Note: Descriptions are shown in the official language in which they were submitted.
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
TRAINING GUIDANCE SYSTEM FOR CANINES, FELINES, OR OTHER
ANIMALS
Reference to Related Applications
This application is a continuation-in-part of Application No. 10/994,876,
FILED
November 22, 2004 titled "CAMERA SYSTEM FOR CANINES, FELINES, OR OTHER
ANIMALS," which is a continuation-in part of Application No. 10/893,549, filed
July 15,
2004, titled "TRAINING, MANAGEMENT, AND/OR ENTERTAINMENT SYSTEM
FOR CANINES, FELINES, OR OTHER ANIlVIALS," the entire contents of which is
hereby incorporated by reference.
Baclcground of the Invention
Field of the Invention
The . present invention relates to a system for computer-aided training and
management of dogs, cats, and other animals.
Description of the Related Art
Electronic dog training collars that provide warning sounds, followed by some
form
of punishment for the purpose of training dogs not to engage in nuisance
barking are well
lrnown. This type of a system is activated when a dog's barking sound is
picked up from the
dog's throat area by a sound-sensing device located on a dog collar.
Electronic dog training
collars that provide warning sounds, followed by some form of punishment for
the purpose
of training dogs to stay within an established area are also well known. This
type of system
is activated when a radio receiver in the collar piclcs up a signal
transmitted through a
buried wire antenna. This type of training device does not provide a method
for allowing
the dog to return to the established area in the event it escapes, without
receiving correction.
Another type of electronic dog training collar provides warning sounds, then
some form of
punishment when behavioral problems are visually detected by the dog trainer
who
activates a radio transmitter contained within a handheld enclosure. This
signal, in turn, is
received by a dog collar and the correction sequence is initiated. Some
training collars of
this type have a tilt switch wliich senses whether a dog is moving or standing
still
(pointing).
These and other prior art systems are limited in capability and are primarily
designed to correct specific unwanted behaviors. Sucll systems are geared
towards giving
-1-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
the dog a negative stimulus (punishment) when the unwanted behavior occurs.
The prior
art systems, aside from keeping the dog in the yard, are not concerned with
protecting the
happiness, health and well-being of the dog (or other animal). Moreover, it is
well known
that punishment training is a poor method of training and often leads to
behavioral
problems. Dogs have an innate desire to please, and thus, the best trainers
know to base the
training on reward and encouragement, and to use punishment sparingly.
Summary
These and other problems are solved by a computer-aided training and
management
system that uses a computer or other processor in wireless communication with
an
instrumented dog collar and/or optionally, one or more dog interaction
devices, such as, for
example, video monitors, loudspeakers, video cameras, training toys (e.g.,
ball, bone,
moving toy, etc.), an animatronics "trainer," a treat dispenser, a food
dispensing and
monitoring device, a water dispensing and monitoring device, tracking devices,
a dog door,
dog-monitoring doghouse, a dog-monitoring dog toilet, etc. In one embodiment,
an
instrumented dog collar is in two-way conlinunication with a central computer
system. In
one embodiment, a plurality of modules disposed about the dog allow the
trainer or owner
to remotely control where the dog goes by controlling the dogs direction of
travel. In one
embodiment, a plurality of modules disposed about the dog provides
surveillance
information about the area around the dog.
In one embodiment, a video device (or devices) and/or loudspeakers are used to
provide training commands. The dog collar and/or one or more training toys,
video
monitors, etc. are fitted with wireless instrumentation to provide feedback
regarding the
dog's response to the training commands. In one embodiment, a computer-
controlled treat
dispenser is used to reward the dog. The training system can be used to
entertain the dog, to
train the dog to perform specific tasks, to train behaviors, and/or to
increase the dog's
vocabulary.
In one embodiment, a food dispensing and monitoring device and/or a water
dispensing and monitoring device are provided to feed the dog and to monitor
the dog's
health and well-being by measuring the dogs intalce of food and water. In one
embodiment,
tracking devices such, as for example, Infrared Red (IR) location, acoustic
location, Radio
Frequency (RF) location, GPS location, and/or inertial motion tracking are
used to
-2-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
determine the dog's location. In one embodiment, the management system
controls a "dog
door" to allow the dog ingress and egress into a house or other structure.
In one embodiment, a wireless dog collar communicates witll a Radio Frequency
Identification (RFID) tag implanted in the dog and relays information from the
RFID tag to
the computer monitoring system. In one embodiment the RFID tag includes a
temperature
sensor to allow the monitoring system to monitor the dog's temperature. In one
embodiment the RFID tag includes one or more biometric sensors to measure the
dog's
health and well-being, such as for example, temperature, blood pressure,
pulse, respiration,
etc.
In one embodiment, the animal management system includes a computer system
provided to a first wireless communication transceiver and an aninlal collar
provided to a
second wireless communication transceiver. The animal collar has an
identification code
and is configured to communicate with the computer system using two-way
handshaking
communication such that the computer system can send comniands to the animal
collar and
receive acknowledgement of the commands from the animal collar. The animal
collar can
send data to the computer system and receive aclcnowledgement from the
computer system
according to the identification code. The computer system is configured to
send commands
to the animal collar and to receive data froin the animal collar related to
one or more actions
of an animal wearing the animal collar. The computer system is configured to
keep records
of at least a portion of the animal's actions.
In one embodiment, the animal collar includes at least one of, an acoustic
input
device, an acoustic output device, a vibrator device, an odor output device,
an infrared
receiver, an infrared transmitter, an RFID tag reader, a GPS receiver, an
inertial motion unit
(e.g., accelerometers or gyroscopes).
In one embodiment, the animal management system includes at least one of, an
RF
location system, a coinputer-controlled treat dispenser, a computer-controlled
water
dispenser, a computer-controlled food dispenser, computer-controlled animal
toilet, a
computer-controlled animal house, a video monitor. In one embodiment, the
animal
management system includes at least one animal toy configured to wirelessly
communicate
with the computer system. In one embodiment, the wireless toy includes at
least one of, a
light, an acoustic input device, an acoustic output device, a touch (or usage)
sensor, a
motion sensor, a location traclcing system.
-3-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
In one embodiunent, the animal management system includes one or more location
system units disposed about an area, such as, for example, a house, barn,
yard, ranch, etc. In
one embodiment, the location system units use infrared radiation for location
and tracking
of the animal collar. In one embodiment, the location system units use
acoustic waves for
location and traclcing of the animal collar. In one embodiment, the location
system units
use electromagnetic waves for location and traclcing of the animal collar. In
one
embodiment, the location system units are also configured to operate as motion
detectors
for a home security system.
Brief Description of the Drawings
Figure 1 shows various elements of a dog training and management system.
Figure 2 is a bloclc diagram of the dog collar.
Figure 3 is a bloclc diagram of the dog collar from Figure 2 with the addition
of
location finding systems and a second RF transceiver for communicating with an
RFID tag.
Figure 4 is a block diagrain of a dog toy.
Figure 5 is a block diagram of the treat dispenser.
Figure 6A shows a remote control for controlling the functions of the training
and
management system and for displaying data from the training and management
system.
Figure 6B is a bloclc diagram of the remote control.
Figure 7 is a bloclc diagram of the dog house system.
Figure 8A is a diagram of the food dispenser.
Figure &B is a block diagram of the food dispenser.
Figure 9 is a block diagram of the water dispenser.
Figure 1.0 is a diagram of one embodiment of the dog toilet.
Figure 11 is a block diagram of a repeater unit.
Figure 12 is a block diagram of the base unit.
Figure 13 is a block diagram of a ball tossing unit used to play "fetch" with
the dog.
Figure 14 is a architectural-type drawing of the floor plan of a portion of a
house
showing examples of placement of location sensors to sense the movement of the
dog
around the holse.
Figure 15 is a block diagram of a dog collar that includes a camera.
-4-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
Figure 16A shows the elements of the dog collar implemented using a harness
instead of a collar witli the camera located on the dog's back.
Figure 16B shows the elements of the dog collar implemented using a harness
instead of a collar with the camera located on the dog's flank area.
Figure 16C shows the elements of the dog collar implemented using a harness
instead of a collar with the camera located on the dog's neck or shoulder
area.
Figure 16D shows the elements of the dog collar implemented using a harness
instead of a collar with the camera located on the dog's chest.
Figure 17, shows the collar with a camera located on the dog's head.
Figure 18 shows a dog harness implemented with multiple cameras and training
modules.
Figure 19A is a bloclc diagram of a multiple camera and training module
system.
Figure 19B is a block diagram showing the modules of Figure 19A in relation to
the
dog 101.
Figure 20A shows a dog harness implemented with multiple cameras and training
modules with an extendable caniera.
Figure 20B is a bloclc diagram of a dog harness impleinented with multiple
cameras
and training modules with an extendable camera.
Figure 21 is a block diagram of a multiple camera and stimulation module
training
and control system.
Figure 22A shows one einbodiment of a systein for providing the multiple
camera
and stimulation module systein of Figure 21 to the dog.
Figure 22B shows one embodiment of a mesh system for providing the multiple
camera and stimulation module system of Figure 21 to the dog.
-5-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
Detailed Description
Figure 1 shows various elements of a dog training and management system 100
for
managing a pet or aniinal such as a dog 101. For purposes of explanation, and
not by way
of limitation, the system 100 is described herein as a training system and a
dog management
system. One of ordinary skill in the art will recognize that various aspects
of the system 100
can also be used for cats, otlier pets, farm animals, livestock, zoo animals,
etc. The system
100 includes a computer system 103 to control the system 100 and, to collect
data, and to
provide data for the owner/trainer. The system typically includes a wireless
animal system
102 and a wireless base unit 104. The wireless animal systein 102 is attached
to the dog 101
by a collar, harness, implantation, etc. The base unit 104 is provided to the
computer 103
and allows the computer 103 to communicate with the animal system 102. In one
embodiment, the aniinal system 102 communicates with a Radio Frequency
ID(RFID) tag
embedded in the dog 101. The RFID tag provides an identification code to
identify the dog
101. The animal system 102 reads the RFID tag and relays the information from
the RFID
tag to the computer 103. In one embodiment, the RFID tag includes one or more
biometric
sensors to allow the coinputer 103 to monitor the health and condition of the
dog 101. In
one embodiment, the RFID tag includes a temperature sensor to allow the
monitoring
system to monitor the dog's temperature. In one embodiment, the RFID tag
includes one or
more biometric sensors to measure the dog's health and well-being, such as for
example,
temperature, blood pressure, pulse, respiration, blood oxygenation, etc.
The system 100 can also include one or more of the following optional devices:
one
or more video monitors 105, one or more loudspealcers 107, one or more video
cameras
106, one or more RF training toys (e.g., a ball 114, a bone 116, a moving toy
115, etc.), an
animatronics "trainer" 123, and a treat dispenser 122. The system 100 can
further include
one or more of the following optional devices: a remote control/display 112
for displaying
the dog's location, a food dispensing and monitoring device 121, a water
dispensing and
monitoring device 120, one or more systems for locating the dog, one or more
RF repeaters
113, one or more dog-door controllers 111, a dog-monitoring doghouse 119, a
dog-
monitoring dog toilet 117, and atnbient condition sensors (e.g., rain, wind,
temperature,
daylight, smoke, fire, poison gas, explosives, etc.) 129. In one embodiment,
the ambient
condition sensors are wireless sensors that communicate wirelessly with the
computer
system 103.
-6-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
Til one embodiment, the system 100 can be used as a computerized training
system
for training the dog 101. During training, the system 100 provides training
commands or
instructions to the dog 101. Audio coxmnands can be provided through the
loudspeakers
107, through a loudspeaker in the animal systenl 102, and/or through audio
devices (e.g.,
loudspeakers, buzzers, etc.) in the dog toys 114-116. Visual commands can be
provided by
the monitor 105, by an animatronics trainer 123, and/or by visual display
devices (e.g.,
lights in the toys 114-116, lights on the toilet 117, dog house 119,
dispensers 120-122) etc.
The dog trackulg system described below can be used to provide corrective
commands
when the dog 101 is not performing correctly and/or to provide encouragement
when the
dog 101 is perforining correctly.
In one embodiment, a modem 130 is provided for making connections with the
telephone system, to allow the system 100 to communicate with an owner/trainer
through
cellular telephone, text messaging, pager, etc. A networlc connection 108
(e.g., an Tnternet
connection, local area network connection, wide area network connection, etc.)
is provided
to allow the owner/trainer to communicate with the system 100 and to allow the
system 100
to receive updated software, updated training regimens, etc.
In one embodiment, the animal system 102 provides positive reinforcement
(e.g.,
cliclcer sounds, "good dog" sounds, pleasing sounds, pleasing smells, treats,
etc.) and/or
negative reinforcement commands (e.g., unpleasant sounds, electric shoclc,
unpleasant
vibration, unpleasant smells, etc.)
The dog toys provide touch and/or motion feedbaclc to the training system 100.
The
training system 100 delivers a treat to the dog using the treat dispenser 122
wllen it receives
confirmation that the dog has properly performed the command. In one
embodiment, an
Inertial Motion Unit (IMU) in the dog animal system 102 and/or the video
cameras 106 are
be used to determine wllen the dog performs a desired action (e.g., sit, roll
over, lie down,
retrieve a toy, etc.). A location system described below can be used to keep
the dog in a
desired area and out of "off limits" areas. lii one embodiment, the location
system uses
multiple inputs to determine the dog's location.
In one embodiment, the dog toys 114-116 are adapted to specialized training
such
as, for example, boinb-sniffmg, drug-sniffing, etc.
In one embodiment, the animatronics trainer 123 is configured to smell like a
human (e.g., by placing clothes warn by the owner/trainer on the animatronics
trainer). In
-7-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
one embodiment, the animatronics trainer 123 is configured to speak to the
dog. In one
embodiment, the animatronics trainer 123 is configured to provide treats to
the dog. In one
embodiment, the animatronics trainer 123 is mobile and is configured to walk
the dog. In
one embodiment, the animatronics trainer 123 is configured to be used to teach
the dog to
heel.
lii one embodiment, the system 100 uses the sensors 129 to detect fire or
smolce. In
one embodiment, the system 100 receives alann data from a home alarm system.
In one
enlbodiment, a microphone 204 is used to detect a fire alarm. When the system
100 detects
a fire or smoke alarm, the system 100 can open the dog door 111, instruct the
dog to leave,
close the dog door 111 after the dog has left, and notify the owner/trainer.
The
owner/trainer can be notified by using the loudspeakers 107, by telephone,
pager, and/or
text messaging using the modem 130 to connect with the telephone system,
and/or by using
the networlc connection 108 (e.g., email instant messaging, etc.). The modem
130 is
configured to place a telephone call and then communicate with the owner using
data (e.g.,
in the case of text messaging) and/or synthesized voice. The modem 130 can
also be used
by the owner/trainer 123 to contact the coinputer system 103 and control the
system 100
using voice recognition commands and/or data.
In one embodiment, the system 100 uses the video cameras 106 to record videos
of
the dog's training. These videos can be played back for the owner/trainer to
help the
owner/trainer understand how the training is progressing and to spot problems.
For example, the system 100 can be used, for example, to train the dog 101 to
understand one or more of the following cominands/actions:
A. General Cominands
= Sit--Stay
= Come Here (or Come, or Here)
= Down--Stay
= Heel
= Stand--Stay
= Stand
= Don't Growl
= Stand Here/Stand By Me
= Lie Down
-8-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
= Up
= Down
= Shalce Hands
= Roll Over
= No Paw
= Slow-Time (walking command)
= Fast-Time (wallcing command)
= Take-Time (walking command--Slow Down)
= Catch/Fetch
= Speak/Barlc
= Retrieve
= Eat Food
= Don't Do That
= No
= Go Ahead
= O.K.
= Track
= Go Out
= Let Go
= Look Baclc
= Get Out
= Kentiel/Crate ('Go to the kennel, etc.')
= Bad Dog
= Come Back
= Get Ball
= Nice Dog
= Good Dog/Nice Dog
= Quiet
= Go To Sleep
= Wallc/Go For A Wallc
= Run
-9-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
= Let's Play
= Put That Down
= Don't Shalee Hands
= Stop Barlcing
= Don't Go Out/Don't Go Outside/Don't Go Out Door
= T.V. (e.g., stop the dog from barking at the TV or the
doorbell)
= Go To The Corner
= Leave It/Drop It
B. Military/Police-Type Commands
= Search
= Bite
= Hold
= Juinp
= Track
= Blind Search
= Guard
= Go Ahead
= Let Go
= Stop/Halt
= Article Search (A command for the dog to search for
contraband or other illegal items at an airport or another
facility)
= Go Inside
= Go Outside
= Don't Do That
= Stand
= Spealc/Bark
= Attack
C. Situations in which control of the dog's behavior must be altered:
= Remain In Yard/Stay In The Yard (or similar area)
-10-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
= Housebreaking
= Inappropriate Dominant Behavior
= Staying Off The Furniture
= Staying Off Guests/Don't Jump On Guests/Don't Bother
Guests
= Eliminate Chewing Furniture
= Stop Inappropriate Barking
= Stay Out Of The Trash Cans
= Get The Newspaper
= Get Bedroom Slippers
= Don't Defecate/Urinate In House
= Eliminate Chewing Of Household Items
= Do Not Exhibit Aggressive Behavior Towards Visitors
= Don't Chase Cars or Other Moving Objects
= Eliuninate Nipping/Snapping Beliaviors
= Eliminate Or Prevent Excessive Fear Reactions or 'Paranoia'
in the dog.
= Eliminate Negative Behaviors Such As Excessive,
Unfounded Wluning, Whimpering, or Vocalizing Other
Similar Sounds
= In Inappropriate Situations
= Eliminate Uncontrolled (and sometimes destructive) Over-
energetic Or Separation Anxiety-Related Behaviors
The above lists are not exhaustive, but are intended to illustrate types of
training
that the system 100 can provide. The dog's response to commands is monitored
by the
system 100 by using data from the animal systein 102, from the toys and otlier
devices 114-
123, and/or by video processing from one or more video cameras 106. In
addition, the dog's
response to commands can be determined by the owner/trainer in real time and
by watching
video obtained by the one or more video cameras 106. The system 100 can be
used to train
the dog to obey new commands and/or to reinforce conunands the dog already
understands.
In one embodiment, a trainer worlcs with the dog 101 and the system 100 to get
the dog
accustomed to the system 100 and to give the dog a starting vocabulary of
basic commands
-11-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
(e.g. sit, stop, get the lighted toy, etc.) and then the system 100 can be
used to reinforce the
basic commands and to teach the dog new cominands.
Figure 2 is a block diagram of an animal module, the animal system 102. In the
animal system 102, a sound sensing device (e.g., a microphone) 204, a
vibration device
205, a sound producing device (e.g., a loudspeaker) 206, an electric shock
device 207, and a
first RF transceiver 202 are provided to a processor 201. The sound sensing
device is
configured to sense sound waves (sonic and/or ultrasonic) such as, for
example, a
microphone, a tra.nsducer, etc. For convenience, and without limitation, the
sound sensing
device is referred to herein as a microphone with the understanding that other
acoustic
transducers can be used as well. For convenience, and without limitation, the
sound
producing device is referred to herein as a loudspeaker with the understanding
that the
sound producing device is configured to produce sound waves (sonic and/or
ultrasonic)
such as, for example, a loudspeaker, a transducer, a buzzer, a cliclcer, etc.
A power source
203 provides power for powering the microphone 204, the vibration device 205,
the
loudspealcer 206 and the electric shock device 207, the first RF transceiver
202 and the
processor 201. In one embodiment, each of the microphone 204, the vibration
device 205,
the loudspealcer 206 and the electric shoclc device 207 are optional and can
be omitted. The
animal system 102 can also include an odor/treat dispensing device 210 for
providing
pleasant smells, treats, and/or unpleasant smells so the dog 101. The animal
system 102 can
also include a light (not shown) for providing visual indications to the dog
101, to the
trainer, or to the video cameras 106. In one embodiment, a tamper sensor 230
is also
provided.
The microphone 204 is used to pick up sound waves, such as, for example,
sounds
produced by the dog 101, sounds produced by other dogs, and/or acoustic waves
produced
by an acoustic location device (sonic or ultrasonic), etc. The processor 201
processes the
sounds picked up by the microphone and, if needed, sends processed data to the
computer
system 103 for fiu-ther processing. The loudspeaker 206 is used to produce
pleasant and/or
unpleasant sounds for the dog 101 and to provide commands to the dog 101. The
microphone 204 and/or loudspeaker 206 can also be used in connection with an
acoustic
location system to locate the dog using acoustic waves. In an acoustic
location system, the
microphone 204 and/or loudspealcer 206 communicate acoustically with acoustic
sources or
sensors placed about the house or yard to locate the dog 101.
-12-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
The vibrator is used to produce pleasant and/or unpleasant vibrations to the
dog 101.
The electric shock device 207 is used to provide corrective shocks to the dog
101. In one
embodiment, the shock device 207 can provide a range of shocks from relatively
mild to
relatively harsh. In one embodiment, the computer systein 103 instructs the
processor 201
to control the electric shoclc device 207 to deliver a desired shocle
intensity.
The optional tamper sensor 230 senses when the collar has been tampered with
(e.g., removed from the dog). In one embodiment, the optional dispenser 210
dispenses
odors such as pleasant and/or pleasant odors to the dog 101. In one
embodiment, the
optional dispenser 210 dispenses treats for the dog 101.
The first RF transceiver 202 communicates witli the base unit 104 either
directly or
through the repeaters 113. In one einbodiment, the RF transceiver 202 provides
two-way
communications such that the animal system 102 can send information to the
computer
system 103 and receive cominands from the computer system 103. In one
embodiment, the
computer system 103 and the first RF transceiver 202 communicate using a
handshake
protocol, to verify that data is received.
Figure 3 is a bloclc diagram of the dog aniinal system 102 from Figure 2 with
the
addition of location finding systems and a second RF transceiver 309 for
communicating
with an RFID tag 310 imbedded in the dog 101. In Figure 3, the animal system
102 includes
one or more location and tracking systems, such as, for example, an IR system
301, a GPS
location systein 302, an IlVIU 303 and/or a third RF transceiver 304. The
traclcing systems
can be used alone or in combination to ascertain the location of the dog. The
IR system 301,
the GPS location systein 302, the IlVIU 303, and the third RF transceiver 304
are provided
to the processor 201 and powered by the power source 203. The processor 201
controls
operation of the IR system 301, the GPS location system 302, the IMU 303, and
the third
RF transceiver and controls when the power source delivers power to the IR
system 301,
the GPS location system 302 and the IIVIU 303. The first second and third RF
transceivers
are separated in Figure 3 for purposes of description, and not by way of
limitation. In one
embod'unent, the first RF transceiver 202, and/or the second RF transceiver
309 and/or the
third RF transceiver 304 are combined into one or more transceivers. In one
embodiment,
the first RF transceiver 202, and/or the second RF transceiver 309 and/or the
third RF
transceiver 304 operate at different frequencies.
-13-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
The second RF transceiver 309 communicates with the RFID tag 310 to obtain
information (e.g., identification, temperature, pulse rate, biometric
information, etc.) from
the RFID tag 310.
In one embodiinent, the third RF transceiver 304 is a receive-only device that
receives radio location signals from one or more radio location transmitters
as part of a
radio location system. In an alternative embodiment, the third RF transceiver
304 is a
transmit-only device that transinits radio location signals to one or more
radio location
receivers as part of a radio location system. In an alternative embodiment,
the third RF
transceiver 304 transmits radio location signals to and receives radio
location signals from
one or more radio location transceivers as part of a radio location system.
Techniques for
radio location systems such as, for example, GPS, DECCA, LORAN, etc. are
lcnown in the
art. Data from the radio location system is provided to the computer system
103 to allow
the computer system 103 to detemline the location of the animal system 102. In
one
embodiment, radio location is provided by measuring a strength of a signal
transmitted by
the aniunal system 102 and received by one or more repeaters 113 to estimate
distance
between the repeaters and the animal system 102. In one embodiment, radio
location is
provided by measuring a strength of signals transmitted by one or more
repeaters 113 and
received by the animal system 102 to estimate distance between the repeaters
and the
animal system 102. In one einbodiment, a time delay corresponding to radio
frequency
propagation between the repeaters 113 and the animal system 102 is used to
estimate the
location of the animal system 102.
The various location systems have benefits and drawbacks. In one embodiment,
the
system 100 uses a combination of one or more of a GPS system, an IMU, a radio-
location
system, an IR system, and an acoustic system, to locate the dog 101. One or
more of these
systems are used synergistically to locate the dog 101 and to reduce the power
consumed in
the animal system 102 by the location process.
The IMU 303 uses one or more accelerometers and/or gyroscopes to sense motion
of the collar. The motion can be integrated to determine location. The IMU 303
provides
relatively low power requirements and relatively high short-term accuracy. The
IMU
provides relatively lower long-term accuracy. An Inertial Motion Units (lMU)
unit will
work indoors or out, and typically consumes less power than other location
systems.
However, IMU systems are prone to drift over time and tend to lose accuracy if
not
-14-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
recalibrated at regular intervals. In one embodiment, the IMU 303 is
recalibrated from time
to time by using data from one or more of the GPS, acoustic, IR, and/or RF
location
systems. In one embodiment, the IlVIU 303 is used to reduce power requirements
for the
GPS, IR, and/or RF location systems. In one embodiment, the GPS, IR, and/or RF
location
systems are placed in a low-power or standby mode when the IMU 303 senses that
the
animal system 102 is motionless or relatively motionless. If the IMU 303
senses that the
animal system 102 is relatively motionless (e.g., motionless or moving at a
relatively low
velocity) then the dog is either not moving or is moving slowly enough that
traclcing is not
immediately needed. In one embodiment, the IMU 303 is a 3-axis system and
thus, motion
of the animal system 102 in any direction is sensed as motion and can be used
to activate
one or more of the other sensing systems. Thus, for example, if the dog has
been lying
down and then stands up, the "up" motion will be sensed by the IMU 303 and the
collar
will activate one or more tracking systems.
In one einbodiment, the system 100 assumes that the dog 101 will not move at a
relatively constant and relatively low velocity for any significant length of
time. Thus, in
one embodiment, the IMU self-calibrates to a constant offset error (e.g. a
constant slope in
the X, Y or Z direction) and a deviation from that constant X, Y offset error
(e.g., a change
in slope) is recognized as a movement by the dog 101.
In one embodiment, the IMU 303 is at least a 2-axis IMU that senses motion in
at
least two directions. In one embodiment, the IMU 303 is at least a 3-axis IMU
that senses
motion in at least three directions. Iu one embodiment, the I1VIU 303 provides
data to
determine that the dog 101 has rolled over, jumped, etc. In one embodiment,
the IMU
provides data used to determine the gait of the dog 101, such as, for example,
running,
walking, going up stairs, going down stairs, trotting, limping, etc. In one
embodiment, the
IMU provides data used to determine head motions of the dog 101, such as, for
example,
barking, retching, etc. In one embodiment, data from the IMU is used in
connection with
signal processing of audio signals from a microphone in the animal system 102
to
determine if the dog 101 is barking, retching, whimpering, drinking, cholcing,
whining, etc.
For training, the IMU can be used alone or in combination with other tracking
devices to obtain feedback on the motion of the dog 101. Thus, for example, if
the dog 101
is commanded to piclc up the ball 114, and the IMU senses that the dog 101 is
moving
towards the ball 114, then the system 100 can provide positive feedbaclc to
the dog.
-15-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
The IMU 303 can measure both dynamic acceleration as well as static
acceleration
forces, including acceleration due to gravity, so the IMU 303 can be used to
measure tilt as
well as horizontal and vertical motion. When the IMU 303 is oriented so both
the X and Y
axis are parallel to the earth's surface it can be used as a two axis tilt
sensor with a roll and
pitch axis. Ninety degrees of roll would 'uidicate that the dog 101 is lying
on its side. In
addition, when the IlVIU 303 indicates no movement at all, regardless of the
orientation of
the dog 101, the dog is asleep or inactive and the system is powered down, as
described
above. Thus, the IlVIU 303 can detect wlzen the dog is not standing.
With regard to digging movements of the dog 101, the IMU 303 can detect
forward
motion (dynamic motion) or laclc of forward motion of the dog, in addition to
tilt. If the
1MU 303 detects that the dog's forward motion has stopped and a motion
perpendicular to
the main axis of the dog continues, the dog is digging. If this criteria is
used in conjunction
with IMU 303 recognition of a downward tilt toward the front of the dog's
body, the
digging motion is likely. Digging detection can be disabled automatically when
the dog is
laying down, rolling over, etc. With regard to jumping, the IMU 303 can be
used to detect a
movement essentially straight up, or up and slightly rearward, the dog is
jumping up.
The microphone 204 is used to listen to the dog for barking, whimpering, cries
of
distress or pain, retching, etc. The IMU 303 (if provided) can be used in
connection with
the microphone 204 to help detect barlcing, retching, etc. and other sounds
where a head
inovement is associated with the sound. In one embodiment, to reduce power
consumption,
the animal system 102 performs a preliminary acoustic analysis and forwards
suspicious
results to the computer system 103 for more detailed processing. The
microphone 204 can
also be used with an optional ultrasonic (or acoustic) location system.
The animal system 102 sends low-battery warnings to the computer system 103 to
alert the owner/trainer that the animal system 102 needs fresh batteries.
The loudspeaker 206 is used to provide training commands, such as, for
example,
spoken commands, positive reinforcement sounds (e.g. clicker sounds, "good
dog" phrases,
etc.), negative reinforcement sounds (e.g., unpleasant sounds), etc. The
vibrator 205 can be
used for varying levels of relatively mild negative reinforcement during
training. The
electric shock generator 207 can be used for inild to strong negative
reinforcement.
The Global Positioning System (GPS) is accurate but often does not work well
iindoors, and sometimes does not have enough vertical accuracy to distinguish
between
-16-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
floors of a building. GPS receivers also require a certain amount of signal
processing and
such processing consumes power. hi a limited-power device such as the dog
animal system
102, the power consumed by a GPS system can reduce battery life. However, GPS
has the
advantage of being able to operate over a large area and is thus, particularly
useful when
locating a dog that has escaped a confined area or is out of the range of
other locating
systems.
In one embodiment, the GPS system 302 operates on a standby mode and activates
at regular intervals or when instructed to activate. The GPS system can be
instructed by the
computer 103 or the collar to activate. When activated, the GPS system obtains
a position
fix on the dog 101 (if GPS satellite signals are available) and updates the
1MU. In one
embodiment, a GPS system is also provided to the computer system 103. The
computer
system uses data from its GPS system to send location and/or timing data to
the GPS
system 302 in the animal system 102 allowing the GPS system 302 to warm start
faster,
obtain a fix more quickly, and therefore, use less power.
In one embodiment, location system units 118 are placed about a house or
kennel to
locate movement and location of the dog 101. In one embodiment, location
system units
118 send infrared light, acoustic waves, and/or electromagnetic waves to one
or more
sensors on the animal system 102 in order to conserve power in the animal
system 102. In
one embodiment, the animal system 102 sends infrared light, acoustic waves,
and/or
electromagnetic waves to the location system units 118 in order to conserve
power in the
units 118.
For example, location system units 118 placed near doorways or in hallways
(see
e.g., Figure 14) can be used to determine when the dog 101 moves from one room
to
another. Even if tlie dog caimot be exactly located within the room (e.g., due
to blind spots),
a location system unit 118 placed to sense the movement of the dog through the
doorway
allows the system 100 to know which room the dog is in by watching the dog 101
inove
from room to room.
In one embodiment, each location transmitter (whether in the animal system 102
or
the location system units 118) sends a coded pattern of pulses to allow the
transmitter to be
identified. In one embodiment, in order to conserve power, the location
receiver (whether
in the animal system 102 or the location system units 118) notifies the
computer system 103
whenever the pattern of received pulses changes. Thus, for example, when the
location
-17-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
receiver enters the range of a first location transmitter that transmits a
first code, the
location receiver sends a "location sensor message" to the computer system
103. In one
embodiment, the location receiver does not send further location sensor
messages so long
as the location receiver continues to receive the pattern of pulses from the
same location
transmitter. In an alternate embodiment, the location receiver sends location
sensor
messages to the computer system 103 on a periodic basis so long as the
location receiver
continues to receive the pattern of pulses from the same transmitter. The
location receiver
sends a "location sensor lost" message when the pattern of pulses stops.
Motion detectors inside and/or outside a house are commonly provided in
connection with home security systems. In one embodiment, the location system
units 118
are configured as motion detectors, and the IR system 301 (e.g., transmitter
and/or receiver)
on the animal system 102 communicates with such IR motion detectors to avoid
false
alarms that would otherwise occur when the motion detector detects the
movement of the
dog. In one embodiment, the collar transmits an IR signal that the motion
detector
recognizes as coming from the animal system 102 and thus, the motion detector
kn.ows that
the motion it is sensing is due to the dog and not an intruder. In one
embodiment, when the
animal system 102 detects an IR transmission from a motion detector, the
collar transmits a
response IR signal that the motion detector recognizes. In one embodiment, the
IR tracking
system used by the system 100 is also used as part of a home security system
to track both
the movement of the dog and other movements in the house that are not due to
the dog.
Acoustic motion detectors and/or microwave motion detectors can be used with
the animal
system 102 similarly to the IR motion detectors.
Unlike VHF radio-based systems (e.g., GPS or VHF radio-location systems,
etc.),
IR, acoustic, and/or niillimeter wave and some microwave systems do not
penetrate walls
very effectively. Thus, an IR, acoustic, and/or microwave/millimeter wave
system can be
used in the system 100 to locate the dog 101 without having a map of the house
or kennel.
Radio-based systems that operate at frequencies that penetrate walls can be
used in
comiection with a map of the house
In one embodiment, the IR system is replaced or augmented by a sonic or
ultrasonic
system. In one embodiment, the operation of the sonic or ultrasonic system is
similar to that
of the IR system except that the waves are sound waves instead of infrared
waves. In one
embodiment, the frequency of the sound waves used is above the frequency that
can be
-18-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
heard by dogs or cats and thus, does not disturb the animals. Although not
immune to blind
spots, the sonic or ultrasonic system is typically less susceptible to blind
spots than the
infrared system.
lii one embodiment, the sonic or ultrasonic systein includes a ranging
fiuzction
similar to that of an RF system. In one embodiment, the ranging function uses
a two-
frequency phase comparison system to measure distance from the sound
transmitter to the
sound receiver.
In one embodiment, the IR systein 301 can be used to send IR signals to the
video
cameras 106.
In one embodiment, the dog 101 is contained in the containment area by 130 by
a
boundary wire antemla. The animal systein 102 receives encoded pseudo-random
electromagnetic signals from the boundary wire antenna and a correction
stimulus is
applied when the dog 101 moves near to and through the containment wire
antenna to the
"outside" area. In one embodiment, the animal system 102 sends a warning
message to the
coinputer system 103 when the dog 101 gets too near the boundary wire antenna.
If the dog
moves outside the boundary area, the correction capability is disabled by the
computer
systein 103 to allow the dog reentry into the containment area, without
receiving correction.
The correction capability is then restored by the computer system 103.
In one embodiment, the boundary wire is configured as two or more wires
arranged
as an inner wire (or wires) and an outer wire (or wires). The collar detects
the transmissions
from the two or more wires using amplitude and/or phase comparisons to
determine if the
dog is closer to the inner wire(s) and, therefore, inside the boundary, or
closer to the outer
wire(s) and, therefore, outside the boundary.
In one embodiment, the collar detennines the strength of the containment
signal to
find out how close the dog 101 is to the containment fence. If the signal
strength falls
within a warning range, a negative training stimulus (e.g., a shock,
vibration, etc.) is
provided to deter further movement in that direction. Should this fail and the
containment
signal grows stronger, signaling a move closer towards the fence, then a
stronger negative
stimulus is provided (e.g., a stronger shoclc). If the dog 101 chooses to
ignore the warnings
and moves over the containment fence, then the change in phase of the
containment signal
indicates that the dog is outside the containment area
-19-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
If the dog moves outside the range of the containment signal and outside the
containment area, the collar provides a voice message (for exainple, "GO
HOME!") from
the loudspealcer 206. If the dog 101 moves back towards the containment fence
to return
within the contaimnent region 130 and the containment signal is received by
the animal
system 102, the animal system 102 sends a message to the computer system 103
that the
dog is outside the containment area and moving in. This tells the computer
system 103 to
cancel the audible beep (or voice message) and suppresses any stimulus to
allow the dog to
return. When the dog returns within the containment fence and within the
allowed region,
computer system 103 and animal systein 102 resume normal operation.
In one embodiment, the dog can be trained to remain within the containment
area
130 using GPS. A GPS boundary 130 is provided to the computer system 103 and
provided
to the animal system 102. The dog's position is obtained several times per
second. When
the dog's location is too close to the edge of the boundary 130, the
correction sequence is
initiated.
When the dog moves towards or exits the boundary of the containment area 130,
the
animal system 102 perfonns the contaimnent function as described above with
various
warnings and corrections. The GPS boundary can be used with or without a
boundary wire.
The IMU 303 can be used with intermittent updates by the GPS system 303 as
described
above.
In one embodiment, the system 100 locates the dog periodically (e.g.,
communicates
with the animal system 102) and alerts the owner/trainer if the dog cannot be
found (e.g., if
the system 100 cannot contact the animal system 102). In one embodiment, the
system 100
locates the dog and alerts the owner/trainer if the dog has escaped or is in
an area that is off-
limits to the dog.
In one embodiment, the system 100 is configured to keep two or more dogs (or
cats)
apart (e.g., to avoid figlits or interference with play, training, etc.). In
one embodiment, the
system 100 uses the microphone 204 to detect sounds corresponding to a dog (or
cat) fight
and applies corrective punishment to stop the fight and prevent future fights.
Figure 4 is a block diagrain of a dog toy 400, such as, for example, the dog
toys
114-116 shown in Figure 1. In the toy 400, a sound sensing device (e.g., a
microphone)
404, a vibration device 405, a sound producing device (e.g., a loudspealcer)
406, an electric
shock device 407, a light 408, a touch detector 409, a motion detector 413,and
a first RF
-20-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
transceiver 402 are provided to a processor 401. A sound sensing device (not
shown) can
also be provided to the processor 201. The sound producing device is
configured to produce
sound waves (sonic and/or ultrasonic) such as, for example, a loudspeaker, a
transducer, a
buzzer, a clicker, etc. For convenience, and without limitation, the sound
producing device
406 is referred to herein as a loudspeaker 406. A power source 403 provides
power for
powering the vibration device 405, the loudspealcer 406 the electric shock
device 407, the
first RF transceiver 402, the light 408, the touch detector 409, the motion
detector 413, and
the processor 201. In one embodiment, each of the sound producing device (not
shown), the
vibration device 405, the loudspeaker 406 and the electric shock device 407
are separately
optional and each can be omitted depending on the desired systein
configuration. The toy
400 can also include an odor dispensing device (not shown) for providing
pleasant or
unpleasant smells so the dog 101. The toy 400 can also include the light 408
for providing
visual indications to the dog 101, to the trainer, or to the video casneras
106. The light 408
can be configured as one or more incandescent ligllts, one or more LEDs, one
or more
strobe lights, etc. In one embodiment, the toy 400 also includes one or more
location and
traclcing devices, such as, for example, the IR system 301, the GPS 302, the
IMU 303, and
or the third RF transceiver 304 described in connection with Figure 3. An
optional motion
actuator 420 can be used to provide motion of a portion of the toy (e.g., to
move a string for
playing with a cat, a ball lamicher for launching a ball for a dog to fetch,
etc.) or to move
the entire toy (e.g., to move the toy about the room or yard as part of the
dog's training or as
part of a game to entertain the dog).
As part of a training system or game, the computer system 103 instructs the
dog 101
to get a selected toy. The computer system can use the light 408 and/or the
loudspeaker 406
to attract the attention of the dog 101. If the dog selects the right toy,
then the touch sensor
409 and/or the motion detector 413 sense the dog's selection and the
information is
communicated back to the computer system 103. If the dog selects the right
toy, then the
computer system 103 can reward the dog. If the dog selects the wrong toy, then
the
computer system 103 can use the vibrator 405, the electric shoclc device 407,
or unpleasant
sounds from the loudspealcer 406 to provide negative reinforcement to the dog
101. In one
embodiment, the computer system uses negative reinforcement judiciously, if at
all, based
on a training program that punishes the dog when the training program deems
punishment
is constructive. In one embodiment, the training program running on the
computer system
-21-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
103 learns the characteristics and temperament of the dog 101 and uses such
knowledge in
making a decision regarding punishment. In one embodiment, a trainer
configures the
computer system 103 to punish the dog 101 in various circumstances and to
forego
punishinent in other circumstances. In one embodiment, the computer system 103
reads the
RFID tag 310 (through the animal system 102) to establish the identity of the
dog 101 and
to load the proper training parameters for the dog 101.
In one embodiment, the dog toys 114-116 include one or more obstacle course-
type
devices that allow the dog to jump through hoops, over bars, up ramps, etc.
The computer
103 guides the dog through the obstacle course using lights and/or sounds
provided on the
obstacle course devices. In one embodiment, the system 100 uses the video
system 106 to
traclc the dog through the obstacle course. In one embodiment, the obstacle
course devices
are provided with sensors 409 to register the passage of the dog and the
system tracks the
dog through the obstacle course by the device sensors. In one embodiment, the
obstacle
course includes a hoop wherein the sensor 409 is configured as an optical
interrupter that
detects the passage of the dog through the hoop when the dog breaks an optical
beam across
the hoop.
The system 100 can run the dog through an obstacle course that includes
several
such obstacles by varying the course, speed through the course, etc. The
systenl 100 can
record the dog's ability to run the course, the dog's speed through the
course, etc. by
sensing as the dog passes over or through each obstacle.
Iii one embodiinent, the elements of Figure 4 are configured as a generic
electronics
module that can be provided to dog toys provided by the owner/trainer.
In one embodiment, the system 100 can be used to comnlunicate with the dog
through phonetic sounds, such as, for example, through bark recognition. The
system 100
receives feedback regarding the dog's inovements, actions, and enviromnents,
and ca.n thus,
learn various aspects of the dog's behavior and vocabulary. In addition, the
system 100 can
interact with the dog to train the dog using a desired vocabulary or set of
phonetic sounds.
In one embodiment, the system 100 is configured to recognize sounds made by
the dog
(e.g., barlcing, whimpering, cries of pain, choldng sounds, etc.) the
microphone in the
animal system 102 and the signal processing capabilities in the animal system
102 and in
the processor 130. This dog "speech recognition" system can base its
discrimination on
acoustic features, such as, for example, formant structure, pitch, loudness,
spectral analysis,
-22-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
etc. When the computer recognizes the message behind the sou.nds made by the
dog, then
the system 130 can respond accordingly, either by providing a message to the
owner/trainer
or by taking action in the dog's environment. Thus, for example, if the dog
emits a cry of
pain, a choking sound, or the lilce, the system 130 will raise an alarm and
attempt to contact
the owner or trainer. In one embodiment, the system 130 is provided with
communications
access (e.g., Internet access, cellular telephone access, pager access, etc.)
to contact the
owner/trainer. In an alteniate exainple, if the dog makes a sound indicating
that it needs to
be let out, then the system 130 can release a latch on the dog door 111.
In one embodiment, the system 100 recognizes the speech of dog 101 and thus,
if a
strange dog or otlzer animal enters the area and malces sounds, the system 100
can recognize
that a strange dog or other animal is in the area and talce appropriate action
(e.g., loclc the
dog door 111, notify the owner/trainer, etc.)
Communicating commands or instructions to a dog typically involve training
because dogs do not instinctively understand human language. In one
embodiment, the
systenl 100 trains the dog 101 using human speech commands, thus, allowing the
owner/trainer to easily interact with the dog 101. In one embodiment, the
system 100 also
com.inunicates with the dog 101 using sounds (e.g., bark-like sounds) that are
more similar
to a dog's instincts. Thus, in one einbodiment, the system 100 produces sounds
(e.g.,
barking sounds, etc.) that a dog will understand more easily than human
speech.
Tn one embodiment, the system 100 cares for the dog's well being when the
owner/trainer is away, asleep, or otherwise occupied. Thus, for example, if
the dog 101
malces a sound and/or motions indicating that it is bored, or wants to play,
the system 100
will initiate a game with the dog. In one einbodiment, one or more of the toys
114-116 are
self-propelled (or can throw a ball) and the system 100 can play games such as
"fetch" with
the dog 101. During the game, the dog is rewarded by pleasing sounds,
encouraging
comments, treats from the treat dispenser 122, etc. Several videos are
currently available for
entertaining dogs, but playing such videos requires manual interaction by the
owner/trainer.
In one embodiment, the audio-video display system (105,107) is used to play
videos of
other dogs playing, and thus, entertaining and holding the dog's attention. In
one
embodiment, the system 100 plays a video when the dog indicates that is it
bored or wants
to play.
-23-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
In one embodiment, the system 100 uses the sensors 129 to monitor ambient
conditions such as, for example, indoor temperature, outdoor temperature,
rain, humidity,
precipitation, daylight, etc. In one embodiment, the system 103 uses such
information to
look after the dogs well being. Thus, for example, if the systein 100
determines that is it
raining or too hot outside, the systein 100 can call the dog inside (using,
for example, the
loudspeaker on the animal system 102) and latch the dog door 111. Using the
daylight
sensor and/or time of day available from the coinputer 103, the system 100 can
be used to
manage the dog differently depending on whether it is light or dark outside,
morning or
evening, etc. Thus, for example, the system 100 can be instructed to allow the
dog more
leeway for barking during the day than during the niglit. For example, in one
embodiment,
if the system 100 senses that the dog is barking during the day, the system
can use mild
correction to stop the barking. By contrast, if the system senses that the dog
is barking at
night, then the system can instruct the dog to go inside and/or apply
relatively stronger
correction.
Figure 6 is a bloclc diagram of the remote control 112 for controlling the
system 100
and for receiving information from the system 100. The remote control 112
includes a
microphone 604, a loudspealcer 606, a keyboard (or keypad) 612, a display 613,
and a first
RF transceiver 602, all provided to a processor 601.
The remote control 112 communicates with the computer system 103 using the RF
transceiver 602 to receive status information and to send commands to the
system 100.
Using the remote control 112, the owner/trainer can check on the location,
health, and
status of the dog 101. The owner/trainer can also use the remote control 112
to send
commands to the system 100 and to the dog 101. For, example, using the
microphone 604,
the owner/trainer can spealc to the dog 101. In one einbodiment, the computer
system 103
sends display information to the display 613 to show the location of the dog
101. If the
location of the dog cannot be ascertained, the system 100 can send a "dog not
found"
message and attempt to contact the owner/trainer using the networlc connection
108, the
modem 130, and/or the remote control 112. If the system 100 determines that
the dog has
escaped, the system 100 can send a "dog lost" message and attempt to contact
the
owner/trainer using the network connection 108, the modem 130, and/or the
remote control
112.
-24-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
Figure 7 is a bloclc diagram of the dog house system 119 that includes a
microphone
704, a loudspealcer 706, an IR sensor 708, a temperature sensor 710, a
ventilation fan 712, a
video monitor 713, a first RF transceiver 702, a second RF transceiver 709,
and a video
camera 717, all provided to a processor 701. The microphone 704, the
loudspeaker 706, the
IR sensor 708, the temperature sensor 710, the ventilation fan 712, the video
monitor 713,
the first RF transceiver 702, the second RF transceiver 709, and the video
camera 717 are
separately optional items and each can be omitted depending on the
configuration and
capabilities desired in the dog house systein 119.
The dog house 119 includes many of the functions of the animal system 102.
Typically, the dog house 119 has more power available than the animal system
102. Thus,
the dog house 119 can talee over many of the function of the animal system 102
when the
dog 101 is inside or near the dog house 119. For example, the dog house 119
can
interrogate the dog's RFID chip 310, can provide communications to the
computer system
103, can listen for barlcing or other sounds, etc. Thus, in one embodiment,
the computer
system 103 selectively instructs the processor 201 to disable (e.g., power
down) functions
of the animal system 102 that can be handled by the dog house 119. Other
functions, such
as using the IlVILT 303 to detect head movements of the dog that cannot be
handled by the
dog house 119 remain active. In one embodiinent, the video camera 717 is used
in
connection with video signal processing and image recognition to replace some
or all of the
functions of the IMU for traclcing the dog 101 or sensing head movements while
the dog
101 is in the dogliouse 119.
The video monitor 713 can be used to provide visual commands to the dog. The
video camera 717 can be used to provide a video feed (e.g., regular scan
video, slow scan
video, single frasne video, etc.) to the owner or trainer thereby, allowing
the owner to keep
watch over the dog 101 from a remote location on the remote control 112. In
one
embodiment, one or more audio/video systems (e.g., video monitors and
loudspeakers) are
provided with wireless receivers and provided throughout the house or yard to
provide
audio/visual commands to the dog. One or more video cameras can be used to
provide a
video feed (e.g., regular scan video, slow scan video, siuigle frame video,
etc.) to the owner
or trainer, thereby, allowing the owner to keep watch over the dog 101 from a
remote
location on the reinote control 112.
-25-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
The temperature sensor 710 is used to monitor the temperature of the dog house
119. The fan 712 provides ventilation when the temperature in the doghouse 119
gets too
warm. The fan can be controlled locally by the processor 701 or remotely by
the computer
system 103 by sending commands to the processor 701. The door latch 714 allows
the
monitoring system 100 to loclc the dog 101 inside or out of the dog house as
desired.
In one embodiment, the RF transceiver 702 provides a repeater function for the
dog
animal systein 102. When the dog 101 is inside the doghouse 119, the RF
transceiver is in
relatively close proximity to the RF transceiver 202 in the collar, and thus,
the RF
transceiver 202 can be operated in low-power mode to conserve power in the
animal system
102.
Figure 5 is a bloclc diagram of the treat dispenser 122. In the dispenser 122,
a first
RF transceiver 502, a treat sensor 503, a low-supply sensor 510, and a gate
504 are
provided to a processor 501. On command from the coinputer system 103, the
processor
501 controls the gate 504 to release a treat (or medicine, vitamin, etc.) from
a reservoir 508.
The sensor 503 senses when the dog 101 has retrieved the treat. The low-supply
sensor 510
senses w11en the supply of treats is ruiuling low. When the supply of treats
is running low,
the computer system 103 alerts the trainer or owner. In one embodiment, if the
supply is not
replenished, then the computer system changes its algorithm to reduce the
number of treats
given and thereby, extend the supply of treats. An optional signaling device
511 (e.g., a
light and/or audio output device) is also provided to the processor 501 to
allow the
computer system 103 to signal to the dog 101 that a treat is available. In
multiple-dog
environments, the sensor 505 includes a short-range RFID sensor to detect
which dog
retrieved the treat (or medicine, vitamin, etc.).
In one embodiment, the treat dispenser 112 is built into the animatronics
trainer 123
so that the dog will perceive the animatronics trainer 123 as the source of
the treats.
Figure 8A is a diagram of the food dispenser 121, and Figure 8B is a block
diagram
of the food dispenser 121. In the food dispenser 121, a first RF transceiver
802, a food bowl
sensor 803, a low-supply sensor 810, and a gate 804 are provided to a
processor 801. On
command from the computer systein 103, the processor 801 controls the gate 804
to release
food from a reservoir 808 iui.to a bowl 820. The sensor 803 senses the amount
of food in the
bowl 820. As the dog 101 eats the food, the sensor 803 senses the lowered
level of food in
the bowl and the processor 801 reports the food consumption baclc to the
computer system
-26-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
103. The low-supply sensor 810 senses when the supply of food in the reservoir
808 is
rumung low and reports the low-food condition back to the central processor
103 In
multiple-dog environments, the sensor 803 includes a short-range RFID sensor
to detect
which dog retrieved the treat.
The food dispenser 121 allows the computer system 103 to tracle the dog's food
consumption and consumption patterns (e.g., time of day, amount per feeding,
etc.). The
system 103 can count calories for the dog 101 to make sure that the dog is not
overeating or
under-eating. In one embodiment, food is delivered in measured amounts at
specified times.
In one einbodiment, the sensor 803 includes a scale that is used to measure
the
amount of food that goes into and out of the bowl by measuring the weigh of
food into and
out of the bowl.
In one embodiment, the food dispenser 121 can be configured to deliver
different
types of food for different dogs. (e.g., puppy food, diet food, old-dog food,
etc.). The
system 100 dispenses the proper type and amount of food depending on which dog
is at the
food dispenser.
Figure 9 is a block diagram of the water dispenser 120. In the water dispenser
120, a
first RF transceiver 902, a water level sensor 903, a water temperature sensor
913, a low-
supply sensor 910, and a valve 904 are provided to a processor 901. On command
from the
computer system 103, the processor 901 controls the valve 904 to release water
from a
water supply 908 into a bowl 920. The water supply 908 can be a water
reservoir, a
plumbing connection, a garden hose conn.ection, etc. In one embodiment, a
pressure reducer
is provided to reduce the pressure of the water supplied to the valve 904. The
sensor 903
senses the amount of water in the bowl 920. As the dog 101 drinks the water,
the sensor
903 senses the lowered level of water in the bowl and the processor 901
reports the water
consumption back to the computer system 103. If the water supply 908 is
provided by a
reservoir, then a low-supply sensor 910 senses when the supply of water in the
reservoir
908 is rmining low and reports the low-water condition baclc to the central
processor 103
The temperature sensor 913 is used to detect the temperature of the water in
the bowl 920.
In multiple-dog environments, a short-range RFID sensor 914 is provided to
detect which
dog is drinking.
The water dispenser 120 allows the coinputer system 103 to traclc the dog's
water
consumption and consuinption patterns (e.g., time of day, amount of water,
etc.). The
-27-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
system 103 make sure that the dog is getting enough water and watch for
patterns of high
water consumption. If the temperature of the water in the bowl 920 (as
measured by the
temperature sensor 913) is too high, then the processor 901 can flusli the
bowl with fresh
water (in the case of a plumbing connection) or send a message to the computer
system 103
(in the case of a reservoir).
The food dispenser 121 and water dispenser 120 allow the owner/trainer to
leave the
dog unattended for a period of time. In one embodiment, the computer system
103 contacts
the owner if the food dispenser 121 runs low' on food, if the water dispenser
120 runs low
on water, or if the computer 103 cannot malce contact with the dispensers
120,121. In one
embodiment, the owner/trainer can specify the threshold value for determining
at what
point the system 100 warns the owner of low food or water supplies. Thus, for
example, if
the owner is relatively close by (e.g., at worlc) the threshold can be set
relatively low since
the dog would not be without food or water for very long if the supply runs
out. By
contrast, if the owner is relatively far away (e.g., out of town) then the
threshold can be set
relatively high since the dog would potentially be witllout food or water for
an extended
time if the supply runs out.
Figure 10 is a diagram of one embodiment of the dog toilet system 117 that
includes
an optional RFID sensor 1014, a refuse bin 1010, a urination sensor 1005, and
a refuse
sensor 1006 provided to a processor 1001. The dog toilet 117 tracks the dog's
patterns and
disposes of refuse. The short-range RFID sensor 1014 is used to distinguish
between
multiple dogs
In one embodiment, the computer system 103 uses the biometric data available
from
the RFID tag 310, the water consumption data from the water dispenser 120, the
food
consumption data from the food dispenser 121, and/or the data from the dog
toilet 117 to
monitor the health and well being of the dog 101 on a real-time basis and on a
long-term
basis. Since the systein 100 can be configured in a flexible manner (e.g., the
owner/trainer
may or may not have included the water dispenser 120, the food dispenser 121,
etc.)
different configurations of the system 100 will have different data available.
The system
100 uses whatever data is available in malcing the health and welfare
determinations. Thus,
for example, if the system 100 only has data from the animal system 102, then
the health
and well-being information will be based on the information from the animal
system 102.
As more capability is added to the system 100 (e.g., the owner/trainer adds
additional
-28-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
monitoring capabilities) then the system 100 expands the analysis of health
and well-being
to use the additional data when appropriate. The computer system 103 can
collect long-
term behavior on the dogs 101 and produce plots and charts for the
owner/trainer to allow
for long-term health monitoring. Moreover, the computer system 103 can watch
for changes
in the long-term trends that could indicate health problems. Thus, for
example, if the dog
101 is normally active at various times throughout the day and suddenly
becomes
inexplicably inactive, the computer 103 would inform the owner/trainer that
the dog may be
sick. In another example, if the food or water consumption patterns of the dog
101 changes
significantly, then the system 100 can inform the owner/trainer.
In one embodiment, the computer system 103 keeps data concerning the calories
consumed by the dog. In one embodiment, the computer system 103 keeps data
concerning
the number and types of corrective treatments given to the dog and the reasons
therefore
(e.g., what the dog was doing that caused the system to give a corrective
treatment). In one
embodiment, the computer system 103 keeps data concerning the number of and
types of
positive reinforcements given to the dog and the reasons therefore. In one
embodiment, the
computer system 103 keeps data concerning the amount of time the dog spends
training,
playing, sleeping, etc. In one embodiment, the system 100 keeps data
concerning dog
barking (when, how long, how loud, etc.). The system 100 can produce plots and
charts of
barking behavior to help the owner/trainer in brealcing the dog of barking
behavior. In one
embodiment, the system 100 can be instructed to contact the owner/trainer when
the dog is
barking. The owner can remotely tallc to the dog (e.g., through the telephone)
and try to
quiet the dog.
In one embodiment, the system 100 uses ambient weather information as part of
the
health and well-being analysis. For example, a modest increase in water
consumption and a
decrease in activity levels during hot weatller is generally expected,
wlzereas an increase in
food consumption is generally expected during relatively cold weather. Thus,
in one
embodiment, the system 100 talces such weather-related consumption patterns
into account
when making decisions about reporting a change in consumption patterns.
In one embodiment, many of the sensors and dog interaction devices in the
system
100 are configured as wireless devices. Wireless devices are generally easier
to install since
they do not require wiring to communicate with the computer system 103.
Moreover, items,
such as the toys 114-116 that are moveable are easier for the dog to play with
if they do not
-29-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
have a wired connection back to the computer system 103. The use of wireless
devices also
allows easy expansion of the system 100 since new wireless devices can
automatically
identi.fy themselves to the computer system 103, thus, allowing many aspects
of the system
100 to be auto-configured. For example, in one embodiment the treat dispenser
122
automatically identifies itself to the computer system 103, thus, informing
the system 103
that treats are available for training the dog. The system 103 uses training
without treats
from the dispenser 122 when the dispenser 122 is not provided, has run out of
treats, or has
run out of battery power. Conversely, the system 103 can use training with
treats when the
dispenser 122 is available, and has enough battery power and treats.
The sensors 129 can be configured as wired or wireless sensors and can
include, for
exaniple, sensors to measure ambient conditions, such as, for example, smoke,
temperature,
moisture, wind velocity, precipitation, water, water temperature, humidity,
carbon
monoxide, natural gas, propane gas, security alarms, intrusion alarms (e.g.,
open doors,
broken windows, open windows, and the like), other flammable gases, radon,
poison
gasses, etc. Different sensor units can be configured with different sensors
or with
combinations of sensors.
The wireless units of the systein 100, such as, for example, the dispensers
120-122,
the toys 114-116, the dog house 119, the animal systein 102, etc. each include
a transceiver
for wireless communication. These items communicate with the computer system
103
either directly through the RF base unit 104 or through one or more repeaters
113. The use
of the repeaters 113 provides extended range and allows the various RF units
to be
dispersed throughout the house, yard, farm field, etc. In one embodiment, the
repeaters are
configured to be plugged into a wall outlet or otherwise provided with
sufficient power. In
one embodiment, one or more of the repeaters 113 are solar powered with
batteries to
provide operation during the night or on cloudy days. In one embodiment, the
use of
repeaters 113 allows the various RF units 102, 114-122 to operate at
relatively lower power
in order to conserve available power. In one embodiment, the transmit power of
the
transceivers in the RF units 102, 114-122 is adjustable, and the transmit
power of each
transceivers is reduced to that sufficient to provide relatively reliable
communication with
at least one repeater 113 (or the base unit 104). In one embodiment, the RF
units 102, 114-
122 use a two-way handshaking communication with the base unit 104 wherein
messages
set to the base unit 104 are acknowledged by the base unit 104 and messages
sent by the
-30-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
base unit 104 to the RF units 102, 114-122 are aclmowledged by the respective
RF units.
The use of handshaking acknowledgement that a message has been received
increases the
reliability of the wireless communication system and often allows the wireless
devices to
operate at relatively lower power.
Each of the wireless units of the system 100, such as, for example, the
dispensers
120-122, the toys 114-116, the dog house 119, the animal system 102, etc.
includes a
wireless communication transceiver 202 for communication with the base unit
104 (or
repeater 113). Thus, the discussion that follows generally refers to the
animal system 102 as
an example, and not by way of limitation. Similarly, the discussion below
generally refers
to the base unit 104 by way of example, and not limitation. It will also be
understood by
one of ordinary skill in the art that repeaters 113 are useful for extending
the range of the
animal system 102 but are not required in all configurations.
When the animal system 102 detects a reportable condition (e.g., barking,
choking,
dog outside established boundaries, dog temperature too high or too low, dog
moving
though a doorway, etc.) the animal system 102 cominunicates with the repeater
unit 113
and provides data regarding the occurrence. The repeater unit 113 forwards the
data to the
base unit 104, and the base unit 104 forwards the information to the computer
103. The
computer 103 evaluates the data and talces appropriate action. If the computer
103
determines that the condition is an emergency, then the computer 103 contacts
the
owner/trainer through telephone communication, Internet, the remote 112, the
monitor 108,
the computer monitor, etc. If the computer 103 determines that the situation
warrants
reporting, but is not an emergency, then the coinputer 1031ogs the data for
later reporting to
the owner/trainer when the owner/trainer requests a status report from the
computer 103.
In one einbodiment, the aniinal systein 102 has an internal power source
(e.g.,
battery, solar cell, fuel cell, etc.). In order to conserve power, the animal
systein 102 is
normally placed in a low-power mode. Ii1 one einbodiment, using sensors that
require
relatively little power, while in the low power mode the animal system 102
talces regular
sensor readings and evaluates the readings to determine if a condition exists
that requires
data to be transmitted to the central computer 103 (hereinafter referred to as
an anomalous
condition). In one embodiment, using sensors that require relatively more
power, while in
the low power mode the animal system 102 takes and evaluates sensor readings
at periodic
intervals. Such sensor readings can include, for example, sound samples from
the
-31-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
microphone 204, location readings from the location sensors 301, 302, 303,
and/or 304,
physiological readings from the RFID tag 310, etc. If an anomalous condition
is detected,
then the animal system 102 "walces up" and begins communicating with the base
unit 104
through the repeater 113. At programined intervals, the animal system 102 also
"walces up"
and sends status information (e.g., power levels, self diagnostic information,
etc.) to the
base unit 104 and then listens for commands for a period of time. In one
embodiment, the
animal system 102 also includes a tamper detector. When tampering with the
animal system
102 is detected (e.g., someone has removed the animal system 102 or the dog
has somehow
gotten out of the aniinal system 102, etc.), the animal system 102 reports
such tampering to
the base unit 104.
In one embodiment, the animal system 102 provides bi-directional communication
and is configured to receive data and/or instructions from the base unit 104.
Thus, for
example, the base unit 104 can instruct the animal system 102 to perform
additional
measurements, to go to a standby mode, to walce up, to report battery status,
to change
wake-up interval, to run self-diagnostics and report results, etc. In one
enlbodiment, the
animal system 102 reports its general health and status on a regular basis
(e.g., results of
self-diagnostics, battery health, etc.). The computer system 103 can also
program
instructions into the animal system 102, such as, for example, the boundary
areas for the
dog, the allowable physiological parameters for the dog (e.g., the "normal"
temperature
range, etc.). If the sensors in the animal system 102 later detect that a
sensed condition is
out of range (e.g., dog is out of boundary area, temperature is too high,
etc.), then the collar
will communicate the out-of-range information to the computer system 103. In
one
embodiment, the computer system 103 can also program the operating parameters
of the
animal system 102, such as, for example, the sleep period between sensor
measurements,
the power level for the transmitter, the code used for spread spectrum
transmissions, etc. In
one embodiment, the computer system 103 can also program various signal
processing
information into the animal system 102, such as, for example, the coefficients
and/or
algorithms used to recognize the dog's vocalizations (e.g., barlcing,
whimpering, cries of
pain, choking, etc.).
Iii one embodiment, the aniinal system 102 sainples, digitizes, and stores
audio data
from the microphone 204 when such data exceeds a volume threshold and/or when
other
sensors indicate that the audio data should be digitized and stored. For
example, choking
-32-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
sounds are often not very loud, but are often accompanied by distinctive head
movements.
In one embodiment, the animal system 102 digitizes audio data from the
microphone when
the 1MU 303 detects head movements that are suggestive of choking, gagging,
regurgitating, etc. In one embodiment, the animal systein 102, having less
processing power
than the computer system 103, transmits the sampled audio data and related
IIVIU data to
the computer 103 for further processing. In one embodiment, the animal system
102
performs initial threshold tests on the audio data 102 to detennine if the
character of the
audio data and/or IMU data justify the use of available power in the collar to
transmit the
data to the computer system 103. If the animal system 102 determines that the
digitized
audio data is relatively unlikely to be important, then the animal system 102
can save power
by not transmitting the data to the coinputer 103.
In one embodiment, the computer system 103 can instruct the animal system 102
to
automatically apply a correction (e.g., vibration, shoclc, unpleasant sound,
unpleasant smell,
etc.) to the dog if the animal system 102 detects that the dog is barking. In
one embodiment,
the computer system 103 instruct the animal system 102 to not automatically
apply a
correction to the dog if the animal systein 102 detects that the dog is
barking, but rather to
send a "dog is barking" message to the computer system 103 in order to allow
the computer
system 103 (or the owner/trainer) to make the decisions regarding correction.
In one
embodiment, the computer system 103 instruct the animal system 102 to
automatically
apply a particular correction to the dog if the animal system 102 detects that
the dog is
barking and to send a"coiTection applied" message to the coinputer system 103
in order to
allow the computer system 103 to keep track of the corrections that have been
applied. If
the computer system 103 deeins that more severe correction is warranted, then
the coinputer
103 sends a new command to the animal system 102 to change the type or
severity of the
correction. In one embodiinent, the computer systein 103 sends a "good dog"
message to
the dog (tlirough the speaker 206) when the dog stops barking.
In one embodiment, the animal system 102 provides two walce-up modes, a first
wake-up mode for taking sensor ineasurements (and reporting such measurements
if
deeined necessary), and a second walce-up mode for listening for commands from
the
central computer 103. The two walce-up modes, or combinations thereof, can
occur at
different intervals.
-33-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
In one embodiment, the animal system 102 use spread-spectrum techniques to
communicate with the repeater unit 113. In one embodiment, the animal system
102 uses
Code Division Multiple Access (CDMA.) techniques. In one einbodiment, the
animal
system 102 uses frequency-hopping spread-spectrum. In one embodiment, the
animal
system 102 has an address or identification (ID) code that distinguishes the
animal system
102 from the other RF units of the system 100. The animal system 102 attaches
its ID to
outgoing communication packets so that transmissions from the animal system
102 can be
identified by the repeater 113. The repeater 113 attaches the ID of the animal
system 102 to
data and/or instructions that are transmitted to the animal system 102. In one
embodiment,
the aiiimal system 102 ignores data and/or instructions that are addressed to
other RF units.
In one embodiment, the animal system 102 includes a reset function. In one
embodiment, the reset function is activated by a reset switch on the animal
system 102. In
one embodiment, the reset function is activated when power is applied to the
animal system
102. In one embodiment, the reset function is activated when the animal system
102 is
connected to the coinputer system 103 by a wired coimection for programming.
In one
embodiment, the reset function is active for a prescribed interval of time.
During the reset
interval, the transceiver 202 is in a receiving mode and can receive the
identification code
from the computer 103. Iu one embodiment, the computer 103 wirelessly
transmits a
desired identification code. In one embodiment, the identification code is
programmed by
connecting the animal systenl 102 to the computer through an electrical
connector, such as,
for example, a USB connection, a firewire connection, etc. In one embodiment,
the
electrical connection to the animal systein 102 is provided by sending
modulated control
signals (power line carrier signals) through a connector used to connect the
power source
203. In one embodiment, the external programmer provides power and control
signals.
In one embodiment, the animal system 102 communicates with the repeater 113 on
the 900 MHz band. This band provides good transmission through walls and other
obstacles normally found in and around a building structure. In one
embodiment, the animal
system 102 communicates with the repeater 113 on bands above and/or below the
900 MHz
band. In one embodiment, the animal system 102, repeater 113, and/or base unit
1041isten
to a radio frequency channel before transmitting on that chaimel or before
beginning
transmission. If the channel is in use, (e.g., by another device such as
another repeater, a
cordless telephone, etc.) then the sensor, repeater, and/or base unit changes
to a different
-34-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
channel. In one embodiment, the animal systein 102, repeater, and/or base unit
coordinate
frequency hopping by listening to radio frequency channels for interference
and using an
algorithm to select a next channel for transmission that avoids the
interference. Thus, for
example, in one embodiment, if the animal system 102 senses a dangerous
condition (e.g.,
the dog 101 is choking or crying in pain) and goes into a continuous
transmission mode, the
animal system 102 tests (e.g., listens to) the channel before transmission to
avoid channels
that are blocked, in use, or jammed. ln one embodiment, the animal system 102
continues
to transmit data until it receives an aclnlowledgement from the base unit 104
that the
message has been received. In one embodiment, the collar transmits data having
a normal
priority (e.g., status information) and does not look for an aclclowledgement,
and the collar
transmits data having elevated priority until an acknowledgement is received.
The repeater unit 113 is configured to relay communications traffic between
the
animal system 102 and the base unit 104. The repeater unit 113 typically
operates in an
environment with several other repeater units. In one embodiment, the repeater
113 has an
internal power source (e.g., battery, solar cell, fuel cell, etc.). In one
embodiment, the
repeater 113 is provided to household electric power. In one enlbodiment, the
repeater unit
113 goes to a low-power mode when it is not transmitting or expecting to
transmit. In one
embodiment, the repeater 113 uses spread-spectruin techniques to communicate
with the
base unit 104 and with the animal system 102. In one embodiment, the repeater
113 uses
frequency-hopping spread-spectrum to communicate with the base unit 104 and
the animal
system 102. Tn one einbodiment, the repeater unit 113 has an address or
identification (ID)
code and the repeater unit 113 attaches its address to outgoing communication
packets that
originate in the repeater (that is, packets that are not being forwarded).
In one embodiment, the base unit 104 communicates with the animal system 102
by
transmitting a communication paclcet addressed to the collar unit 102. The
repeaters 113
receive the cominunication paclcet addressed to the collar unit 102. The
repeaters 113
transmit the communication packet addressed to the animal system 102 to the
collar unit
102. In one embodiment, the collar unit 102, the repeater units 113, and the
base unit 104
communicate using Frequency-Hopping Spread Spectrum (FHSS), also known as
channel-
hopping.
Frequency-hopping wireless systems offer the advantage of avoiding other
interfering signals and avoiding collisions. Moreover, there are regulatory
advantages given
-35-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
to systems that do not transmit continuously at one frequency. Channel-hopping
transmitters change frequencies after a period of continuous transmission, or
when
interference is encountered. These systems may have higher transmit power and
relaxed
limitations on in-band spurs. FCC regulations limit transmission time on one
channel to
1200 milliseconds (averaged over a period of timel0-20 seconds depending on
channel
bandwidth) before the transmitter must change frequency. There is a minimum
frequency
step when changing channels to resume transmission.
In one embodiment, the collar unit 102, the repeater unit 110, and the base
unit 104
communicate using FHSS wherein the frequency hopping of the collar unit 102,
the
repeater unit 110, and the base unit 104 are not synchronized such that at any
given
moment, the animal system 102 and the repeater unit 113 are on different
channels. In such
a system, the base unit 104 communicates with the animal system 102 using the
hop
frequencies synchronized to the repeater unit 113 rather than the collar unit
102. The
repeater unit 113 then forwards the data to the collar unit using hop
frequencies
synchronized to the collar unit 102. Such a system largely avoids collisions
between the
transmissions by the base unit 104 and the repeater unit 110.
In one embodiment, the RF units 102, 114-122 use FHSS and are not
synchronized.
Thus, at any given moment, it is unlikely that any two or more of the units
102, 114-122
will transinit on the same frequency. In this manner, collisions are largely
avoided. In one
embodiment, collisions are not detected but are tolerated by the system 100.
If a collision
does occur, data lost due to tlie collision is effectively re-transmitted the
next time the collar
units transmit collar data. When the units 102, 114-122 and repeater units 113
operate in
asynchronous mode, then a second collision is highly unlikely because the
units causing the
collisions have hopped to different channels. In one embodiment, the unit 102,
114-122,
repeater units 113, and the base unit 104 use the same hop rate. In one
embodiment, the
units 102, 114-122, repeater mzits 113, and the base unit 104 use the same
pseudo-random
algorithm to control channel hopping, but with different starting seeds. In
one embodiment,
the starting seed for the hop algorithm is calculated from the ID of the units
102, 114-122,
repeater units 113, or the base unit 104.
Ii1 an alternative embodiment, the base unit 104 communicates with the animal
system 102 by sending a communication packet addressed to the repeater unit
113, where
the packet sent to the repeater unit 113 includes the address of the collar
unit 102. The
-36-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
repeater unit 113 extracts the address of the animal system 102 from the
packet and creates
and transmits a paclcet addressed to the collar unit 102.
In one embodiment, the repeater unit 113 is configured to provide bi-
directional
communication between the animal system 102 and the base unit 104. In one
embodiment,
the repeater 113 is configured to receive instructions from the base unit 104.
Thus, for
example, the base unit 104 can instruct the repeater to: send commands to the
animal
system 102; go to standby mode; "wake up"; report power status; change wake-up
interval;
run self-diagnostics and report results; etc.
The base unit 104 is configured to receive measured collar data from a number
of
RF units either directly, or through the repeaters 113. The base unit 104 also
sends
coinmands to the repeater units 113 and/or to the animal system 102. When the
base unit
104 receives data from the animal system 102 indicating that there may be an
emergency
condition (e.g., the dog is in distress) the computer 103 will attempt to
notify the
owner/trainer.
In one embodiment, the computer 104 maintains a database of the health, power
status (e.g., battery charge), and current operating status of all of the RF
units 102, 114-122
and the repeater units 113. h7 one embodiment, the computer 103 automatically
perfomis
routine maintenance by sending conunands to each unit 102, 114-122 to run a
self-
diagnostic and report the results. The computer 103 collects and logs such
diagnostic
results. In one einbodiment, the computer 103 sends instructions to each RF
unit 102, 114-
122 telling the unit how long to wait between "walceup" intervals. In one
embodiment, the
computer 103 schedules different walceup intervals to different RF units based
on the unit's
health, power status, location, usage, etc. In one embodiment, the computer
103 schedules
different walceup intervals to different collar units based on the type of
data and urgency of
the data collected by the unit (e.g., the animal system 102 has higher
priority than the water
unit 120 and should be checlced relatively more often). In one embodiment, the
base unit
104 sends instructions to repeaters 113 to route collar information around a
failed repeater
113.
Iii one embodiment, the computer 103 produces a display that tells the
owner/trainer
which RF units need repair or maintenance. In one embodiment, the computer 103
maintains a list showing the status and/or location of each dog 101 according
to the ID of
each collar. In one einbodiment, the ID of the animal system 102 is obtained
from the RFID
-37-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
chip einbedded in the dog 101. In one embodiment, the ID of the animal system
102 is
programmed into the collar by the computer system 103. In one embodiment, the
ID of the
aniinal system 102 is programmed into the collar at the factory such that each
collar has a
unique ID.
In one embodiment, the animal system 102 and /or the repeater units 113
measure
the signal strength of the wireless signals received (e.g., the aniinal system
102 measures
the signal strength of the signals received from the repeater unit 113, the
repeater unit 113
measures the signal strength received from the animal system 102 and/or the
base unit 104).
The collar unit 102 and /or the repeater units 113 report such signal strength
measurement
bacle to the computer 103. The computer 103 evaluates the signal strength
measurements to
ascertain the health and robustness of the RF units of the system 100. In one
einbodiment,
the computer 103 uses the signal strength information to re-route wireless
communications
traffic in the system 100. Thus, for example, if the repeater unit 113 goes
offline or is
having difficulty communicating with the collar unit 102, the computer 103 can
send
instructions to ~ a different repeater unit
In the animal system 102, the controller 202 typically provides power, data,
and
control information to the transceiver 201. A power source 203 is provided to
the controller
201. An optional tamper sensor (not shown) is also provided to the controller
201. A reset
device (e.g., a switch) is proved to the controller 201.
In one embodiment, the transceiver 202 is based on a TRF 6901 transceiver chip
from Texas Instruments. Inc. In one embodiment, the controller 201 is a
conventional
programmable microcontroller. In one embodiment, the controller 201 is based
on a Field
Programmable Gate Array (FPGA), such as, for exainple, provided by Xilinx
Corp. In one
embodiment, the collar 201 includes a smoke detector. In one embodiment, the
animal
system 102 includes a temperature sensor to measure ambient temperature. In
one
embodiment the animal system 102 includes a water sensor.
The controller 202 receives collar data from the sensors and systems in the
animal
system 102. The animal system 102 generally conserves power by not
transmitting sensor
data that falls within a normal range unless the animal system 102 is being
interrogated by
the coinpute system 103. In one embodiment, the controller 202 evaluates
sensor data by
comparing the data value to a threshold value (e.g., a high threshold, a low
threshold, or a
high-low threshold). If the data is outside the threshold (e.g., above a high
threshold, below
-38-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
a low threshold, outside an inner range tllreshold, or inside an outer range
threshold), then
the data is deemed to be anomalous and is transmitted to the base unit 104. In
one
embodiment, the data threshold is programmed into the controller 202. In one
embodiment,
the data threshold is programmed by the base unit 104 by sending instructions
to the
controller 202. In one embodiment, the controller 202 obtains collar data and
transmits the
data when cominanded by the computer 103.
In one embodiment, a tainper sensor 1105 is configured as a switch that
detects
removal of or tampering with the collar unit 102.
Figure 11 is a bloclc diagram of the repeater unit 113. In the repeater unit
113, a first
transceiver 1102 and a second transceiver 1104 are provided to a controller
1103. The
controller 1103 typically provides power, data, and control information to the
transceivers
1102, 1104. A power source 1106 is provided to the controller 1103.
When relaying collar data to the base unit 104, the controller 1103 receives
data
from the first transceiver 1102 and provides the data to the second
transceiver 1104. When
relaying instructions from the base unit 104 to a collar unit, the controller
1103 receives
data from the second transceiver 1104 and provides the data to the first
transceiver 1102. In
one embodiment, the controller 1103 conserves power by placing the
transceivers 1102,
1104 in a low-power mode during periods when the controller 1103 is not
expecting data.
The controller 1103 also monitors the power source 1106 and provides status
information,
such as, for example, self-diagnostic information and/or information about the
health of the
power source 1106, to the base unit 104. In one embodiment, the controller
1103 sends
status information to the base unit 104 at regular intervals. In one
embodiment, the
controller 1103 sends status information to the base unit 104 when requested
by the base
unit 104. In one embodiment, the controller 1103 sends status infonnation to
the base unit
104 when a fault condition (e.g., battery low, power failure, etc.) is
detected.
Figure 12 is a block diagrain of the base unit 104. In the base unit 104, a
transceiver
1202 and a computer interface 1204 are provided to a controller 1203. The
controller 1203
typically provides data and control information to the transceivers 1202 and
to the interface.
The interface 1204 is provided to a port on the monitoring computer 103. The
interface
1204 can be a standard computer data interface, such as, for example,
Ethernet, wireless
Ethernet, firewire port, Universal Serial Bus (USB) port, bluetooth, etc.
-39-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
In one embodiment, the owner/trainer selects a dog breed for the dog 101 from
a list
of breeds provided by the computer 103. The computer 103 adjusts the training
enviromnent based on the dog breed. Thus, for example, an active dog such as a
border
collie will receive relatively more training and/or play than a relatively
less active dog
breed. In one embodiment, the owner/trainer inputs the dog's age, sex, and
general health
into the computer 103 to allow the computer 103 to adjust the type of
training, length of
training etc. In one embodiment, the system 103 maintains records of the dogs
health (e.g.,
teinperature, heart rate, food consumption, etc.), training patterns and
training progress. The
computer system 103 can produce plots and graphs showing the dog's progress,
comparing
the progress of the dog 101 to other dogs, to the dog's progress from previous
time periods,
(e.g., months, years, etc.). In one embodiment, the computer system 103
evaluates the dog's
health and training progress and makes suggestions to the owner/trainer. In
one
embodiment, the computer system 103 provides answers to questions selected by
the
owner/trainer from a list of questions and adjusts such answers based on the
health and
training history of the dog 101. In one embodiment, the computer system 103
forwards to
dog's data (e.g. health data, training data, etc.) to a remote trainer who can
then give
feedback to the dog's owner/trainer. Thus, for example, if the dog 101 is
exhibiting
destructive behavior the owner/trainer can ask the computer 103 (or,
optionally, a remote
trainer) for recommendations to cure such behavior and the conlputer 103 can
make
recommendations based on the dog's breed, age, training history, etc. If the
dog 101 is
exhibiting poor training progress the owner/trainer can ask the computer 103
(or,
optionally, a remote trainer) for recommendations to cure such behavior and
the computer
103 can make recommendations based on the dog's breed, age, training history,
etc. If the
dog 101 is exllibiting potential health problems, the owner/trainer can ask
the computer 103
(or, optionally, a remote veterinarian) for recommendations.
It is well lcnown that most dogs prefer to keep to a relatively fixed daily
schedule.
The training system 100 is better adapted to maintaining a fixed daily routine
than a
worlcing owner/trainer who has other responsibilities. Thus, for example, the
system 100
can feed the dog prescribed amounts of food at prescribed times of day. The
system 100 can
play with the dog at prescribed times of day. The system 100 can train the dog
at prescribed
times of day and allow the dog in or out of the house at prescribed times.
After an initial
adjustment period, the dog 101 will adjust to the schedule provided by the
system 100 and
-40-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
will in general be happier and healthier than a dog that must adjust to an
owner's varying
schedule. The dog 101 also benefits from the impartiality of the training and
management
system 100. Unlike an owner/trainer, the system 100 will not get mad at the
dog and punish
the dog out of anger. In one einbodiment, the system 100 provides better
training than a
typical owner or trainer because the system 100 is provided with a training
program
designed by an expert. Thus, the system 100 is less likely to punish the dog
101 in a
situation where the dog does not understand the reason for the punishment.
Moreover, the
systein 100, is relatively more likely to reward the dog in such a way that
the dog
understands the reason for the reward and will make the connection between
desired
behavior and the reward. For example, many untrained owners do not understand
that
reward should generally occur immediately so that the dog will properly
associate action
with reward. The system 100 has a relatively high-quality training program
built-in and
th.us, alleviates the need for an owner to buy books to study and learn proper
dog training
methods. In one embodiment, a professional trainer works with the dog 101 for
a relatively
short period of time in order to get the dog accustomed to the system 100, and
then the dog
101 can work with the system 100 for extended periods without supervision.
In one embodiment, a remote trainer can use the Internet or telephone modem to
connect to the computer system 103 and reinotely train the dog or provide
other interaction
with the dog.
Figure 13 is a bloclc diagram of a ball tossing unit 1300 used to play
"fetcli" with the
dog. The ball tossing unit 1300 includes a processor 1301 and (optional) RF
unit 1302, a
ball launcher 1304, a ball sensor 1305, and optionally, a light or sound
device 1306. The
ball tossing unit 1300 uses the ball launcher 1304 to launch a ball for the
dog to fetch.
When the dog fetches the ball and drops in a basket or other receptacle in the
ball tossing
unit 1300, the ball sensor detects the fetched ball 1305. hi one embodiment,
the ball tossing
unit is operated by command from the computer system 103. In one embodiment,
the ball
tossing unit is operated according to a timer such that the unit plays fetch
with the dog at
prescribed periods.
Figure 14 is a architectural-type drawing of the floor plan of a portion of a
house
showing examples of placement of locations sensors to sense the movement of
the dog
around the house. In Figure 14, relatively short-range sensors are placed in
doorways or
key passageways (e.g., halls, stairs, etc.) to track the general movement of
the dog through
-41-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
the house. Location systein units 1420-1423 are placed in or near doorways,
and a location
systein unit 1424 is placed in a stairway.
In one embodiment, the location system units 1420-1424 are (or include)
relatively
short-range RFID readers that read the passage of the dog's RFID tag as the
dog passes by
the reader when going through the doorway, hallway, etc. in which the reader
is located.
The RFID reader reports the movement baclc to the computer system 103 which
keeps a
record of the dog's movements and current whereabouts. As with the dog house
119, in
one embodiment, the location system units 1420-1424 can perform many of the
functions
of the animal system 102 such as, for example, reading biometric data from the
RFID tag
310. In one embodiment, the animal system 102 is omitted or can be removed
from the dog
101 while the dog 101 is in the house. In one enzbodiment, location system
units 1410-1412
are placed relatively high in the room (e.g., on the ceiling) to provide a
view of the various
rooms of the house.
li1 one embodiment, the location system units 1420-1424 or 1410-1412 are (or
include) infrared sensors that communicate with the infrared system 301 in the
animal
system 102 to provide relatively short-range relatively line-of sight
communication for
traclcing the movements of the dog. As the dog passes the location system
units 1420-1424
or 1410-1412, the sensor communicates with the animal system 102 to note the
passage of
the dog and the information is then transmitted back to the computer 103
either by the
animal system 102 or the location system units 1420-1424 or 1410-1412. In one
embodiment, the location system units 1420-1424 or 1410-1412 also operate as
motion
detectors for a home security system.
In one embodiment, the location system units 1420-1424 or 1410-1412 are (or
include) acoustic sensors that communicate with the acoustic systenis in the
animal system
102 to provide relatively short-range relatively line-of sight communication
for traclcing the
movements of the dog. As the dog passes the location system units 1420-1424 or
1410-
1412, the sensor communicates with the animal system 102 to note the passage
of the dog
and the information is then transmitted back to the computer 103 either by the
animal
system 102 or the location system units 1420-1424 or 1410-1412. In one
embodiment, the
location system units 1420-1424 or 1410-1412 also operate as motion detectors
for a home
security system.
-42-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
In one embodiment, the location system units 1420-1424 or 1410-1412 are (or
include) relatively low-power microwave transmitters or receivers that
communicate with
the RF system 304 in the animal systein 102 to provide relatively short-range
relatively
line-of sight communication for tracking the movements of the dog. As the dog
passes the
location system units 1420-1424 or 1410-1412, the sensor communicates with the
animal
system 102 to note the passage of the dog and the information is then
transmitted back to
the computer 103 either by the animal system 102 or the location system units
1420-1424
or 1410-1412.
In one embodiment, the computer systein 103 is provided with a map of the
house
and shows the location of the dog with respect to the map.
In one einbodiment, the system 100 determines when the dog is sleeping by
monitoring the dogs movement and teinperature.
Ihi one embodiment, one or more of the radio frequency aspects of the system
100
use a frequency band between 800 and 1100 MHz for general communications. In
one
embodiment, one or more of the radio frequency aspects of the system 100 use
frequencies
below 800 MHz for emergency or longer-range cominunication. In one embodiment,
the
frequency capabilities of the transceivers in the animal system 102 are
adjustable, and the
base unit 104 and aiiimal system 102 select are configured to use
communication
frequencies that conserve power while still providing adequate communications
reliability.
In one embodiment, one or more of the radio frequency aspects of the system
100 use
frequencies above 1100 MHz for relatively sllort-range communication (e.g.
communication within a room). In one embodiment, the base unit 104 and/or one
or more
of the repeaters 113 includes a direction finding antenna for determining a
direction of the
radiation received from the animal system 102. In one embodiment, the base
unit 104
and/or one or more of the repeaters 113 includes an adaptive antenna for
increasing antenna
gain in the direction of the animal system 102. In one embodiment, the base
unit 104 and/or
one or more of the repeaters 113 includes an adaptive antenna for canceling
interfering
noise.
In one embodiment, the animal system 102 includes radio frequency, acoustic
and
infrared communications capabilities. In one embodiment, the system 100
communicates
with the animal system 102 using radio frequency, acoustic or infrared
communication
depending on the situation, e.g., acoustic, infrared, or relatively higher
frequency radio
-43-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
frequencies for relatively shorter range communication and relatively lower
frequency radio
frequencies for relatively longer range coinmunications.
Figure 15 is a blocle diagram of the animal system 102 that includes a camera
1501.
The block diagram in Figure 15 includes the elements shown in the bloclc
diagram of Figure
3 with the addition of a camera 1501 provided to the processor 201. In one
embodiment, the
camera 1501 includes an image sensor that captures still pictures. In one
embodiment, the
camera 1501 includes an image sensor that produces video images. In one
embodiment,
images from the camera are provided to the systein 103 and stored. In one
embodiment, the
system 103 sends one or more of the images to the control/display 112 so that
the owner or
trainer can see the dog's surroundings. In one embodiment, the system 103
sends one or
more of the images to a telephone or cellular telephone equipped to receive
images (still or
video) so that the owner or trainer can see the dog's surroundings by calling
the system 103.
In one embodiment, the system 103 sends one or more of the images to the
Internet 108 or
other computer network so that the owner or trainer can see the dog's
surroundings using a
computer.
In one embodiment, images from the camera are provided to the system 103 at
regular intervals. In one embodiment, images from the camera are provided to
the system
103 when requested by the system 103. In one embodiment, the system 103 stores
images
from the camera 1501 at regular intervals. In one embodiment, the system 103
stores
images from the camera 1501 during training sessions. In one embodiment, the
system 103
stores images from the camera 1501 when the system 103 determines that the dog
is in
trouble, sick, in pain, etc. In one embodiment, the system 103 stores images
from the
camera 1501 wlien the system 103 is unable to locate the dog. In one
embodiment, the
system 103 stores images from the camera 1501 when the system 103 detects a
potentially
abnormal situation (e.g., the dog is sick, the dog is barlcing, the system 103
cannot locate
the dog, etc.).
The animal system 102 can be provided to a dog harness 1601 as shown in
Figures
16A-D. The harness 1601 provides more flexibility in locating the camera 1501
than is
provided by a collar.
Figure 16A shows the harness 1601 with an electronic module 1602 located on
the
dog's back. The electronic module 1602 includes one or more of the blocles
shown for the
animal system 102 in Figures 2, 3, and/or 15. When the camera 1501 is located
in the
-44-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
module 1602 as shown in Figure 16A, the cainera 1501 can be configured to have
a field of
view to the left, to the right, up, and/or behind the dog.
Figure 16B shows the harness 1601 with an electronic module 1603 located on
the
dog's flanlc or side. The electronic module 1603 includes one or more of the
bloclcs shown
for the animal system 102 in Figures 2, 3, and/or 15. When the camera 1501 is
located in
the module 1603 as shown in Figure 16B, the camera 1501 can be configured to
have a
field of view to the left (when located on the left side) or to the right
(when located on the
right side) to the front, up, down, and/or behind the dog.
Figure 16C shows the harness 1601 with an electronic module 1604 located on
the
dog's neclc or shoulder area. The electronic module 1604 includes one or more
of the blocks
shown for the aniinal system 102 in Figures 2, 3, and/or 15. When the camera
1501 is
located in the module 1604 as shown in Figure 16C, the camera 1501 can be
configured to
have a field of view to the left (when located on the left side) or to the
right (when located
on the right side) to the front, up, down, and/or behind the dog.
Figure 16D shows the harness 1601 with an electronic module 1605 located on
the
dog's chest. The electronic module 1605 includes one or more of the blocks
shown for the
animal system 102 in Figures 2, 3, and/or 15. When the camera 1501 is located
in the
module 1605 as shown in Figure 16D, the camera 1501 can be configured to have
a field of
view to the left (when located on the left side) or to the right (when located
on the right
side) and/or to the front.
The configurations shown in Figures 16A-D are not mutually exclusive. One or
more of the modules 1601-1605 can be provided to the same harness 1601.
Figure 17 shows an electronic module 1701 located on the dog's head. The
electronic module 1701 includes one or more of the blocks shown for the animal
system
102 in Figures 2, 3, and/or 15. When the camera 1501 is located in the module
1701 as
shown in Figure 17, the camera 1501 can be configured to have a field of view
to the left, to
the right, to the front and/or to the rear.
Figure 18 shows a dog harness implemented with multiple cameras and training
modules. Figure 18 shows a harness 1801 with an electronic module 1802 located
on the
dog's back. The electronic module 1802 includes one or more of the blocks
shown for the
animal system 102 in Figures 2, 3, and/or 15. When the camera 1501 is located
in the
module 1802 as shown in Figure 16A, the cainera 1501 can be configured to have
a field of
-45-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
view to the left, to the right, up, and/or behind the dog. In one embodiment,
the camera
1501 is configured with a panning function. In one embodiment, the camera 1501
is
configured with a zoom function. In one embodiment, the camera 1501 is
configured with a
zoom and pan function. An electronic module 1804 located on the dog's left
flai* or side
and an electronic module 1805 is located on the dog's right flank or side. An
electronic
module 1803 is loated on the dog's chest. In one embodiment, an optional
electronic
module 1806 is located 1806 is located on the dog's lower back or hindquarter
region. In
one embodiment, an optional electronic module 1807 is located 1806 is located
on the dog's
abdomen or belly region. As shown in more detail in Figure 19, the electronic
modules
1803-1805 include one or more of the bloclcs shown for the animal system 102
in Figures 2,
3, and/or 15.
Figure 19A is a block diagram of a multiple camera and training module system
1800. In the systein 1800, a communication module 1902 includes at least a
portion of the
functions provided by the collar 102.
The communication module 1902 can include, for example, the sound sensing
device 204, the vibration device 205, the sound producing device 206, the
electric shock
device 207, and the first RF transceiver 202. The various devices are provided
to a
processor 1901. The power source 203 provides power for powering the
microphone 204,
the vibration device 205, the loudspealcer 206 and the electric shock device
207, the first
RF transceiver 202 and the processor 1901. hi one embodiment, each of the
microphone
204, the vibration device 205, the loudspeaker 206 and the electric shock
device 207 are
optional and can be omitted. The communication module 1902 can also include
the
odor/treat dispensing device 210 for providing pleasant smells, treats, and/or
unpleasant
smells to the dog 101. The module 1902 can also include a light (not shown)
for providing
visual indications to the dog 101, to the trainer, or to the video cameras
106. In one
embodiment, the tamper sensor 230 is also provided.
The communication module 1902 can include for example, one or more location
and tracking systems, such as, for example, the IR systein 301, the GPS
location system
302, the IlVIU 303 and/or the tllird RF transceiver 304. The tracking systems
can be used
alone or in combination to ascertain the location of the dog. The IR system
301, the GPS
location system 302, the IMU 303, and the third RF transceiver 304 are
provided to a
processor 1901 and powered by the power source 203. The processor 1901
controls
-46-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
operation of the IR system 301, the GPS location system 302, the IMU 303, and
the third
RF transceiver and controls w11en the power source delivers power to the IR
system 301,
the GPS location system 302 and the IMU 303. The first second and third RF
transceivers
are separated in Figure 19A for purposes of description, and not by way of
limitation. In
one embodiment, the first RF transceiver 202, and/or the second RF transceiver
309 and/or
the third RF transceiver 304 are combined into one or more transceivers. In
one
embodiment, the first RF transceiver 202, and/or the second RF transceiver 309
and/or the
third RF transceiver 304 operate at different frequencies.
A communication interconnect 1903 is provided to provide communication (an,
optionally power) between the module 1902 and a plurality of sub-modules 1803-
1806.
The sub-module 1803 includes one or more of: a shock generator 1913, a
vibrator
1914, a sound producing device 1915, and a caniera system 1916. The sllock
generator
1913, the vibrator 1914, the sound producing device 1915, the camera system
1916, and the
interconnect 1903 are provided to a processor 1912.
The sub-module 1804 includes one or more of: a shock generator 1923, a
vibrator
1924, a sound producing device 1925, and a camera system 1926. The shock
generator
1923, the vibrator 1924, the sound producing device 1925, the camera system
1926, and the
interconnect 1903 are provided to a processor 1922.
The sub-module 1805 includes one or more of: a shock generator 1933, a
vibrator
1934, a sound producing device 1935, and a camera system 1936. The shock
generator
1933, the vibrator 1934, the sound producing device 1935, the camera system
1936, and the
interconnect 1903 are provided to a processor 1932.
The sub-module 1806 includes one or more of: a shoclc generator 1943, a
vibrator
1944, a sound producing device 1945, and a cainera system 1946. The shoclc
generator
1943, the vibrator 1944, the sound producing device 1945, the camera system
1946, and the
interconnect 1903 are provided to a processor 1942.
The block diagram of the inodule 1807 is not shown in Figure 19A, but is
similar to
the bloclc diagrams of the module 1803-1806.
Figure 19B is a bloclc diagram showing the modules 1802-1806 in relation to
the
dog 101. Thus, for example, the system 102 can use the camera system 1916 in
the module
1803 to obtain views to the front of the dog 101. The system 101 can use the
shoclc
generators 1913 in the module 1803 to direct the dog to stop (and/or back
away). The
-47-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
system 101 can use the vibrator 1914 to cause the dog to move forward or
backwards
depending on the type of vibration and how the dog has been trained to respond
to the
vibration. Thus, for exainple, in one embodiment, the dog 101 is trained to
respond to move
forward in response to a pleasing vibration (e.g., mild vibration and/or
relatively lower in
frequency) of the vibrator 1914. In one embodiment, the dog 101 is trained to
respond to
stop or move backwards (e.g., retreat) in response to a displeasing vibration
(e.g., relatively
strong vibration and/or relatively higher-frequency vibration) of the vibrator
1914. In one
embodiment, the dog 101 is trained to respond to move forward in response to a
pleasing
sound or specific sound from the spealcer 1915. In one embodiment, the dog 101
is trained
to respond to stop or move backwards (e.g., retreat) in response to a
displeasing sound or
specific sound from the spealcer 1915. Combinations of shoclcs, vibrations,
and/or sounds
from the shoclc generator 1913, the vibrator 1914, and the spealcer 1915 can
also be used to
control the movement of the dog 101.
In a similar fashion, the shock generators 1923, 1913, the vibrators 1924,
1934, and
the spealcers 1925, 1915 can be used to control the left-right movements of
the dog 101.
The shock generators 1943, the vibrator 1944, and the speaker 1945 can be used
alone or in coinbination with the elements of the module 1803 to furtlier
control the
forward and backward movements of the dog 101.
The owner/trainer can use the shock, vibration, and/or sound capabilities of
the
modules 1802-1806 to remotely control the direction of travel and other
movements of the
dog. This is reminiscent of the way a rider uses the reigns and spurs to
control the
movements of a horse. However, unlike the horse rider, the owner/trainer using
the system
shown in Figures 19A-B can control the dog remotely. Thus, in one embodiment,
the
owner/trainer can use a remote control device such as, for example a cellular
telephone
and/or the device 112 to cause the dog to move left, right, stop, go forwards,
jump, lie
down, etc. In one embodiment, the owner/trainer can use a remote control
device such as,
for example, a cellular telephone and/or the device 112 to control the cameras
in the
modules 1802-1806 to obtain views of the dog's surroundings. In one
embodiment, the
owner/trainer can run a training program (e.g., on the computer system 103 or
from an
Internet-based systein provided to the computer system 103) to use the devices
1802-1807
to train the dog to perform desired tasks, respond to desired commands, keep
the dog out of
prohibited areas, etc.
-48-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
Figure 20A shows a dog harness implemented with multiple cameras and training
modules with an extendable camera 2002. The cainera 2002 is provided on an
extendable
telescoping pole 2004 to allow the position of the camera 2002 to be raised
and lowered,
zoomed, and/or panned under the control of the system 102. The camera can be
raised and
lowered, zoomed, and/or panned automatically by the systein 102 or under the
control of
the owner/trainer (e.g., by using the controller 112, by cellular telephone
communication
with the system 102, etc.)
Figure 20B is a block diagrain of a dog harness systein 2000 implemented with
multiple caineras and training modules with an extendable camera. The system
2000 is
similar to the system 1800 with the addition of the camera extension arm
system 2004. In
one embodiment, one or more of the sub modules 1803-1806 can be omitted.
In one embodiment, one or more of the cameras described in connection with
Figures 16A-20B include image stabilization. The use of image stabilization
improves the
quality of the image produced by the camera, especially when the camera is
operating in a
video mode. In one embodiment, one or more of the cameras or video systems
described in
coimection with Figures 16A-20B (e.g., the cameras located in the units 1602-
1605, 1701,
and/or 1802-1807 include image-stabilization capability).
Figure 21 is a block diagram of a multiple camera an.d stimulation module
training
and control system 2100. In the system 2100, a cominunication module 2102
includes at
least a portion of the functions provided by the collar 102.
The cornrnunication inodule 2102 can include, for example, the sound sensing
device 204, the vibration device 205, the sound producing device 206, the
electric shoclc
device 207, and the first RF transceiver 202. The various devices are provided
to a
processor 2101. The power source 203 provides power for powering the
microphone 204,
the vibration device 205, the loudspeaker 206 and the electric shock device
207, the first
RF transceiver 202 and the processor 201. In one embodiment, each of the
microphone 204,
the vibration device 205, the loudspeaker 206 and the electric shock device
207 are optional
and can be omitted. The cominunication module 1902 can also include the
odor/treat
dispensing device 210 for providing pleasant smells, treats, and/or unpleasant
smells to the
dog 101. The module 1902 can also include a ligllt (not shown) for providing
visual
indications to the dog 101, to the trainer, or to the video cameras 106. In
one embodiment,
the tamper sensor 230 is also provided.
-49-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
The communication module 2102 can include for example, one or more location
and traclcing systems, such as, for example, the IR systein 301, the GPS
location system
302, the IMU 303 and/or the third RF transceiver 304. The traclcing systems
can be used
alone or in combination to ascertain the location of the dog. The IR system
301, the GPS
location systein 302, the IMU 303, and the third RF transceiver 304 are
provided to a
processor 2101 and powered by the power source 203. The processor 2101
controls
operation of the IR system 301, the GPS location system 302, the INIU 303, and
the third
RF transceiver and controls when the power source delivers power to the IR
system 301,
the GPS location system 302 and the IMZJ 303. The first second and third RF
transceivers
are separated in Figure 21 for purposes of description, and not by way of
limitation. In one
embodiment, the first RF transceiver 202, and/or the second RF transceiver 309
and/or the
tllird RF transceiver 304 are combined into one or more transceivers. In one
embodiment,
the first RF transceiver 202, and/or the second RF transceiver 309 and/or the
third RF
transceiver 304 operate at different frequencies.
A cominunication interconnect 2103 is provided to provide communication (and,
optionally power) between the module 2102 and one or more stimulation modules
2110-
2113. A communication interconnect 2104 is provided to provide comununication
(and,
optionally power) between the module 2102 and one or more camera modules 2120-
2123.
The stimulation module 2110 includes one or more of: the shock generator 1913,
the vibrator 1914, and/or the sound producing device 1915. The shock generator
1913, the
vibrator 1914, the sound producing device 1915, and the intercoimect 2103 are
provided to
a processor 2130.
The stiinulation module 2111 includes one or more of: the shoclc generator
1923,
the vibrator 1924, and/or the sound producing device 1925. The shock generator
1923, the
vibrator 1924, the sound producing device 1925, and the interconnect 2103 are
provided to
a processor 2131.
The stimulation module 2112 inchides one or more of: the shoclc generator
1913,
the vibrator 1934, and/or the sound producing device 1935. The shoclc
generator 1933, the
vibrator 1934, the sound producing device 1935, and the interconnect 2103 are
provided to
a processor 2132.
The stimulation module 2113 includes one or more of: the shock generator 1933,
the vibrator 1934, and/or the sound producing device 1935. The shock generator
1933, the
-50-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
vibrator 1934, the sound producing device 1935, and the interconnect 2103 are
provided to
a processor 2133.
The camera module 2120 includes the cainera system 1916 and, optionally, an
illumination source 2116. The camera system 1926 and the optional illumination
source
2116 are provided to a processor 2140. The processor 2140 communicates with
the
processor 2101 througli a communication intercoimect 2104.
The camera module 2121 includes the camera system 1926 and, optionally, an
illumination source 2126. The camera system 1926 and the optional illumination
source
2126 are provided to a processor 2141. The processor 2141 communicates with
the
processor 2101 through the communication interconnect 2104.
. The camera module 2123 includes the camera system 1936 and, optionally, an
illumination source 2136. The camera systein 1936 and the optional
illumination source
2136 are provided to a processor 2142. The processor 2142 communicates with
the
processor 2101 through the conmmunication interconnect 2104.
One of ordinary skill in the art will recognize that the communication
interconnects
2103 and 2104 can be coinbined or fiirther divided into further interconnects.
Although three camera modules 2120-2123 are shown, one of ordinary skill in
the
art will recognize that less than three or more than three camera modules can
be provided to
provide additional control over the movements of the dog. In one embodiment,
the
illuininators 2116, 2126, and 2136 provide illumination for the respective
camera systems
1916, 1926 and 1936. In one embodiment, one or more of the illuminators 2116,
2126, and
2136 are LED sources. In one embodiment, one or more of the illuminators 2116,
2126, and
2136 are flash sources (e.g., for flash photography). In one embodiment, one
or more of the
illuminators 2116, 2126, and 2136 are infrared sources. In one embodiment, one
or more of
the illuminators 2116, 2126, and 2136 are ultraviolet sources. The use of
flash sources
provides for relatively intense bursts of liglit that for the camera while
consuming relatively
little power. The use of infrared or ultraviolet sources beyond the human
visual range
allows the illuminators to provide illumination for the respective cameras
without alerting
or annoying humans in the area. The use of infrared or ultraviolet sources
beyond the dog's
visual range allows the illuminators to provide illumination for the
respective cameras
without startling or annoying the dog. The use of ultraviolet and/or infrared
is particularly
useful wllen the system 2100 is used in connection with a dog used in military
or police
-51-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
surveillance systems. In one embodiment, one or more of the cameras systems
1916, 1926
and/or 1936 is provided with an image-intensifier system to provide for low-
light imaging.
As described above in connection witli Figures 19A-20B, the camera modules
2120-
2123 can be placed about the dog to provide different canera views and to give
the
owner/trainer the flexibility to choose a desired camera view about the dog.
In one
embodiment, one or more of the camera systems 1916, 1926, 1936 includes a pan
and/or
zoom capability. In one embodiment, one or more of the camera systems 1916,
1926, 1936
includes a remotely controllable pan and/or zoom capability to allow the
owner/trainer to
pan and zoom the desired camera to obtain a desired view.
Although four stimulation modules 2110-2113 are shown, one of ordinary skill
in
the art will recognize that more than three stimulation modules can be
provided to provide
additional control over the movements of the dog.
In one embodiment, the remote control 112 is configured with buttons (eitlier
fixed
or programmable) to allow the owner/trainer to send commands to the system
2100. Thus,
for example, in one embodiment, the remote control 112 includes buttons to
command the
dog to move forward, bacleup, left, right, sit, bark, growl, attaclc, return
home, etc.
In one embodiment, the remote control 112 communicates with the system 2100
through the coinputer system 103. In one embodiment, the reinote control 112
communicates with the system 2100 either directly or through one or more
repeaters.
In one embodiment, a cellular telephone can be used in connection with the
system
2100. Thus, for example, an owner away from home can use a cellular telephone
(or
Intenlet or convention telephone) to contact the system 103 and receive images
from one or
more of the camera modules 2120-2123, control the camera modules 2120-2123,
control
the stimulators 2110-2113, etc.
The stimulation modules 2110-2113 can provide positive feedback and/or
negative
feedback to the dog. Tlius, for example, the sound generator 1915 can be used
to provide a
positive feedback stimulation (for example, many dogs are trained to respond
to a clicking
sound). The vibrator 1914 can be used to provide positive or negative
feedbaclc as described
above. The shock generator 1913 can be used to provide varying levels of
negative
feedbaclc to the dog.
By placing enougli stiinulation modules about the dog, the various movements
of
the dog can be controlled to varying degrees. For example, placing stimulation
modules on
-52-
CA 02573755 2007-01-12
WO 2006/019488 PCT/US2005/021586
the left, right, front and back as shown in Figure 19b allows the motion of
the dog in the
various directions to be controlled. Adding a stimulation module to the dog's
front paws (or
near the paws) allows further control of the front paws (e.g., raise paw,
lower paw, dig, stop
digging, etc.). Further control can be achieved by placing stimulation modules
to the dog's
abdomen, tail, rear paws, etc.
One of ordinary slcill in the art will recognize that the different
stiinulation modules
2110-2113 placed about the dog can be configured differently depending on
location and
desired level of control. Tlius, for example, one or more of the stimulation
modules can be
configured without one or more of the shock generator, the vibrator, or the
speaker. The
shock generators, vibrators, and/or speakers (sound generators) are placed
about the dog as
appropriate to achieve the desired level of training and or control.
The camera modules and/or siinulation modules can be mounted on the dog by
various techniques, including, but not limited to, the collar, the harness,
elastic straps,
Velcro straps, glue, attachment to fur (e.g., clips), a webbing as shown in
Figure 22 etc.
Although various embodiments have been described above, other embodiments will
be within the skill of one of ordinary slcill in the art. Thus, although
described in terms of a
dog, such description was for sake of convenience and not by way of
limitation. One of
ordinary skill in the art will recognize that all or part of the system 100
can be applied to
other animals, such as, for exainple, cats, livestock, zoo animals, farm
animals, etc. Thus,
the invention is limited only by the claims that follow.
-53-
