CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of, and priority to, United States

Provisional Patent Application Serial No.: 63/185,591, filed May 7, 2021, the entire contents of which is herein incorporated by reference.

BACKGROUND Technical Field

[0002] The present disclosure relates to security systems, and more particularly, to a chain lock system.

Background of Related Art

[0003] Bicycles, scooters, mopeds, micromobility devices, and other similar personal transportation devices are often secured using a chain to prevent theft. Personal transportation devices are typically secured by wrapping or threading a chain through or about the frame of the transportation device and about a separate, stable, or difficult to move object (e.g., a pole, a tree, railing, traffic sign, bike rack, etc.) and/or through another part of the personal transportation device (e.g., a wheel). For example, a rider may thread a lock through a bike's wheel to the bike's frame or about a stop sign. Additionally, typical chains do not always prevent thieves and other individuals from removing or breaking the chain to steal the personal transportation device.

[0004] Increasingly, ride-sharing businesses are providing personal transportation devices for cycling or riding as a leasing or rental service. The probability of theft of the business’ personal transportation devices is a factor that contributes to high overhead costs. There is a similar high overhead cost for the theft insurance business of personal transportation devices (e.g., bicycles).

[0005] Some ride-sharing businesses, in an effort to reduce the risk of theft and to ensure that riders properly secure the personal transportation device at the end of a ride, require users to capture an image of the secured personal transportation device. However, some riders are uncomfortable with providing such images, for example, when the personal transportation device is stored in the rider’s apartment. Additionally, image quality is not guaranteed, which complicates the verification process. Accordingly, there is a need for improved security systems that may reduce the risk associated with the theft of personal transportation devices that is also rider friendly.

SUMMARY

[0006] In accordance with an aspect of this disclosure, a chain-lock system includes a lock defining a lock housing and a plurality of links. The plurality of links include an initial link and a final link. At least one link of the plurality of links includes a sensor configured to determine vector data including at least one of an orientation or a position of the at least one link.

[0007] In aspects, the lock may include a clamp configured to couple to a frame of a personal transportation device.

[0008] In aspects, a shield may be configured to operatively cover the clamp and a clamp screw. The clamp screw may be configured to tighten the clamp onto the frame of the personal transportation device.

[0009] In aspects, the clamp may be a seatpost clamp.

[0010] In aspects, each link of the plurality of links may include a first sensor configured to determine vector data of a respective link, the vector data including at least one of an orientation or a position of the respective link.

[0011] In aspects, at least one of the initial link or final link of the plurality of links may be configured to be removably coupled and reattached to the lock.

[0012] In aspects, the lock may include a sensor configured to determine if the final link is coupled to the lock.

[0013] In aspects, a computing device may be configured to receive the vector data from the first sensor and determine a three-dimensional (3D) path of the plurality of links. [0014] In aspects, the computing device may be in wireless communication with a remote computing device, the computing device configured to provide at least one of the 3D path of the plurality of links or a locking state of the lock to the remote computing device. [0015] In aspects, the chain-lock system may include a plurality of interlinks, each link of the plurality of interlinks configured to couple to adjacent links of the plurality of links.

[0016] In aspects, each link of the plurality of links may be configured to rotate in a plane parallel to an adjacent link. [0017] In aspects, the sensor may be disposed in a sensor housing, the sensor housing coupled to the at least one link and configured to fix a position of the sensor relative to the at least one link.

[0018] In aspects, each link of the plurality of links may define a link housing having a hollow interior, each link including a sensor disposed therein, each sensor coupled to one another by a cable configured to, at least one of: provide power from an electricity source or facilitate data communication between each sensor and the computing device.

[0019] In aspects, a sheath may be configured to cover the plurality of links.

[0020] In accordance with aspects of this disclosure, there is provided a method for monitoring a chain lock system including a plurality of links and a lock. The method includes: receiving vector data of at least one link of the plurality of links, the vector data including at least one of a position data or orientation data of the at least one link, and determining, based on the vector data, a three dimensional (3D) path of the plurality of links. [0021] In aspects, the method may include receiving, via at least one sensor coupled to each subsequent link of the plurality of links, vector data of each subsequent link.

[0022] In aspects, the method may include determining an initial point and a final point of each link, the initial point of each link of the plurality of links located approximate the final point of a prior adjacent link or the lock.

[0023] In aspects, the method may include determining, based on the vector data and the initial point and final point of each link, the 3D path of the plurality of links.

[0024] In aspects, the method may include determining if the final point of a last link is approximate the lock.

[0025] In aspects, the method may include determining if the lock is coupled to the last link of the plurality of links.

[0026] In aspects, the method may include sensing, via a first sensor coupled to the at least one link of the plurality of links, the vector data.

[0027] In aspects, the method may include determining if the 3D path is indicative of a proper locking state or an improper locking state.

[0028] In aspects, the method may include generating a notification on a remote computing device, the notification including the determination of the 3D path indicative of the proper locking state or the improper locking state.

[0029] In aspects, the method may include determining if the plurality of links is in an intact state or a cut state. [0030] In aspects, the method may include generating a notification on a remote computing device, the notification including the determination of the if the plurality of links is in an intact state or a cut state.

[0031] As used herein, the terms parallel and perpendicular are understood to include relative configurations that are substantially parallel and substantially perpendicular up to about + or - 15 degrees from true parallel and true perpendicular.

[0032] As used herein, the terms front and back refer to the portion of the personal transportation device closer to the direction of travel or farther to the direction of travel, respectively.

[0033] As used herein, the term “about” means that the numerical value is approximate and small variations would not significantly affect the practice of the disclosed embodiments. Where a numerical limitation is used, unless indicated otherwise by the context, “about” means the numerical value can vary by ±10% and remain within the scope of the disclosed embodiments.

[0034] As used herein the term “personal transportation device” includes bicycles, electric bicycles, mopeds, motorcycles, scooters, electric scooters, upright self-balancing transporters, micromobility devices, three, two, or one wheeled mobility solutions, and the like. While aspects of this disclosure are described in relation to a bicycle, it is understood that the present disclosure and details of the situationally aware chain lock system may be similarly applied to any personal transportation device and particular structure thereof.

[0035] The terms “computer,” “computing device,” “mobile device,” “server” may refer to a computer including a processor and a memory, which include processor-executable instructions. When the processor executes the processor-executable instructions, the computer performs any features or functions to provide functionalities of this disclosure.

[0036] The term “application,” “module,” “unit,” and “software” may include a computer program designed to perform particular functions, tasks, or activities for the benefit of a user. Application may refer to, for example, software running locally or remotely, as a standalone program or in a web browser, or other software which would be understood by one skilled in the art to be an application. An application may run on a controller or on a user device, including, for example, on a mobile device, an intemet-of-thing (IoT) device, or a server system.

BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

[0038] FIG. 1 is a top view illustrating an exemplary embodiment of a situationally aware chain lock system, in accordance with aspects of this disclosure;

[0039] FIG. 2 is a top, left, perspective view of the situationally aware chain lock system of FIG. 1 illustrated in an exploded arrangement with a bicycle, in accordance with aspects of this disclosure;

[0040] FIG. 3A is a perspective view of a link situationally aware chain lock system of FIG. 1, in accordance with aspects of this disclosure;

[0041] FIG. 3B is a perspective view of a of the link of FIG. 3 A assembled with a sensor and a sensor housing shown transparently, in accordance with aspects of this disclosure;

[0042] FIG. 3 C is an illustration of a sensor housing half of the sensor housing shown in FIG. 3B, in accordance with aspects of this disclosure;

[0043] FIG. 4 is a perspective view of the situationally aware chain lock system of

FIG. 1, with a lock housing shown transparently, in accordance with aspects of this disclosure;

[0044] FIG. 5 is a perspective view of a buffer shield of the lock shown in FIG. 4, in accordance with aspects of this disclosure;

[0045] FIG. 6 is a top, perspective view of another situationally aware chain lock system having a sheath, a pin-lock, and a key-lock mechanism, in accordance with aspects of this disclosure; [0046] FIG. 7 is a perspective view of the situationally aware chain lock system of

FIG. 1 operatively coupled to a frame and wheel of a bicycle, in accordance with aspects of this disclosure;

[0047] FIG. 8 is a back view of a bicycle secured to a stop sign via the situationally aware chain lock system of FIG. 1, the situationally aware chain lock system sensing the position and/or height of the stop sign, in accordance with aspects of this disclosure;

[0048] FIG. 9 is a diagram of a method for determining a 3D path of a situationally aware chain lock system, in accordance with aspects of this disclosure;

[0049] FIG. 10A is a diagram of a two-dimensional model of a situationally aware chain lock system, in accordance with aspects of this disclosure;

[0050] FIG. 10B is a table of vectors of the two-dimensional model situationally aware chain lock system of FIG. 10A, in accordance with aspects of this disclosure;

[0051] FIG. 11A is an illustration of a model of a situationally aware chain lock system operatively coupling a bicycle to a pole, in accordance with aspects of this disclosure;

[0052] FIG. 1 IB is a two-dimensional statics model of the situationally aware chain lock system of FIG. 11 A, in accordance with aspects of this disclosure;

[0053] FIG. 12 is a side view of a bicycle including a situationally aware chain lock system, with a portion of a top tube of the bicycle removed illustrating the situationally aware chain lock system in the top tube, in accordance with aspects of this disclosure;

[0054] FIG. 13 is a top perspective view of links and an interlink of the situationally aware chain lock system of FIG. 12, in accordance with aspects of this disclosure;

[0055] FIG. 14 is a front, side perspective view of the bicycle of FIG. 12, the top tube of the bicycle of FIG. 12 removed, illustrating the situationally aware chain lock system of FIG. 12 wrapped around a pole, in accordance with aspects of this disclosure;

[0056] FIGS. 15A-C are perspective views of another situationally aware chain lock system in various locking configurations, in accordance with aspects of this disclosure; [0057] FIG. 16 is an exploded assembly view of the situationally aware chain lock system of FIG. 18, illustrating assembly of the situationally aware chain lock system of FIG. 15A-C to a bicycle, in accordance with aspects of this disclosure;

[0058] FIG. 17 is a side, perspective view of the situationally aware chain lock system of FIGS. 15A-C in a stored configuration, in accordance with aspects of this disclosure;

[0059] FIG. 18 is a side view of the situationally aware chain lock system of FIGS.

15A-C, with a lock housing and seat clamp shown transparently, in accordance with aspects of this disclosure;

[0060] FIGS. 19A-B are perspective views of a link of the situationally aware chain lock system of FIGS. 15A-C, in accordance with aspects of this disclosure;

[0061] FIGS. 19C is a perspective view of a link of the situationally aware chain lock system of FIGS. 15A-C with the housing of the link shown transparently, in accordance with aspects of this disclosure;

[0062] FIG. 20 is an exploded view of a link of the situationally aware chain lock system of FIGS. 15A-C;

[0063] FIG. 21 A is a perspective view of another situationally aware chain lock system, in accordance with aspects of this disclosure;

[0064] FIG. 21B-C are perspective views of a link of the situationally aware chain lock system of FIG. 21A, in accordance with aspects of this disclosure; and

[0065] FIG. 22 is a block diagram of a computing device in accordance with aspects of this disclosure.

DETAILED DESCRIPTION

[0066] Aspects of the presently disclosed situationally aware chain lock are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. However, it is to be understood that the disclosed devices are merely exemplary of the disclosure and may be embodied in various forms. Well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the disclosure in virtually any appropriately detailed structure.

[0067] The present disclosure is directed to a situationally aware, intelligent, chain lock system and methods of use thereof. The situationally aware chain lock system (SACL) generally includes a lock, a chain, and one or more sensors configured to sense an orientation and/or position of the chain lock system. The SACL enables a business or rider to monitor a three-dimensional (3D) path of the chain of the SACL without having or requiring visible information for the way the SACL has been used to secure a personal transportation device. In aspects, the lock may be part of the SACL, a personal transportation device, a pole, or other stationary objects.

[0068] The SACL is configured to determine if and/or how the SACL has been used to secure a personal transportation device by comparing the 3D path, and therefore the configuration, of the SACL to known, proper secure configurations as described herein. The SACL may be coupled at one end thereof to the personal transportation device at a pre specified portion of the personal transportation device, thereby providing a reference frame for determining the 3D path. Using the one or more sensors, the position and orientation data of links or segments that form the chain of the SACL can be determined, and using the position and orientation data, the 3D path of the SACL can be visualized by following the path of each link or segment, starting from the link or segment of the SACL nearest and/or coupled to the pre-specified portion of the personal transportation through the last link or segment. Additionally, the position and orientation data may be used to determine if a tension force is being exerted on the chain which may indicate proper use of the SACL. The determined 3D path can then be compared with known similar 3D paths associated to various proper secure configurations (e.g., about a stop sign, through a wheel of the personal transportation device, etc.).

[0069] The SACL may include a computing device configured to receive vector data including position data and orientation data and/or to calculate the 3D path of the SACL and communicate the determined 3D path of the SACL to another remote computing device (e.g., a server). Thus, advantageously, a personal transportation device leasing business, a ride sharing business, or an individual may be able to determine if the personal transportation device has been sufficiently secured by the rider.

[0070] With reference to FIGS. 1 and 2, a situationally aware chain lock system

(SACL) 100 in accordance with an aspect of this disclosure includes a plurality of links 102 forming a chain, each link (e.g., 102a, 102b, 102c, 102d, etc.) of the plurality of links 102 including one or more sensors (e.g., 116a or 116b, see FIG. 3B) in a sensor housing 106, and a lock 104. The SACL 100 may include a clamp 108, a buffer shield 110, and a lock housing 112.

[0071] In aspects, the chain is a cable defined by a plurality of segments, each segment having a sensor in a center portion thereof. Each segment may be the same length or various lengths. The cable may be comprised of twisted metallic ropes. Each segment of the cable may be configured similar to each link of the chain as described below, and accordingly, further details of each segment are omitted to avoid duplicative description.

[0072] With reference to FIGS. 3A-C, an exemplary link 102a of the plurality of links

102 is shown, and while the following is described with respect to link 102a, it is to be understood that the same features may apply to other links (e.g., links 102b, 102c, 102d, 102e, etc.) of the plurality of links 102. Link 102a may be an oblong shape, or stadium shape, as shown in FIG. 3A. Link 102a defines an aperture 114. Each link of the plurality of links 102 may be of the same length and width or they may be of varying length or width. Link 102a may be formed from a metal rod or cast in a cylindrical, oblong shape according to known methods for forming a chain or chain links known by those of ordinary skill in the art. Indeed, any method known by those of ordinary skill in the art for forming a chain or security cable, and the links or cables thereof, may be used, and accordingly, further details are not disclosed herein.

[0073] Link 102a may have a cross-sectional diameter between about 4 millimeters

(mm) and 16 mm or between about 0.15 inches (in.) to about 0.65 in. In aspects, the cross- sectional diameter of link 102a is about 8 mm to 10 mm or about 0.3 in. to about 0.4 in. The cross-sectional diameter of each link may be any suitable size as known by those of ordinary skill in the art, and may or may not be the same for each link of the plurality of links 102. [0074] Link 102a defines a length /., measured from the furthest ends of semi-circle portions 122. Length L may be any desirable length. For example, the length L of the link 102a may be between about 10 mm to about 100 mm or about 0.25 in. to about 6 inches.

[0075] The aperture 114 may be configured to have a width that is greater than the cross-sectional diameter of each link of the plurality of links. In aspects, the aperture 114 has a width that is about 1% to 15% greater than the cross-sectional diameter of each link of the plurality of links 102.

[0076] The one or more sensors of each link of the plurality of links 102 may include a first sensor 116a and a second sensor 116b. The first and second sensors 116a, 116b are disposed in a central portion of the aperture 114 and therefore in a central portion of each link of the plurality of links 102. The first sensor 116a may be an accelerometer and the second sensor 116b may be a magnetometer. In aspects, the one or more sensors may be a single sensor having a combined magnetometer and accelerometer. The first and second sensors 116a, 116b are configured to sense a position and/or an orientation of the link (e.g., link 102a, 102b, 102c, etc.). The first and second sensors 116a, 116b may be a 3-axis accelerometer and a 3 -axis magnetometer, respectively, such that, in tandem, the three-dimensional orientation of each link (e.g., link 102a, 102b, 102c, etc.) of the plurality of links 102 may be determined. First sensor 116a indicates the direction of earth’s gravity via a first 3D vector and second sensor 116b indicates the direction of the earth’s magnetic field via a second 3D vector, thus aligning with the direction of magnetic north. The first and second 3D vectors, when the measurements are done on earth’s surface and away from the poles, are at an angle relative to each other, thereby providing sufficient information to determine the link’s position and orientation.

[0077] The first and second sensors 116a, 116b may each be disposed on a printed circuit board (PCB) 118. The sensor housing 106 is configured to house the first and second sensors 116a, 116b, and the printed circuit board (PCB) 118. The sensor housing 106 may comprise two symmetrical, mirror halves 106a (FIG. 3C). A cable 120 may be in electrical communication with the first and second sensors 116a, 116b, providing electrical power thereto. The cable 120 may also be configured as a data transmission cable such that the first and second sensors 116a, 116b may communicate with a computing device (e.g., computing device 124). [0078] The cable 120 may be a series of cables 120 connecting each PCB 118 of each link of the plurality of links 102. The PCB 118 may be considered as part of the cable 120. In aspects, the link 102a is connected to the lock 104 via the cable 120 and connected to the link 102b via the cable 120. In aspects, the cable 120 connects each subsequent link of the plurality of links 102 to each adjacent link (e.g., 102b to 102a and 102c), except for the last link which is only connected by the cable 120 to the previous link (e.g., link 102f to 102e as illustrated in FIG. 1). The sensor housing 106 includes holes for the cable 120 to enter and exit therethrough as it connects each link of the plurality of links 102.

[0079] The halves 106a of the sensor housing 106 may be manufactured from plastic or metal and may be coupled to one another, for example, via a snap-fit or any other suitable means. A water-proofing resin may be poured into the sensor housing 106 after the first and second sensors 116a, 116b, PCB 118, and/or cable 120 is assembled in place, thus waterproofing and fixing in place the sensors 116a, 116b, the PCB 118, and/or the cable 120 in the sensor housing 106.

[0080] Each sensor housing 106 of each link of the plurality of links 102 is configured to limit the freedom of movement of each adjacent link to simple rotations, relative to their adjacent links or relative to lock 104. The sensor housing 106 is configured such that the semi-circle portions 122 (or end portions in a rectangular configuration) of each adjacent link are approximately centered about each other (see FIGS. 1 and 2). The sensor housing 106 restricts the rotation and movement of each link such that any rotation and/or movement occur near the two centers of the two semi-circles 122 which are connected via two parallel bars 123 to complete the metallic part of each link. The sensor housing 106 is configured such that each link of the plurality of links 102 is unable to travel at least a majority of the way into an adjacent link, or in the case of link 102a, into the lock 104. Since sensor housing 106 acts as an obstacle against the rotation and/or movement of a link in an adjacent link’s aperture 114, the positions of adjacent links or the distance between the centers of adjacent links is restricted to a smaller range. Thus, a total length of the SACL 100, being the sum of each link’s length /., will remain about the same regardless of the rotation and/or movement of each link.

[0081] In aspects, a battery (not shown) may be positioned inside the sensor housing

106 to power the first and second sensors 116a, 116b. In other aspects, a solar cell (not shown), in electrical communication with the first and second sensors 116a, 116b, may be positioned on an outer surface of the sensor housing 106 to provide power to the first and second sensors 116a, 116b. In aspects, the first and second sensors 116a, 116b may be in wireless communication with the computing device 124.

[0082] In aspects, the first and last links (e.g., 102a, 102f, respectively) of the plurality of links 102 may be limited in movement such that the first and last link do not require sensors, and instead the position and/or orientation of the first and last links may be determined using sensors provided in the lock/and or personal transportation device.

[0083] With reference to FIG. 4, the lock 104 is connected to the link 102a of the plurality of links 102 at a first semi-circle end portion 122a of the link 102a. In aspects, the lock 104 is permanently connected to the link 102a of the plurality of links 102. The clamp 108 extends in front of the lock 104. In aspects, the clamp 108 may extend to the back of the lock 104 in a reversed configuration. The lock housing 112 is coupled to the lock 104 and is configured to house a computing device 124 and/or a lock mechanism 126. The lock mechanism 126 may be an electromechanical solenoid 126 configured to deploy and retract a locking pin 128 of the lock mechanism 126. The locking pin 128 is movable between a locked configuration and an unlocked configuration. The last link (e.g., link 102f in FIG. 1) of the plurality of links 102 is secured by the lock 104 via the locking pin 128.

[0084] The lock mechanism 126 is configured to insert the locking pin into a semi circle end 122b of the last link (e.g., link 102f) in a manner similar to conventional chain and padlock security systems. The lock mechanism 126 may be a key lock mechanism 126a (FIG. 6), combination lock mechanism, an electronic lock mechanism, or any other lock mechanism as known in the art. In aspects, as shown in FIG. 6, the last link of the plurality of links 102 may include a link-pin 140 rigidly coupled thereto and configured to be received by a link-pin-receiver lock mechanism (not shown). The lock 104 may include a button, key, keypad, a near field communication module (NFC), or other known mechanisms for providing a key for engaging and/or disengaging the locking mechanism 126 and/or the locking pin 128. In aspects, a QR code could be shown on the lock or the bike to facilitate mobile authentication for sharing fleets of bikes or scooters. For example, a rider may scan the QR code via the rider’s mobile device, the mobile device of the user in communication with a server that is in communication with the computing device 124 of the SACL 100, and the server may communicate an instruction to the computing device to unlock the SACL 100.

[0085] The computing device 124 is configured to control the operation of the electromechanical solenoid lock mechanism 126. In aspects, the computing device 124 is in wired (via cable 120) or wireless communication with the first and second sensors 116a, 116b of each link and configured to receive the position and orientation data therefrom. The computing device 124 may also be in wireless communication (e.g., via a cellular network) with a server (not shown). In aspects, the computing device 124 may transmit the position and orientation data to another computing device (not shown) of an Internet-of-Things device of a personal transportation device, such that a business or individual may monitor use of the situationally aware chain lock system (SACL) 100 without visual information indicating use thereof. The lock housing 112 may also include a battery (not shown) to power the computing device 124, the lock mechanism 126, and/or the first and second sensors 116a, 116b. In aspects, the computing device 124 and/or the first and second sensors 116a, 116b may be powered by an external source on the personal transportation device (e.g., an e-bike’s battery pack). In aspects, a photovoltaic cell (e.g., a solar panel) may be disposed on an outer surface of the lock housing 112, the photovoltaic cell in electrical communication with the computing device 124, the lock mechanism 126, and/or the first and second sensors 116a, 116b to provide power thereto. The SACL 100 may receive power from any battery or other power sources known in the art, such as power generated from a small generator converting mechanical energy from cycling into electrical energy.

[0086] With reference to FIGS. 4, 5, and 7, lock 104 is configured to be removably coupled to a personal transportation device, such as bicycle 10 (FIGS. 2 and 7). The clamp 108 is configured as a seatpost clamp 108 for coupling the bicycle 10 and a bicycle seat 12 via a bicycle seatpost 16 as known to those of ordinary skill in the art. The seatpost clamp 108 may be a quick-release seatpost clamp (not shown). The seatpost clamp 108 is secured to frame 14 of bicycle 10 such that a seatpost 16 extending from the bicycle seat 12 may be inserted through the opening 130 of the seatpost clamp 108 and into the frame 14 of the bicycle 10. In aspects, the clamp 108 may be any mount or clamp for securing the SACL 100 to a frame of a personal transportation device. [0087] The buffer shield 110 is positioned concentrically with the seatpost clamp 108 and is configured to enable insertion of the seatpost 16 therethrough. The buffer shield 110 may be of a harder material than the seatpost clamp 108. For example, the seatpost clamp 108 may be aluminum, and the buffer shield 110 may be hardened steel. Thus, the buffer shield 110 reduces the ability for a thief, or another person, to cut or destroy the seatpost clamp 108, reducing the thief s ability to remove the SACL 100 from the bicycle 10. The seatpost clamp 108 is secured to the frame 14 and to the seatpost 16 by tightening a bolt 132. The buffer shield 110 includes a bolt protector 134 configured to cover bolt 132 to further reduce the possibility the bolt 132 may be cut or destroyed. The bolt protector 134 is configured to fill the gap 136 of the lock 104.

[0088] In use, when the locking pin 128 is in an extended configuration to secure the last link of the plurality of links 102 (or an end of the plurality of links 102 or chain), the bolt 132 cannot be removed since access is at least partially or wholly obstructed by the locking pin 128 or the last link of the plurality of links 102. The locking pin 128 may be configured as an anti-tampering feature. The locking pin 128 serves not only to secure the plurality of links 102 but also to ensure that the SACL 100 cannot be removed from bicycle 10 without first unlocking the SACL 100 (e.g., removing the last link of the plurality of links 102).

[0089] Since only authorized riders may be able to unlock the SACL 100, an owner

(e.g., a leasing company) of the SACL 100 and the personal transportation device may be notified at least that an authorized user or last rider is handling the SACL 100 and the personal transportation device (e.g., by monitoring the status and 3D path of the plurality of links 102 or chain of the SACL as described below). This enables the owner to monitor compliance and/or hold the authorized user or the last rider in possession of the personal transportation device or SACL at least partially responsible (e.g., if proper use of the SACL 100 is not detected), in the event either the SACL 100 and/or the personal transportation device is stolen, lost, or otherwise destroyed. Additionally, since only authorized users can unlock the SACL 100, if bolt 132 is removed and the SACL 100 is removed from bicycle 10, there is an increased likelihood that such removal is due to failure of the last authorized user to properly use the SACL to secure the bicycle 10. The seatpost clamp 108 additionally is configured to protect the bicycle seat 12 of the bicycle 10 from being stolen. [0090] An authorized user is anyone in possession of a key or code provided to them by the owner (or another authorized user) of the SACL 100 and personal transportation device. An authorized user includes anyone granted access to the SACL 100 remotely, through the owner’s servers (e.g. a rider who users their smartphone to scan a QR code which is on the bike, or a rider granted access by a remote owner).

[0091] The buffer shield 110 is also configured such that when positioned concentrically and about the lock 104, the buffer shield 110 cannot be easily removed without first removing the seatpost 16 from the SACL 100. Thus, the buffer shield 110 is difficult to be tampered with by would-be thieves without damaging the bicycle 10, discouraging would- be thieves from attempting to steal the bicycle 10.

[0092] The lock housing 112 may contain one or more sensors including at least one of an accelerometer and/or a magnetometer. The lock housing 112 may include an accelerometer configured to detect if the SACL 100 is being removed from the personal transportation device. The sensors may be part of the computing device 124. In aspects, if the personal transportation device has an embedded accelerometer and magnetometer, the computing device 124 of the lock 104 may communicate with the embedded accelerometer and magnetometer. In aspects, the lock and/or each link of the plurality of links includes a gyroscope configured to obtain 9 axis vector data. The gyroscopes enable more precise detection of the 3D path and movement of the SACL 100 (e.g., a height the SACL 100 is being lifted over a sign or pole).

[0093] In aspects, the lock 104 includes state sensors (not shown) configured to detect the presence of a link of the plurality of links in the lock 104. The state sensor may be an optical sensor, a current or voltage sensor, a mechanical button sensor, or any other suitable sensor configured to detect if the last link of the plurality of links 102 (or link-pin 140) is inserted in the lock mechanism. The state sensor provides further data on the position and/or orientation of the last link of the plurality of links 102. Thus the SACL 100 is further able to determine the 3D path of the plurality of links 102 and if the SACL 100 is being properly utilized to secure the personal transportation device. The state sensor improves the accuracy of the determined 3D path of the plurality of links by providing a final point relative to an initial point of the plurality of links 102 when the last link is locked to the lock 104 and the locking pin 128 is in the locked configuration. The state sensor may be a button that is pressed by the last link when inserted in the lock 104. In aspects, the state sensor may be a conductive pin that touches the last link and closes a circuit with the plurality of links 102 and/or with the last link’s PCB 118. In aspects, the state sensor may be a short-range distance sensor that detects the presence of the last link in the lock 104 or it may be a magnetic sensor that detects the last link through sensing the presence of the link’s ferromagnetic perimeter (if, for example, the link is made out of hardened steel).

[0094] With reference to FIG. 6, the SACL 100 may include a sheath 138. Sheath 138 is configured to prevent scratches or undesirable contact between the chain (e.g., the plurality of links 102), the cables 120, and the bicycle 10 or other objects. Sheath 138 is also configured to shield cable 120 from view and prevent cable 120 from getting hooked and/or damaged by other objects (e.g., protruding parts or pieces of structures or a stick on a road).

[0095] With additional reference to FIG. 8, the lock 104 and/or each link of the plurality of links 102 may include depth sensors disposed on the sides thereof. The depth sensors may be configured to sense information about a height of the stationary object that the SACL 100 is secured to (e.g., a vertical pole 32 of stop sign 30). The depth sensors may be LIDAR sensors, radar sensors, optical sensors, a matrix of infrared depth sensors, a matrix of ultrasonic sensors, or any other suitable depth sensor.

[0096] In aspects, the depth sensors may be cameras. In aspects, the one or more cameras may be provided as side sensors in addition to the depth sensors. The one or more cameras may include a wide-angle camera. The one or more cameras are configured to snap a photo when the bike is locked around a pole. The photo may be communicated to a server and analyzed by an image recognition system (e.g., computer vision, artificial intelligence, neural network, etc.) to further-determine proper use of the SACL 100. The one or more cameras may be configured to snap at least one photo when the SACL 100 is cut in order to identify the person(s) who cut the SACL 100.

[0097] The SACL 100, via computing device 124, may determine if the plurality of links 102 is locked on, for example, a vertical or horizontal pole from the 3D path of the chain. By determining if the links further from the lock 104 are closer to a vertical or a horizontal orientation, it can be determined if the SACL 100 is locked to a pole of the opposite orientation. Using the depth sensors, the height of the vertical pole or structure may be determined. If the height of the vertical pole is not of a sufficient height, the SACL 100 may be secured improperly, and the computing device may communicate with a computing device or server of the owner that the bicycle 10 is not properly secured. For example, if the pole is only two feet tall, and the bike can be easily lifted from the pole even with the SACL 100 locked thereto, the computing device 124 may send a message to the owner or the rider to secure the bicycle 10 and the SACL 100 to a different vertical structure.

[0098] In aspects, the SACL 100 may determine if the SACL 100 was properly secured by a rider or user by tracking the motion of the plurality of links 102 and/or the lock 104 as the SACL 100 is lifted, e.g., by a thief, over a pole or other object when the SACL 100 is detected to be in a locked configuration. The SACL 100 may track the change in height of one or more links of the plurality of links 102, such as the links furthest from the personal transportation device. If, for example, the change in height is small (e.g., about 1 foot), the SACL 100 may determine that the SACL 100 was not properly secured to a pole or object of proper height. If, for example, the change in height is large (e.g., 7 feet), the SACL may determine that the SACL was properly secured to a pole or object of generally sufficient height. (In this non-limiting example, the SACL 100 determines the thief went above and beyond what is normally expected for a thief to attempt to remove the personal transportation device from the pole or object). The SACL 100 may include gyroscopic sensors to provide additional data for tracking the change in height of one or more links of the plurality of links 102. In aspects, sensor 116 may be a 9-axis inertial measurement unit (IMU) including a 3- axis gyroscopic sensor, a 3-axis accelerometer, and a 3-axis magnetometer.

[0099] With reference to FIG. 9, a method 900 for determining a three-dimensional

(3D) path of a situationally aware chain lock system is shown. Generally, a 3D path of the SACL 100 can be constructed by determining the position and orientation of each link or segment of the SACL 100 relative to each other. The SACL 100 is configured such that each link or segment limits the freedom of movement of any adjacent link or segment and/or defines a set of rotations or movement of each link or segment. Each link or segment includes sensors that can determine the rotation or movement of each link. If a starting point of the SACL 100 is known (e.g., if the SACL is pre-calibrated to a known initial point), such that the initial point of the first link or segment is known or can be sensed or determined, a final point of the first link can be determined by sensing the rotation and movements to determine a position and orientation of the first link. Since each link or segment of the SACL is pre- defined, the final point of each link can be determined. The final point of the first link is assumed to be approximately the initial point of the second link. From the sensors of the second link, the position and/or orientation of the second link can be determined, and therefore the final point of the second link can be determined. The final point of the second link is assumed to be approximately the initial point of the subsequent link, and in this manner, the initial and final point of each link of the SACL can be determined.

[00100] The 3D path traced by the initial and final points of each link of the SACL may then be compared with known 3D paths that indicate proper use of the SACL (e.g., that the SACL has been properly threaded through a wheel of a bicycle). A database of 3D paths can be produced for which the determined 3D path of the SACL 100 can be compared to. Machine learning or artificial intelligence may be used to build and refine the database. The SACL 100 may communicate with a server storing the database of 3D paths.

[00101] In aspects, the position of the last link of the plurality of links relative to the lock can be determined. For example, if the last link is determined not to be adjacent or near the lock, then the SACL 100 is not in a locked state. In aspects, the state of the locking pin may be determined. If the locking pin is in an extended or locked position, and if the last link is determined to be approximate the locking pin or lock, then it can be determined that the SACL 100 is in use. If the 3D path of the SACL 100 is determined to be, for example, in a 3D path similar to that of a chain wrapped around a pole (e.g., a stop sign), then it can be determined that the SACL 100 is in a proper configuration (e.g., that the lock is properly used to secure a personal transportation device to itself or a stationary object).

[00102] One exemplary method of using the presently disclosed SACL 100 will now be described with reference to FIG. 9. The method 900 includes, at step 902, sensing, via one or more sensors (e.g., first and second sensors 116a, 116b) a position and/or orientation data of a first link (e.g., 102a) of the SACL 100. At step 904, an initial point and a final point of the first link are determined. At step 906, a position and/or orientation data of each subsequent link of the plurality of links is sensed. At step 908, the initial point and final point of each link after the first link are determined, one after the other. The initial point of each link is approximate the final point of the prior adjacent link. At step 910, the final point of the last link of the plurality of links is determined. In aspects, at step 912, the final point of the last link relative to the lock may be determined. In another aspect, at step 914, the method includes determining if the lock is coupled to the last link.

[00103] In aspects, the method 900 may include determining the initial and final points of each link of the plurality of links in reverse order. For example, the final point of the last link relative to the lock 104 may be determined, and via the sense position and/or orientation data, the initial point of the last link may be determined. The initial point of the second to last link is determined by using the initial point of the last link which is approximate the final point of the second to last link. The method may be repeated in reverse for each subsequent link.

[00104] In aspects, by determining or knowing the exact position of the last link’s “final point” relative to the lock 104, errors in the 3D path may be reduced by performing the method in reverse as described above. As the 3D path is traced in the forward direction (e.g., starting from the first link’s (or lock’s) “initial point “ to its “final point”) an error e, with e>0 will be present in all orientation values as minor errors build from each prior link. The error of each link’s orientation will be added in every step of calculating the “final point” of each link, relative to its previous link. As a result, the final point of the final link will have the added errors of all the previous links' orientation sensors plus its own. By determining in the reverse and forward direction, the errors are reduced, since now a smaller error is related to the last link, the second to last link, third to last link, etc. In aspects, depending on each link’s queue number (e.g., first link, second link, third link, etc.) weighted factors are used to narrow down the position/and or orientation of each link and/or the initial and final points of each link. By determining the 3D path forward and in reverse, the effect of any errors in determining the 3D path is reduced since the largest errors in determining the initial and final point of each link are likely to occur approximate the links farthest from either end of the chain, (e.g., in the middle of the plurality of links).

[00105] In aspects, the method includes determining vector data of the lock 104 and/or the bicycle 10 to provide a reference frame, an initial point of the first link of the plurality of links 102, and/or a final point of the final link of the plurality of links 102.

[00106] With reference to FIGS. lOA-1 IB, a simplified two dimensional (2D) physical model of an SACL is shown as a series of connected vectors. While a 2D physical model is shown, a 3D physical model may similarly be determined using 3D vectors. Vector a represents the lock of the SACL. Vectors b, c , d, e,f g, and h represent links of the plurality of links of the SACL. The magnitude of each vector is a static variable and is equal to the length of each link (or lock). The sensors on each link provide at least the direction of each vector.

[00107] In the example simplified model of an SACL, the lock represented by vector a has an initial point of (0,2). However, the initial point of the lock could be (0,0) or any coordinate desirable. Initial point (0,2) of the lock may, for example, be the seatpost 16 of a bicycle 10, or it may be a steering column of a scooter, thereby providing a frame of reference to the personal transportation device. The angle Q is determined in relation to, for example, the earth’s surface and earth’s magnetic north. For determining the 3D path, three angles or a quaternion would be used. To determine each vector of each link, the sensors of each link are calibrated when the SACL is in a known or pre-determined 3D path (for example, during manufacturing with each link and the lock forming a straight line or an octagon as shown in 2D in FIG. 10A). Using each link’s initial point, length (/.), and the sensed position and/or orientation data (e.g., angle Q), each link’s final point is determined according to the above method 900. Each link’s final point coincides with the next link’s initial point as shown in the table of FIG. 10B. By following this method in 3D for every link, all of the links’ coordinates can be determined and visualized in space, thus effectively providing an approximate 3D path of the SACL.

[00108] By using the SACL and methods thereof as described above, a service provider can deduce whether the chain is, for example, wrapped around the seatpost or frame of the personal transportation device, or if it is used to lock the bike’s frame to other parts (e.g., a wheel) or stationary object (e.g., a pole). If further details of the personal transportation device are known (e.g., the size of the frame of a bicycle and wheel size thereof), the 3D path can be determined in relation thereto. For example, if the initial point and final point of the plurality of links 102 are known to be at a particular portion of the frame of the bicycle 10 (see FIG. 7), and if the wheel size is known to be, for example, 28 in., thereby defining an approximately hollow circular area of about 26 in., then if the 3D path of the SACL 100 would pass through that circular area, then it is determined that the SACL has been securely locked to the wheel of the bicycle. In other words, if the 3D path of the SACL is determined to pass through an imaginary circle associated with a wheel of a bicycle, then the SACL is determined to securely lock the bicycle (which cannot turn if the SACL is in the way without damaging the bicycle).

[00109] If the SACL is not locked to one or more portions of the personal transportation device as just described, and the SACL is instead locked to an unknown object, then the tension of the SACL or of each link can be determined, as illustrated in FIGS. 11 A- 11B. For example, as shown in FIG. 11 A, a tension force occurs along the plurality of links of the SACL at a portion near the stationary object. In FIG. 11 A, the tension force occurs at about the middle link of the plurality of links of the SACL, maintaining the SACL at that position. The tension force maintains the SACL at that position by countering the force of gravity that acts on the SACL, which is distributed along the plurality of links. All of the links’ weight “w” are known (e.g., based on the material and dimension of each link). The weight of each link may be the same or may be different. The tension forces T at the two ends of the chain (the bike and the stop sign) are shown (“ZB” for the tension near the bicycle and “7 ” for the tension near the unknown stationary object).

[00110] By knowing the weight and orientation of each link, Tx can be solved using standard methods and equations for determining tension forces. If Tc is greater than zero, then something (e.g., a stop sign) is determined to be present and holding the chain and enabling it to follow this path through space. If Tx is zero, than it is determined that a pole is not there and the SACL has dropped down freely. As shown illustrated in FIG. 1 IB, Tx may be solved by breaking it down into its component forces Xu (upwards force) and Xs (sideways force). If Xu is much greater than zero, then either something is holding the far edge of the chain at this height, or the material of the pole has a high friction coefficient with the material of the chain (e.g., it is probably not a smooth metallic pole like a stop sign, but a rougher surface, such as a tree trunk).

[00111] By following the above method and techniques, a computer or server implementing the above methods and techniques may be used to monitor the SACL’s use by the rider, and automatically flag improper use as described above. In the case of flagged cases, then an operator will be able to further investigate or request a photograph to be uploaded to the server as proof of proper use, request re-application or adjustment of the SACL, or simply monitor the data and only move forward with further investigation in case of a reported or detected theft. The server may be trained to monitor a fleet of personal transportation devices by monitoring each SACL associated with each personal transportation device using machine learning algorithms that use the data gathered from the sensors of the SACL and/or photos of the SACL to further distinguish between proper and improper use of the SACL.

[00112] By determining the 3D path of the SACL, in case of theft, a personal transportation service provider or fleet operator can determine if the SACL has been cut since all of the links may communicate data and/or transfer power between each other and the lock in a wired manner (e.g., via cable 120). If the links are only in wireless communication and are battery powered, proximity sensors may determine if a link is no longer within proximity of an adjacent link, indicating the SACL has been cut. In aspects, the SACL can be determined to be cut or broken if the forward and reverse 3D paths do not align (e.g., they are not similar enough to be within a pre-defmed error range). Determining if the SACL has been cut, severed, or otherwise broken, may serve as evidence that the personal transportation device was indeed locked to something static before the theft event (and therefore the rider is not at fault). Thus, advantageously, the determination if the SACL has been used properly and/or cut may be useful to an insurance company in determining whether the rider should receive compensation or if the rider gets fined by the personal transportation device provider or service for leaving the bike unattended and/or improperly locked.

[00113] With reference to FIGS. 12-14, in accordance with another aspect of this disclosure a situationally aware chain lock system (SACL) 200 is shown. SACL 200 includes a plurality of links 202, a lock 204, and a spring 210. The plurality of links 202 and lock 204 are similar to the plurality of links 102 and lock 104, respectively, and accordingly, descriptions of which are not repeated for brevity. The plurality of links 202 are configured to be stored in a frame of a personal transportation device, such as a top tube 22 of bicycle 20. The spring 210 enables the plurality of links 202 to be pulled from an opening 206 in the top tube 22 of the bicycle 20. The spring 210 is configured such that a portion of the plurality of links 202 remains in the top tube 22. One or more links adjacent the spring 210 may be configured such that they cannot be fully removed from the opening 206 to protect the spring 210 from being removed and cut by a potential thief. In aspects, the link coupled to the spring 210 may have a length L that prevents the link from being removed from the opening 206. The opening 206 may be configured such that the spring 210 may not be removed therethrough. For example, the opening may be smaller than the spring but sufficiently large enough for the plurality of links 202 to pass therethrough.

[00114] The lock 204 is mounted to the frame of the bicycle 20 near the seatpost 26. In aspects, the lock 204 may be mounted to the frame of the bicycle 20 in any desirable portion thereof. In aspects, the lock 204 includes a seatpost clamp similar to seatpost clamp 108.

[00115] The SACL 200 may be inserted into the top tube 22 via an opening behind a light 24. The light 24 is installed on the bicycle 20 after the SACL 200 is inserted into the top tube 22. In aspects, the SACL 200 may be inserted into the top tube 22 via a handlebar receptacle before the handlebar is inserted into the handlebar receptacle.

[00116] The plurality of links 202 of SACL 200 may include a plurality of interlinks 208 (FIG. 13). Each interlink of the plurality of interlinks 208 is configured to enable greater rotational freedom (e.g., greater than 90° and/or less than 180°) between the links of the plurality of links 202. The plurality of interlinks 208 are configured to be smaller than the links such that each interlink has room for two links to fit through an inner slot of the interlink. Each interlink’s length L2 is smaller than the length L of each link of the plurality of links. Each interlink may or may not include sensors coupled thereto. In aspects, the orientation of each interlink of the plurality of interlinks 208 (the initial and final point of each interlink) is determined by determining the average of the orientations of their adjacent links. An error may occur in the interlinks initial and final points, but the error introduced by the interlinks will be small given the smaller length L2 of each interlink.

[00117] The spring 210 imparts a tension that moves through the entirety of the plurality of links, making the 3D path “tighter”, and thereby forcing the plurality of interlinks 208 to have an orientation close to the average of their adjacent links. Additionally, since the spring 210 maintains one or more links inside the top tube, the position and orientation of the one or more links in the top tube is approximately a straight line parallel to the tube. By ensuring that one or more of the links of the plurality of links 202 remain in the tube and are therefore in an approximately straight line parallel to the tube, errors in calculating the initial and final point of every link in the plurality of links is reduced.

[00118] The SACL 200 is secured by pulling the free link (e.g., the link farthest from spring 210) out of the top tube 22 and inserting the free link into a lock receptacle 212 of lock 204. The free link may be a pin-link such as link-pin 140. While not shown, the plurality of links 202 may be covered by a sheath similar to sheath 138. The lock 204 may also include a buffer shield if the lock 204 is configured as a seatpost clamp, and the lock 204 may include a hidden tightening screw similar to bolt 132. Lock 204 may also include the locking mechanism 126 (e.g., electromechanical solenoid 126) and/or a computing device 124 in a lock housing 112.

[00119] In aspects, a data and/or power cable may be positioned in the spring 210 and coupled to the plurality of links 202 at one end thereof. The data and/or power cable may be in communication with a power source or computing device of the personal transportation device.

[00120] Since the initial point of the link remaining in the top tube 22 is movable inside top tube 22, and along a straight line parallel to the top tube, the initial point of the link is determined by adding the lengths of all the aligned links in front of it and/or a percentage of the first link’s length that is not aligned with the top tube 22. The percentage of the link is calculated based on how far off this link’s orientation is from the top tube and the geometry of the opening 206. The initial point of the link coupled to the spring 210 is then found by adding the sum of the lengths of the aligned links and the percentage of the length of the first misaligned link relative to a resting point (e.g., when all links are in the top tube 22, and the spring 210 is not in tension). The resting point is the reference point at which the initial point of the link coupled to the spring 210 is compared.

[00121] With reference to FIGS. 15A-20, in accordance with another aspect of this disclosure, a situationally aware chain lock system (SACL) 300 is shown. The SACL 300 includes a plurality of links 302 and a lock 304, similar to the plurality of links 102 and the lock 104. The lock 304 includes a subframe 312. The subframe 312 is configured to couple to the plurality of links 302. The SACL 300 is configured to fold into a compact configuration (FIG. 18). The SACL 300 may include a seatpost clamp 310 for coupling the SACL 300 to the frame 14 and the seatpost 16 of bicycle 10.

[00122] Each link of the plurality of links 302 are rotatably coupled to each other at each end of each link via a pivot axle 306. Each pivot axle 306 may be short, hardened steel axles located at the outer edges of each link. Each link of the plurality of links 302 is limited to rotating in a plane parallel to an adjacent link (or adjacent the lock 304). Thus each link is movable only within planes parallel to one another.

[00123] The subframe 312 may be an “L” shaped subframe 312. The subframe 312 enables rotation of the plurality of links such that the parallel planes of each link of the plurality of links 302 may be rotated. The seat clamp 310 is connected to the subframe 312 via a plane pivot axle 314. A plane pivot spring 316 coupled to the plane pivot axle 314 is configured to bias the subframe 312 to stay up-right, unless rotated intentionally by a user. This enables the subframe 312 and the seatpost clamp 310 to rotate in relation to each other by up to 90 degrees.

[00124] The subframe 312 is connected to the first link through a pivot axle 306. The first link is then connected to the second link through another pivot axle 306 and so on until all links of the plurality of links 302 are coupled one another to form a chain. The final link includes a free end configured to couple with the lock 304 via a locking pin 328 of a locking pin mechanism 326 (FIG. 21). The locking pin mechanism 326 may be an electromechanical solenoid configured to extend and retract the locking pin 328. In aspects, the final link may have a longer length than the other lengths of the rest of the links of the plurality of links 302 to reach the locking pin 328.

[00125] FIG. 20 illustrates an exploded view of a link (e.g., link 302a) of the plurality of links 302 is shown. The link 302a includes a cover 318, a hardened steel ring shield 320, a hardened steel frame 322, a rotary electrical connector 330, at least one sensor 334, and a pivot axle 306. The pivot axle 306 may also comprise hardened steel or any other suitable metal (e.g., aluminum or brass). The sensor 334 may be disposed on a PCB 332. The sensor 334 is configured to monitor rotation of the link. The rotation of each link is used to determine the initial and final point of each link such that a 3D path of the plurality of links 302 and the lock 304 may be determined as described above. In aspects, the rotation of each link can be recorded or sensed via rotary encoders coupled to each pivot axle 306. In aspects, the rotary electrical connector 330 includes the rotary encoder. In aspects, sensor 334 may be at least one of a magnetometer or an accelerometer. In aspects, each link includes a rotary encoder coupled to the pivot axles 306 and an accelerometer disposed near a center of the hardened steel frame 322. [00126] In aspects, an orientation sensor is disposed in the subframe 312. The orientation sensor disposed in the subframe 312 may be at least one of an accelerometer, a magnetometer, or a rotary encoder coupled to the plane pivot axle 314. An orientation sensor of lock 304 or the orientation sensor of subframe 312 is configured to determine the plane to which all links are in parallel (e.g., by determining the angle of the plane at which all the links are parallel to). By determining, via the orientation sensor, the plane to which all links are in parallel, and by determining the rotations of each link relative to each other, the complete 3D path of the chain can be determined, since all links rotate in a plane parallel thereto. In aspects, the lock 304 or the subframe 312, and the plurality of links 302 include rotary encoders (e.g., and do not require accelerometers, though accelerometers may be provided in addition thereto).

[00127] In aspects, the PCB 332 of each link is used to transmit data and/or power between each link of the plurality of links, a computing device, and/or a power source. The PCB 332 may be connected with the rotary electrical connector 330 either by soldering the rotary electrical connector 330 to the PCB 332 or by using a wired connection. In aspects, a resin may be poured in the link frames for securely waterproofing everything inside. By using the rotary electrical connectors 330, data and power can be transferred from link to link, while enabling rotation.

[00128] The hardened steel ring shield 320 is configured to protect the rotary electrical connectors 330 being damaged or removed, for example, by a thief or other person.

[00129] In aspects, the SACL 300 may include a retainer configured to maintain the plurality of links 302 in the folded configuration. The retainer may be a semiflexible hoop that “hugs” the entire lock when folded or magnets in the links that are attracted to each other and the subframe 312, thereby holding the plurality of links 302 in place. In aspects, the retainer may be a band, belt, or gate mechanism coupled to the subframe 312.

[00130] With reference to FIGS. 21A-C, a situationally aware chain lock system (SACL) 400 is illustrated. SACL 400 is similar to SACL 100, SACL 200, and SACL 300, described above, and accordingly, only the differences will be described. The SACL 400 includes a plurality of links 402 (e.g., including a first link 402a, a second link 402b, a third link 402c, a fourth link 402d, etc.) and a lock 404. Each link of the plurality of links 402 defines a housing having a hollow a interior configured to contain therein at least one sensor 416 that may be mounted on a PCB 418 and a cable 420. The cable 420 may be configured to provide power to the at least one sensor 416 of each link and enable communication between the at least one sensor 416 and a computing device (e.g., such as computing device 124).

[00131] Each link may include a track 450 through which the PCB 418 may be coupled to. In aspects, the PCB 418 is permanently fixed in position in the track 450 to prevent the PCB 418, and therefore the at least one sensor 416 from sliding within the track 450 and within the respective link. In aspects, the tracks 450 may be coupled to a bearing to enable the PCB 418, and therefore sensor 416 mounted thereon, and the cable 420 to rotate freely or separately from the plurality of links 402. This advantageously limits any twisting of the cable 420 that may cause damage to the cable 420.

[00132] Each link of the plurality of links 402 includes a socket 422a at a first end thereof and a ball 422b at a second end thereof opposite the first end. Each socket 422a is configured to receive the ball 422b of an adjacent link. Each link of the plurality of links 402 may be defined by a pair of housing halves 452a and 452b to enable assembly of the plurality of links 402. For example, the first link 402a is assembled by coupling the housing halves 452a and 452b and thus defining the sockets 422a and the ball 422b. The housing halves of the second link 402b, and in particularly, the portions of the housing halves that together define the socket 422a of the second link 402b are then placed around the ball 422b of the first link 402a. Each subsequent may be similarly connected. The housing halves may be permanently fastened to each other via welding at a seam 452c between the housing halves 452a and 452b, or via screws 444, or other means for fastening the housing halves together.

[00133] Advantageously, the socket 422a of a link is configured to limit movement and rotation of an adjacent link within predefined limits based on the geometry of the socket 422a and the housing of each link. For example, the socket 422a may be configured to limit an adjacent link from rotating beyond 90 degrees relative to a central longitudinal axis of the socket 422a. In aspects, each housing of each link is cylindrical to maximize durability and minimize internal stress concentration in the event a link is subjected to cutting. In aspects, a sheath may be provided around the plurality of links 402 to limit twisting of the plurality of links 402. [00134] The last link of the plurality of links 402 may include only the socket 422a or the ball 422b at one end thereof and instead include at the opposite end thereof a locking pin 440 configured to be received by a locking pin receptor 440a of the lock 404.

[00135] The SACL 400 advantageously enables the cable 420 and the sensor 416 to remain inside the plurality of links 402 thus limiting tampering or damage of the sensors 416 or cable 420.

[00136] In aspects, each link may be manufactured from ferromagnetic materials (e.g., hardened steel) or non-ferromagnetic materials (e.g., high strength polymers or aluminum). In aspects, each housing link 402 may have a wall thickness that limits interference with a magnetic field of the sensor 416.

[00137] With reference to FIG. 22, a computing device 500 (e.g., a server, a controller, or computing device 124) includes a processor 520 connected to a computer- readable storage medium or a memory 530. The computer-readable storage medium or memory 530 may be a volatile type of memory, e.g., RAM, or a non-volatile type of memory, e.g., flash media, disk media, etc. In various aspects of the disclosure, the processor 520 may be another type of processor such as a digital signal processor, a microprocessor, an ASIC, a graphics processing unit (GPU), a field-programmable gate array (FPGA), or a central processing unit (CPU). In certain aspects of the disclosure, network inference may also be accomplished in systems that have weights implemented as memristors, chemically, or other inference calculations, as opposed to processors.

[00138] In aspects of the disclosure, the memory 530 can be random access memory, read-only memory, magnetic disk memory, solid-state memory, optical disc memory, and/or another type of memory. In some aspects of the disclosure, the memory 530 can be separate from the computing device 500 and can communicate with the processor 520 through communication buses of a circuit board and/or through communication cables such as serial ATA cables or other types of cables. The memory 530 includes computer-readable instructions that are executable by the processor 520 to operate the computing device 500. In other aspects of the disclosure, the computing device 500 may include a network interface 540 to communicate with other computers or to a server. A storage device 510 may be used for storing data. [00139] The disclosed method may run on the computing deviec 500 or on a user device, including, for example, on a mobile device, an IoT device, or a server system.

[00140] Moreover, the disclosed structure can include any suitable mechanical and/or electrical components for operating the disclosed situationally aware chain lock system or components thereof. For instance, such electrical components can include, for example, any suitable electrical and/or electromechanical and/or electrochemical circuitry, which may include or be coupled to one or more printed circuit boards. As used herein, the term “controller” includes “processor,” “digital processing device,” and like terms, and are used to indicate a microprocessor or central processing unit (CPU). The CPU is the electronic circuitry within a computer that carries out the instructions of a computer program by performing the basic arithmetic, logical, control, and input/output (I/O) operations specified by the instructions, and by way of non-limiting examples, include server computers. In some aspects, the controller includes an operating system configured to perform executable instructions. The operating system is, for example, software, including programs and data, which manages hardware of the disclosed system and/or devices (e.g., SACL 100, 200, 300, 400) and provides services for execution of applications for use with the disclosed system and/or devices (e.g, SACL 100, 200, 300, 400). Those of skill in the art will recognize that suitable server operating systems include, by way of non-limiting examples, FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle® Solaris®, Windows Server®, and Novell® NetWare®. In some aspects, the operating system is provided by cloud computing.

[00141] In some aspects, the term “controller” may be used to indicate a device that controls the transfer of data from a computer or computing device to a peripheral or separate device and vice versa, and/or a mechanical and/or electromechanical device (e.g., a lever, knob, etc.) that mechanically operates and/or actuates a peripheral or separate device.

[00142] In aspects, the computing device (e.g., a controller) includes a storage and/or memory device. The storage and/or memory device is one or more physical apparatus used to store data or programs on a temporary or permanent basis. In some aspects, the controller includes volatile memory and requires power to maintain stored information. In various aspects, the controller includes non-volatile memory and retains stored information when it is not powered. In some aspects, the non-volatile memory includes flash memory. In certain aspects, the non-volatile memory includes dynamic random-access memory (DRAM). In some aspects, the non-volatile memory includes ferroelectric random-access memory (FRAM). In various aspects, the non-volatile memory includes phase-change random access memory (PRAM). In certain aspects, the controller is a storage device including, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives, magnetic tapes drives, optical disk drives, and cloud computing-based storage. In various aspects, the storage and/or memory device is a combination of devices such as those disclosed herein.

[00143] In some aspects, the controller includes a display to send visual information to a user. In various aspects, the display is a cathode ray tube (CRT). In various aspects, the display is a liquid crystal display (LCD). In certain aspects, the display is a thin film transistor liquid crystal display (TFT-LCD). In aspects, the display is an organic light- emitting diode (OLED) display. In certain aspects, an OLED display is a passive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display. In aspects, the display is a plasma display. In certain aspects, the display is a video projector. In various aspects, the display is interactive (e.g., having a touch screen or a sensor such as a camera, a 3D sensor, a LiDAR, a radar, etc.) that can detect user interactions/gestures/responses and the like. In some aspects, the display is a combination of devices such as those disclosed herein.

[00144] The controller may include or be coupled to a server and/or a network. As used herein, the term “server” includes “computer server,” “central server,” “main server,” and like terms to indicate a computer or device on a network that manages the system and/or devices (e.g., SACL 100, 200, 300, 400), components thereof, and/or resources thereof. As used herein, the term “network” can include any network technology including, for instance, a cellular data network, a wired network, a fiber optic network, a satellite network, and/or an IEEE 802.1 la/b/g/n/ac wireless network, among others.

[00145] In various aspects, the controller can be coupled to a mesh network. As used herein, a “mesh network” is a network topology in which each node relays data for the network. All mesh nodes cooperate in the distribution of data in the network. It can be applied to both wired and wireless networks. Wireless mesh networks can be considered a type of “Wireless ad hoc” network. Thus, wireless mesh networks are closely related to Mobile ad hoc networks (MANETs). Although MANETs are not restricted to a specific mesh network topology, Wireless ad hoc networks or MANETs can take any form of network topology. Mesh networks can relay messages using either a flooding technique or a routing technique. With routing, the message is propagated along a path by hopping from node to node until it reaches its destination. To ensure that all its paths are available, the network must allow for continuous connections and must reconfigure itself around broken paths, using self-healing algorithms such as Shortest Path Bridging. Self-healing allows a routing-based network to operate when a node breaks down or when a connection becomes unreliable. As a result, the network is typically quite reliable, as there is often more than one path between a source and a destination in the network. This concept can also apply to wired networks and to software interaction. A mesh network whose nodes are all connected to each other is a fully connected network.

[00146] In some aspects, the controller may include one or more modules. As used herein, the term “module” and like terms are used to indicate a self-contained hardware component of the central server, which in turn includes software modules. In software, a module is a part of a program. Programs are composed of one or more independently developed modules that are not combined until the program is linked. A single module can contain one or several routines, or sections of programs that perform a particular task.

[00147] As used herein, the controller includes software modules for managing various aspects and functions of the disclosed system and/or devices (e.g., SACL 100, 200, 300, 400) or components thereof.

[00148] The disclosed structure may also utilize one or more controllers to receive various information and transform the received information to generate an output. The controller may include any type of computing device, computational circuit, or any type of processor or processing circuit capable of executing a series of instructions that are stored in memory. The controller may include multiple processors and/or multicore central processing units (CPUs) and may include any type of processor, such as a microprocessor, digital signal processor, microcontroller, programmable logic device (PLD), field programmable gate array (FPGA), or the like. The controller may also include a memory to store data and/or instructions that, when executed by the one or more processors, cause the one or more processors to perform one or more methods and/or algorithms. [00149] Any of the herein described methods, programs, algorithms or codes may be converted to, or expressed in, a programming language or computer program. The terms “programming language” and “computer program,” as used herein, each include any language used to specify instructions to a computer, and include (but is not limited to) the following languages and their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, machine code, operating system command languages, Pascal, Perl, PL1, scripting languages, Visual Basic, metalanguages which themselves specify programs, and all first, second, third, fourth, fifth, or further generation computer languages. Also included are database and other data schemas, and any other meta-languages. No distinction is made between languages which are interpreted, compiled, or use both compiled and interpreted approaches. No distinction is made between compiled and source versions of a program. Thus, reference to a program, where the programming language could exist in more than one state (such as source, compiled, object, or linked) is a reference to any and all such states. Reference to a program may encompass the actual instructions and/or the intent of those instructions.

[00150] The phrases “in an aspect,” “in aspects,” “in various aspects,” “in some aspects,” or “in other aspects” may each refer to one or more of the same or different aspects in accordance with the present disclosure. A phrase in the form “A or B” means “(A), (B), or (A and B).” A phrase in the form “at least one of A, B, or C” means “(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C) ”

[00151] Persons skilled in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying figures are non-limiting exemplary aspects, and that the description, disclosure, and figures should be construed merely as exemplary of particular aspects. It is to be understood, therefore, that this disclosure is not limited to the precise aspects described, and that various other changes and modifications may be effectuated by one skilled in the art without departing from the scope or spirit of the disclosure.

[00152] Additionally, it is envisioned that the elements and features illustrated or described in connection with one exemplary aspect may be combined with the elements and features of another without departing from the scope of this disclosure, and that such modifications and variations are also intended to be included within the scope of this disclosure. Indeed, any combination of any of the disclosed elements and features is within the scope of this disclosure. Accordingly, technical features described herein in connection with one illustrative situationally aware chain lock system may be applicable to other systems and devices of the disclosure, and thus duplicative descriptions may be omitted herein. Thus, the subject matter of this disclosure is not to be limited by what has been particularly shown and described.