Livestock guidance system, device, and method therefor

Abstract

The invention presents a system for managing cattle movement through virtual fencing technology. It involves identifying unique areas within new designated zones, directing cattle towards these areas using wearable devices, and updating virtual fencing regions once specific conditions are met. This streamlined approach enhances efficiency in cattle management, reducing manual intervention while maintaining control over their movement, and allowing cattle access to previous areas such as for access to water or shade.

Description

[0001] LIVESTOCK GUIDANCE SYSTEM, DEVICE, AND METHOD THEREFOR

[0002] The present invention relates to a wearable device for livestock and associated method for guiding animals into a virtually fenced zone, where to guide the animal into the zone the device comprises a controller, stimulus device and a position sensor. The device only stimulates the animal if the animal is outside of a preferred forward angle, where the forward is an angle range headed in a direction from the animal location to the zone, and the angle range decreases with a number of variables.

[0003] BACKGROUND OF THE INVENTION

[0004] The management of livestock, particularly in extensive farming systems where animals graze over large areas, has traditionally been a labour-intensive task requiring significant human and physical resources. The use of physical barriers such as fences to manage and contain livestock within designated grazing areas is a common practice. However, this approach presents several challenges, including the cost of fence construction and maintenance, the impact on landscape aesthetics, and the restriction of natural animal movement.

[0005] Virtual fencing is an alternative to physical fencing that aims to remotely guide the movement and location of animals using a wearable device comprising stimulus applicators, position sensors and wireless technologies. Virtual fencing has the potential to improve livestock, pasture and environmental management and reduce labour and costs associated with fixed fences. Despite the progress, existing systems have limitations in terms of animal welfare, the complexity of setting up virtual boundaries, and the effectiveness of guiding animals to new grazing areas. Animals can sometimes be hesitant to explore new areas, and there must be a compromise of keeping the animal calm and relaxed.

[0006] The present invention seeks to address the aforementioned issues by providing an improved animal guidance system that is adaptable to various types of animals and environmental conditions. The system aims to facilitate the movement and containment of animals between virtually fenced areas, thereby reducing the reliance on physical fencing, improving the efficiency of pasture management, whilst still offering animals access to previously accessible features such as water and shade etc.

[0007] Therefore, there is a need for an improved system and method to guide an animal between virtually fenced areas.

[0008] OBJECT OF THE INVENTION

[0009] It is an object of the present invention to provide a wearable device and system for guiding animals into a virtually fenced zone that overcomes or at least partially ameliorates some of the abovementioned disadvantages or which at least provides the public with a useful choice.

[0010] SUMMARY OF THE INVENTION

[0011] In a first aspect the invention broadly relates to a system for guiding one or more animals to a region and containing them within a region, comprising one or more wearable devices and a controller:

[0012] • wherein each wearable device is configured to be worn by an animal, each device comprising o a position sensor configured to report a location of the wearable device; o a communication package configured to receive data defining a region; and o a stimulus device configured to output guidance and containment commands to the animal; and • wherein the controller is configured to: a. receive a current region and the location of the wearable device; b. operate the stimulus device based on the location to guide the animal to, or contain the animal within, the current region; c. receive a new region via the communication package; d. define a unique region based on the new region and excluding any overlap with the current region; e. control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region; f. control the stimulus device to operate the containment command when the position sensor reports the location is within the unique region to, in operation, contain the animal within the unique region; g. determine a population criterion based on a determined number of wearable devices located within the unique region; h. based on the population criterion, operate the stimulus device to stop applying the current command to the animal; and

[0013] I. operate the stimulus device to operate the containment command to, in operation, contain the animal within the new region.

[0014] In one embodiment, each wearable device comprises a communication package configured to communicate with one or more of: a backend; a user device comprising an interface; the backend via an intermediary communication system; and the user device via the intermediary communication system. In one embodiment, the current region, new region, and / or unique region are received from one or more selected from the backend, and user device.

[0015] In one embodiment, the stimulus device is configured to operate guidance and containment commands based on selective operation of one or more of a speaker, directional speakers configured to apply sound to the left and right of the animal, a vibrator configured to apply vibration to be felt by the animal, and electrodes configured to apply shock to be felt by the animal.

[0016] In one embodiment, the position sensor further configured to sense a heading of the wearable device and hence the animal, and control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region is based on the sensed heading.

[0017] In one embodiment, the controller is configured to determine a target heading extending from the wearable device and intersecting the unique region or a location inside the unique region, and control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region based on the target heading.

[0018] In one embodiment, controller is configured to determine a satisfied heading criterion based on a determination that a heading is between one or more of: an angle extending either side of the target heading, a pair of points selected from a plurality of vertices forming at least part of the unique region, and a pair of points located at intersections of the unique region and the current region; and control the stimulus device to output a sound at an intensity.

[0019] In one embodiment, the controller is configured to apply a passive guidance command comprising one selected from a vibration stimulus when heading criterion is satisfied; and no stimulus when heading criterion is not satisfied.

[0020] In one embodiment, the controller is configured to operate the stimulus device to apply an active guidance command selected from a sound stimulus when a speed of the device as sensed by the position sensor, or determined by the controller from locations sensed by the position sensor, is below a predetermined speed threshold; and a sound having a sound intensity when heading criterion is not satisfied.

[0021] In one embodiment, controller is configured to increase sound intensity based on; one or more of distance to the region, elapsed time the heading criterion is not satisfied, and a difference in heading to the target heading, until a threshold intensity is met; and apply a shock once the sound intensity reaches a threshold.

[0022] In one embodiment, controller is further configured to control the stimulus device to increase a sound intensity based on one or more of: an increasing distance to the unique region, an elapsed time the heading criterion is not satisfied, an increasing difference in heading to the target heading, wherein the sound intensity comprises a threshold, and the controller is further configured to control the stimulus device to output a shock once the threshold is met.

[0023] In one embodiment, controller is further configured to: virtually fence the wearable devices within the new region; based on a determination that: the unique region has an area less than a predefined area threshold for the number of wearable devices to be guided to.

[0024] In one embodiment, population criterion comprises one or more of: a predefined percent of wearable devices forming the one or more wearable devices have locations within the unique region; a predefined number of wearable devices have locations within the unique region; and a predefined time one or more, or a percentage of, wearable devices have a location within the unique region has elapsed.

[0025] In one embodiment, controller is further configured to: determine a most recent virtually fenced area for animals to be virtually fenced within or guided to; determine if the location of a wearable device is outside of the most recent virtually fenced area, and based on the determinations of (a) and (b): guide the animal via said wearable device from their current location to the most recent virtually fenced area.

[0026] In one embodiment, the controller is configured to determine a second population criterion based on a determined number of wearable devices located within the unique region, the second population criterion being less than the population criterion, based on the second population criterion being satisfied, operate the stimulus device to apply the active guidance command stimulus via the stimulus device to, in operation, guide animal in the current region to the unique region.

[0027] In a first aspect the invention broadly relates to a method for guiding one or more animals to a region and containing them within a region comprising the steps of: providing one or more wearable devices, wherein each wearable device is configured to be worn by an animal, each device comprising; a position sensor configured to report a location and heading of the wearable device; a communication package configured to receive data defining a region; and a stimulus device configured to output guidance and containment commands to the animal; and providing a controller in electronic communication with the position sensor; communication package and stimulus device, and operating the controller to execute the steps of receiving the containment command of the current region and the location of a wearable device of the one or more wearable devices; operating the stimulus device of the wearable device based on the location to guide the animal to, or contain the animal within, the current region; receiving a new region via the communication package; defining by the controller a unique region based on the new region and excluding any overlap with the current region; controlling the stimulus device to stop the containment command of the current region and operate the guidance command to, in operation, guide, or allow the animal to shift to, the unique region; controlling the stimulus device to operate the containment command for the unique region when the position sensor reports the location is within the unique region to, in operation, contain the animal within the unique region; determining a population criterion based on a determined number of wearable devices located within the unique region; operating the stimulus device to stop applying the current containment command for the unique region to the animal based on the population criterion being met; and operating the stimulus device to operate the containment command for the new region to in operation contain the animal within the new region. In one embodiment, the method comprises the step of controlling the stimulus device to output a containment command applying sound when the location of the device gets near to, crosses, and / or leaves the region perimeter of the containment command.

[0028] In one embodiment, the guidance command is one selected from an active or passive command, the passive command comprising at least one selected from: a vibration stimulus when the heading heads towards the region of the guidance command; and no stimulus when the heading does not head towards the region of the guidance command; and an active command comprising at least one selected from: a sound or vibration stimulus when a speed of the device as sensed by the position sensor, or determined by the controller from locations sensed by the position sensor, is below a predetermined speed threshold; and a sound having a sound intensity when heading criterion is not satisfied.

[0029] In one embodiment, the method comprises the step of the controller selecting one of the active and the passive guidance command depending on a second population criterion relating to the number of wearable devices in the unique region, wherein the second population criterion is less than the population criterion.

[0030] In one embodiment, the method comprises the step of the controller summing the number of the wearable devices of the one or more devices with a location within the unique area and comparing the number to the population criterion, and if met, operating the containment command for the new region on the one or more wearable devices, second population criterion, and if met, outputting the guidance command with an active command to the unique region on the one or more wearable devices with a location in the current region.

[0031] In a further aspect, the invention broadly relates to a system for controlling one or a plurality of wearable devices configured virtually fence an animal and shift said animal from a current region, the system comprising: a backend linked to an interface for a user to interact with and input polygons or points to define one or more regions to virtually fence said livestock within, the backend comprising a processor, a communication system capable of communicating with the backend and wearable devices a plurality of wearable devices, each wearable device comprising a location sensor, configured to at least sense a location of the animal wearing the wearable device, a stimulus device for providing a stimulus to the animal, the stimulus device comprising at least two speakers to apply sound for the animal to hear, a controller configured to receiving the current region from the backend via the communication system and virtually fencing said animal within the current region via receiving the location of the wearable device from location sensor and applying stimuli via the stimulus device to the animal should the animal get near to, or cross, the current region; receiving a new region defined by a user from the backend via the communication system; determining or receiving if new region overlaps current region; determining or receiving a unique region that encloses an area not shared by the current and new regions; controlling stimulus device to apply stimulus to the animal to guide the animal to within the unique region; stopping stimulus application when the location sensor determines the wearable device is within the unique region; and in response, controlling stimulus device to apply stimulus to the animal dependent on the location relative the new region.

[0032] In one embodiment, the processor or controller is configured for determining if the new region comprises an area shared by the current region.

[0033] In one embodiment, the processor or controller is configured for determining the unique region. In one embodiment, the processor is further configured to transmit the new region and unique region to the wearable devices via the communication system.

[0034] In one embodiment, the processor or controller is configured to determine if the unique region has an area less than a predefined area threshold for a number of wearable devices to by guided to, and if so, to not guide the wearable devices to the unique region and instead virtually fence the wearable devices within the new region.

[0035] In one embodiment, the predefined area threshold is between 2 and 10 metres squared per animal.

[0036] In one embodiment, the communication system comprises a local hub to communicate messages between the plurality of wearable devices and the backend.

[0037] In one embodiment, the communication system comprises a cellular network or satellite network.

[0038] In a further aspect, the invention broadly relates to a method of operating a virtual fencing and shifting system to control a plurality of wearable devices, each device configured to be worn by an animal to guide the animal from a current region to a new region to be virtually fenced within, the method comprising steps of: applying stimuli via the plurality of wearable devices to animals dependent on their location to guide them from their current region to a determined unique region which does not have an overlapped region with the current region; and determining the animals are within the unique region then virtually fencing the animals within the new region which comprises the overlapped region and the unique region.

[0039] In one embodiment, the device is configured to determine the location of the animal.

[0040] In one embodiment, the device is configured to apply stimulus to the animal to guide the animal.

[0041] In a further aspect, the invention broadly relates to an animal device configured to guide an animal to and virtual fence within a new region from a current region, the device comprising: a location sensor to measure the location of the device; a stimulus device configured to apply stimulus to the animal; and a controller configured to apply stimulus dependent on at least the location, the controller further configured to guide the animal from their current region to a determined or received unique region which does not have an overlapped region with the current region, and once determined the animal is within the unique region then virtually fencing the animal within an extended region comprising at least a of portion the current region and unique region.

[0042] Other aspects of the invention may become apparent from the following description which is given by way of example only and with reference to the accompanying drawings.

[0043] Other aspects of the invention may become apparent from the following description which is given by way of example only and with reference to the accompanying drawings.

[0044] In this specification where reference has been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless specifically stated otherwise, a reference to such external documents is not to be construed as an admission that such documents, or such sources of information, in any jurisdiction, are prior art, or form part of the common general knowledge in the art.

[0045] It is also to be understood that the specific devices illustrated in the attached drawings and described in the following description are simply exemplary embodiments of the invention. Hence, specific dimensions and other physical characteristics related to the embodiments disclosed herein are not to be considered as limiting. It is acknowledged that the term “comprise” may, under varying jurisdictions, be attributed with either an exclusive or an inclusive meaning. For the purpose of this specification, and unless otherwise noted, the term ‘comprise’ shall have an inclusive meaning, allowing for inclusion of not only the listed components or elements, but also other non-specified components or elements. The terms ‘comprises’ or ’comprised’ or ‘comprising’ have a similar meaning when used in relation to the system or to one or more steps in a method or process.

[0046] For the purposes of this application, the term ‘region’ is used to describe an area, perimeter, or boundary of a specific region, such as the new region or current region. The term region is analogous with boundary, or region or perimeter. A ‘perimeter’ defines the enclosing lines of a region, while an ‘area’ refers to the extent of the surface enclosed within these lines. The term region or zone may encompass both. Whether the term region, perimeter or area is used, the intended meaning is the delineation of a region in which animals can be contained or directed by the system. A computer or controller may be able to send commands as either a polygon(s), region, perimeter, area, geo index or the like.

[0047] In this specification, the term ‘animal’ may relate to the wearable device. For example, the geographical position of the animal is the same as the device attached or associated with the animal. It is to be understood that references to guiding animals to a target location involve controlling the device to apply a stimulus to the animal, to guide the animal and hence the device to the target location.

[0048] As used hereinbefore and hereinafter, the term “and / or” means “and” or “or”, or both.

[0049] As used hereinbefore and hereinafter, “(s)” following a noun means the plural and / or singular forms of the noun.

[0050] When used in the claims and unless stated otherwise, the word ‘for’ is to be interpreted to mean only ‘suitable for’, and not for example, specifically ‘adapted’ or ’configured’ for the purpose that is stated.

[0051] For the purpose of this specification, where method steps are described in sequence, the sequence does not necessarily mean that the steps are to be chronologically ordered in that sequence, unless there is no other logical manner of interpreting the sequence.

[0052] The entire disclosures of all applications, patents and publications, cited above and below, if any, are hereby incorporated by reference.

[0053] BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Preferred embodiments of the invention will be described by way of example only and with reference to the drawings, in which:

[0055] Figure 1 : shows a schematic of the possible communications network between a device on an animal and the user or processor.

[0056] Figure 2: shows a flow diagram of information between the backend and the device.

[0057] Figure 3: shows a perspective view of the device on an animal.

[0058] Figure 4: shows a schematic diagram over time (A through E) of an animal being guided through different perimeters. Figure 5: shows a schematic diagram of over time (A to B) of an animal being guided from their current location to the latest target location.

[0059] Figure 6: shows a schematic of an animal’s heading, and a predetermined heading threshold.

[0060] Figure 7: shows a schematic of an animal’s heading, and a heading threshold defined by the new region.

[0061] DETAILED DESCRIPTION

[0062] With reference to the above drawings, in which similar features are generally indicated by similar numerals, Figure 1 illustrates an animal guidance system 2, or virtual fencing and shifting system 2, adapted to receive guidance commands and containment commands, and optionally communicate or be comprised of a system 1000 comprising a backend 500 and front end 200. In one example, system 2 comprises one or more, or a plurality of, wearable device(s) 400 (each) configured to be worn by an animal 10. Such an animal 10 may be any of dogs, pets, dairy cows, beef animals, bovine, goat, bos, Bos taurus, bison, sheep, bull, lama, or any other animal that is desired to be tracked, communicated with, ‘contained’, ‘moved’, ‘shifted’, ‘drafted’, and / or ‘guided’ etc. Examples of the system are particularly useful to cattle that primarily feed on pasture or crops within paddocks. Animal 10 may form part of a herd, mob or group of animals where one or more animals 10 in the herd wear a device 400. In this specification, the wearable device is implemented as a collar, e.g., for placement around the neck of an animal. Many placements and appropriate implementations are possible, and the most suitable location will be dependent on the particular animal and environment for use. The device 400 may comprise or communicate with a secondary device, the secondary device optionally having some or all capabilities of the device 400 or share capabilities with the device 400.

[0063] The system is configured to guide animals from a current region 810 to a designated new region 820. The new region can be input into the system by a user, for instance, by drawing or inputting it on an interface such as a smartphone or computer. The specified region relates to a geographic region on a farm and serves as a virtual enclosure for animals equipped with device 400. These animals may currently reside in a region that is either virtually or physically fenced.

[0064] Upon receiving a command from a user or at a predetermined time, the devices 400 are programmed to direct the animals 10 toward the new region 820. In the process, the system 1000 or device 400 assesses whether there is an overlap between the new region 820 and current region 810. If an overlap exists, the animals are initially guided (via the devices 400) to a unique region 830 of the new region 820 that does not overlap with the current region 810.

[0065] The device 400, in general, is configured to guide animals to a target location, such as a new region. For simplicity in the specification, regions will be defined as an area and / or perimeter. For example, the new region has a new perimeter 821 , the unique region has a unique perimeter 831. The system with the device 400 is configured to guide and contain / restrain / enclose animals within a virtual region defined by an area or perimeter, boundary, or fence, such as a virtual paddock, corral, break, or zone according to a received command. In some embodiments the perimeter (or respective areas defined by the perimeter) only partially virtually fence a portion of the perimeter, as the perimeter may comprise a physical fence, or the perimeter may have an open side not virtually fenced. The target location may change depending on the most recent command, and where to guide the animals to, or virtually fence the animals within. To guide the animal the device 400 uses a stimulus device 460, which comprises one or more of the following: speakers 461 ; electrodes 462; and vibrator 463. The stimulus can be applied to directionally guide the animal 10. The stimuli attempt to change or alter the animal’s position or positional behaviour. Used herein, the term target location may refer to an area or perimeter, and may depend on the current command the device 400 has. For example if the device is guiding the animal to the unique perimeter, the unique perimeter is the target location. If for example the device is virtually fencing the animal within the current or new perimeter, the target location is within the current or new perimeter respectively.

[0066] A controller 530 is communicable with or sends a command to device 400. The command comprises guidance instructions or containment instructions (i.e., a virtual fence) for the wearable devices 400, and the stimulus device 460 is configured to guide animals 10 through the application of stimuli according to the command. The command is operable by a device controller 470 housed with the device 400. The command is sent to device 400 via a transmitter. The transmitter may be integrated with an intermediary communications system, such as a satellite network, cellular network or cell tower 630, internet or satellite 640, or on a base station 620 located near the devices. The command is likewise received by a receiver 415 comprised by the device 400 communication package 410. The command contains instructions that are readable by the device 400 and device controller 470. In some examples, controller 530 and controller 470 are the same, or share some responsibilities.

[0067] The controller 470 may be further configured to determine a target heading 301 that extends between the location of the device and the target location. A heading threshold 303, as shown in Figures 6 and 7, is implemented on either side of the target heading 301 and the device attempts to keep the animal heading 305 within the heading threshold via application of directional stimuli. If the animal heading 305 is out of the heading threshold 303 the device 400 is configured to stimulate the animal in an attempt to head the animal back into the heading threshold. The heading threshold 303 is defined by an angle 306 as shown in Figure 6. Where the angle 306 is preferably symmetrically placed about the target heading 301 . The angle may be defined by a user. The angle may be dynamic, depending on the speed of the animal, the heading of the animal relative to the target, the distance between the animal and the target, and the time spent outside of the target perimeter or over the virtual fence as applicable.

[0068] Population criterion

[0069] Once a population criterion is satisfied— such as confirming the animals’ presence in the unique perimeter 831 —the system is set to virtually fence, or re-open, the animals within the new perimeter 821 . One purpose of this feature is to ensure that when a new perimeter is established, the animals transition to the unique perimeter and do not remain within the overlapping perimeter, as they might otherwise not challenge the virtual fence boundaries to discover the unique perimeter. In some examples the system is configured to virtually fence one or more animals that have located themselves to the unique perimeter, but the condition has not yet been satisfied. Once the population criterion is satisfied all devices will then be virtually fenced within the new perimeter. ‘Reopening’, e.g allowing animals to wander back into the overlapped area after the population criterion has been satisfied, allows the animals to access resources such as water or shade that may be situated in the previously overlapping section.

[0070] Figures 4A through to 4E show a schematic over time of an animal 10 at location 12 being guided from a current perimeter 811 , to received new perimeter 821 . The controller 470, 530 determines if there is an overlap between the two perimeters, and if so determines the unique perimeter 831 . The animal 10 is then guided to the unique perimeter 831. Once the population criterion is satisfied, then the animal 10 is then virtually fenced within the new perimeter 821.

[0071] The system is configured to determine if predetermined parameters have been met for the population criterion to be satisfied. For example, parameters relating to the number of animals to be considered within the unique perimeter for the population criterion to be satisfied. These parameters ensure the mob has successfully transitioned to the designated unique perimeter before the system satisfies the population criterion. In one example, the population criterion is satisfied when a predefined percent of the wearable devices register their location within the unique perimeter. This percentage is predetermined to reflect a significant portion of the mob, ensuring that not just a few stray individuals but a majority have moved to the unique perimeter. The predefined percentages may vary depending on the specific requirements of the farm or the herd. For instance, a minimum threshold might be set at 30, 40, or 50%, or any percent between 1 and 100%. For example, 50% indicates that at least half of the animals equipped with the wearable devices must be within the unique perimeter for the population criterion to be satisfied. Alternatively, a range could be specified, such as 50-90%, providing flexibility to account for different herd behaviours and environmental factors. Within this range, a specific number could also be defined, such as 75%, serving as an optimal target for the system to recognize that the majority of the mob has successfully relocated.

[0072] In one example, the population criterion is satisfied when a predefined number of wearable devices are located within the unique perimeter. This number may be set based on the size of the mob, or the desired density of animals within the unique perimeter, allowing for flexibility in managing different herd sizes. For example, it may be 10 or more devices as the predefined number. 10 devices may be determined as a number where a mob of animals decides it is safe to to follow 10 animals into the unique perimeter. In another example, the area of the unique perimeter may be determined, and a proportional number applied. For example, 1 animal per 3 metres squared. As soon as the number of animals exceeds 1 animal per 3 metres squared, the population criterion may be determined as satisfied.

[0073] In one example, the population criterion is satisfied after a predefined time has elapsed, alongside the other population criterions, such as when one or more, or a certain percent of, wearable devices maintain their location within the unique perimeter. This duration accounts for the time needed for the animals to settle into the new perimeter and ensures that the movement is not just temporary or fleeting. For example, 50% of the mob are inside the unique perimeter for 30 minutes. A user may determine an appropriate time period.

[0074] These parameters; percent, number, and time; provide a measurable and verifiable means to ascertain the successful relocation of the animals. By setting these parameters, the system can automate the process of transitioning the mob to the unique perimeter. In other embodiments, the population criterion may be satisfied on an individual device level. For example, if one device satisfies the population criterion, i.e it has entered the unique perimeter, or been in the unique perimeter for a predefined time period, then the system then can move to the next step of virtually fencing the animal within the new perimeter. Obviously, at a per device level, mob level parameters such as percent of mob or number of mob are not relevant. The system may act individually for each device.

[0075] Target Area

[0076] The command contains data of a target location. Where the command is a guidance command, the target location may be one selected from: new perimeter 821 , unique perimeter 831 , current perimeter 811 , the closest part of a perimeter or area the animal is being guided to. Where the command is a containment command (virtual fencing command), the target may be one selected from any location or the nearest location within the designated virtual fenced area. The controller 470 is configured to receive position data of the animal's location and apply stimulus to guide the animal to or virtually fence the animal to or within the target location.

[0077] The method comprises the steps of determining (via the controller) the most recent virtually fenced area for animals to be virtually fenced within or guided to, e.g the target location. The controller is further configured to determine if the location of a wearable device is outside of the most recent virtually fenced area, e.g outside of the target location, and then subsequently it is further configured to guide the animal via said wearable device from their current location to most recent virtually fenced area or target location.

[0078] The target perimeter may also describe the desired perimeter for animals to be virtually fenced within. A plurality of devices representing a mob of animals will all have the same target perimeter. This may be the definition of a mob, where all devices have the same command, or at least the same target perimeter. The device will keep trying to guide an animal to its target location until the device has been determined to be in the target location.

[0079] New to Second Unique

[0080] In some instances, the user will input or schedule a new new perimeter - ‘second new perimeter’. The system is configured to repeat the method - the method comprising at least the steps of determining the unique perimeter between the current perimeter virtually fencing the animals, such as the new perimeter; guiding animals to the unique perimeter; and then virtually fencing the animals within the second new perimeter. The method proceeds as previously described, but with the new perimeter acting as the current perimeter, and the second new perimeter acting as the new perimeter.

[0081] In some instances, not all animals may have been guided to the unique perimeter, nor the new perimeter; as even though the population criterion was satisfied, the particular device I animal may not have been part of the devices that satisfied the population criterion. The particular device may still have a location, for example in the current perimeter, outside of the target location. As such, the system (via the controller) is configured to control the device 400 to apply stimulus to guide the animal to the most recent target location (e.g., the second new perimeter), such as from the current perimeter (for example) direct to the second new perimeter (for example). Thereby bypassing the unique perimeter, new perimeter, and second unique perimeter. Figure 5 shows an example of an animal 10 being guided directly from its location outside of the current perimeter 811 direct to the unique perimeter 831 .

[0082] In one embodiment, the method comprises the step of receiving a second new perimeter.

[0083] In one embodiment, method comprises the steps of

[0084] • determine or receive new perimeter overlaps second current perimeter;

[0085] • determining (via the controller) or receiving a second unique perimeter including the second new perimeter and excluding the overlap with the new perimeter;

[0086] • determining the location of the one or more wearable devices are in the current perimeter or elsewhere;

[0087] • guiding the animals directly from their current location to second new unique perimeter.

[0088] In one embodiment, the method involves a series of steps to manage the movement of animals within defined geographic boundaries using wearable devices. Initially, the system receives data defining a second new perimeter. The second new perimeter may come from a user device, via the backend and the intermediary communication system. This second new perimeter represents an area to which the animals may be guided within. Subsequently, the method includes determining whether this second new perimeter overlaps with a previously established perimeter, which was the previous target location, likely the last new perimeter. If there is an overlap between the new perimeter and the second new perimeter, the system, through its controller, identifies a second unique perimeter. This unique perimeter encompasses the second new perimeter but excludes any areas of overlap with the existing new perimeter. The next step involves ascertaining the current location of the wearable devices, which indicates the position of the animal. They could be within the current perimeter or in another location. Finally, the method includes guiding the animals from wherever they are directly to the second new unique perimeter. This perimeter is defined by the second unique perimeter and is selected to ensure that the animals move to a specific, non-overlapping region. Further, in another embodiment the animals may be guided directly from the current perimeter to the second new perimeter with either active or passive guidance commands.

[0089] In one example, the active guidance command may be used if a second population criterion is satisfied or met. The second population criterion may comprise a lower threshold than the population criterion. For example, if the population was 100%, the second population criterion may be less than 100%, for example 80%. In one example, in operation it is desired to actively shift animals to the second new region or second unique region, so the animals are not left behind, as they will not likely shift to the new region, second new region or second unique region merely by passive guidance alone. Thus, it is desired to actively shift to the current target location, be it the unique, second unique, or second new region. The reason for allowing active shifting is because animals may be more likely to shift to a region, if the rest of their mob have been seen as already entering into the said region, and they are more likely to follow. In other examples, the active guidance command is output to devices that have a location in the current area, and the second population criterion has been met. In operation, animals are more receptive to active guidance if other animals (above a second population threshold) in their mob have located to the unique area.

[0090] Safety

[0091] The method comprises the step of determining if the unique perimeter has an area less than a predefined area threshold for the number of wearable devices to be guided to, and if so, to not guide the wearable devices to the unique perimeter and instead virtually fence the wearable devices within the new perimeter.

[0092] In one example, if the area is less than the threshold per animal, the system will not direct the wearable devices to this area. Instead, it will establish a virtual boundary within the larger new perimeter.

[0093] In one embodiment, the predefined area threshold is between 2m2and 30m2per animal, and preferably 3m2per animal. This ensures that each animal has sufficient space to move and rest without stress or discomfort. This approach allows for effective livestock management, ensuring that animals are likely to stay within their virtual boundaries and have adequate space.

[0094] Determining Overlap

[0095] To manage the movement of animals within a farm, the system first compares the boundaries of the new region (820) with those of the current region (810) to determine if there is any overlap. This is done by checking if any points within the new region fall within the boundaries of the current region, using geometric algorithms such as point-in-polygon tests. If an overlap is found, the system then calculates the unique region (830), which is the area of the new region (820) that does not intersect with the current region (810).

[0096] The device 400 or the system may determine if there is an overlap and / or unique region . The process of calculating the unique region (830) involves identifying the overlapping area between the new region and the current region and then subtracting this overlapping area from the new region. The result is the unique region, which is the part of the new region that does not overlap with the current region. The boundaries of this unique region can be represented by a set of Cartesian coordinates (vertices), defining the corners of the unique region.

[0097] In one example, the system uses GeoTools library and the Java Topology Suite (JTS) to calculate overlaps and / or the unique region. ISO 19107 defines standards for geographic information — specifically, spatial schema and geometry. Developers can use org.geotools:gt-jts-wrapper to perform geometric operations within GeoTools applications.

[0098] Details of Collar Hardware

[0099] The device 400 comprises at least one sensor package 440 configured to output animal position data. The sensor package 440 may be provided by a positioning system, such as a GPS device located on the wearable device, or a local positioning system. Many forms of the positioning system are possible, some of which are discussed in further detail herein. An example of the position data includes the location of the animal. The controller is configured to receive said position data. The controller in one example is configured to determine via the location data if the animal is within a virtually fenced area or not. The position data may also comprise the heading of the animal.

[0100] The controller 470 receives or determines the target location, receives the position data, and instructs or operates the stimulus device 460 to apply the appropriate stimuli, if required, to the animal to guide the animal towards the target location.

[0101] In one embodiment, for directional guidance where required or wanted, the controller 470 is configured to receive or determine a heading threshold 303. The heading threshold is defined by an internal angle 306 extending on either side of the target heading. In other examples, the heading threshold may be defined by two angles extending either side of the target heading, for example, the heading threshold may have an angle of 20 degrees on either side of the target heading, yielding a total threshold of 40 degrees. In some embodiments, the left and right threshold angles aside the target heading may be different. This may be in particular use cases, for example, if guiding an animal next to a fence line it may be desired to have the heading threshold asymmetric about the target heading. In one example, the angle is defined as the angle of a minor circular sector extending symmetrically across the heading target, the sector having an origin at the animal location. In a further example, the angle is defined as the angle between two radii extending from the animal location equally spaced from the target heading.

[0102] The controller is further configured to instruct the stimulus device to apply a particular stimulus if the position data indicates the animal heading 305 is headed outside of the heading threshold 303, for example as shown in Figure 6. And vice versa, the controller is configured to instruct the stimulus device to apply a particular stimulus, such as a ‘positive cue’ like a sound, vibration or no stimulus, if the position data indicates the animal heading 305 is headed within the heading threshold 301.

[0103] Herein described where the heading ‘enters’ or is ‘within’ the heading threshold, it may mean that the controller receives position data from the sensor package 440 and determines the compass or cardinal bearing. Bearings are expressed in degrees (°) and range from 0 - 360. They typically read in a clockwise direction. The controller is configured to compare the heading bearing and determine whether it falls within a threshold range of bearings that are within the heading threshold. For example, if the angle of the heading threshold is 40 degrees, and the target heading is 0 degrees (North), then the heading threshold will include bearings between -20 and 20 degrees of north. For example, if the animal heading is 3 degrees North, then it may be considered entered, inside, or within the heading threshold. A person skilled in the art will realise the many ways a controller or software can determine the heading, and whether it falls within the threshold or how it compares to the target heading. The heading may also be determined by the GPS, compass or IMU.

[0104] In some examples, the position data is derived from the GPS signal. For example, a heading, position and / or speed can be derived from changing GPS coordinates; or acceleration data can be derived from changing GPS coordinates and thereby used to determine a change in speed and displacement. In some examples, the wearable device 400 contains a compass and / or an IMU configured to directly sense, for example, heading, movement, and / or heading data. Any number of IMU sensors may also be contained on the wearable device 400 for providing position data. Any combination of GPS and IMU- derived data may be used by the controller as part of the deployment of position data or determinations of position data.

[0105] GUIDANCE

[0106] In an alternative or additional embodiment the controller is configured to operate at least one stimulus device of the wearable device to guide animals from their current area 810 / current perimeter 811 they are retained in (optionally by the same wearable device) to a target area 8201 target perimeter 821 (which may be the new region or unique region). The wearable device is equipped with a set of features that collectively contribute to effective animal guidance. Specifically, the device comprises at least one sensor 440 responsible for measuring position data, including the heading and location of the wearable device 400 and, consequently, the animal. Further, the wearable device incorporates at least one stimulus device 460 capable of applying stimuli to the animal, thereby eliciting a behavioural response. This responsive behaviour is strategically induced through the coordination of a controller, which performs several key functions. The controller is programmed to receive target location data specifying the target perimeter and simultaneously gather position data reflecting the device's heading and location.

[0107] The current perimeter and target perimeter may be defined by location data which the controller is configured to receive (such as from a user device) or determine (i.e an ideal target perimeter created by the controller). The location data may comprise geographical coordinates, geo-indexes, perimeters defined by vectors or vertices, user defined areas etc. In one embodiment, the current area 810 is defined by a perimeter 811 and target area 820 defined by a target perimeter 821 . Wherein perimeters may be defined by a plurality of vertices 812 or 822 respectively. The controller is configured to receive said area, perimeters, and / or vertices.

[0108] The wearable device 400 is configured to be worn by an animal and guide the animal to a specified target area 820. The device comprises at least one sensor from a sensor package 440 configured for measuring the position data of the wearable device, specifically at least in one embodiment, the heading and location, thus determining the animal's heading and location. The device 400 heading and location will generally follow the animal’s 10 heading and location. For example, if the animal turns left, the device heading will be left also, and the change, or current state is recorded or detected by the at least sensor as position data.

[0109] Additionally, the device incorporates at least one stimulus device 460 capable of applying stimuli to the animal to elicit a behavioural response. A feedback loop exists where stimulus may be applied to the animal via at least one stimulus device dependent on the position data, and the position data may then change depending on the stimulus applied to the animal, as the animal moves in response to the applied stimulus.

[0110] The controller receives current location data indicative of a current location within which the animal is confined, retained, or enclosed, and target location data indicative of a target location within which the animal is to be confined, retained, or enclosed in. The locations may be defined by perimeters or areas. In one embodiment, perimeters are defined by vertices forming a polygon or shape outlining the target or current area. Alternatively, the location data may comprise references to geo indexes. In another embodiment, the current location data is indicative of a particular location, such as a shed, a gateway, or raceway or other location not indicative of an area.

[0111] The controller is further configured to guide the animal to the target location. In a first embodiment, the controller is configured to determine whether the device heading satisfies a criterion. The controller operating the at least one stimulus device if to guide the animal to the target location, and applying specific stimulus depending on whether the controller determines a criterion has been met.

[0112] The controller in one embodiment, is configured to operate in one of multiple conditions. Further, in the same or other embodiments, the controller is configured to operate in one of multiple modes. The conditions depend on the device heading and device location, and the modes depending on a set programme, routine, or user initiated action. The conditions being satisfied will determine which stimulus to apply, and the mode will determine what conditions are to be satisfied if any.

[0113] In one embodiment, virtual fencing relates to restraining an animal within a region, by applying stimulus via the stimulus device to the animal should the location indicate it is leaving, crossing, or left the region.

[0114] Stimulus Criterion and Conditions

[0115] In one embodiment, the controller is configured to operate in a first condition if a heading criterion is met, where a met criterion is the heading hitting the target. The controller is configured to operate in a second condition if a heading criterion is not met, where a not met criterion is the heading missing the target. The controller is further configured to operate the at least one stimulus device depending on the condition the controller is operating in.

[0116] In the first condition the controller is configured to instruct the at least one stimulus device to apply a first stimulus selected from one or more of: vibration; shock; and sound; or apply no stimulus. In one embodiment, in the first condition the controller is configured to instruct the at least one stimulus device to apply a vibration or a first sound frequency.

[0117] For virtual fencing, a first stimulus may be applied when the device 400 is near to, or crossing over, crossed over, the virtual fence or perimeter.

[0118] Further, in the second condition a second stimulus can be instructed to be applied, such a second stimulus however may be no stimulus being applied, or the controller is configured to instruct the at least one stimulus device to apply a second stimulus in the form of a sound frequency higher than the first stimulus low sound frequency.

[0119] Preferably, the first stimulus and / or second stimulus is a non-directional stimulus. A non-directional stimulus is a stimulus that does not indicate a specific direction for the animal to move. A directional stimulus, on the other hand, is a stimulus that signals a particular direction for the animal to follow, such as a vibration, a sound, or a visual cue that indicates or prompts left or right movement of the animal. In one embodiment, the non-directional stimulus is a sound emitted by a speaker, the sound configured to be applied to both ears of a cattle animal equally. Certain frequencies of sound or vibration may be used that have less directionality for particular cattle.

[0120] In operation this resembles an animal receiving a mild or soothing stimulus, like a gentle vibration or a low-frequency, low-intensity sound. This signal serves to inform the animal that it is oriented in the correct direction (heading) and can proceed towards a new target location. In the second condition, when the animal is headed in an incorrect direction, i.e away from the target location, then no stimulus is applied. This stimulus application may be described as a low touch, stress free, relaxed, or passive shifting. Where the animal is only coerced or prompted to move, be guided, or shift towards the target location when it is facing the correct heading.

[0121] In other embodiments, in the second condition the controller is configured to instruct the at least one stimulus device to apply a second stimulus selected from one or more of: vibration; shock; and sound. In particular, the stimulus applied in the first condition and second condition are different from each other in one or more of: intensity, pattern application, or order applied. As the animal needs to know the difference between stimulus applied from different conditions.

[0122] Once the animal has reached the target perimeter, the first and second second conditions and their respective stimulus need to stop. In operation, the controller is configured to compare the position data of the device 400, to the target location data, and determine if the device location is in the target perimeter, and if so operate in a third condition. In the third condition a third stimulus may be applied to prompt the animal to stop moving, to head in any direction, or to affirm they are free to move. The third stimulus may be a stimulus which is not dependent on heading. For example, the third stimulus may be a short sound or vibration. In one embodiment, the third stimulus is reassuring, such as a sound tune, repeatable sound pattern, or soft vibration.

[0123] The controller is programmed to continuously apply the first stimulus to the animal if the heading criterion is continuously satisfied until the controller receives position data confirming the animal's location within the target perimeter. Conversely, if the criterion is not satisfied, the controller applies a second stimulus. This second stimulus is maintained until the controller receives position data indicating the criterion is met or the animal is within the target perimeter.

[0124] In a further embodiment it may be desired for the animal to be within the target perimeter for a period of time before the third stimulus is applied. This ensures the animal does not cross into the target perimeter, and then immediately retreat or turn around out of the target perimeter once the first stimulus has been removed. In one example, the controller is configured to compare the position data to the target location data, and determine if the location is in the target perimeter, determine the length of time the device location is in the target perimeter; compare the length of time to a time threshold; and operate in a third condition if the length of time is greater than the threshold. For example, the threshold may be 5 seconds, and as such the controller is configured to wait for the device to be in the target area for 5 seconds before stopping the first and / or second stimulus and applying the third stimulus.

[0125] In one example, controller is configured to operate at least one stimulus device for different commands, for example containment commands and guidance commands. Containment commands and guidance commands may utilise different stimulus. For example, a containment command may use sound and / or shock to contain an animal within, or guide the animal back to, a containment region, such as the virtually fenced region, like the new or unique region. Whereas a guidance command may control the stimulus device to guide an animal, for example to a unique region, with only vibration, or no stimulus at all. The guidance command in one example may be one of many types of guidance commands. For example, the guidance command may be an active or passive guidance command. An active guidance command will apply stimulus to an animal to actively guide it to a region, for example by applying stimulus should the animal not satisfy a heading threshold. Active commands are good if animals are already calm, and know where they are going, or are going to where others in their mob already are. A passive guidance command may be not applying any stimulus to the animal when the heading criterion is not satisfied - in essence, the passive guidance command just allows the animal to cross over a previously existing virtual fence or boundary. The passive guidance command may in one example, apply vibration should the controller determine the heading criterion is satisfied, so in operation the animal is gently ensured they are facing the right direction, and may want to continue heading or moving in said direction. Passive guidance is preferably used when shifting animals from the current to a unique region.

[0126] In one example, should the user create a second new region, a second condition, and

[0127] Modes and VF In one embodiment, the controller is configured to operate in a mode selected from: a first mode where the controller operates the at least one stimulus device to retain the animal in the current area 810; a second mode where the controller operates the at least one stimulus device to guide the animal to the target perimeter; and a third mode where the controller operates the at least one stimulus device to retain the animal in the target perimeter. For example, in operation this resembles the animal device either retaining the animal in the current perimeter, shifting the animal to the unique perimeter, and once within the unique perimeter, retaining the animal in the unique perimeter or new perimeter. Each mode requires applying different stimuli to the animal.

[0128] Only within the second mode, where the controller operates the at least one stimulus device to guide the animal from the current area 810 to the target area 820, does the controller determine if the heading criterion is satisfied or not.

[0129] The controller is configured to receive information regarding which mode to be in from a user. For example, the user may schedule or trigger a shift of the animal to the target location. Upon the required time to shift, the controller is configured to operate in the second mode. Prior to this, the controller in one embodiment, will be in the first mode. Once the device location is detected as being within the target area, the controller automatically sets itself to the third mode.

[0130] Data

[0131] In one embodiment, the current location data and target location data comprises data defining one or more of: an area, a perimeter, and vertices of a perimeter. The data may be geographical coordinates, geo indices, references to prior encoded paddock boundaries / areas etc.

[0132] In one embodiment, the controller is configured to receive a time, entered by the user via a user interface to a user device, at which the controller is configured to operate the at least one stimulus device to guide the animal from the current perimeter to the target perimeter.

[0133] The heading of an animal, like a cow, is the direction it is facing. For example, the heading may be described as a notional heading line along the median plane of a cow in the cranial direction. Or a notional heading line laying on the heading of the animal. The median plane is a vertical plane that divides the body into left and right halves. It passes through the midline of the body. The cranial direction refers to the front of the animal. So, if considering the median plane in the cranial direction, the heading is looking at a notional line running vertically along the midline from the back to the front of the cow. The heading of the cow would then be determined by the orientation of this notional line. If the cow is facing straight ahead, parallel to this line, its heading is in the cranial direction along the median plane. If the cow turns to the left or right, the heading changes accordingly. The location of the device 400, and hence animal will locate the heading in 2D space.

[0134] In a first embodiment the criterion for the controller to operate the first stimulus is the heading from the location of the wearable device intersecting with any portion of the perimeter of the target perimeter 821 . To determine this criterion, the controller is configured to receive both the location and the heading of the device 400 from the sensor package 440. A person skilled in the art will be able to program the controller with one of multiple methods for the controller to determine if the heading, or notional heading line, extending along the heading, will intersect with the target area, or target perimeter. Such methods may include ray-casting algorithms, point-in-polygon algorithms, vector operations (which represent the perimeter edges and the heading vector as mathematical vectors, and use vector operations such as dot product and cross product to determine the angle between the heading vector and the perimeter edges), trigonometry, etc.

[0135] Pair of Points In an alternative embodiment the controller is configured to determine if the heading satisfies a heading criterion, wherein the criterion is satisfied if the heading is determined by the controller to be one selected of: extending between a pair of points selected from a plurality of vertices forming the target location 820, and a pair of points 850 located at intersections of the current perimeter and the target perimeter. As per the above embodiments, the controller is configured to operate the at least one stimulus device dependent on satisfaction of the criterion. In the present embodiment, the controller has selected a pair of points of which between the points and the device location form a heading threshold.

[0136] Figure 6 shows a schematic of an embodiment where the device (also animal) has a heading 11 which satisfies the heading criterion. In one embodiment, the controller is configured to select a vertice pair from a plurality of vertices forming at least part of the target perimeter, the vertice pair satisfying one selected from the following conditions: the vertice pair with the greatest distance between them compared to other pairs of vertices; the vertice pair with a combined distance furthest from the location compared to other pairs of vertices; and the vertice pair with a combined distance closest to the location compared to other pairs of vertices.

[0137] Alternatively, instead of the heading criterion being satisfied by a) hitting the target area, or b) extending between the pair or points, it may be satisfied by c) intersecting a notional line (not shown) extending between the pair of points. Notional line 823 may also be used for the determination that the device is in the target area, only if the device has crossed the notional line, this may be useful where the current area extends into the target area.

[0138] In a further embodiment, the controller may be configured to select the method of guidance, either a) hitting the target area, or b) extending between the pair or points. The selection may be based on nearest target, or the widest heading tolerance to be able to still intersect the target area, etc.

[0139] One outcome of the embodiment is the calm and relaxed manner in which the device 400 may guide an animal towards the target area, preferably with lower power usage. Low power usage comes through not applying many stimuli, and when applying stimuli, applying low power use stimuli such as a relatively low powered sound. The calm and relaxed manner of the cattle may be from the second stimulus not being present, or being less aversive, than the first stimulus. Where the second stimulus is used when the animal is not facing the target area, and as such able to act in a relaxed manner without pressure. When the animal is facing the target area, a low powered stimulus may be utilised to encourage the animal to keep heading towards the target area 820. In other embodiments, the first stimulus is no stimulus or a very low intensity stimulus and the second stimulus is more intense. However this may have the downside of panicking the animal. Furthermore, using a first stimulus such as a low intensity sound uses minimal power draw from a potentially power constrained device, such as the device 400. Compared to for example, a low vibration stimulus application which may have a higher power draw than sound. Further, continual processing power and stimulus applied for directional guidance (stimulus applied to turn an animal left or right) to stay on a desired heading line are higher than stimulus which are applied when a heading criterion is satisfied, i.e correct heading or not correct heading. Further, directional guidance whilst staying with a narrower heading threshold may use more power than for example, a heading which intersects with a target area, which in most applications will be a larger heading target than a predefined heading threshold.

[0140] COLLAR

[0141] In some examples, the wearable device comprises animal guidance components as are detailed elsewhere in this specification. The guidance components are fundamentally operable to receive guidance commands, and based on those commands, enable, adjust, or disable the operation of one or more stimulus output components, such as the stimulus device 460, at one or more intensity levels to guide animals according to the guidance command. For example, to apply a sound through speakers 461 if the animal leaves the heading threshold.

[0142] The collar may comprise one or more speakers, and preferably two speakers, each speaker configured to apply a sound to each left and right ear of an animal. The speakers may be described as directional speakers, as they are able to provide a directional sound to the left or right of an animal. A directional speaker may comprise only one speaker that is able to apply directional sound. The controller is further configured to apply a first stimulus being a sound if the position data indicates the heading is outside the heading threshold. Where the controller in one example is configured to send a control command to instruct the stimulus device to output a stimulus, such as a sound. To directionally control the animal, to for example, guide the animal back inside the heading threshold, the controller is further configured to apply the first stimulus via the stimulus device to a side of the animal angled furthest from the target heading. The animal tends to move away from the stimulus, and as such a stimulus applied to be felt by the left side of the animal will tend to guide an animal to head towards the right.

[0143] In some examples, the stimulus, such as the sound, vibration or shock, is configured to increase or decrease the intensity with respect to (proportional, or dependent with) one or more of heading, time outside the heading threshold, and distance to the target location. The intensity may be one or more selected from changing the volume, frequency, duty cycle, pitch etc.

[0144] In one example, the controller is configured to apply a third stimulus via the stimulus device, such as a vibration if the position data indicates the animal heading is inside of the heading threshold, and optionally is above or below an animal speed. The vibration may be used as a means to encourage the animal to stay within the heading threshold, to keep moving above a predefined speed, or to encourage the animal to move faster.

[0145] In one example, the controller is configured to apply a third stimulus (vibration) if the position data indicates the animal heading is inside of the heading threshold, and the position data which also indicates speed, indicates the animal speed is below a speed threshold. The animal speed threshold is one selected from a range of speeds between 100 and 500 millimetres per second, preferably around 255 millimetres per second. In one example, the controller is configured to determine the speed threshold by taking into account the historical animal characteristics based on their recorded position data, such as average walking speed, or the rate of decrease which leads to the most efficient movement to the target location. In other examples, the speed threshold is predefined by a user.

[0146] In an example of a preferred example, there may be two speakers, the first speaker may be on the lefthand side and is adapted to be positioned more proximal to the left ear of the animal and a second speaker may be on the right-hand side and is adapted to be positioned more proximal the right ear of the animal. Both speakers may be capable of transmitting sound independently and in concert with the other. Instead of having speakers on two sides, it may be possible that the collar (300) only comprises a speaker on one side, or in the centre position of the collar (300).

[0147] In this example of a preferred example, there are two vibrators, the first vibrator is on the left-hand side and a second vibrator is on the right-hand side. Both vibrators are capable of vibrating independently and in concert with the other. Instead of having vibrators on two sides, it may be possible that the collar (300) only comprises vibrator on one side, or in the centre position of the collar (300).

[0148] There may be electrode(s) able to contact the neck of the animal if the collar is secured around the neck of the animal to provide an electrical current or shock to the animal. The first electrode may be on the left-hand side and the second electrode may be on the right-hand side. Both electrodes are capable of providing an electrical current or shock to the animal independently and in concert with the other. Instead of having electrodes on two sides, it may be possible that the collar only comprises electrode(s) on one side, or in the centre position of the collar.

[0149] In one embodiment, the collar comprises either speaker(s), vibrator(s) or electrode(s). It may also be possible that the collar comprises either speakers) and vibrator(s), or speakers) and electrode(s), or vibrator(s) and electrode(s).

[0150] The first stimulus may be in the form of a sound that is varied in intensity, volume and / or frequency, and / or the vibration that is varied in form of strength and / or frequency. In some embodiments, the first stimulus comprises a pattern of various stimuli. For example, the volume and / or frequency of the sound and / or strength and / or frequency of the vibration may be lower initially and gradually begin to increase. The increase in intensity may be based on the urgency in which a response from the animal is desired. If the animal is getting further away from the heading threshold, the sound and / or shock intensity may be higher than if the animal was closer to the heading threshold.

[0151] The stimulus intensity may be determined by applying sound intensity (SI) between 0% to 100% using the equation SL= PiX + |32a + p3t where, Pi, p2and p3are gains (distance gain, heading gain, and time gain, respectively) which are tuned or adjusted per cow, x is the distance to the target location, t is the elapsed time since the animal has left the zone, or left the heading threshold, a is the delta heading from the target heading,

[0152] If Sl= 1 , then a further stimulus may be applied. Any one of the gains may be removed or added depending on the use case. For example SL= p2a + p3t, SL= PiX + p3t , and SL= PiX + p2a. Or merely guiding the animal based on one or more of x, t, and a.

[0153] In one example, the controller is configured to apply a second stimulus, such as a shock, if the intensity of the first stimulus reaches a predefined maximum or threshold intensity, e.g Sl=1

[0154] In order to receive commands, the wearable device is in communication with one or more other devices including other devices in the group and / or a central hub such as a backend server described elsewhere in this specification. The most practical channel of communication is by wireless methods as described elsewhere in this specification. Therefore, in some examples, the system comprises a wireless mesh comprising a wireless transceiver component in a central hub and / or a wireless transceiver component in each device in the group of wearable devices such that the device is configured to transmit to and receive data from devices in the group of devices and / or the central hub.

[0155] To coordinate the transmission of guidance commands to one or more wearable devices the controller 470 is operable to receive and process data, and make control determinations for provision to one or more of the wearable devices. Implementation of the controller is discussed elsewhere in this specification, however, it should be noted that the controller comprises a processor, or multiple processors, and any function of the controller may be implemented on one or more of the processors. For example, each wearable device would have a processor, and the central hub has a processor. The controller may be implemented by one of these processors, or a combination of these processes in order to implement the features of the invention.

[0156] The controller is, therefore, one of a component of the central hub, is one or more of the wearable devices in the group of wearable devices, and / or is a distributed controller comprising one or more components of the one or more of the wearable devices in the group of wearable devices and / or a distributed controller comprising components of the one or more of the wearable devices and the central hub. Figure 2 shows a diagram of information flow between hardware components of the system 1000. As discussed, the controller comprises any one or more controllers of the system including those of the back end 500 and the device 400.

[0157] In some examples, the controller is further configured to communicate guidance commands to each wearable device in the group of wearable devices operable to enable, adjust or disable one or more stimulus output components. For example, where it is determined that further stimulus applications to an animal may be detrimental to desired guidance control, the stimulus output may be disabled. It should be noted that in such circumstances, the wearable device would ordinarily be outputting one or more stimulus types based on predetermined guidance criteria as is discussed in detail elsewhere. A control determination to adjust or disable the stimulus output is to be understood as a control with a higher status in a hierarchy of controls, therefore overriding any existing control. In some examples, adjusting the stimulus output comprises changing the intensity of a stimulus type, or changing the stimulus type to one or more other stimuli deemed to be of lesser persuasion in a guidance context.

[0158] The wearable device 400 utilises technology by the company HALTER® and is further described in patent publications WO2019180624 and WO2019180623. The HALTER® technology is capable of restraining an animal in a paddock defined by a virtual boundary, as well as being able to shift the animal from one location to another such as from a paddock to a milking shed. The wearable device 400 achieves this via administering audible signals to the left and / or right ears of the animal 10, and / or in combination with administering vibration and / or electrical stimulus to the animal 10, directionally or otherwise. The wearable device 400 utilises electronics and / or software to control stimuli using control actions, as well as to communicate externally - such as to receive target locations, predefined variables such as heading thresholds etc.

[0159] The herein described animal guidance functions are provided by a control system which may herein be referred to as operations of a controller, which in some examples may be the same controller 470 and / or controller 530. The controller is implemented by one or more computing devices which form the architecture of a system configured to perform desired functions. Reference to “controller” may refer to one or more electronic devices that are configured to directly or indirectly communicate with, or over, one or more networks. A computing device may be a mobile device. As an example, a mobile device may include a smart wearable device such as a wearable animal collar (or “collar”), a cellular phone, IOT capable device, a smartphone, a portable computer, such as watches, glasses, lenses, clothing, and / or the like, and / or other like devices. In other non-limiting examples, the computing device may be a desktop computer or other non-mobile computer. Furthermore, the term “computer” may refer to any computing device that includes the necessary components to receive, process, and output data, and normally includes a display, a processor, a memory, an input device, and a network interface.

[0160] Any or a selection of computing devices is configured to communicate with any other computing device as desired, where the terms "communication" and "communicate" may refer to the reception, receipt, transmission, transfer, provision, and / or the like of information, such as data, signals, messages, instructions, commands, and / or the like. For one controller, such as a device, a system, a component of a device or system, combinations thereof, and / or the like to be in communication with another controller means that the one controller is able to directly or indirectly receive information from and / or transmit information to the other controller. This may refer to a direct or indirect connection that is wired and / or wireless in nature. Additionally, two controllers may be in communication with each other even though the information transmitted may be modified, processed, relayed, and / or routed between the first and second controller. For example, a first controller may be in communication with a second controller even though the first unit passively receives information and does not actively transmit information to the second unit. As another example, a first controller may be in communication with a second controller and at least one intermediary controller, where a third controller is located between the first controller and the second controller, processes information received from the first controller and communicates the processed information to the second controller. In some non-limiting examples, data or information may refer to a network packet such as a data packet, and / or the like that includes data. It will be appreciated that numerous other arrangements are possible.

[0161] Further, in some examples, there is a central or master controller which may be referred to as a server, or generally as ‘the controller’. The term server or controller may refer to or include one or more processors or computing devices, storage devices, or similar computer arrangements that are operated by or facilitate communication and processing for multiple parties in a network environment, although it will be appreciated that communication may be facilitated over one or more public or private network environments and that various other arrangements are possible. Further, multiple computers such as servers or other computerised devices, directly or indirectly communicating in the network environment may constitute the controller such as a computing device configured for central service control.

[0162] Reference to “a server” or “a processor,” as used herein, may refer to a previously-recited server and / or processor that is recited as performing a previous step or function, a different server and / or processor, and / or a combination of servers and / or processors, and refer to general implementations of processors which form the functional elements of the controller. For example, a first server and / or a first processor that is recited as performing a first step or function may refer to the same or different server and / or a processor recited as performing a second step or function. Further, reference to a server or processor may refer to a group of servers or a group of processors, each configured to perform a task. Such tasks may include processes or algorithms which are undertaken by one or more servers of processors. Tasks undertaken by any one or more processors, such as by an on-collar and / or off-collar processor, are therefore to be understood as tasks undertaken collectively by the controller or control system.

[0163] Examples of this disclosure include reference to cloud computing, and implementation of the teachings recited herein are not limited to a cloud computing environment. Rather, examples of the invention are capable of being implemented in conjunction with any other type of computing environment now known or later developed. Cloud computing is a model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g. networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. Some examples are private clouds where the cloud infrastructure is operated solely for an organisation. Other examples are community clouds, where cloud infrastructure is shared by several organisations and supports a specific community that has shared concerns such as security requirements, policy, or compliance considerations. The community cloud may be managed by the organisations or a third party and may exist on-premises or off-premises. In some examples, a public cloud infrastructure is made available to the general public or a large industry group and is owned by an organisation selling cloud services. A cloud computing environment is service-oriented with a focus on statelessness, low coupling, modularity, and semantic interoperability. At the heart of cloud computing is an infrastructure comprising a network of interconnected devices. The cloud computing models may be managed by the organisation or a third party and may exist on-premises or off-premises. One applicable implementation model for the present disclosure is by Software as a Service (SaaS). SaaS is the capability provided to the consumer to use the provider's applications running on a cloud infrastructure. The applications are accessible from various client devices through a client interface such as a web browser. The consumer does not typically manage or control the underlying cloud infrastructure including network, servers, operating systems, storage, or even individual application capabilities.

[0164] Non-limiting examples or aspects of the invention are directed to a method and system for controlling functions of a wearable animal collar which are operable to direct an animal to a target location. Accordingly, some examples relate to an animal guidance system operable to guide the animal to a target location through the use of a variable forward angle heading threshold.

[0165] Control infrastructure

[0166] Figure 1 is one example of a general communication system infrastructure diagram incorporating the features of the invention in an example where a device 400 in a field is being monitored and optionally controlled. In this specification, geographical control of sensors or animals is performed with a device 400 or wearable device 400. In one example, the wearable device 400 further operates to output stimuli that operate to guide an animal. Guidance of an animal is conducted with animal guidance information, and such information may include geographical boundary information, geographical target information and control operations, including stimuli output, which elicits movement of an animal to the target location, and many other animal guidance controls.

[0167] In this relatively simple example, a user 202 tracks the position of a cow 10 within a particular portion of the field and if deemed necessary or desirable, outputs guidance information that may cause the application of a desired form of stimulus to the cow to elicit thereby a behavioural response from the animal, such as guiding the animal to a new location.

[0168] The user 202 may use a software application (such as a mobile app) on mobile device 201 or PC, which includes, or can receive data from the internet. This software application, as well as any processors or server utilities in communication with the mobile device or PC, may be referred to as the “backend” 500. Again, the backend 500 may be anything that communicates with the device 400, that is not on the device end. However, in most applications, the backend represents a computing device that is immobile. A server and / or the PC 520 and / or the person’s 202 user device 201 may, in some examples, be referred to as a first or primary transmission device operating a first transmission protocol to communicate with the wearable device 400.

[0169] The wearable device 400 can send and receive data from local wireless data transmission devices (embodied as a tower or base station 620). The base stations 20 are configured to send and receive wireless communications, and in some cases, function as a transmitter. The base stations 20 can send and receive information to cell towers 630 or satellites 640 to the internet to store data stored on a remote server, such as cloud server 510 - for example a backend 500, or a local hub 650. One preferred form of base station 620 is a spread spectrum low-frequency RF transmitter. For example, as part of a LoRa transmission protocol system as will be explained with reference to a preferred example below. The LoRa system may utilise the local hub 650 to communicate with the internet or cell.

[0170] The wearable device 400 is capable of detecting signals originating from one or more of GPS satellites 610, base stations 20 of the first communication protocol, short-range communications devices as discussed further below, and one or more cell towers 630, user devices 201 including short-range communication signals such as Bluetooth.

[0171] By connecting with the Internet 640 via WiFi, Bluetooth, or cellular transmissions such as 3G, 4G, LTE and others, the software application may access the data stored on the remote server, such as cloud server 510. The data contained in the cloud server 510 can also be accessed by a processor of a computing device, such as a PC 520, via a connection through the Internet 640.

[0172] The PC 520 or a user device (such as mobile device 201) comprises a user interface and / or server, and for some examples, is configured to perform a control action on the basis of a control command. Preferably, the processors of the control system are operatively connected to or are part of a user device such as a smartphone, PDA, PC, laptop or any other suitable user device. The device 400 may communicate directly with the front end 200 or via the backend 500 to the front end.

[0173] The user 202 may monitor the result of the comparison performed by a processor that is either part of, or is operatively connected to the device 400, on a screen of the mobile device 201 , and depending upon the result of the comparison, the user 202 may send an appropriate control command including animal guidance information or any variable relating to the performance of the device controller / processor. The control command may then be received by the device processor which will then determine, according to the control command received, whether a control action is required. If the collar processor determines from a control command that no stimulus is to be applied to the animal 10, then no control signal will be transmitted or sent to the stimulus device of the collar 400. However, if the controller determines from a control command that a stimulus (such as a sound and / or vibration and / or an electric shock) is to be applied to the animal 10, then a control signal will be sent to the stimulus device to administer the appropriate stimulus to the animal 10.

[0174] In one example, the device 400 comprises a sensor package 440. The sensor package comprises a position sensing system, or interface with a position sensing system that acts to locate animals and locations of interest within a consistent geographical frame of reference. The position sensing system operates to provide animal position data. The position sensing system further operates to provide a reference to any one or more locations. The position sensing system further operates to provide a relative frame of reference to the animal position data and the one or more locations. Preferably, the position sensing system comprises at least a movement sensor 441 (such as an IMU) and location sensor 442 (such as GPS). In one example, the position data comprises data derived from an animal location sensor and / or an animal position sensor, and the position data comprises one or more of animal location data, the animal’s position, animal’s location, animal heading data, animal speed data, and animal angular position data.

[0175] In preferred examples, the controller 470 is configured to receive or determine location information as described above, including the one or more locations of interest. The location information may be in the form of coordinate data. In some examples, the position sensing system is a local positioning system (LPS) or GPS. Each of the local or global positioning systems include one or more transmitter components that output location reference data, and a receiver component that receives the location reference data and determines a location of the receiver component relative to the reference data. For example, LPS transmitters may include one or more beacons such as cellular base stations, Wi-Fi access points, and radio broadcast towers to compute the position of the receiver / sensor.

[0176] Locating position information of an object with a GPS position sensor is previously known in the art and calculation of a position is performed by precisely timing the signals sent by GPS satellites high above the Earth. Each satellite may continually transmit messages that may include the time the message was transmitted, precise orbital information (the ephemeris), the general system health, and rough orbits of all GPS satellites (the almanac). The GPS sensor / receiver may use the messages it receives to determine the transit time of each message and compute the distance to each satellite. These distances along with the satellite locations may be used with the possible aid of trilateration, depending on which algorithm is used, to compute the position of the receiver / sensor, and therefore the animal attached to the receiver / sensor.

[0177] In preferred examples, animal position data is derived from a positioning system receiver attached to a collar worn by an animal and is configured to communicate LPS or GPS data to the controller to thereby indicate the animal position data.

[0178] In some examples, the controller is configured to determine the location of each animal wearing a collar. In such examples, the controller is configured to receive position data from a position sensing receiver located on each collar. For a herd of animals, the controller may thereby determine the location of each animal wearing a collar which includes a position sensing receiver. In some examples, the controller is configured to receive position data pertaining to one or more locations of interest within the geographical frame of reference. In some examples, the controller is configured to determine if a control action is required based on a comparison of at least one received position with other position data. The position data may include longitude, latitude, altitude, and / or horizontal position or coordinate data pertaining to the animal or other locations of interest.

[0179] Collar Hardware

[0180] Figure 3 is an exemplary depiction of a wearable device (collar) 400 worn by a cow 10. In one example, the wearable device 400 is designed to be worn on the body of a user or animal and is equipped with straps 401 that enable it to be attached securely to various parts of the body such as the wrist, ankle, neck or waist. The device 400 in other examples is integrated, or is, a personal hand held device, tracker or the like. The device 400 is a housing for numerous electronic components which perform or assist operation functions. The collar 400 is a housing for numerous electronic components which perform or assist operation functions. The straps 401 provide secure attachment for the device, while the housing ensures its protection. Solar panels are incorporated to harness solar energy for charging. The Communication Package 410 includes a Receiver for receiving signals. The memory component 430 stores data and information. The Sensor Package 440 comprises of a Movement Sensor 441 and a Location Sensor 442 for monitoring physical activity and location. The power source / battery 450 supplies energy to the device. The stimulus device 460 incorporates speakers 461 , electrodes, and vibrators for delivering sensory stimuli. Finally, the device controller 470 manages and controls the overall functionality of the device.

[0181] The memory component 430 is configured to store at least one or more of current and / or historical: position data, target location, initial angle, first minimum angle, second minimum angle, maximum angle, animal heading, animal location, last set heading threshold angle, heading threshold, and stimulus intensity. In another example, additional memory may be located off the collar, for example in the backend 500. The device 400 is then configured to receive or data from the off device memory.

[0182] The wearable device comprises a receiver 415 to receive one or more selected from: data defining the target location, initial angle, first minimum angle, second minimum angle, maximum angle, and heading threshold. The receive 415 is part of a communication package 410.

[0183] Guidance information is operable to direct an animal to, or contain an animal within a desired location. Guidance information may also include information derived from sensors on the wearable device 400 which are then communicated to the controller 530 for application in further determinations. Guidance information or commands, may also include other data which may be communicated between the controller 530 and / or a wearable device 400, including control outputs which may direct particular operation of any one or more electronic devices of the wearable device, or changes to any software stored for execution on the wearable device.The guidance information may include the commands, messages, stimuli information, geographical target locations for the animals to be guided to, virtual fencing I hold in zone information defining a containment zone for an animal to be guided within, and / or pathway data indicating a path an animal is to be guided along. The guidance information may include or be based on animal data including animal activity of location data, historic animal location data, and future or desired animal location data. Any one or more of the depicted information devices may be communicated between the server and wearable device according to desired guidance functions of the system.

[0184] The wearable device may further comprise one or more antennae that operate to communicate radio signals to and from the device. A GPS antenna may also be integrated with the antennae of any one or more of the communications devices. For example, the antennae may comprise separate elements tuned for particular radio communication frequencies, or may have broadband or multiband elements such as combining GPS receiver with wireless network communication into a single package, and or for short-range communications.

[0185] Power for the electronic devices of the wearable device 400 is provided by a battery, preferably rechargeable. The battery is typically supported by a charging circuit and renewable energy source such as a solar panel. Particular operations to mitigate power consumption are discussed further below.

[0186] Preferably the battery is rechargeable. Preferably the recharging power is provided by a solar or wireless power transfer device. However, in some examples, the battery is intended to be recharged by removal of the collar from the animal and connected to a source of charging power.

[0187] In preferred forms, the Communication Package 410 comprises a communications device or is a radio transceiver or uses a radio signal in order to report the status of the device (status data) and / or to update a new area perimeter, receive new instructions, receive commands, and / or other parameters such as the communication of other sensor data.

[0188] The communications device 410 is configured to communicate to at least the controller 530.

[0189] One communication protocol of the first communications device is a LoRa protocol. However, it is envisaged other long-range communication protocols may be used, such as LpWAN, WiFi, WiMAX, SigFox, LTE-M, DASH7, IEEE 802.11 ah, CC430, NB-lot etc.

[0190] In one example, LoRa (from "long-range") is the physical proprietary radio modulation technique used for communication between a locally situated communications tower 620 and the devices 400. LoRa is based on spread-spectrum modulation techniques derived from chirp spread spectrum (CSS) technology. LoRa was developed by Cycleo (patent US9647718) and later acquired by Semtech.

[0191] LoRaWAN defines the software communication protocol and system architecture. LoRaWAN is a media access control (MAC) protocol for wide area networks. It is designed to allow low-powered devices to communicate with Internet-connected applications over long-range wireless connections. The continued development of the LoRaWAN protocol is managed by the open, non-profit LoRa Alliance, of which SemTech is a founding member.

[0192] The LoRaWAN network uses a centralised entity, called a gateway or transceiver. LoRaWAN is based on a single-hop star topology. Where the gateway sends information packets to one or more devices. In one example of this, the devices are smart wearable devices carried by animals.

[0193] Internet of Things use cases, such as; smart cities, smart farms, agriculture, forestry, wildlife tracking etc often require spanning large areas. Sometimes tens, to hundreds, to thousands, of sensor devices are deployed to support such use cases.

[0194] An loT use case typically comprises severely resource-constrained devices - such as the device 400. Whereas the device 400 is constrained by power constraints, as it relies on solar power and a lightweight battery. Due to the power constraints, other established long-range technologies are not usable. LoRa offers long coverage, and reliability and can be used at very low power.

[0195] LoRaWAN is built as a star-of-stars topology, where the devices located in the defined area are able to send packets (data, information) to a gateway 22 which is then responsible for forwarding those packages to the backend.

[0196] A front-end device (FEM) can be utilised between the transceiver of the long-range communications device and the antenna to efficiently optimise both the transmission range and receiver sensitivity. A FEM integrates transmit power amplification, receive low noise amplification, antenna switching between the transmit and receive paths, and the required matching and filtering.

[0197] In one example, the device 400 comprises an 860 to 930 MHz RF Front-End device from Skyworks. In particular, the device 400 comprises a SKY66420-11 . The SKY66420-11 is a high-performance, highly integrated RF front-end device designed for LPWAN - supporting LoRa®, SigFox and other unlicensed band technologies

[0198] Where in the foregoing description reference has been made to elements or integers having known equivalents, then such equivalents are included as if they were individually set forth.

[0199] Although the invention has been described by way of example and with reference to particular examples, it is to be understood that modifications and / or improvements may be made without departing from the scope or spirit of the invention.

Claims

Claims1) A system for guiding one or more animals to a region and containing them within a region, comprising one or more wearable devices and a controller:• wherein each wearable device is configured to be worn by an animal, each device comprising: a position sensor configured to report a location of the wearable device; a communication package configured to receive data defining a region; and a stimulus device configured to output guidance and containment commands to the animal; and• wherein the controller is configured to: a. receive a current region and the location of the wearable device; b. operate the stimulus device based on the location to guide the animal to, or contain the animal within, the current region; c. receive a new region via the communication package; d. define a unique region based on the new region and excluding any overlap with the current region; e. control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region; f. control the stimulus device to operate the containment command when the position sensor reports the location is within the unique region to, in operation, contain the animal within the unique region; g. determine a population criterion based on a determined number of wearable devices located within the unique region; h. based on the population criterion, operate the stimulus device to stop applying the current command to the animal; andI. operate the stimulus device to operate the containment command to, in operation, contain the animal within the new region.2) The system as claimed in claim 1 , wherein each wearable device comprises a communication package configured to communicate with one or more of: a backend; a user device comprising an interface; the backend via an intermediary communication system; and the user device via the intermediary communication system.3) The system as claimed in claim 2, wherein the current region, new region, and / or unique region are received from one or more selected from the backend, and user device.4) The system as claimed in any one of claims 1 to 3, wherein the stimulus device is configured to operate guidance and containment commands based on selective operation of one or more of a speaker, directional speakers configured to apply sound to the left and right of the animal, a vibrator configured to apply vibration to be felt by the animal, and electrodes configured to apply shock to be felt by the animal.5) The system as claimed in any one of claims 1 to 4, wherein the position sensor further configured to sense a heading of the wearable device and hence the animal, and control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region is based on the sensed heading.6) The system as claimed in any one of claims 1 to 5, wherein the controller is configured to determine a target heading extending from the wearable device and intersecting the unique region or a location inside the unique region, and control the stimulus device to operate the guidance command to, in operation, guide the animal to the unique region based on the target heading.7) The system as claimed in any one of the preceding claims, wherein the controller is configured to determine a satisfied heading criterion based on a determination that a heading is between one or more of: a) an angle extending either side of the target heading, b) a pair of points selected from a plurality of vertices forming at least part of the unique region, and c) a pair of points located at intersections of the unique region and the current region; and control the stimulus device to output a sound at an intensity.8) The system as claimed in claim 7, wherein-the controller is configured to apply a passive guidance command comprising a selection of one of: a) a vibration stimulus when heading criterion is satisfied; and b) no stimulus when heading criterion is not satisfied.9) The system as claimed in claim 7, wherein-the controller is configured to operate the stimulus device to apply an active guidance command selected from: a) a sound stimulus when a speed of the device as sensed by the position sensor, or determined by the controller from locations sensed by the position sensor, is below a predetermined speed threshold; and b) a sound having a sound intensity when heading criterion is not satisfied.10) The system as claimed in claim 7, wherein the controller is configured to increase sound intensity based on; one or more of distance to the region, elapsed time the heading criterion is not satisfied, and a difference in heading to the target heading, until a threshold intensity is met; and apply a shock once the sound intensity reaches a threshold.11) The system as claimed in above preceding claim, wherein the controller is further configured to control the stimulus device to increase a sound intensity based on one or more of: an increasing distance to the unique region, an elapsed time the heading criterion is not satisfied, an increasing difference in heading to the target heading, wherein the sound intensity comprises a threshold, and the controller is further configured to control the stimulus device to output a shock once the threshold is met.12) The system as claimed in any one of the preceding claims, wherein the controller is further configured to: virtually fence the wearable devices within the new region; based on a determination that the unique region has an area less than a predefined area threshold for the number of wearable devices to be guided to.13) The system as claimed in any one of the preceding claims, wherein the population criterion comprises one or more of: a) a predefined percent of wearable devices forming the one or more wearable devices have locations within the unique region; b) a predefined number of wearable devices have locations within the unique region; and c) a predefined time one or more, or a percentage of, wearable devices have a location within the unique region has elapsed.14) The system as claimed in any one of the preceding claims, wherein the controller is further configured to: a) determine a most recent virtually fenced area for animals to be virtually fenced within or guided to; b) determine if the location of a wearable device is outside of the most recent virtually fenced area, and based on the determinations of (a) and (b): guide the animal via said wearable device from their current location to the most recent virtually fenced area.15) The system as claimed in claim 9, wherein the controller is configured to a) determine a second population criterion based on a determined number of wearable devices located within the unique region, the second population criterion being less than the population criterion, b) based on the second population criterion being satisfied, operate the stimulus device to apply the active guidance command stimulus via the stimulus device to, in operation, guide animal in the current region to the unique region.16) A method for guiding one or more animals to a region and containing them within a region comprising the steps of: a) providing one or more wearable devices, wherein each wearable device is configured to be worn by an animal, each device comprising:I) a position sensor configured to report a location and heading of the wearable device; ii) a communication package configured to receive data defining a region; and ill) a stimulus device configured to output guidance and containment commands to the animal; and b) providing a controller in electronic communication with the position sensor; communication package and stimulus device, and operating the controller to execute the steps of: c) receiving the containment command of the current region and the location of a wearable device of the one or more wearable devices; d) operating the stimulus device of the wearable device based on the location to guide the animal to, or contain the animal within, the current region; e) receiving a new region via the communication package; f) defining by the controller a unique region based on the new region and excluding any overlap with the current region; g) controlling the stimulus device to stop the containment command of the current region and operate the guidance command to, in operation, guide, or allow the animal to shift to, the unique region;h) controlling the stimulus device to operate the containment command for the unique region when the position sensor reports the location is within the unique region to, in operation, contain the animal within the unique region; i) determining a population criterion based on a determined number of wearable devices located within the unique region; j) operating the stimulus device to stop applying the current containment command for the unique region to the animal based on the population criterion being met; and k) operating the stimulus device to operate the containment command for the new region to in operation contain the animal within the new region.17) The method as claimed in claim 16, wherein the method comprises the step of controlling the stimulus device to output a containment command applying sound when the location of the device gets near to, crosses, and / or leaves the region perimeter of the containment command.18) The method as claimed in claim 16, wherein the guidance command is one selected from an active or passive command, the a) passive command comprising at least one selected from: i) a vibration stimulus when the heading heads towards the region of the guidance command; and ii) no stimulus when the heading does not head towards the region of the guidance command; and an b) active command comprising at least one selected from: i) a sound or vibration stimulus when a speed of the device as sensed by the position sensor, or determined by the controller from locations sensed by the position sensor, is below a predetermined speed threshold; and ii) a sound having a sound intensity when heading criterion is not satisfied.19) The method as claimed in claim 18, wherein the method comprises the step of the controller selecting one of the active and the passive guidance command depending on a second population criterion relating to the number of wearable devices in the unique region, wherein the second population criterion is less than the population criterion.20) The method as claimed in claim 19, wherein the method comprises the step of the controller summing the number of the wearable devices of the one or more devices with a location within the unique area and comparing the number to the: a) population criterion, and if met, operating the containment command for the new region on the one or more wearable devices, b) second population criterion, and if met, outputting the guidance command with an active command to the unique region on the one or more wearable devices with a location in the current region.

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