator device is configured to reduce a voltage of the throttle signal in dependence on the signals received from the environmental sensors.

29. The apparatus of any preceding claim, wherein the one more environmental sensors comprise a plurality of sensors, and wherein the modulator device is configured to reduce the dictated speed in response to determining a plurality of simultaneous hazards based on the signals from the environmental sensors.

30. The apparatus of claim 3 or any claim dependent thereon, wherein the modulator device is configured to go into a hibernation mode if the throttle signal received at the input terminal is lower than a threshold value for greater than a threshold period of time.31 . An electric mobility device comprising the apparatus of any preceding claim.32 The electric mobility device of claim 31 when appended to claims 3, 4 or 5, or when appended to any claim dependent on claims 3, 4 or 5, wherein the throttle or brake cable comprises positive and negative conductors leading from the controller to the throttle or brake transducer, and wherein the throttle or brake transducer is configured to send the throttle or brake signal towards the controller along the signal conductor.

33. The electric mobility device of claim 31 or 32, wherein the electric mobility device is an electric scooter.

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