US20060196445A1 - System and method for canine training - Google Patents

Abstract

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, is described. In one embodiment, the instrumented dog collar is in two-way communication with a central computer system.

Description

REFERENCE TO RELATED APPLICATIONS
• This application is a divisional of application Ser. No. 10/893,549, filed Jul. 15, 2004, titled “TRAINING, MANAGEMENT, AND/OR ENTERTAINMENT SYSTEM FOR CANINES, FELINES, OR OTHER ANIMALS,” the entire contents of which is hereby incorporated by reference.
BACKGROUND OF THE INVENTION
• 1. Field of the Invention
• The present invention relates to systems for computer-aided training and management of dogs, cats, and other animals.
• 2. 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 known. This type of 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 picks 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 within 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 which 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. Such systems are geared towards giving 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 communication with a central computer system.
• 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 provide to feed the dog and to monitor the dog's health and well-being by measuring the dogs intake 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 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 with 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 animal 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 commands 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 acknowledgement 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 from the animal collar related to one or more actions of a 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 computer-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 tracking system.
• In one embodiment, 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 tracking of the animal collar. In one embodiment, the location system units use electromagnetic waves for location and tracking 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
• FIG. 1 shows various elements of a dog training and management system.
• FIG. 2 is a block diagram of the dog collar.
• FIG. 3 is a block diagram of the dog collar fromFIG. 2 with the addition of location finding systems and a second RF transceiver for communicating with an RFID tag.
• FIG. 4 is a block diagram of a dog toy.
• FIG. 5 is a block diagram of the treat dispenser.
• FIG. 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.
• FIG. 6B is a block diagram of the remote control.
• FIG. 7 is a block diagram of the dog house system
• FIG. 8A is a diagram of the food dispenser.
• FIG. 8B is a block diagram of the food dispenser.
• FIG. 9 is a block diagram of the water dispenser.
• FIG. 10 is a diagram of one embodiment of the dog toilet.
• FIG. 11 is a block diagram of a repeater unit.
• FIG. 12 is a block diagram of the base unit.
• FIG. 13 is a block diagram of a ball tossing unit used to play “fetch” with the dog.
• FIG. 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.
DETAILED DESCRIPTION
• FIG. 1 shows various elements of a dog training and management system100 for managing a pet or animal such as adog101. For purposes of explanation, and not by way of limitation, the system100 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 system100 can also be used for cats, other pets, farm animals, livestock, zoo animals, etc. The system100 includes acomputer system103 to control the system100 and, to collect data, and to provide data for the owner/trainer. The system typically includes awireless collar102 and awireless base unit104. Thebase unit104 is provided to thecomputer103 and allows thecomputer103 to communicate with thecollar102. In one embodiment, thecollar102 communicates with a Radio Frequency ID (RFID) tag embedded in thedog101. The RFID tag provides an identification code to identify thedog101. Thecollar102 reads the RFID tag and relays the information from the RFID tag to thecomputer103. In one embodiment, the RFID tag includes one or more biometric sensors to allow thecomputer103 to monitor the health and condition of thedog101. 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 system100 can also include one or more of the following optional devices: one or more video monitors105, one ormore loudspeakers107, one ormore video cameras106, one or more RF training toys (e.g., aball114, abone116, a movingtoy115, etc.), an animatronics “trainer”123, and atreat dispenser122. The system100 can further include one or more of the following optional devices: a remote control/display112 for displaying the dog's location, a food dispensing andmonitoring device121, a water dispensing andmonitoring device120, one or more systems for locating the dog, one ormore RF repeaters113, one or more dog-door controllers111, a dog-monitoring doghouse119, a dog-monitoringdog toilet117, and ambient condition sensors (e.g., rain, wind, temperature, daylight, etc.)129. In one embodiment, the ambient condition sensors are wireless sensors that communicate wirelessly with thecomputer system103.
• In one embodiment, the system100 can be used as a computerized training system for training thedog101. During training, the system100 provides training commands or instructions to thedog101. Audio commands can be provide through theloudspeakers107, through a loudspeaker in thecollar102, and/or through audio devices (e.g., loudspeakers, buzzers, etc.) in the dog toys114-116. Visual commands can be provided by themonitor105, by ananimatronics trainer123, and/or by visual display devices (e.g., lights in the toys114-116, lights on thetoilet117,dog house119, dispensers121-122) etc. The dog tracking system described below can be used to provide corrective commands when thedog101 is not performing correctly and/or to provide encouragement then thedog101 is performing correctly.
• In one embodiment, amodem130 is provided for making connections with the telephone system, to allow the system100 to communicate with an owner/trainer through cellular telephone, text messaging, pager, etc. A network connection108 (e.g., an Internet connection, local area network connection, wide area network connection, etc.) is provided to allow the owner/trainer to communicate with the system100 and to allow the system100 to receive updated software, updated training regimens, etc.
• In one embodiment, thecollar102 provides positive reinforcement (e.g., clicker sounds, “good dog” sounds, pleasing sounds, pleasing smells, treats, etc.) and/or negative reinforcement commands (e.g., unpleasant sounds, electric shock, unpleasant vibration, unpleasant smells, etc.)
• The dog toys provide touch and/or motion feedback to the training system100. The training system100 delivers a treat to the dog using thetreat dispenser122 when it receives confirmation that the dog has properly performed the command. In one embodiment, an Inertial Motion Unit (IMU) in thedog collar102 and/or thevideo cameras106 are be used to determine when 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. In one embodiment, the location system uses multiple inputs to determine the dog's location.
• In one embodiment, the dog toys114-116 are adapted to specialized training such as, for example, bomb-sniffing, drug-sniffing, etc.
• In one embodiment, theanimatronics trainer123 is configured to smell like a human (e.g., by placing clothes warn by the owner/trainer on the animatronics trainer). In one embodiment, theanimatronics trainer123 is configured to speak to the dog. In one embodiment, theanimatronics trainer123 is configured to provide treats to the dog. In one embodiment, theanimatronics trainer123 is mobile and is configured to walk the dog. In one embodiment, theanimatronics trainer123 is configured to be used the teach the dog to heel.
• In one embodiment, the system100 uses thesensors129 to detect fire or smoke. In one embodiment, the system100 receives alarm data from a home alarm system. In one embodiment, themicrophone204 is used to detect a fire alarm. When the system100 detects a fire or smoke alarm, the system100 can open thedog door111, instruct the dog to leave, close thedog door111 after the dog has left, and notify the owner/trainer. The owner/trainer can be notified by using theloudspeakers107, by telephone, pager, and/or text messaging using themodem130 to connect with the telephone system, and/or by using the network connection108 (e.g., email instant messaging, etc.). Themodem130 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. Themodem130 can also be used by the owner/trainer130 to contact thecomputer system103 and control the system100 using voice recognition commands and/or data.
• In one embodiment, the system100 uses thevideo cameras106 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 system100 can be used, for example, to train thedog101 to understand one or more of the following commands/actions:
• A. General Commands
• • Sit-Stay
  • Come Here (or Come, or Here)
  • Down-Stay
  • Heel
  • Stand-Stay
  • Stand
  • Don't Growl
  • Stand Here/Stand By Me
  • Lie Down
  • Up
  • Down
  • Shake Hands
  • Roll Over
  • No Paw
  • Slow-Time (walking command)
  • Fast-Time (walking command)
  • Take-Time (walking command-Slow Down)
  • Catch/Fetch
  • Speak/Bark
  • Retrieve
  • Eat Food
  • Don't Do That
  • No
  • Go Ahead
  • O.K.
  • Track
  • Go Out
  • Let Go
  • Look Back
  • Get Out
  • Kennel/Crate (‘Go to the kennel, etc.’)
  • Bad Dog
  • Come Back
  • Get Ball
  • Nice Dog
  • Good Dog/Nice Dog
  • Quiet
  • Go To Sleep
  • Walk/Go For A Walk
  • Run
  • Let's Play
  • Put That Down
  • Don't Shake Hands
  • Stop Barking
  • 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
  • Jump
  • 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
  • Speak/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)
  • 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 Toward Visitors
  • Don't Chase Cars or Other Moving Objects
  • Eliminate Nipping/Snapping Behaviors
  • Eliminate Or Prevent Excessive Fear Reactions or ‘Paranoia’ in the dog.
  • Eliminate Negative Behaviors Such As Excessive, Unfounded Whining, 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 system100 can provide. The dog's response to commands is monitored by the system100 by using data from thecollar102, from the toys and other devices114-123, and/or by video processing of from the one ormore video cameras106. 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 ormore video cameras106. The system100 can be used to train the dog to obey new commands and/or to reinforce commands the dog already understands. In one embodiment, a trainer works with thedog101 and the system100 to get the dog accustomed to the system100 and to give the dog a starting vocabulary of basic commands (e.g. sit, stop, get the lighted toy, etc.) and then the system100 can be used to reinforce the basic commands and to teach the dog new commands.
• FIG. 2 is a block diagram of thecollar102. In thecollar102, a sound sensing device (e.g., a microphone)204, avibration device205, a sound producing device (e.g., a loudspeaker)206, anelectric shock device207, and afirst RF transceiver202 are provided to aprocessor201. The sound sensing device is configured to sense sound waves (sonic and/or ultrasonic) such as, for example, a microphone, a transducer, 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 clicker, etc. Apower source203 provides power for powering themicrophone204, thevibration device205, theloudspeaker206 and theelectric shock device207, thefirst RF transceiver202 and theprocessor201. In one embodiment, each of themicrophone204, thevibration device205, theloudspeaker206 and theelectric shock device207 are optional and can be omitted. Thecollar102 can also include an odor/treat dispensing device210 for providing pleasant smells, treats, and/or unpleasant smells so thedog101. Thecollar102 can also include a light (not shown) for providing visual indications to thedog101, to the trainer, or to thevideo cameras106. In one embodiment atamper sensor230 is also provided.
• Themicrophone204 is used to pick up sound waves such as, for example, sounds produced by thedog101, sounds produced by other dogs, and/or acoustic waves produced by an acoustic location device (sonic or ultrasonic), etc. Theprocessor201 processes the sounds picked up by the microphone and, if needed, sends processed data to thecomputer system103 for further processing. Theloudspeaker206 is used to produce pleasant and/or unpleasant sounds for thedog101 and to provide commands to thedog101. Themicrophone204 and/orloudspeaker206 can also be used in connection with an acoustic location system to locate the dog using acoustic waves. In an acoustic location system, themicrophone204 and/orloudspeaker206 communicate acoustically with acoustic sources or sensors placed about the house or yard to locate thedog101.
• The vibrator is used to produce pleasant and/or unpleasant vibrations to thedog101. Theelectric shock device207 is used to provide corrective shocks to thedog101. In one embodiment, theshock device207 can provide a range of shocks from relatively mild to relatively harsh. In one embodiment, thecomputer system103 instructs theprocessor201 to control theelectric shock device207 to deliver a desired shock intensity.
• Theoptional tamper sensor230 senses when the collar has been tampered with (e.g., removed from the dog). In one embodiment, the optional dispenser210 dispenses odors such as pleasant and/or pleasant odors to thedog101. In one embodiment, the optional dispenser210 dispenses treats for thedog101.
• Thefirst RF transceiver202 communicates with thebase unit104 either directly or through therepeaters113. In one embodiment, theRF transceiver202 provides two-way communications such that thecollar102 can send information to thecomputer system103 and receive commands from thecomputer system103. In one embodiment, thecomputer system103 and thefirst RF transceiver202 communicate using a handshake protocol, to verify that data is received.
• FIG. 3 is a block diagram of thedog collar102 fromFIG. 2 with the addition of location finding systems and asecond RF transceiver309 for communicating with anRFID tag310 imbedded in thedog101. InFIG. 3, thecollar102 includes one or more location and tracking systems, such as, for example, anIR system301, aGPS location system302, anIMU303 and/or athird RF transceiver304. The tracking systems can be used alone or in combination to ascertain the location of the dog. TheIR system301, theGPS location system302, theIMU303, and thethird RF transceiver304 are provided to theprocessor201 and powered by thepower source203. Theprocessor201 controls operation of theIR system301, theGPS location system302, theIMU303, and the third RF transceiver and controls when the power source delivers power to theIR system301, theGPS location system302 and theIMU303. The first second and third RF transceivers are separated inFIG. 3 for purposes of description, and not by way of limitation. In one embodiment, thefirst RF transceiver202, and/or thesecond RF transceiver309 and/or thethird RF transceiver304 are combined into one or more transceivers. In one embodiment, thefirst RF transceiver202, and/or thesecond RF transceiver309 and/or thethird RF transceiver304 operate at different frequencies.
• Thesecond RF transceiver309 communicates with theRFID tag310 to obtain information (e.g., identification, temperature, pulse rate, biometric information, etc.) from theRFID tag310.
• In one embodiment, thethird RF transceiver304 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, thethird RF transceiver304 is a transmit-only device that transmits radio location signals to one or more radio location receivers as part of a radio location system. In an alternative embodiment, thethird RF transceiver304 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 known in the art. Data from the radio location system is provided to thecomputer system103 to allow thecomputer system103 to determine the location of thecollar102. In one embodiment, radio location is provided by measuring a strength of a signal transmitted by thecollar102 and received by one ormore repeaters113 to estimate distance between the repeaters and thecollar102. In one embodiment, radio location is provided by measuring a strength of signals transmitted by one ormore repeaters113 and received by thecollar102 to estimate distance between the repeaters and thecollar102. In one embodiment, a time delay corresponding to radio frequency propagation between therepeaters113 and thecollar102 is used to estimate the location of thecollar102.
• The various location systems have benefits and drawbacks. In one embodiment, the system100 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 thedog101. One or more of these systems are used synergistically to locate thedog101 and to reduce the power consumed in thecollar102 by the location process.
• TheIMU303 uses one or more accelerometers and/or gyroscopes to sense motion of the collar. The motion can be integrated to determine location. TheIMU303 provides relatively low power requirements and relatively high short-term accuracy. The IMU provides relatively lower long-term accuracy. An Inertial Motion Units (IMU) 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 loose accuracy if not recalibrated at regular intervals. In one embodiment 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 theIMU303 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 theIMU303 senses that thecollar102 is motionless or relatively motionless. If theIMU303 senses that thecollar102 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 tracking is not immediately needed. In one embodiment, theIMU303 is a 3-axis system and thus motion of thecollar102 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 theIMU303 and the collar will activate one or more tracking systems.
• In one embodiment, the system100 assumes that thedog101 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 thedog101.
• In one embodiment theIMU303 is at least a 2-axis IMU that senses motion in at least two directions. In one embodiment theIMU303 is at least a 3-axis IMU that senses motion in at least three directions. In one embodiment, theIMU303 provides data to determine that thedog101 has rolled over, jumped, etc. In one embodiment, the IMU provides data used to determine the gait of thedog101, 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 thedog101, 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 thecollar102 to determine if thedog101 is barking, retching, whimpering, drinking, choking, whining, etc.
• For training, the IMU can be used alone or in combination with other tracking devices to obtain feedback on the motion of thedog101. Thus, for example, if thedog101 is commanded to pick up theball114, and the IMU senses that thedog101 is moving towards theball114, then the system100 can provide positive feedback to the dog.
• TheIMU303 can measure both dynamic acceleration as well as static acceleration forces, including acceleration due to gravity, so theIMU303 can be used to measure tilt as well as horizontal and vertical motion. When theIMU303 is oriented so both the X and Y axes 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 indicate that thedog101 is lying on its side. In addition, when theIMU303 indicates no movement at all, regardless of the orientation of thedog101, the dog is asleep or inactive and the system is powered down, as described above. Thus, theIMU303 can detect when the dog is not standing.
• With regard to digging movements of thedog101, theIMU303 can detect forward motion (dynamic motion) or lack of forward motion of the dog, in addition to tilt. If theIMU303 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 withIMU303 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, theIMU303 can be used to detect a movement essentially straight up, or up and slightly rearward, the dog is jumping up.
• Themicrophone204 is used to listen to the dog for barking, whimpering, cries of distress or pain, retching, etc. The IMU303 (if provided) can be used in connection with themicrophone204 to help detect barking, retching, etc. and other sounds where a head movement is associated with the sound. In one embodiment, to reduce power consumption, thecollar102 performs a preliminary acoustic analysis and forwards suspicious results to thecomputer system103 for more detailed processing. Themicrophone204 can also be used with an optional ultrasonic (or acoustic) location system.
• Thecollar102 sends low-battery warnings to thecomputer system103 to alert the owner/trainer that thecollar102 needs fresh batteries.
• Theloudspeaker206 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. Thevibrator205 can be used for varying levels of relatively mild negative reinforcement during training. Theelectric shock generator207 can be used for mild to strong negative reinforcement.
• The Global Positioning System (GPS) is accurate but often does not work well indoors, and sometimes does not have enough vertical accuracy to distinguish between floors of a building. GPS receivers also require a certain amount of signal processing and such processing consumes power. In a limited-power device such as thedog collar102, 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, theGPS system302 operates in a standby mode and activates at regular intervals or when instructed to activate. The GPS system can be instructed by thecomputer103 or the collar to activate. When activated, the GPS system obtains a position fix on the dog101 (if GPS satellite signals are available) and updates the IMU. In one embodiment, a GPS system is also provided to thecomputer system103. The computer system uses data from its GPS system to send location and/or timing data to theGPS system302 in thecollar102 allowing theGPS system302 to warm start faster, obtain a fix more quickly, and therefore use less power.
• In one embodiment,location system units118 are placed about a house or kennel to locate movement and location of thedog101. In one embodiment,location system units118 send infrared light, acoustic waves, and/or electromagnetic waves to one or more sensors on thecollar102 in order to conserve power in thecollar102. In one embodiment, thecollar102 sends infrared light, acoustic waves, and/or electromagnetic waves to thelocation system units118 in order to conserve power in theunits118.
• For example,location system units118 placed near doorways or in hallways (see e.g.,FIG. 14) can be used to determine when thedog101 moves from one room to another. Even if the dog cannot be exactly located within the room (e.g., due to blind spots), alocation system unit118 placed to sense the movement of the dog though the doorway allows the system100 to know which room the dog is in by watching thedog101 move from room to room.
• In one embodiment, each location transmitter (whether in thecollar102 or the location system units118) 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 thecollar102 or the location system units118) notifies thecomputer system103 whenever the pattern of received pulses changes. Thus, for example, when the location receiver enters the range of a first location transmitter that transmits a first code, the location receiver sends a “location sensor message” to thecomputer system103. 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 thecomputer system103 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, thelocation system units118 are configured as motion detectors, and the IR system301 (e.g., transmitter and/or receiver) on thecollar102 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 thecollar102 and thus the motion detector knows that the motion it is sensing is due to the dog and not an intruder. In one embodiment, when thecollar102 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 system100 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 thecollar102 similarly to the IR motion detectors.
• Unlike VHF radio-based systems (e.g., GPS or VHF radio-location systems, etc.), IR, acoustic, and/or millimeter 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 system100 to locate thedog101 without having a map of the house or kennel. Radio-based systems that operate at frequencies that penetrate walls can be used in connection 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 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.
• In one embodiment, the sonic or ultrasonic system includes a ranging function 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, theIR system301 can be used to send IR signals to thevideo cameras106.
• In one embodiment, thedog101 is contained in the containment area by130 by a boundary wire antenna. Thecollar102 receives encoded pseudo-random electromagnetic signals from the boundary wire antenna and a correction stimulus is applied when thedog101 moves near to and through the containment wire antenna to the “outside” area. In one embodiment, thecollar102 sends a warning message to thecomputer system103 when thedog101 gets too near the boundary wire antenna. If the dog moves outside the boundary area, the correction capability is disabled by thecomputer system103 to allow the dog reentry into the containment area, without receiving correction. The correction capability is then restored by thecomputer system103.
• 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 determines the strength of the containment signal to find out how close thedog101 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 shock). If thedog101 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
• If the dog moves outside the range of the containment signal and outside the containment area, the collar provides a voice message (for example, “GO HOME!”) from theloudspeaker206. If thedog101 moves back towards the containment fence to return within thecontainment region130 and the containment signal is received by thecollar102, thecollar102 sends a message to thecomputer system103 that the dog is outside the containment area and moving in. This tells thecomputer system103 to cancels 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 system103 andcollar102 resume normal operation.
• In embodiment, the dog can be trained to remain within thecontainment area130 using GPS. AGPS boundary130 is configured thecomputer system103 and provided to thecollar102. The dog's position are obtained several times per second. When the dog's location is too close to the edge of theboundary130, the correction sequence is initiated.
• When the dog moves towards or exits the boundary of thecontainment area130, thecollar102 performs the containment function as described above with various warnings and corrections. The GPS boundary can be used with or without a boundary wire. TheIMU303 can be used with intermittent updates by theGPS system303 as described above.
• In one embodiment, the system100 locates the dog periodically (e.g., communicates with the collar102) and alerts the owner/trainer if the dog cannot be found (e.g., if the system100 cannot contact the collar102). In one embodiment, the system100 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 system100 is configured to keep two or more dogs (or cats) apart (e.g., to avoid fights or interference with play, training, etc.). In one embodiment, the system100 uses themicrophone204 to detect sounds corresponding to a dog (or cat) fight and applies corrective punishment to stop the fight and prevent future fights.
• FIG. 4 is a block diagram of adog toy400, such as, for example, the dog toys114-116 shown inFIG. 1. In thetoy400, a sound sensing device (e.g., a microphone)404, avibration device405, a sound producing device (e.g., a loudspeaker)406, anelectric shock device407, a light408, atouch detector409, amotion detector413, and afirst RF transceiver402 are provided to aprocessor401. A sound sensing device (not shown) can also be provided to theprocessor201. 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, thesound producing device406 is referred to herein as aloudspeaker406. Apower source403 provides power for powering thevibration device405, theloudspeaker406 theelectric shock device407, thefirst RF transceiver402, the light408, thetouch detector409, themotion detector413, and theprocessor201. In one embodiment, each of the sound producing device (not shown), thevibration device405, theloudspeaker406 and theelectric shock device407 are separately optional and each can be omitted depending on the desired system configuration. Thetoy400 can also include an odor dispensing device (not shown) for providing pleasant or unpleasant smells so thedog101. Thetoy400 can also include the light408 for providing visual indications to thedog101, to the trainer, or to thevideo cameras106. The light408 can be configured as one or more incandescent lights, one or more LEDs, one or more strobe lights, etc. In one embodiment, thetoy400 also includes one or more location and tracking devices, such as, for example, theIR system301, theGPS302, theIMU303, and or thethird RF transceiver304 described in connection withFIG. 3. Anoptional motion actuator402 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 launcher 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, thecomputer system103 instructs thedog101 to get a selected toy. The computer system can use the light408 and/or theloudspeaker406 to attract the attention of thedog101. If the dog selects the right toy, then thetouch sensor409 and/or themotion detector413 sense the dog's selection and the information is communicated back to thecomputer system103. If the dog selects the right toy, then thecomputer system103 can reward the dog. If the dog selects the wrong toy, then thecomputer system103 can use thevibrator405, theelectric shock device407, or unpleasant sounds from theloudspeaker406 to provide negative reinforcement to thedog101. 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 thecomputer system103 learns the characteristics and temperament of thedog101 and uses such knowledge in making a decision regarding punishment. In one embodiment, a trainer configures thecomputer system103 to punish thedog101 in various circumstances and to forego punishment in other circumstances. In one embodiment, thecomputer system103 reads the RFID tag310 (though the collar102) to establish the identity of thedog101 and to load the proper training parameters for thedog101.
• In one embodiment, the dog toys114-116 include one or more obstacle course-type devices that allow the dog to jump through hoops, over bars, up ramps, etc. Thecomputer103 guides the dog through the obstacle course using lights and/or sounds provided on the obstacle course devices. In one embodiment, the system100 uses thevideo system106 to track the dog through the obstacle course. In one embodiment, the obstacle course devices are provided withsensors409 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 thesensor409 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 system100 can run the dog through an obstacle course that includes several such obstacles by varying the course, speed through the course, etc. The system100 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.
• In one embodiment, the elements ofFIG. 4 are configured as a generic electronics module that can be provided to dog toys provided by the owner/trainer.
• In one embodiment, the system100 can be used to communicate with the dog through phonetic sounds, such as, for example, through bark recognition. The system100 receives feedback regarding the dogs movements, actions, and environments, and can thus learn various aspects of the dog's behavior and vocabulary. In addition the system100 can interact with the dog to train the dog using a desired vocabulary or set of phonetic sounds. In one embodiment, the system100 is configured to recognize sounds made by the dog (e.g., barking, whimpering, cries of pain, choking sounds, etc.) the microphone in thecollar102 and the signal processing capabilities in thecollar102 and in theprocessor130. This dog “speech recognition” system can base its discrimination on acoustic features, such as, for example, formant structure, pitch, loudness, spectral analysis, etc. When the computer recognizes the message behind the sounds made by the dog, then thesystem130 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 like, thesystem130 will raise an alarm and attempt to contact the owner or trainer. In one embodiment, thesystem130 is provided with communications access (e.g., Internet access, cellular telephone access, pager access, etc.) to contact the owner/trainer. In an alternate example, if the dog makes a sound indicating that it needs to be let out, then thesystem130 can release a latch on thedog door111.
• In one embodiment, the system100 recognizes the speech ofdog101 and thus if a strange dog or other animal enters the area and makes sounds, the system100 can recognize that a strange dog or other animal is in the area and take appropriate action (e.g., lock thedog door111, 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 system100 trains thedog101 using human speech commands, thus allowing the owner/trainer to easily interact with thedog101. In one embodiment, the system100 also communicates with thedog101 using sounds (e.g., bark-like sounds) that are more similar to a dog's instincts. Thus, in one embodiment, the system100 produces sounds (e.g., barking sounds, etc.) that a dog will understand more easily than human speech.
• In one embodiment, the system100 cares for the dog's well being when the owner/trainer is away, asleep, or otherwise occupied. Thus, for example, if thedog101 makes a sound and/or motions indicating that it is bored, or wants to play, the system100 will initiate a game with the dog. In one embodiment, one or more of the toys114-116 are self-propelled (or can throw a ball) and the system100 can play games such as “fetch” with thedog101. During the game, the dog is rewarded by pleasing sounds, encouraging comments, treats from thetreat dispenser122 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 system100 plays a video when the dog indicates that is it bored or wants to play.
• In one embodiment, the system100 uses thesensors129 to monitor ambient conditions such as, for example, indoor temperature, outdoor temperature, rain, humidity, precipitation, daylight, etc. Uses the information to look after the dogs well being. Thus for example, if the system100 determines that is it raining or too hot outside, the system100 can call the dog inside (using, for example, the loudspeaker on the collar102) and latch thedog door111. Using the daylight sensor and/or time of day available from thecomputer103, the system100 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 system100 can be instructed to allow the dog more leeway for barking during the day than during the night. For example, in one embodiment, if the system100 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.
• FIG. 6 is a block diagram of theremote control112 for controlling the system100 and for receiving information from the system100. Theremote control112 includes amicrophone604, aloudspeaker606, a keyboard (or keypad)612, adisplay613, and afirst RF transceiver602, all provided to aprocessor601.
• Theremote control112 communicates with thecomputer system103 using theRF transceiver602 to receive status information and to send commands to the system100. Using theremote control112, the owner/trainer can check on the location, health, and status of thedog101. The owner/trainer can also use theremote control112 to send commands to the system100 and to thedog101. For, example, using themicrophone604, the owner/trainer can speak to thedog101. In one embodiment, thecomputer system103 sends display information to thedisplay613 to show the location of thedog101. If the location of the dog cannot be ascertained, the system100 can send a “dog not found” message and attempt to contact the owner/trainer using thenetwork connection108, themodem130, and/or theremote control112. If the system100 determines that the dog has escaped, the system100 can send a “dog lost” message and attempt to contact the owner/trainer using thenetwork connection108, themodem130, and/or theremote control112.
• FIG. 7 is a block diagram of thedog house system119 that includes amicrophone704, aloudspeaker706, anIR sensor701, atemperature sensor710, a ventilation fan711, avideo monitor713, afirst RF transceiver702, asecond RF transceiver709, and avideo camera717, all provided to aprocessor701. Themicrophone704, theloudspeaker706, theIR sensor701, thetemperature sensor710, the ventilation fan711, thevideo monitor713, thefirst RF transceiver702, thesecond RF transceiver709, and thevideo camera717 are separately optional items and each can be omitted depending on the configuration and capabilities desired in thedog house system119.
• Thedog house119 includes many of the functions of thecollar102. Typically, thedog house119 has more power available than thecollar102. Thus, thedog house119 can take over many of the function of thecollar102 when thedog101 is inside or near thedog house119. For example, thedog house119 can interrogate the dog'sRFID chip310, can provide communications to thecomputer system103, can listen for barking or other sounds, etc. Thus in one embodiment, thecomputer system103 selectively instructs theprocessor201 to disable (e.g., power down) functions of thecollar102 that can be handled by thedog house119. Other functions, such as using theIMU303 to detect head movements of the dog that cannot be handled by thedog house119 remain active. In one embodiment, thevideo camera717 is used in connection with video signal processing and image recognition to replace some or all of the functions of the IMU for tracking thedog101 or sensing head movements while thedog101 is in thedoghouse119.
• The video monitor713 can be used to provide visual commands to the dog. Thevideo camera717 can be used to provide a video feed (e.g., regular scan video, slow scan video, single frame video, etc.) to the owner or trainer thereby allowing the owner to keep watch over thedog101 from a remote location on theremote control112. 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, single frame video, etc.) to the owner or trainer thereby allowing the owner to keep watch over thedog101 from a remote location on theremote control112.
• Thetemperature sensor710 is used to monitor the temperature of thedog house119. The fan711 provides ventilation when the temperature in the doghouse119 gets too warm. The fan can be controlled locally by theprocessor701 or remotely by thecomputer system103 by sending commands to theprocessor701. Thedoor latch712 allows the monitoring system100 to lock thedog101 inside or out of the dog house as desired.
• In one embodiment, theRF transceiver702 provides a repeater function for thedog collar102. When thedog101 is inside thedoghouse119, the RF transceiver is in relatively close proximity to theRF transceiver202 in the collar, and thus theRF transceiver202 can be operated in low-power mode to conserve power in thecollar102.
• FIG. 5 is a block diagram of thetreat dispenser122. In thedispenser122, afirst RF transceiver502, atreat sensor503, a low-supply sensor510, and agate504 are provided to aprocessor501. On command from thecomputer system103, theprocessor501 controls thegate504 to release a treat (or medicine, vitamin, etc.) from areservoir508. Thesensor503 senses when thedog101 has retrieved the treat. The low-supply sensor510 senses when the supply of treats is running low. When the supply of treats is running low, thecomputer system103 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 device511 (e.g., a light and/or audio output device) is also provided to theprocessor501 to allow thecomputer system103 to signal to thedog101 that a treat is available. In multiple-dog environments, the sensor505 includes a short-range RFID sensor to detect which dog retrieved the treat (or medicine, vitamin, etc.).
• In one embodiment, thetreat dispenser112 is built into theanimatronics trainer123 so that the dog will perceive theanimatronics trainer123 as the source of the treats.
• FIG. 8A is a diagram of thefood dispenser121, andFIG. 8B is a block diagram of thefood dispenser121. In thefood dispenser121, afirst RF transceiver802, afood bowl sensor803, a low-supply sensor810, and agate804 are provided to aprocessor801. On command from thecomputer system103, theprocessor801 controls thegate804 to release food from areservoir808 into a bowl820. Thesensor803 senses the amount of food in the bowl820. As thedog101 eats the food, thesensor803 senses the lowered level of food in the bowl and theprocessor801 reports the food consumption back to thecomputer system103. The low-supply sensor810 senses when the supply of food in thereservoir808 is running low and reports the low-food condition back to thecentral processor103 In multiple-dog environments, thesensor803 includes a short-range RFID sensor to detect which dog retrieved the treat.
• Thefood dispenser121 allows thecomputer system103 to track the dog's food consumption and consumption patterns (e.g., time of day, amount per feeding, etc.). Thesystem103 can count calories for thedog101 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 embodiment, thesensor803 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, thefood dispenser121 can be configured to deliver different types of food for different dogs. (e.g., puppy food, diet food, old-dog food, etc.). The system100 dispenses the proper type and amount of food depending on which dog is at the food dispenser.
• FIG. 9 is a block diagram of thewater dispenser120. In thewater dispenser120, afirst RF transceiver902, awater level sensor903, awater temperature sensor913, a low-supply sensor910, and avalve904 are provided to aprocessor901. On command from thecomputer system103, theprocessor901 controls thevalve904 to release water from awater supply908 into abowl920. Thewater supply908 can be a water reservoir, a plumbing connection, a garden hose connection, etc. In one embodiment, a pressure reducer is provided to reduce the pressure of the water supplied to thevalve904. Thesensor903 senses the amount of water in thebowl920. As thedog101 drinks the water, thesensor903 senses the lowered level of water in the bowl and theprocessor901 reports the water consumption back to thecomputer system103. If thewater supply908 is provided by a reservoir, then a low-supply sensor910 senses when the supply of water in thereservoir908 is running low and reports the low-water condition back to thecentral processor103 Thetemperature sensor913 is used to detect the temperature of the water in thebowl920. In multiple-dog environments, a short-range RFID sensor914 is provided to detect which dog is drinking.
• Thewater dispenser120 allows thecomputer system103 to track the dog's water consumption and consumption patterns (e.g., time of day, amount of water, etc.). Thesystem103 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 bowl920 (as measured by the temperature sensor913) is too high, then theprocessor901 can flush the bowl with fresh water (in the case of a plumbing connection) or send a message to the computer system103 (in the case of a reservoir).
• Thefood dispenser121 andwater dispenser120 allow the owner/trainer to leave the dog unattended for a period of time. In one embodiment, thecomputer system103 contacts the owner if thefood dispenser121 runs low on food, if thewater dispenser120 runs low on water, or if thecomputer103 cannot make contact with thedispensers120,121. In one embodiment, the owner/trainer can specify the threshold value for determining at what point the system100 warns the owner of low food or water supplies. Thus, for example, if the owner is relatively close by (e.g., at work) 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 without food or water for an extended time if the supply runs out.
• FIG. 10 is a diagram of one embodiment of thedog toilet system117 that includes anoptional RFID sensor1014, arefuse bin1010, aurination sensor1005, and arefuse sensor1006 provided to aprocessor1001. Thedog toilet117 tracks the dog's patterns and disposes of refuse. The short-range RFID sensor1014 is used to distinguish between multiple dogs
• In one embodiment, thecomputer system103 uses the biometric data available from theRFID tag310, the water consumption data from thewater dispenser120, the food consumption data from thefood dispenser121, and/or the data from thedog toilet117 to monitor the health and well being of thedog101 on a real-time basis and on a long-term basis. Since the system100 can be configured in a flexible manner (e.g., the owner/trainer may or may not have included thewater dispenser120, thefood dispenser121, etc.) different configurations of the system100 will have different data available. The system100 uses whatever data is available in making the health and welfare determinations. Thus for example, if the system100 only has data from thecollar102, then the health and well-being information will be based on the information from thecollar102. As more capability is added to the system100 (e.g., the owner/trainer adds additional monitoring capabilities) then the system100 expands the analysis of health and well-being to use the additional data when appropriate. Thecomputer system103 can collect long-term behavior on thedogs101 and produce plots and charts for the owner/trainer to allow for long-term health monitoring. Moreover, thecomputer system103 can watch for changes in the long-term trends that could indicate health problems. Thus, for example, if thedog101 is normally active at various times throughout the day and suddenly becomes inexplicably inactive, thecomputer103 would inform the owner/trainer that the dog may be sick. In another example, if the food or water consumption patters of thedog101 changes significantly, then the system100 can inform the owner/trainer.
• In one embodiment, thecompute system103 keeps data concerning the calories consumed by the dog. In one embodiment, thecompute system103 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, thecompute system103 keeps data concerning the number of and types of positive reinforcements given to the dog and the reasons therefore. In one embodiment, thecompute system103 keeps data concerning the amount of time the dog spends training, playing, sleeping, etc. In one embodiment, the system100 keeps data concerning dog barking (when, how long, how loud, etc.). The system100 can produce plots and charts of barking behavior to help the owner/trainer in breaking the dog of barking behavior. In one embodiment, the system100 can be instructed to contact the owner/trainer when the dog is barking. The owner can remotely talk to the dog (e.g., through the telephone) and try to quiet the dog.
• In one embodiment, the system100 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 weather is generally expected, whereas an increase in food consumption is generally expected during relatively cold weather. Thus, in one embodiment, the system100 takes 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 system100 are configured as wireless devices. Wireless devices are generally easier to install since they do not require wiring to communicate with thecomputer system103. Moreover, items, such as the toys114-116 that are moveable are easier for the dog to play with if they do not have a wired connection back to thecomputer system103. The use of wireless devices also allows easy expansion of the system100 since new wireless devices can automatically identify themselves to thecomputer system103, thus allowing many aspects of the system100 to be auto-configured. For example, in one embodiment thetreat dispenser122 automatically identifies itself to thecomputer system103, thus informing thesystem103 that treats are available for training the dog. Thesystem103 uses training without treats from thedispenser122 when thedispenser122 is not provided, has run out of treats, or has run out of battery power. Conversely, thesystem103 can use training with treats when thedispenser122 is available, and has enough battery power and treats.
• Thesensors129 can be configured as wired or wireless sensors and can include, for example, 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 system100, such as, for example, the dispensers120-122, the toys114-116, thedog house119, thecollar102, etc. each include a transceiver for wireless communication. These items communicate with thecomputer system103 either directly through theRF base unit104 or through one ormore repeaters113. The use of therepeaters113 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 therepeaters113 are solar powered with batteries to provide operation during the night or on cloudy days. In one embodiment, the use ofrepeaters113 allows thevarious RF units102,114-122 to operate at relatively lower power in order to conserve available power. In one embodiment, the transmit power of the transceivers in theRF units102,114-122 is adjustable, and the transmit power of each transceivers is reduced to that sufficient to provide relatively reliable communication with at least one repeater113 (or the base unit104). In one embodiment, theRF units102,114-122 use a two-way handshaking communication with thebase unit104 wherein messages set to thebase unit104 are acknowledged by thebase unit104 and messages sent by thebase unit104 to theRF units102,114-122 are acknowledged 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 system100, such as, for example, the dispensers120-122, the toys114-116, thedog house119, thecollar102, etc. includes awireless communication transceiver202 for communication with the base unit104 (or repeater113). Thus, the discussion that follows generally refers to thecollar102 as an example, and not by way of limitation. Similarly, the discussion below generally refers to thebase unit104 by way of example, and not limitation. It will also be understood by one of ordinary skill in the art that repeaters113 are useful for extending the range of thecollar102 but are not required in all configurations.
• When thecollar102 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.) thecollar102 communicates with therepeater unit113 and provides data regarding the occurrence. Therepeater unit113 forwards the data to thebase unit104, and thebase unit104 forwards the information to thecomputer103. Thecomputer103 evaluates the data and takes appropriate action. If thecomputer103 determines that the condition is an emergency, then thecomputer103 contacts the owner/trainer through telephone communication, Internet, the remote112, themonitor108, the computer monitor, etc. If thecomputer103 determines that the situation warrants reporting, but is not an emergency, then thecomputer103 logs the data for later reporting to the owner/trainer when the owner/trainer requests a status report from thecomputer103.
• In one embodiment, thecollar102 has an internal power source (e.g., battery, solar cell, fuel cell, etc.). In order to conserve power, thecollar102 is normally placed in a low-power mode. In one embodiment, using sensors that require relatively little power, while in the low power mode thecollar102 takes regular sensor readings and evaluates the readings to determine if a condition exists that requires data to be transmitted to the central computer103 (hereinafter referred to as an anomalous condition). In one embodiment, using sensors that require relatively more power, while in the low power mode thecollar102 takes and evaluates sensor readings at periodic intervals. Such sensor readings can include, for example, sound samples from themicrophone204, location readings from thelocation sensors301,302,303, and/or304, physiological readings from theRFID tag310, etc.) If an anomalous condition is detected, then thecollar102 “wakes up” and begins communicating with thebase unit104 through therepeater113. At programmed intervals, thecollar102 also “wakes up” and sends status information (e.g., power levels, self diagnostic information, etc.) to thebase unit104 and then listens for commands for a period of time. In one embodiment, thecollar102 also includes a tamper detector. When tampering with thecollar102 is detected (e.g., someone has removed thecollar102 or the dog has somehow gotten out of thecollar102, etc.), thecollar102 reports such tampering to thebase unit104.
• In one embodiment, thecollar102 provides bi-directional communication and is configured to receive data and/or instructions from thebase unit104. Thus, for example, thebase unit104 can instruct thecollar102 to perform additional measurements, to go to a standby mode, to wake up, to report battery status, to change wake-up interval, to run self-diagnostics and report results, etc. In one embodiment, thecollar102 reports its general health and status on a regular basis (e.g., results of self-diagnostics, battery health, etc.). Thecomputer system103 can also program instructions into thecollar102, 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 thecollar102 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 thecomputer system103. In one embodiment, thecomputer system103 can also program the operating parameters of thecollar102, 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, thecomputer system103 can also program various signal processing information into thecollar102, such as, for example, the coefficients and/or algorithms used to recognize the dog's vocalizations (e.g., barking, whimpering, cries of pain, choking, etc.).
• In one embodiment, thecollar102 samples, digitizes, and stores audio data from themicrophone204 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 sounds are often not very loud, but are often accompanied by distinctive head movements. In one embodiment, thecollar102 digitizes audio data from the microphone when theIMU303 detects head movements that are suggestive of choking, gagging, regurgitating, etc. In one embodiment, thecollar102, having less processing power than thecomputer system103, transmits the sampled audio data and related IMU data to thecomputer103 for further processing. In one embodiment, thecollar102 performs initial threshold tests on theaudio data102 to determine 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 thecomputer system103. If thecollar102 determines that the digitized audio data is relatively unlikely to be important, then thecollar102 can save power by not transmitting the data to thecomputer103.
• In one embodiment, thecomputer system103 can instruct thecollar102 to automatically apply a correction (e.g., vibration, shock, unpleasant sound, unpleasant smell, etc.) to the dog if thecollar102 detects that the dog is barking. In one embodiment, thecomputer system103 instruct thecollar102 to not automatically apply a correction to the dog if thecollar102 detects that the dog is barking, but rather to send a “dog is barking” message to thecomputer system103 in order to allow the computer system103 (or the owner/trainer) to make the decisions regarding correction. In one embodiment, thecomputer system103 instruct thecollar102 to automatically apply a particular correction to the dog if thecollar102 detects that the dog is barking and to send a “correction applied” message to thecomputer system103 in order to allow thecomputer system103 to keep track of the corrections that have been applied. If thecomputer system103 deems that more severe correction is warranted, then thecomputer103 sends a new command to thecollar102 to change the type or severity of the correction. In one embodiment, thecomputer system103 sends a “good dog” message to the dog (through the speaker206) when the dog stops barking.
• In one embodiment, thecollar102 provides two wake-up modes, a first wake-up mode for taking sensor measurements (and reporting such measurements if deemed necessary), and a second wake-up mode for listening for commands from thecentral computer103. The two wake-up modes, or combinations thereof, can occur at different intervals.
• In one embodiment, thecollar102 use spread-spectrum techniques to communicate with therepeater unit113. In one embodiment, thecollar102 uses Code Division Multiple Access (CDMA) techniques. In one embodiment, thecollar102 uses frequency-hopping spread-spectrum. In one embodiment, thecollar102 has an address or identification (ID) code that distinguishes thecollar102 from the other RF units of the system100. Thecollar102 attaches its ID to outgoing communication packets so that transmissions from thecollar102 can be identified by therepeater113. Therepeater113 attaches the ID of thecollar102 to data and/or instructions that are transmitted to thecollar102. In one embodiment, thecollar102 ignores data and/or instructions that are addressed to other RF units.
• In one embodiment, thecollar102 includes a reset function. In one embodiment, the reset function is activated by a reset switch on thecollar102. In one embodiment, the reset function is activated when power is applied to thecollar102. In one embodiment, the reset function is activated when thecollar102 is connected to thecomputer system103 by a wired connection for programming. In one embodiment, the reset function is active for a prescribed interval of time. During the reset interval, thetransceiver202 is in a receiving mode and can receive the identification code from thecomputer103. In one embodiment, thecomputer103 wirelessly transmits a desired identification code. In one embodiment, the identification code is programmed by connecting thecollar102 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 thecollar102 is provided by sending modulated control signals (power line carrier signals) through a connector used to connect thepower source203. In one embodiment, the external programmer provides power and control signals.
• In one embodiment, thecollar102 communicates with therepeater113 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, thecollar102 communicates with therepeater113 on bands above and/or below the 900 MHz band. In one embodiment, thecollar102,repeater113, and/orbase unit104 listen to a radio frequency channel before transmitting on that channel 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 channel. In one embodiment, thecollar102, 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 thecollar102 senses a dangerous condition (e.g., thedog101 is choking or crying in pain) and goes into a continuous transmission mode, thecollar102 tests (e.g., listens to) the channel before transmission to avoid channels that are blocked, in use, or jammed. In one embodiment, thecollar102 continues to transmit data until it receives an acknowledgement from thebase unit104 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 acknowledgement, and the collar transmits data having elevated priority until an acknowledgement is received.
• Therepeater unit113 is configured to relay communications traffic between thecollar102 and thebase unit104. Therepeater unit113 typically operates in an environment with several other repeater units. In one embodiment, therepeater113 has an internal power source (e.g., battery, solar cell, fuel cell, etc.). In one embodiment, therepeater113 is provided to household electric power. In one embodiment, therepeater unit113 goes to a low-power mode when it is not transmitting or expecting to transmit. In one embodiment, therepeater113 uses spread-spectrum techniques to communicate with thebase unit104 and with thecollar102. In one embodiment, therepeater113 uses frequency-hopping spread-spectrum to communicate with thebase unit104 and thecollar102. In one embodiment, therepeater unit113 has an address or identification (ID) code and therepeater unit113 attaches its address to outgoing communication packets that originate in the repeater (that is, packets that are not being forwarded).
• In one embodiment, thebase unit104 communicates with thecollar102 by transmitting a communication packet addressed to thecollar unit102. Therepeaters113 receive the communication packet addressed to thecollar unit102. Therepeaters113 transmit the communication packet addressed to thecollar102 to thecollar unit102. In one embodiment, thecollar unit102, therepeater units113, and thebase unit104 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 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 time 10-20 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, thecollar unit102, therepeater unit110, and thebase unit104 communicate using FHSS wherein the frequency hopping of thecollar unit102, therepeater unit110, and thebase unit104 are not synchronized such that at any given moment, thecollar102 and therepeater unit113 are on different channels. In such a system, thebase unit104 communicates with thecollar102 using the hop frequencies synchronized to therepeater unit113 rather than thecollar unit102. Therepeater unit113 then forwards the data to the collar unit using hop frequencies synchronized to thecollar unit102. Such a system largely avoids collisions between the transmissions by thebase unit104 and therepeater unit110.
• In one embodiment, theRF units102,114-122 use FHSS and are not synchronized. Thus, at any given moment, it is unlikely that any two or more of theunits102,114-122 will transmit on the same frequency. In this manner, collisions are largely avoided. In one embodiment, collisions are not detected but are tolerated by the system100. If a collision does occur, data lost due to the collision is effectively re-transmitted the next time the collar units transmit collar data. When theunits102,114-122 andrepeater units113 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, theunit102,114-122,repeater units113, and thebase unit104 use the same hop rate. In one embodiment, theunits102,114-122,repeater units113, and thebase unit104 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 theunits102,114-122,repeater units113, or thebase unit104.
• In an alternative embodiment, thebase unit104 communicates with thecollar102 by sending a communication packet addressed to therepeater unit113, where the packet sent to therepeater unit113 includes the address of thecollar unit102. Therepeater unit113 extracts the address of thecollar102 from the packet and creates and transmits a packet addressed to thecollar unit102.
• In one embodiment, therepeater unit113 is configured to provide bi-directional communication between thecollar102 and thebase unit104. In one embodiment, therepeater113 is configured to receive instructions from thebase unit104. Thus, for example, thebase unit104 can instruct the repeater to: send commands to thecollar102; go to standby mode; “wake up”; report power status; change wake-up interval; run self-diagnostics and report results; etc.
• Thebase unit104 is configured to receive measured collar data from a number of RF units either directly, or through therepeaters113. Thebase unit104 also sends commands to therepeater units113 and/or to thecollar102. When thebase unit104 receives data from thecollar102 indicating that there may be an emergency condition (e.g., the dog is in distress) thecomputer103 will attempt to notify the owner/trainer.
• In one embodiment, thecomputer104 maintains a database of the health, power status (e.g., battery charge), and current operating status of all of theRF units102,114-122 and therepeater units113. In one embodiment, thecomputer103 automatically performs routine maintenance by sending commands to eachunit102,114-122 to run a self-diagnostic and report the results. Thecomputer103 collects and logs such diagnostic results. In one embodiment, thecomputer103 sends instructions to eachRF unit102,114-122 telling the unit how long to wait between “wakeup” intervals. In one embodiment, thecomputer103 schedules different wakeup intervals to different RF units based on the unit's health, power status, location, usage etc. In one embodiment, thecomputer103 schedules different wakeup intervals to different collar units based on the type of data and urgency of the data collected by the unit (e.g., thecollar102 has higher priority than thewater unit120 and should be checked relatively more often). In one embodiment, thebase unit104 sends instructions torepeaters113 to route collar information around a failedrepeater113.
• In one embodiment, thecomputer103 produces a display that tells the owner/trainer which RF units need repair or maintenance. In one embodiment, thecomputer103 maintains a list showing the status and/or location of eachdog101 according to the ID of each collar. In one embodiment, the ID of thecollar102 is obtained from the RFID chip embedded in thedog101. In one embodiment, the ID of thecollar102 is programmed into the collar by thecomputer system103. In one embodiment, the ID of thecollar102 is programmed into the collar at the factory such that each collar has a unique ID.
• In one embodiment, thecollar102 and/or therepeater units113 measure the signal strength of the wireless signals received (e.g., thecollar102 measures the signal strength of the signals received from therepeater unit113, therepeater unit113 measures the signal strength received from thecollar102 and/or the base unit104). Thecollar unit102 and/or therepeater units113 report such signal strength measurement back to thecomputer103. Thecomputer103 evaluates the signal strength measurements to ascertain the health and robustness of the RF units of the system100. In one embodiment, thecomputer103 uses the signal strength information to re-route wireless communications traffic in the system100. Thus, for example, if therepeater unit113 goes offline or is having difficulty communicating with thecollar unit102, thecomputer103 can send instructions to a different repeater unit
• In thecollar102, thecontroller202 typically provides power, data, and control information to thetransceiver201. Apower source203 is provided to thecontroller201. An optional tamper sensor (not shown) is also provided to thecontroller201. A reset device (e.g., a switch) is proved to thecontroller201.
• In one embodiment, thetransceiver202 is based on a TRF6901 transceiver chip from Texas Instruments. Inc. In one embodiment, thecontroller201 is a conventional programmable microcontroller. In one embodiment, thecontroller201 is based on a Field Programmable Gate Array (FPGA), such as, for example, provided by Xilinx Corp. In one embodiment, thecollar201 includes a smoke detector. In one embodiment, thecollar102 includes a temperature sensor to measure ambient temperature. In one embodiment thecollar102 includes a water sensor.
• Thecontroller202 receives collar data from the sensors and systems in thecollar102. Thecollar102 generally conserves power by not transmitting sensor data that falls within a normal range unless thecollar102 is being interrogated by thecompute system103. In one embodiment, thecontroller202 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 a low threshold, outside an inner range threshold, or inside an outer range threshold), then the data is deemed to be anomalous and is transmitted to thebase unit104. In one embodiment, the data threshold is programmed into thecontroller202. In one embodiment, the data threshold is programmed by thebase unit104 by sending instructions to thecontroller202. In one embodiment, thecontroller202 obtains collar data and transmits the data when commanded by thecomputer103.
• In one embodiment, atamper sensor1105 is configured as a switch that detects removal of or tampering with thecollar unit102.
• FIG. 11 is a block diagram of therepeater unit113. In therepeater unit113, afirst transceiver1102 and asecond transceiver1105 are provided to acontroller1103. Thecontroller1103 typically provides power, data, and control information to thetransceivers1102,1104. Apower source1106 is provided to thecontroller1103.
• When relaying collar data to thebase unit104, thecontroller1103 receives data from thefirst transceiver1103 and provides the data to thesecond transceiver1104. When relaying instructions from thebase unit104 to a collar unit, thecontroller1103 receives data from thesecond transceiver1104 and provides the data to thefirst transceiver1102. In one embodiment, thecontroller1103 conserves power by placing thetransceivers1102,1104 in a low-power mode during periods when thecontroller1103 is not expecting data. Thecontroller1103 also monitors thepower source1106 and provides status information, such as, for example, self-diagnostic information and/or information about the health of thepower source1106, to thebase unit104. In one embodiment, thecontroller1103 sends status information to thebase unit104 at regular intervals. In one embodiment, thecontroller1103 sends status information to thebase unit104 when requested by thebase unit104. In one embodiment, thecontroller1103 sends status information to thebase unit104 when a fault condition (e.g., battery low, power failure, etc.) is detected.
• FIG. 12 is a block diagram of thebase unit104. In thebase unit104, atransceiver1202 and acomputer interface1204 are provided to acontroller1203. Thecontroller1103 typically provides data and control information to thetransceivers1202 and to the interface. Theinterface1202 is provided to a port on themonitoring computer103. Theinterface1202 can be a standard computer data interface, such as, for example, Ethernet, wireless Ethernet, firewire port, Universal Serial Bus (USB) port, bluetooth, etc.
• In one embodiment, the owner/trainer selects a dog breed for thedog101 from a list of breeds provided by thecomputer103. Thecomputer103 adjusts the training environment 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 thecomputer103 to allow thecomputer103 to adjust the type of training, length of training etc. In one embodiment, thesystem103 maintains records of the dogs health (e.g., temperature, heart rate, food consumption, etc.), training patterns and training progress. Thecomputer system103 can produces plots and graphs showing the dogs progress, comparing the progress of thedog101 to other dogs, to the dog's progress from previous time periods, (e.g., months, years, etc.). In one embodiment, thecomputer system103 evaluates the dog's health and training progress and makes suggestions to the owner/trainer. In one embodiment, thecomputer system103 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 thedog101. In one embodiment, thecomputer system103 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 thedog101 is exhibiting destructive behavior the owner/trainer can ask the computer103 (or, optionally, a remote trainer) for recommendations to cure such behavior and thecomputer103 can make recommendations based on the dog's breed, age, training history, etc. If thedog101 is exhibiting poor training progress the owner/trainer can ask the computer103 (or, optionally, a remote trainer) for recommendations to cure such behavior and thecomputer103 can make recommendations based on the dog's breed, age, training history, etc. If thedog101 is exhibiting potential health problems, the owner/trainer can ask the computer103 (or, optionally, a remote veterinarian) for recommendations.
• It is well known that most dogs prefer to keep to a relatively fixed daily schedule. The training system100 is better adapted to maintaining a fixed daily routine than a working owner/trainer who has other responsibilities. Thus, for example, the system100 can feed the dog prescribed amounts of food at prescribed times of day. The system100 can play with the dog at prescribed times of day. The system100 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, thedog101 will adjust to the schedule provided by the system100 and will in general be happier and healthier than a dog that must adjust to an owner's varying schedule. Thedog101 also benefits from the impartiality of the training and management system100. Unlike an owner/trainer, the system100 will not get mad at the dog and punish the dog out of anger. In one embodiment, the system100 provides better training than a typical owner or trainer because the system100 is provided with a training program designed by an expert. Thus, the system100 is less likely to punish thedog101 in a situation where the dog does not understand the reason for the punishment. Moreover, the system100, 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 system100 has a relatively high-quality training program built-in and thus 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 thedog101 for a relatively short period of time in order to get the dog accustomed to the system100, and then thedog101 can work with the system100 for extended periods without supervision.
• In one embodiment, a remote trainer can use the Internet or telephone modem to connect to thecomputer system103 and remotely train the dog or provide other interaction with the dog.
• FIG. 13 is a block diagram of aball tossing unit1300 used to play “fetch” with the dog. Theball tossing unit1300 includes aprocessor1301 and (optional)RF unit1302, aball launcher1304, aball sensor1305, and optionally, a light orsound device1306. Theball tossing unit1300 uses theball launcher1304 to launch a ball for the dog to fetch. When the dog fetches the ball and drops in a basket or other receptacle in theball tossing unit1300, the ball sensor detects thefetched ball1305. In one embodiment, the ball tossing unit is operated by command from thecomputer system103. 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.
• FIG. 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. InFIG. 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 the house. Location system units1420-1423 are placed in or near doorways, and a location system unit1424 is placed in a stairway.
• In one embodiment, the location system units1420-1424 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 back to thecomputer system103 which keeps a record of the dog's movements and current whereabouts. As with thedog house119, in one embodiment, the location system units1420-1424 can perform many of the functions of thecollar102 such as, for example, reading biometric data from theRFID tag310. In one embodiment, thecollar102 is omitted or can be removed from thedog101 while thedog101 is in the house. In one embodiment, location system units1410-1412 are placed relatively high in the room (e.g., on the ceiling) to provide a view of the various rooms of the house.
• In one embodiment, the location system units1420-1424 or1410-1412 are (or include) infrared sensors that communicate with theinfrared system301 in thecollar102 to provide relatively short-range relatively line-of sight communication for tracking the movements of the dog. As the dog passes the location system units1420-1424 or1410-1412, the sensor communicates with thecollar102 to note the passage of the dog and the information is then transmitted back to thecomputer103 either by thecollar102 or the location system units1420-1424 or1410-1412. In one embodiment, the location system units1420-1424 or1410-1412 also operate as motion detectors for a home security system.
• In one embodiment, the location system units1420-1424 or1410-1412 are (or include) acoustic sensors that communicate with the acoustic systems in thecollar102 to provide relatively short-range relatively line-of sight communication for tracking the movements of the dog. As the dog passes the location system units1420-1424 or1410-1412, the sensor communicates with thecollar102 to note the passage of the dog and the information is then transmitted back to thecomputer103 either by thecollar102 or the location system units1420-1424 or1410-1412. In one embodiment, the location system units1420-1424 or1410-1412 also operate as motion detectors for a home security system.
• In one embodiment, the location system units1420-1424 or1410-1412 are (or include) relatively low-power microwave transmitters or receivers that communicate with theRF system304 in thecollar102 to provide relatively short-range relatively line-of sight communication for tracking the movements of the dog. As the dog passes the location system units1420-1424 or1410-1412, the sensor communicates with thecollar102 to note the passage of the dog and the information is then transmitted back to thecomputer103 either by thecollar102 or the location system units1420-1424 or1410-1412.
• In one embodiment, thecomputer system103 is provided with a map of the house and shows the location of the dog with respect to the map.
• In one embodiment, the system100 determines when the dog is sleeping by monitoring the dogs movement and temperature.
• In one embodiment one or more of the radio frequency aspects of the system100 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 system100 use frequencies below 800 MHz for emergency or longer-range communication. In one embodiment, the frequency capabilities of the transceivers in thecollar102 are adjustable, and thebase unit104 andcollar102 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 system100 use frequencies above 1100 MHz for relatively short-range communication (e.g. communication within a room). In one embodiment, thebase unit104 and/or one or more of therepeaters113 includes a direction finding antenna for determining a direction of the radiation received from thecollar102. In one embodiment, thebase unit104 and/or one or more of therepeaters113 includes an adaptive antenna for increasing antenna gain in the direction of thecollar102. In one embodiment, thebase unit104 and/or one or more of therepeaters113 includes an adaptive antenna for canceling interfering noise.
• In one embodiment, thecollar102 includes radio frequency, acoustic and infrared communications capabilities. In one embodiment, the system100 communicates with thecollar102 using radio frequency, acoustic or infrared communication depending on the situation, e.g., acoustic, infrared, or relatively higher frequency radio frequencies for relatively shorter range communication and relatively lower frequency radio frequencies for relatively longer range communications.
• Although various embodiments have been described above, other embodiments will be within the skill of one of ordinary skill 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 system100 can be applied to other animals, such as, for example, cats, livestock, zoo animals, farm animals, etc. Thus, the invention is limited only by the claims that follow.

Claims (48)

1. An animal training system, comprising:

a computer system provided to a first wireless communication transceiver;

an animal collar provided to a second wireless communication transceiver, said animal collar having an identification code, said animal collar configured to communicate with said computer system using wireless two-way handshaking communication according to said identification code such that said computer system can send commands to said animal collar and receive acknowledgement of receipt of said commands from said animal collar, and said animal collar can send data to said computer system and receive acknowledgement of receipt of said data by said computer system, said computer system configured to send commands to said animal collar, said computer system configured to receive data from said animal collar related to one or more actions of an animal wearing said animal collar;

one or more sensors provided to said animal collar; and

at least one stimulus device provided to said animal collar, said computer system configured to use said stimulus device in connection with a training regimen, said animal collar configured to provide negative stimulus and positive stimulus, wherein said computer system receives current sensor data from said animal collar and selects a stimulus based, at least in part, on said current sensor data, said training regimen, and previous sensor data.

2. The system ofclaim 1, wherein said one or more sensors comprises an acoustic input device.

3. The system ofclaim 1, wherein said at least one stimulus device comprises an acoustic output device.

4. The system ofclaim 1, wherein said at least one stimulus device comprises a vibrator device.

5. The system ofclaim 1, wherein said at least one stimulus device comprises an odor output device.

6. The system ofclaim 1, said animal collar further comprising an infrared receiver.

7. The system ofclaim 1, said animal collar further comprising an infrared transmitter.

8. The system ofclaim 1, wherein said one or more sensors comprises a location sensor.

9. The system ofclaim 1, wherein said one or more sensors comprises a receiver configured to receive GPS signals.

10. The system ofclaim 1, wherein said one or more sensors comprises a receiver configured to receive radio navigation signals.

11. The system ofclaim 1, said animal collar further comprising an inertial motion unit.

12. The system ofclaim 1, said animal collar further comprising an accelerometer.

13. The system ofclaim 1, wherein said one or more sensors comprises a sound sensor.

14. The system ofclaim 1, said animal collar further comprising an RFID tag reader.

15. The system ofclaim 1, said management system further comprising a temperature-sensing RFID tag.

16. The system ofclaim 1, said management system further comprising a computer-controlled treat dispenser.

17. The system ofclaim 1, said management system further comprising a computer-controlled water dispenser.

18. The system ofclaim 1, said management system further comprising a computer-controlled food dispenser.

19. The system ofclaim 1, said management system further comprising a computer-controlled animal toilet.

20. The system ofclaim 1, said management system further comprising a computer-controlled animal house.

21. The system ofclaim 1, said management system further comprising a video monitor.

22. The system ofclaim 1, said management system further comprising an animal toy provided with a third wireless communication device.

23. The system ofclaim 22, said animal toy comprising a light.

24. The system ofclaim 22, said animal toy comprising an acoustic input device.

25. The system ofclaim 22, said animal toy comprising an acoustic output device.

26. The system ofclaim 22, said animal toy comprising a touch sensor.

27. The system ofclaim 22, said animal toy comprising a motion sensor.

28. The system ofclaim 22, said animal toy comprising a location tracking system.

29. The system ofclaim 22, said animal toy comprising a movement actuator system.

30. The system ofclaim 22, said animal toy comprising a motor.

31. The system ofclaim 1, said animal collar further comprising a treat dispenser.

32. The system ofclaim 1, further comprising one or more repeaters.

33. The system ofclaim 1, further comprising one or more location system units disposed about an area.

34. The system ofclaim 33, wherein one or more of said location system units are configured to use infrared radiation for location and tracking of said animal collar.

35. The system ofclaim 33, wherein one or more of said location system units are configured to use acoustic waves for location and tracking of said animal collar.

36. The system ofclaim 33, wherein one or more of said location system units are configured to use electromagnetic waves for location and tracking of said animal collar.

37. The system ofclaim 33, wherein one or more of said location system units further comprises motion detectors for a home security system.

38. The system ofclaim 1, wherein said at least one stimulus device comprises an electric shock device.

39. The system ofclaim 1, wherein said at least one stimulus device comprises an audio output device configured to make sounds to provide a negative stimulus.

40. The system ofclaim 1, wherein said at least one stimulus device comprises an audio output device configured to make sounds to provide a positive stimulus.

41. The system ofclaim 1, wherein said at least one stimulus device comprises an audio output device configured to make sounds corresponding to a trainers voice.

42. The system ofclaim 1, wherein said at least one stimulus device comprises an audio output device configured to make sounds corresponding to a trainers voice.

43. The system ofclaim 1, wherein said computer system is configured to train an animal to avoid a prohibited area by using a combination of positive stimulus and negative stimulus.

44. The system ofclaim 1, wherein said computer system is configured to train an animal to stay in a designated area by using a combination of positive stimulus and negative stimulus.

45. The system ofclaim 1, wherein said computer system is configured to train an animal to a desired behavior by using a combination of positive stimulus and negative stimulus.

46. The system ofclaim 1, wherein said computer system is configured to train an animal to a desired behavior by using positive stimulus when at least one of said one or more sensors produce data indicating the animal has acted as desired, and by using negative stimulus when at least one of said one or more sensors produce data indicating the animal has not acted as desired.

47. The system ofclaim 1, wherein said computer system is configured to use said one or more sensors and said at least one stimulus device to interact with an animal to entertain the animal.

48. The system ofclaim 1, wherein said computer system is configured to use said one or more sensors and said at least one stimulus device to interact with an animal to exercise the animal.

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