System and method for preventing unfair stimulus application

Abstract

This invention relates to a system and method for managing wearable devices for animals, specifically for detecting and disabling these devices when they apply excessive or inappropriate stimuli. The devices are capable of applying stimuli to the animals for the purpose of guidance of an animals' location or behaviour based on a command. However, there are problems with the use of such devices, as they can malfunction or be misused, leading to harm or distress to the animals. To address this issue, one example of the invention provides a system and method for detecting when a number of wearable devices have exceeded a predetermined threshold of stimulus application. If detected the system pauses the command on all devices in the group, thereby preventing any further stimuli to any animal. This improves animal welfare and promotes ethical treatment of animals.

Description

[0001] SYSTEM AND METHOD FOR PREVENTING UNFAIR STIMULUS APPLICATION

[0002] The present invention relates to a system and method for preventing wearable devices configured to virtually fence and shift animals from applying unfair stimuli to animals, and more particularly, a system and method to determine stimuli applied to a few animals in a group and update the stimulus application of all wearable devices in the group.

[0003] BACKGROUND OF THE INVENTION

[0004] The present invention relates to a system, a method and a computer program product for detecting and disabling wearable devices for a group of animals.

[0005] Wearable devices for animals are known in the art. Such devices may be used for various purposes, such as virtual fencing, shifting, training, tracking, monitoring, or controlling the behaviour of animals. For example, some devices may apply stimuli, such as electric shocks, vibrations, sounds, or lights, to the animals in response to certain commands or conditions. The stimuli may be intended to reinforce, encourage, or discourage certain behaviours of the animals.

[0006] However, there are some problems associated with the use of such devices. For example, some devices may malfunction or be misused, resulting in unfair stimuli being applied to the animals. This may cause confusion, distress, or harm to the animals.

[0007] Therefore, there is a need for an improved system, a method and a computer program product for improving stimulus application to a group of animals that can overcome or mitigate the above-mentioned problems.

[0008] OBJECT OF THE INVENTION

[0009] It is an object of the present invention to provide a system 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 sending guidance commands and disabling wearable devices for a group of animals, comprising: a wireless transmitter for sending a command to a group of devices, each device comprising a stimulus device capable of stimulating animals to guide them according to the received command; a wireless receiver for receiving wireless information relating to the stimulus applied to each animal from each device from the group of devices; a controller configured to determine when a predetermined percentage of the group of devices has exceeded a predetermined threshold of stimulus applied to the animal; and pause the command on all devices in the group thereby preventing any further stimuli to any animal. In another aspect the invention broadly relates to a system for detecting and disabling wearable devices for a group of animals, comprising: a wearable device for each animal in the group, the device comprising a stimulus device adapted to apply a stimulus to the animal, where each device is configured to report information relating to stimulus applied to the animal; a detection device configured to detect when an amount of animals within the group have met a number of applied stimuli with a time period and / or within a location, and trigger an event; a disablement device configured to receive the event and disable any further stimulus from being applied.

[0012] In one embodiment, the disablement device sends a message to the devices to disable any further stimulus from being applied.

[0013] In another aspect the invention broadly relates to a method for detecting and preemptively disabling devices worn by a group of animals, the devices configured to receive a command configured to apply stimulus to the animals to guide the animals to a location, comprising: detecting when a predetermined percentage of devices within the group, which have received the same command, have applied more stimulus than a threshold; triggering an event in response to the detection; sending a message to disable the devices in the affected group of animals in response to the event, thereby preventing any further stimuli.

[0014] In another aspect the invention broadly relates to a computer program product for detecting and preemptively disabling devices for a group of animals having the same active command, comprising a computer-readable storage medium having computer-readable program code embodied therewith, the computer-readable program code comprising: program code for detecting when a predetermined percentage of animals within a group with the same active command are have reached a stimulus application threshold; program code for triggering an event in response to the detection; program code for sending a message to disable stimulus application by devices with said active command in response to the event.

[0015] In another aspect the invention broadly relates to a method of animal welfare protection for an animal guidance wearable device, the device adapted to receive a guidance command and guide animals, the method comprising the steps of: detecting an event where an over representation of the devices which received the command have applied over a threshold of stimuli during the command; sending a pause message to all devices which received the command so they no longer apply stimuli.

[0016] In another aspect the invention broadly relates to a wearable device to be worn by an animal, comprising: a stimulus device capable of stimulating the animal to guide them according to a command; a controller configured to determine how many stimulus the stimulus device has applied to the animal, receive stimulus information, from other like wearable devices with the same command, relating to how many stimulus the stimulus devices of the like wearable devices have applied to respective animals; determine when a predetermined number of the wearable devices with the same command has exceeded a predetermined threshold of stimulus applied to the animal; and disable the stimulus device. In one embodiment, the controller is housed within the wearable device.

[0017] In one embodiment, the controller is located remotely from, and communicates wirelessly with, the wearable device.

[0018] In one embodiment, the controller is configured to send a disable message to other wearable devices with the same command to disable their stimulus devices.

[0019] In one embodiment, the wearable device comprises one or more of; a transmitter to transmit one or more of; a disable message and stimulus information; a receiver to receive one or more of; a disable message and stimulus information; a power source to power the wearable device; and a position sensor to detect the location of the wearable device.

[0020] In another aspect the invention broadly relates to a computer program product for sending guidance commands and preemptively disabling wearable devices for a group of animals, comprising a computer-readable storage medium having computer-readable program code embodied therewith, the computer-readable program code comprising program code for: o sending a command to a group of devices; o receiving information of stimulus applied to each animal from each device from the group of devices; o determining when one or more the group of devices has exceeded a threshold of stimulus applied to the animals and triggering an event; o sending a message to pause or disable the command on all devices in the group of devices in response to the event, thereby preventing any further stimuli applied.

[0021] In another aspect the invention broadly relates to a system for welfare protection of a group of animals involved in a remotely guided shift command, the system comprising: a wearable device configured to be worn by each animal in the group; a detecting means for detecting an event in which group of animals have received in total over a predetermined threshold of stimuli; and a message sending means for transmitting a message to adjust the shift command so the stimuli level being applied to the entire group of animals is adjusted.

[0022] In one embodiment, if the entire group of animals has received on average, more than a predetermined amount of shocks.

[0023] In one embodiment, the predetermined amount of shocks is between 1 and 20.

[0024] In another aspect the invention broadly relates to a system for controlling the application of stimuli to an entire group of animals, each animal wearing a wearable device, based on the behaviour of a number of animals less than that of the amount of animals in the group, the system comprising a plurality of wearable devices, each device having a stimulus device capable of stimulating the animal to guide them, wherein the system is configured to determine the amount of stimuli the stimulus device has applied to the entire group of animals, and to adjust the stimuli intensity being applied to the entire group of animals when the number of animals has received a predetermined threshold of stimuli.

[0025] In one embodiment, the stimulus consists of one or more of: an electrical shock; a vibration; and a sound.

[0026] In one embodiment, the predetermined threshold of stimulus is based on the total number of times across the group of animals a stimulus has been applied. In one embodiment, to meet the predetermined threshold of stimulus, all stimulus used to reach the predetermined threshold are to be applied; within a predefined area, within a predefined distance from a point, or within a predefined proximity to a predefined number of devices in the group.

[0027] In one embodiment, the area or distance from a point is user defined about a geographical feature..

[0028] In one embodiment, the area is determined in metres squared..

[0029] In one embodiment, the proximity to each other is determined in metres.

[0030] In one embodiment, the area may be user defined about a geographical feature, such as a gateway.

[0031] In one embodiment, the stimulus level is adjusted by changing the power level of the stimulus device.

[0032] In one embodiment, the stimulus level is adjusted by changing the total energy delivered to the animal.

[0033] In one embodiment, the stimulus level is adjusted by changing the total number of stimuli applied to the animal.

[0034] In one embodiment, the predetermined amount of stimuli is predetermined by a user based on the specific needs of the group of animals.

[0035] In another aspect the invention broadly relates to a system for determining a lockout threshold, the system comprising: a wearable devices configured to be attached to an animal, each device comprising: o one or more stimulus output components operable to apply stimulus comprising: one or more types, one or more energy intensities; and o animal guidance components operable to receive or determine a command operable to enable, change or disable operation of one or more stimulus output components to guide animals based on the received or determined command; at least one controller configured to: o determine the applied stimulus data, wherein applied stimulus data comprises the number of lockouts implemented by the device over a time period, where lockouts implemented relates to the controller stopping any further stimulus being applied if a lockout threshold is met; o increase the lockout threshold by an amount if the number of lockouts is more than a predetermined acceptable number of lockouts; and o decrease the lockout threshold by an amount if the number of lockouts is less than a predetermined acceptable number of lockouts.

[0036] In one embodiment, the applied stimulus data comprises the number of stimuli applied by the one or more stimulus output components.

[0037] In one embodiment, the controller is configured to increase the lockout threshold to a number of stimuli equal to a maximum amount of stimuli applied by the device during the time period plus a predetermined amount of stimulus, when the number of lockouts data is less than an acceptable number of lockouts.

[0038] In one embodiment, the applied stimulus data comprises the maximum amount of stimuli given during a command.

[0039] In one embodiment, the maximum amount of stimuli given during a command is the number of shocks applied during a command.

[0040] In one embodiment, the amount of stimuli is a number or quantity of shocks applied to the animal. In one embodiment, the predetermined amount of stimuli is one shock.

[0041] In one embodiment, the controller is configured to check the lockout threshold is not under a lower limit.

[0042] In one embodiment, the lower limit is two shocks.

[0043] In one embodiment, the system comprises: a group of wearable devices for a group of animals, at least one controller configured to: o determine applied stimulus data from at least one device in the group of devices; o determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold; then o communicate a command, to the group or a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

[0044] In one embodiment, the threshold is the lockout threshold.

[0045] In one embodiment, the time period is one selected from a day, days, weeks, months, and hours.

[0046] In one embodiment, the controller is configured to count the number of commands guide animals sent during the time period; compare the count of the number of commands to a command number threshold; and if under the threshold not change the lockout threshold nor communicate the command to change or disable one or more stimulus output components.

[0047] In another aspect the invention broadly relates to a system comprising: a group of wearable devices for a group of animals, each device comprising: o one or more stimulus output components operable to apply stimulus comprising: one or more types, one or more energy intensities; o animal guidance components operable to: receive or determine a command operable to enable, change or disable operation of one or more stimulus output components to guide animals based on the received or determined command; at least one controller configured to: o determine applied stimulus data from at least one device in the group of devices; o determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold; then o communicate a command, to the group or a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

[0048] In one embodiment, the controller is further configured to: o determine applied stimulus data from at least one device in the group of devices; o determine the applied stimulus data has exceeded a threshold for the first subgroup of one or more wearable devices; o determine the first subgroup comprises at least a threshold amount of wearable devices; then o communicate a command, to the second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components. In one embodiment, the controller is further configured to: o determine applied stimulus data from at least one device in the group of devices; o determine the applied stimulus data has exceeded a threshold for a first subgroup of one or more wearable devices; o determine the first subgroup comprises at least a threshold amount of wearable devices; then o communicate a command, to all wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

[0049] In one embodiment, the threshold to determine the applied stimulus data has exceeded a threshold for a first subgroup of one or more wearable devices comprises a threshold unique to at least one or more wearable devices in the group.

[0050] In one embodiment, the applied stimulus data comprises one or more of: a quantity of output stimulus, a frequency of output stimulus, a type of output stimulus, a measure of output energy intensity over a time period, count of stimulus applied, a quantity of output stimulus comprising shocks applied, location of animal during stimulus application based on the animal guidance components comprising one or more sensors adapted to measure geoposition, time of stimulus application, and a measure of animal behaviour to elicit stimulus based on the animal guidance components.

[0051] In one embodiment, the applied stimulus data comprises historic data.

[0052] In one embodiment, the applied stimulus data comprises data over a fixed time period.

[0053] In one embodiment, the time period

[0054] In one embodiment, the threshold amount of wearable devices comprises one or more of: a quantity of wearable devices in the group of wearable devices, a ratio of wearable devices in the group of wearable devices.

[0055] In one embodiment, the ratio of wearable devices comprises between 1 % and 99% of the group.

[0056] In one embodiment, the system further comprises a wireless mesh comprising: a wireless transceiver component in a central hub; a wireless transceiver component in each device in the group of wearable devices and configured to transmit to and receive data from devices in the group of devices and / or the central hub; wherein the controller: is 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 a component of both the central hub and one or more of the wearable devices in the group of wearable devices.

[0057] In one embodiment, the wireless transceiver components are adapted to communicate by one or more of multicast; LoRa, Bluetooth, WiFi, Cellular, and / or Zigbee. In one embodiment, the stimulus output components comprise one or more devices adapted to output of one or more of vibration, sound, and / or shock stimulus to thereby elicit a behavioural response from the animal.

[0058] In one embodiment, the applied stimulus data has exceeded a threshold for the first subgroup of one or more wearable devices when the stimulus output component comprises a shock delivery device the threshold is five total number of shocks delivered.

[0059] In one embodiment, the controller is communicate a command to the second subgroup when: the first subgroup comprises at least 40 wearable devices or the first subgroup comprises at least 20% of the group; and the applied stimulus data is indicative of five total number of shocks for the predetermined threshold.

[0060] In one embodiment, the command is communicated to the second subgroup of one or more wearable devices in the group of wearable devices, wherein the command is operable to disable one or more stimulus output components for a predetermined time period.

[0061] In one embodiment, the system further comprises a user device configured to receive and display notifications, and the controller is further configured to: send a notification to the user device when a command is communicated to a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components; receive a user command on the user device to change or enable one or more stimulus output components; then: communicate the change or enable command, to the first subgroup, second subgroup, or group one or more wearable devices.

[0062] In one embodiment, the applied stimulus data comprises data collected from one or more of: within a predefined area, within a predefined distance from a geopoint, within a predefined proximity to a predefined number of wearable devices in the group, within a time period.

[0063] In one embodiment, the animal guidance components are further configured to receive an animal command comprising: a constraint within a virtual paddock, or a shift to a location.

[0064] In one embodiment, changing one or more stimulus output components comprises a change to the intensity of a stimulus type or a change in stimulus type.

[0065] In another aspect the invention broadly relates to a system for preventing unfair stimuli being applied via a group of wearable devices to a group of animals, the system comprising a controller configured for: o sending a command to the group of devices, each device comprising a stimulus device configured to guide animals via applying stimulus according to the received command and an animal’s position; o receiving stimulus information relating to the stimulus applied from each device; o determining if a predetermined percentage of the group of devices has met or exceeded a threshold of stimulus applied; and o sending a message to all devices in the group instructing the devices to not apply further stimuli.

[0066] In one embodiment, the system comprises a notification means for prompting a user via an app notification to check the animals' safety, wellbeing or ability to carry out the command.

[0067] In one embodiment, the system comprises a notification means for prompting a user via an app notification to either pause the command or unpause the command; and wherein the controller is configured to send an unpause message to the devices to unpause the command.

[0068] In one embodiment, alternatively the messages, such as pause message and unpause message, are determined by each device and each device pauses itself.

[0069] In one embodiment, the threshold is measured by one or more of; number of stimuli applied; total energy applied; and total time of stimulus applied.

[0070] In one embodiment, to meet the threshold of stimulus, all stimulus used to reach the threshold are to be applied within a time period.

[0071] In one embodiment, the threshold is predetermined by a user.

[0072] In one embodiment, the threshold is predetermined by historical data relating to the historically applied stimulus to the group, where the stimulus applied is measured in one or more of: number of stimuli applied; energy delivered; and time of stimulus applied.

[0073] In one embodiment, the command and the message are sent wirelessly.

[0074] In one embodiment, the messages are sent via multicast, and more preferably via one selected from; LoRa, Bluetooth, WiFi, Cellular, and Zigbee.

[0075] In one embodiment, the predetermined percentage is between 1 % and 99% of the group.

[0076] In one embodiment, the predetermined percentage is 100%.

[0077] In one embodiment, the predetermined percentage is greater than 45%.

[0078] In one embodiment, the number of animals in the group of animals is to be more than a mob threshold for the system to pause the command.

[0079] In one embodiment, the stimulus device is operable to apply stimuli to the animal including the application of one or more of vibration, sound, and / or shock stimulus operable to elicit a level of behavioural response from the animal.

[0080] In one embodiment, when the predetermined percentage of the group of devices has met or exceeded a threshold then a condition is met.

[0081] In one embodiment, the condition is met when the stimulus information fullfills the following variables; a mob threshold of 40 devices, 20% predetermined percentage; and 5 total number of shocks for the predetermined threshold.

[0082] In one embodiment, the device comprises a lockout where the device cannot apply more than a predetermined number of stimuli. In one embodiment, the device comprises a lockout where the device cannot apply more than a predetermined number of shocks.

[0083] In one embodiment, the stimulus information is whether the device has reached a lockout.

[0084] In one embodiment, the threshold is one lockout.

[0085] In one embodiment, the controller counts the number of lockouts in a group to determine the predetermined percentage of the group of devices.

[0086] In one embodiment, the lockout is reset if the controller determines the device has moved a predetermined distance from the location where the lockout occurred..

[0087] In one embodiment, the lockout is reset if the controller determines the device has moved over a predetermined speed.

[0088] In one embodiment, the lockout is individualised per device (e.g. per animal) and dependent on the previous stimulus applied (e.g. animal behaviour).

[0089] In one embodiment, the number of shocks to achieve lockout depends on the average number of shocks the device typically applies (for that respective animal).

[0090] In one embodiment, the predetermined distance is dependent on the type of command.

[0091] In one embodiment, to meet the predetermined threshold of stimulus, all stimulus used to reach the predetermined threshold are to be applied; within a predefined area, within a predefined distance from a point, or within a predefined proximity to a predefined number of devices in the group.

[0092] In one embodiment, the area or distance from a point is user defined about a geographical feature..

[0093] In one embodiment, the area is determined in metres squared..

[0094] In one embodiment, the proximity to each other is determined in metres.

[0095] In one embodiment, the controller counts stimulus applied within a time period and within an area to satisfy the threshold.

[0096] In one embodiment, the predetermined threshold is 5 shocks, applied to at least 20% of the group animals (or applied from at least 20% of the group of devices) when the devices are within 20 metres of location (e.g a gateway)..

[0097] In one embodiment, the system as claimed in any one the preceding claims, wherein one or more of the: time period, area, mob threshold, predetermined percentage, and predetermined threshold are dependent on the type of command.

[0098] In one embodiment, the type of command is one selected from: a constraint within a virtual paddock, or shift to a location.

[0099] In one embodiment, the message comprises instructions for the device to reduce the intensity of stimulus of future stimulus to be applied across the group of devices.

[0100] In one embodiment, the stimulus information relates to one or more of: count of stimulus applied, shocks applied, location of animal during stimulus application, time of stimulus application, intensity of stimulus, type of stimulus, and animal behaviour to elicit stimulus. In one embodiment, the message comprises instructions for all devices in the group to not apply any further stimulus.

[0101] In one embodiment, the message comprises instructions for all devices in the group to pause the command.

[0102] In one embodiment, pausing the command on all devices in the group prevents any further shock application to any animal in the group, yet allows other stimulus types such as sound and vibration..

[0103] In one embodiment, the stimulus level is adjusted by one or more of changing: the power level of stimuli; the total energy delivered to the animal; the intensity of the stimuli, and the total number of stimuli applied to the animal.

[0104] In one embodiment, the predetermined threshold is predetermined by a user..

[0105] In one embodiment, the controller is located remotely from the device, or is housed in one or more devices.

[0106] In one embodiment, the system comprises the device.

[0107] In one embodiment, the device comprises at least one position sensor configured to measure position data of the device relating to the animal’s position..

[0108] In one embodiment, the position data of the animal relates to the behavioural response of the animal..

[0109] In one embodiment, the device will not apply simulus to the animal if correct behavioural response is determined..

[0110] In one embodiment, the device will apply simulus to the animal if an incorrect behavioural response is determined..

[0111] In one embodiment, the device comprises a device controller configured to: receive the command; receive position data; and operate the stimulus device according to the command and the position data.

[0112] In one embodiment, the device comprises a transmitter to transmit the stimulus information..

[0113] In one embodiment, the position data of one animal in the group affects the stimulus application to other animals in the group..

[0114] In another aspect the invention broadly relates to a method of modifying stimulus applied to a group of animals wearing wearable devices, the method comprising the steps of: o receiving stimulus information relating to stimulus applied from the device; o determining from the stimulus information if a predetermined amount of the devices has exceeded a predetermined threshold of stimuli applied; and o modifying, or (preventing), further stimuli being applied by all devices.

[0115] In one embodiment, the method comprises sending a command to the devices, the devices with the command being a group of devices, the command configured to instruct the device to guide the animals via applying stimuli to the animals.

[0116] In one embodiment, the method comprises determining a condition is met if a predetermined amount of the group of devices has exceeded a predetermined threshold of stimuli applied. In one embodiment, the method comprises sending a message to the group of devices in response to the condition, to instruct the device to modify or prevent further stimuli from being applied..

[0117] In one embodiment, the the predetermined amount is determined by one or more selected from a o percentage of the group; o portion of the group; o fraction of the group; o part of the group; o share of the group; o ratio of the group; o over representation of the group; o number of the group; or o one or more of the group; exceeding a threshold of stimulus applied.

[0118] In one embodiment, the message and / or command is sent via multicast to the devices..

[0119] In one embodiment, the method comprises the step of prompting a user via an electronic device to check the group of animals to ensure that the animals are capable of physically following the command..

[0120] In one embodiment, the method comprises the step of providing the user an option to either cancel the command or continue the command for the animals involved in the event..

[0121] In one embodiment, a met condition is an indication that the animals cannot follow the guidance stimuli given by the devices.

[0122] In one embodiment, the modification of the stimulus relates to modifying one or more of: the power level of stimuli; the total energy delivered to the animal; the intensity of the stimuli, the stimulus type; and the total number of stimuli applied to the animal.

[0123] In one embodiment, the number of animals in the group of animals is to be more than a mob threshold for the system to meet the condition.

[0124] In one embodiment, the device comprises at least one stimulus device operable to apply stimuli to the animal including the application of one or more of vibration, sound, and / or shock stimulus operable to elicit a level of behavioural response from the animal.

[0125] In one embodiment, the device comprises at least one sensor configured to measure position data of the device.

[0126] In one embodiment, the device comprises a device controller configured to: receive the command; receive position data; and operate the stimulus device according to the command and the position data.

[0127] In one embodiment, the position data of the animal relates to the behavioural response of the animal.

[0128] In one embodiment, the device comprises a transmitter to transmit the stimulus information.

[0129] In one embodiment, the position data of one animal in the group affects the stimulus application to other animals in the group.

[0130] In one embodiment, the system comprises a controller configured to apply the method.

[0131] In one embodiment, a condition is met when a shift has at least 45 animals involved and 20% of animals have received 5 or more shocks. In another aspect the invention broadly relates to a system for welfare protection of a group of animals involved in a remotely guided command, the system comprising: a wearable device configured to be worn by each animal in the group; a controller for determining an event where a predetermined amount of the devices in the group have applied at least a threshold of stimuli; and a transmitter for transmitting a message from the controller to be received by the devices, the message instructing the devices to adjust the stimuli intensity being applied by the entire group of devices if the event is determined.

[0132] In one embodiment, the stimuli intensity is adjusted to between 0% and 90% of its original intensity.

[0133] In one embodiment, the devices are prevented from applying any stimuli after receiving the message.

[0134] In one embodiment, the device is configured to not give more than a threshold number of stimuli to any animal.

[0135] In one embodiment, the predetermined amount is less than the number of animals in the group.

[0136] In one embodiment, the adjustment of the stimulus level is one or more selected from: lowering the stimulus intensity, cancelling the stimulus, and changing the stimulus type.

[0137] In one embodiment, the system comprises a notification means for prompting a user via an app notification to check the animals' safety, wellbeing or ability to carry out the command.

[0138] In one embodiment, the system comprises a notification means for prompting a user via an app notification to either cancel the shift or resume the shift; and a resuming means for resuming the shift for the animal’s involved in the event.

[0139] In one embodiment, the predetermined threshold of stimuli is related to one or more of the; number of stimulus applied; total amount of energy applied; the number of pulses per shock; and total time of stimulus applied.

[0140] In one embodiment, the predetermined threshold of stimuli is measured, determined, or detected within a time period.

[0141] In one embodiment, the predetermined threshold is predetermined by a user.

[0142] In one embodiment, the predetermined threshold is predetermined by historical data relating to the stimulus previously applied to the group, where the stimulus applied is measured in one or more of number of stimuli applied; amount of energy delivered; and time of stimulus applied.

[0143] In one embodiment, the command and messages are sent wirelessly.

[0144] In one embodiment, the messages are sent via multicast, and more preferably via LoRa.

[0145] In one embodiment, the predetermined amount is a percentage between 1 and 100% of the group.

[0146] In one embodiment, the device comprises a shock lockout where the device cannot apply more than a number of shocks.

[0147] In one embodiment, the hard shock lockout is reset if the animal moves more than a predetermined distance from the location where the hard shock lockout occurred.

[0148] In one embodiment, the predetermined percentage and / or predetermined threshold are dependent on the type of command.

[0149] In one embodiment, the predetermined distance is dependent on the type of command. In one embodiment, the type of command is one of a: constraint within a virtual paddock; or shift to a location.

[0150] In one embodiment, the predetermined percentage is 100% and the predetermined threshold is the number relating to the total combined number of stimuli applied by all devices in the group.

[0151] In one embodiment, the predetermined threshold is the number of animals in the group multiplied by a factor.

[0152] In one embodiment, the factor is a number between 1 and 30.

[0153] In one embodiment, the predetermined amount of stimuli is predetermined by historical data relating to the stimulus previously applied to the group.

[0154] In another aspect the invention broadly relates to a system for controlling the application of stimuli to an entire group of animals based on the actions of one or more animals in the group, the system comprising: o a plurality of wearable devices configured to stimulate the animals to guide them according to the animal’s behaviour and a received command; and o a controller configured to

[0155] ■ determine the amount or intensity of stimuli the device has applied to the one or more animals dependent on their behaviour; and

[0156] ■ adjust the stimuli level or command of all devices in the group accordingly.

[0157] In one embodiment, the number of the one or more animals is less than the number of animals in the group of animals.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] For purposes of the description hereinafter, the terms “upper”, “lower”, “right”, “left”, “vertical”, “horizontal”, “top”, “bottom”, “lateral”, “longitudinal” and derivatives thereof shall relate to the invention as it is oriented in the drawing figures. However, it is to be understood that the invention may assume various alternative variations, except where expressly specified to the contrary.

[0162] 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.

[0163] 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.

[0164] As used hereinbefore and hereinafter, the term “and / or” means “and” or “or”, or both.

[0165] As used hereinbefore and hereinafter, “(s)” following a noun means the plural and / or singular forms of the noun.

[0166] 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.

[0167] 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.

[0168] The entire disclosures of all applications, patents and publications, cited above and below, if any, are hereby incorporated by reference.

[0169] BRIEF DESCRIPTION OF THE DRAWINGS

[0170] Preferred embodiments of the invention will be described by way of example only and with reference to the drawings, in which:

[0171] Figure 1 : shows a schematic of the possible communications network between a node on an animal and the user or processor.

[0172] Figure 2: shows a perspective view of a device according to one embodiment.

[0173] Figure 3 shows a perspective view of a device on an animal.

[0174] Figure 4: shows a flow diagram of a system where the backend is sending and receiving information from the devices.

[0175] Figure 5: shows a flow diagram of information between hardware in the system.

[0176] Figure 6: shows a flow diagram of decision stages of the system.

[0177] Figure 7: shows a flow diagram of an example system.

[0178] DETAILED DESCRIPTION

[0179] With reference to the above drawings, in which similar features are generally indicated by similar numerals, Figure 3 illustrates a general system 1000 according to a first preferred example of the system adapted for animal guidance. In one example, the system comprises a wearable device 400 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. The 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 700, the device 700 optionally having some or all capabilities of the device 400. The invention relates to a system and method for preventing unfair stimuli being applied to a group of animals using wearable devices. The system 1000 in one example includes a processor or controller 530 configured to send a command comprising guidance instructions to the wearable devices 400. Each device 400 is equipped with a stimulus device 460 configured to apply stimuli to animals 10 to guide them according to the command. System 1000 monitors stimulus information relating to one or more of the amount, type and intensity of the stimuli applied by the devices 400. System 1000 determines when a threshold of stimulus has been applied to the animals, and optionally when it has occurred to a particular amount of animals within the group. When both a threshold and amount of animals have been determined to have been met, it may be described as the condition being met. The system is configured to pause, adjust, change, disable, or modify the guidance stimuli or command to prevent or adjust further unfair stimulus being applied to the group. System 1000 may also incorporate notification means to alert a user and allow them to adjust, continue, or cancel the command if necessary.

[0180] The device 400 in general is configured to guide animals to a location, or guide and contain animals within a virtual boundary 51 , such as a virtual paddock according to a command. To guide the animals the device 400 uses a stimulus device 460, which comprises one or more of the following: speakers 461 ; electrodes 462; and vibrators 463. The stimulus can be applied to directionally guide the animal 10. The stimuli attempt to change or alter the animal’s behaviour.

[0181] In one example, the purpose of system 1000 is to reduce unfair stimuli being applied to animals 10. Unfair stimuli may occur when animals 10 are following guidance instructions correctly but are prevented from achieving the correct behaviour due to external factors.

[0182] Controller 530 sends a command to device 400 using the controller or processor 100. The command comprises guidance instructions for the wearable devices 400, which are equipped with a stimulus module 460 to guide animals 10 through the application of stimuli according to the command. The command is sent via a transmitter. The transmitter may be integrated with, or be, a 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 communications package 410.

[0183] The command contains instructions that are readable by the device 400 and device controller 470. In some examples, the controller 530 and controller 470 are one and the same, or share some responsibilities. Controller 470 instructs the stimulus device 460 to apply the correct stimuli to contain or guide the animal. For example, the command may entail directing the animal within a virtual paddock with boundaries, or along a specific pathway, leading to a particular destination. The command may be created directly or indirectly by a user 202 at a front end 200, such as a user device 201 like a mobile phone or similar device.

[0184] A hold-in zone command is a command which guides an animal to stay in a specific area. This command can be used to keep animals safe, for example, by preventing them from wandering into traffic, or keeping them in a grazing area. It can also be used to train animals, for example, by teaching them to stay in a specific spot while they are being groomed.

[0185] A shift command is a command which guides an animal to move to a new location or area. This command can be used to direct animals, for example, by telling them to go to their food bowl or to their bed, to a new grazing area, to a stand off pad, or to a milking shed. It can also be used to train animals, for example, by teaching them to follow a specific path.

[0186] Both hold in zone commands and shift commands can be used with a variety of animals, including dogs, cats, horses, and livestock. The specific way that these commands are implemented will vary depending on the animal and the purpose of the command. A group of animals / group of devices may be defined as devices that have received the same command. E.g where a group of devices have received the same command to shift from one paddock to another, the animals wearing the devices with said command are considered a group, mob, or herd.

[0187] In one example, the animal 10 is guided by a stimulus applied by the stimulus device 460 comprised by or integral with device 400. The stimulus may be left and right speakers 461 configured to guide the animal right and left respectively. A stimulus such as electric shock from an electrode(s) 462 may be used to enforce the sound stimuli from the speakers. This is just one example of many ways to apply stimuli. Stimuli may be only one type of stimuli or maybe a mixture of many. Stimuli may be held on for less or longer times, or more or less intensity, or in many other ways envisaged by a person skilled in the art.

[0188] In some examples, stimuli are characterised based on determinations of type, frequency and / or intensity. For example, different types of stimuli may have different contributions to the stimuli characterisation for a particular frequency and / or intensity. In some examples, the determinations are aggregated to represent a measure of stimuli on the basis for which control outcomes are based.

[0189] Applying stimulus with the device 400 is described in more detail elsewhere in this specification. The stimulus is applied to elicit a behavioural response from the animal. For example, a sound to the left of the animal’s head may elicit a movement of the animal’s head to the right, and the animal may start to direct itself towards the right.

[0190] Controller 470 further reads or receives information from a sensor package 440, part of a position sensing system. The sensor package may comprise one or more of a movement sensor 441 and location sensor 442. These sensors are able to detect the movement and location of the collar, and hence the animal. The movement and location of the collar can be related to the behavioural response of the animal. If the collar is detected to move left, it is likely the animal has moved left. The stimulus can be applied to elicit a desired behavioural response, and a control loop is created using the sensor package.

[0191] If the animal, and hence the group, has a hold in zone command, then if the animal approaches or has left a virtual boundary as detected by the sensor package, then the speakers will attempt to guide the animal back to the zone it attempted to be held in via applying sound to the appropriate ears of the animal.

[0192] If the animal ignores the sounds as detected by the sensor package, then the controller may instruct the stimulus device 460 to apply a shock to reinforce the sounds. The sounds may be ramped up in volume, intensity, and / or frequency, prior to the shock. The behavioural response to the sounds may be for the animal to turn around, or head into the zone again. If the animal can’t get into the zone, or can’t re-enter the zone, or can’t stay in the zone due to constraints outside the animal’s control - then a stimulus such as a shock may have been applied unfairly, regardless of the animal performing the correct behavioural response. An example of this occurring is if a user creates a zone that is too small for the mob of animals to all be constrained within. The controller 470 attempts to guide the group back into the zone, but the animals cannot achieve the correct behaviour, and hence get unfairly stimulated.

[0193] In another example, if an animal (or group of animals) has a shift command, the animal will be attempted to be guided to a target location, area, along a path, to the next waypoint, or to a similar destination. Similar to holding the animal in a zone, shifting may attempt to guide the animal left and right using speakers. A secondary stimulus, such as vibration, shock, or louder or alternative sound, may be applied to the animal if it ignores the first stimulus or does not correct its behaviour. In one example, the first stimulus may be ramped up in volume, intensity, and / or frequency prior to a shock being applied so the animal has ample opportunity to correct its behaviour. However, if the animal cannot achieve the shift even with the correct behavioural response, or cannot achieve the behavioural response due to constraints outside of the animal's control, then the secondary stimulus may have been applied unfairly. An example of this is if a user has a physical gate preventing the animal’s movement to the target location, even though the guidance from the command is trying to guide the animal through the closed gate.

[0194] There are many different behavioural responses that animals can exhibit. Some common examples include turning around, moving head left or right, and moving forward or backward. These are just a few examples of the many different behavioural responses that animals can exhibit. The specific behaviour that an animal exhibits will depend on a variety of factors, including its species, its environment, the command, the stimuli, and the animal’s state of mind.

[0195] Accordingly, examples comprise a system where there is a group of wearable devices for a group of animals. A wearable collar providing guidance functions is one example of the wearable device. Each wearable device has a stimulus output components operable to apply stimulus to the animal with the wearable device. The stimulus may take many forms including sound, vibration and shock as detailed elsewhere in this specification. The stimulus output is sometimes provided to all devices in the group, and at other times the stimulus output is provided to particular animals in the group. However, there is a need to control the stimulus output of some, additional or all devices in a group depending on a behavioural response exhibited by an animal or a smaller group of animals.

[0196] In some examples, the stimulus output comprises one or more types and one or more energy intensities. Sound, vibration and shock are examples of stimulus output which can be varied to nearly any number of energy intensities. The intensity may refer to energy peaks or energy over time of a particular stimulus output.

[0197] 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 operation of one or more stimulus output components at one or more intensity levels to guide animals according to the guidance command.

[0198] 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 are 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.

[0199] To coordinate the transmission of guidance commands to one or more wearable devices there is a controller 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.

[0200] 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 the one or more of the wearable devices and the central hub . Figure 5: 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.

[0201] In some examples, the controller is configured to determine applied stimulus data (e.g. stimulus information) from at least one device in the group of devices. The stimulus data may be transmitted to a remote location for storage or stored on each wearable device or transmitted to the central hub as may be desired.

[0202] The applied stimulus data comprises any one or more of a quantity of wearable devices from two or more devices in the group of wearable devices, a ratio of two or more wearable devices in the group of wearable devices, a quantity of output stimulus, a frequency of output stimulus, a type of output stimulus, and a measure of output energy intensity over a time period.

[0203] In some examples, the controller is further configured to determine, from the stimulus data, that the applied stimulus data has exceeded a threshold. Further discussion of the threshold and determinations is discussed further below.

[0204] 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.

[0205] The system 1000 is capable of determining stimulus data indicative of when one or more wearable devices within a group have either reached or surpassed a threshold of stimulus applied to the one or more animals. This determination is used as a basis for making further stimuli control decisions applicable to one or more of the devices. In some examples, the stimulus data is aggregated and compared to one or more criteria in order to determine a control decision affecting the deployment of further stimuli on one or more devices including the devices worn by other animals who may have received some or no applied stimuli over the same period of time where the stimuli data was recorded.

[0206] In one example, the system is configured to determine aggregated stimulus data collected from one or more devices 400. For example, at least one device 400 is configured to send stimulus information to a backend 500 controller or processing device 530. The controller 530 may be, or be a part of, a cloud server 510 or a computer 520. The backend 500 may utilise the communications network 600, such as a receiver, to receive the stimulus information, or any related information, from the device or device 400. Where the receiver is may be integrated with, or be, a cell tower 630, internet or satellite 640, or on a base station 620 located near the devices. In alternative examples, the device 400 makes a determination of the threshold and / or condition on an on-device 400 controller 470. As used herein, and where applicable, controller 470 can perform the same functions as controller 530. Control functions of the controller 470 and controller 530 may be distributed, shared or localised as desired by the system operator.

[0207] In some examples, the controller 530 receives stimulus data from all devices within the group of animals. The controller has received, has access to, or can look up from memory, aggregated stimuli data including the predetermined threshold of stimuli, and / or the number of devices required to meet the threshold.

[0208] In some examples, the controller is configured to broadcast a message to all devices in a group. For example, if an aggregated number of applied stimuli meet a threshold are determined, then a control condition is met, and the controller will determine a control decision operable to adjust, pause, or disable the stimulus output functions of all devices in the group. In one exemplary example, when the control condition is met, an event is created which can be used to trigger a message which is sent to all devices to change the operation of stimulus output.

[0209] Once the control condition is met, the controller activates or sends a message to all devices 400, the message comprising a set of stimulus output control criteria. For example, the message has instructions for each device to halt or adjust the delivery of any further stimulus. The message has the effect of preventing new or additional stimulation from being administered to the group of animals to thereby direct that they are not subjected to excessive or unnecessary stimuli. For ease of description going forward, once the controller has determined a number or ratio of animals in a group (i.e a subgroup threshold of animals) has met a predetermined stimulus output threshold (e.g a number of shocks), then it is considered that the condition has been met, or that an event is described as occurring. Communicating the control instruction to the devices after a determination that a condition is met, e.g. via event, message, trigger etc, may be implemented in a variety of methods.

[0210] In some examples the controller is configured to: determine applied stimulus data from at least one device in the group of devices; determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold; then communicate a command (e.g when a condition has been met), to either group, or a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components. In some examples, the second subgroup is a group of wearable devices which have been selected based on a parameter. In some examples, the parameter is based on whether or not the wearable device has met one or more conditions such as meeting an applied stimulus threshold.

[0211] Applied Stimulus Data

[0212] Applied stimulus data relates to what stimulus output has been applied by a device 400 to an animal and is used as a basis for determinations including the number of animals of a group which reach a group threshold for further control decisions. A first subgroup of animals is defined as those animals within a group which have reached a stimulus output threshold criteria as determined from the applied stimulus data. A second subgroup is defined as those animals which remain in the group and are not in the first subgroup, that is, have not reached the stimulus output threshold criteria.

[0213] In some examples, the controller is configured to determine an unique identification parameter associated with each wearable device such that each individual device is known. In some examples, the controller is configured to assign a status variable to each unique identification parameter, the variable thereby defining the group and / or subgroup of the wearable device. In some examples, the controller is configured to assign a status variable to each wearable device based on determinations from the applied stimulus data. Described herein are examples of control decisions which may be applied to groups and subgroups of wearable devices as may be defined by the status variable of a wearable device.

[0214] In some examples, the controller is configured to determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold. One example of the information which defines the first subgroup is wearable devices which have deployed five shocks to their animal. Another example of the information which defines the first subgroup is wearable devices which have deployed five sounds to their animal. Different stimulus output criteria may be used to define the first subgroup. In some examples, the first subgroup is defined by a threshold criteria of stimulus output parameters including one or more the following: a quantity of output stimulus, a frequency of output stimulus, a type of output stimulus, a measure of output energy intensity over a time period, count of stimulus applied, a quantity of output stimulus comprising shocks applied, location of animal during stimulus application based on the animal guidance components comprising one or more sensors adapted to measure geoposition, time of stimulus application, and a measure of animal behaviour to elicit stimulus based on the animal guidance components.

[0215] The system is configured to store historical commands, which include the command type, and where the command was shifting or holding the animals. The system can further store the related animal behaviour, and stimulus information relating to the historical commands. Stimulus information may include where the stimulus occurred, a timestamp of when it occurred, animal behaviour related to the stimulus, etc. System 1000 can store the applied stimulus data and threshold relating to the historical commands. System 1000 may store this information in a memory 502. The controller or user can review historical data, make comparisons, and adjust future stimulus and thresholds accordingly. Historical information can relate to all information gathered from previous commands.

[0216] For example, a historical shift command from paddock A to paddock B resulted in a 20% amount of the animals reaching a threshold. The current amount has been predefined as a 5% increase. If 25% or more of the animals under the current command experience the threshold stimuli, the controller may identify the condition being met. The historical applied stimulus data can be an exact number or percentage, such as over x% based on historical stimulus information, or it can be any amount that represents an increase of x% compared to a previous amount. Likewise, the group may be compared to previous historical group commands, or historical commands performed at certain areas. E.g. a shift through a gateway may typically yield an x% amount. Future shifts at the same gateway are then compared to said x% amount.

[0217] In some examples, the applied stimulus data is not calculated or used in the determination. No applied stimulus data may be used when for example the devices 400 do not have a stimulus lockout (described later), or has a high threshold of the number of stimuli to be applied to each animal. E.g. Each animal can reach a high threshold, or there is no threshold, for how many stimuli the device can give an animal. If this method is used, then it may be desired to count how many stimuli are given to a group of animals in total. E.g if the applied stimulus data is not used and the threshold is 40 shocks, and one animal receives 40 shocks, an event is only created. This method may be used in some applications but is not preferred in larger groups, such as cattle, as some cattle may receive excess stimulus. Whereas, if the group is only two dogs, then the step of defining and determining the amount is excess processing which is not required.

[0218] The threshold criteria of stimuli may relate to one or more of: the number of stimuli applied; total of energy applied; the number of pulses per shock; and total time of stimulus applied. There are many ways to measure stimuli, and hence threshold. It depends on the stimulus device, user, animal, firmware, guidance instructions, hardware etc. For ease of description, the threshold of stimuli will refer to the number of shocks an animal receives. However, a skilled person in the art will realise the invention may be utilised or modified to be used with many different types of stimuli, and the threshold be altered accordingly.

[0219] The threshold may be predetermined by a user, or by historical data much like the determination or definition of the amount. For example, like situations may be compared, e.g same groups, same locations, same time of day, etc can be used to compare historical thresholds and typical stimulus information. Threshold of the applied stimulus data

[0220] A further step of determination, after determining the applied stimulus data indicative of applied stimulus to one or more animals, is comparing the applied stimulus data to one or more threshold criteria applicable to the wearable devices in the first subgroup. In some examples, the controller is configured to compare the first subgroup of animals to a subgroup threshold criteria. The subgroup threshold criteria may be predetermined by a user, or via the controller, from historical data. The subgroup threshold may defined by one or more selected from a predetermined percentage of the group; portion of the group; fraction of the group; part of the group; share of the group; ratio of the group; over-representation of the group; number of the group; or one or more of the group; exceeding a threshold of stimulus applied. In large groups, it may not be possible to have whole number percentages, so other mathematical representations may be more appropriate to use, however, the method of representing the applied stimulus data is not essential to the broad aspect of the invention.

[0221] For example, if the applied stimulus data includes an amount of 5 applied stimuli, and the threshold criteria is 45% of the group, then this means 45% of the group has to reach 5 stimuli for the condition to be met. In some examples, further control decisions are made based on these determinations.ln another example, the a subgroup threshold may be 50% of the herd - this means that for an applied stimulus data stimulus threshold of 5 sounds, then for the condition to be met, 50% of the herd receive 5 sounds.

[0222] The number of animals required to meet the subgroup threshold can be adjusted depending on the application. For example, a hold in zone command may have a group threshold of 40% because animals are more likely to be able to stay within a zone. Whereas a shift command may have a group threshold of 50% because animals are more likely to have stimuli applied to them in more complex shifts. The applied stimulus data may be determined by looking at previous commands and their outcomes, animal interactions, welfare metrics etc. Generally, the amount of applied stimulus (and likewise, for stimulus threshold) may be slightly higher than what normally occurs for a command. So the amount of applied stimulus (and likewise, for subgroup threshold) may be representative of an outlier, or unusual situation which relates to a group of animals unable to correct their behaviour. Where corrected behaviour will prevent the device 400 from applying a further stimulus to the animal.

[0223] In one example, controller 530 is configured to look up a lookup table to determine what amount of applied stimulus and / or threshold is for a given command, group, or location. The amount of applied stimulus and / or threshold amount of the subgroup compared with the group is predetermined by a user.

[0224] In another scenario, controller 530 can perform the following tasks: refer to a table or historical information, or calculate applied stimulus data based on historical stimulus information and / or historical animal behaviour. For example, if a group of animals previously responded to a similar command and received historial stimulus, the current stimulus amount may be within a certain percentage range of the historical stimulus. If it is not, then unfair stimuli may have been applied. The amount of applied stimulus and threshold may be set slightly higher than the historical outcomes of the similar command.

[0225] Once the controller has determined the applied stimulus data has exceeded a stimulus threshold for one or more wearable devices, and therefore the first subgroup of devices is thereby defined, then the controller is configured to communicate a command to the wearable devices in at least the second subgroup, and may also include the first subgroup (thereby the group), to change or disable further stimulus outputs. In some examples, the first subgroup comprises at least a group threshold number of devices; or the first subgroup comprises at least a group threshold of at least 20% of the group, the first subgroup comprises at least 40 wearable devices. In some examples, the command is communicated to the second subgroup of one or more wearable devices in the group of wearable devices, wherein the command is operable to disable one or more stimulus output components for a predetermined time period. In some examples, the controller counts the total number of wearable devices where the stimulus output has been disabled in the group, and compares the number to a subgroup threshold (such as X% of the group). The controller is then configured to disable further stimulus application from some or all devices in the group.

[0226] Lockout

[0227] In one example, the system or device comprises a lockout, where once a lockout threshold is met the stimulus device 460 or device 400 is configured to stop applying stimuli. The lockout is independent from the stimulus output threshold and subgroup threshold.

[0228] Stopping the stimuli may be achieved by effectively disabling one or more of the stimulus components within the wearable device or equivalent mechanism such as an output override within the microprocessing of the wearing device.

[0229] The lockout threshold is a count of a number of stimuli the stimulus device has applied for a wearable device. In one example, a lockout threshold may be 5 applied shocks. In one example, the lockout threshold may be the same as the stimulus output threshold, in other examples the lockout threshold may be higher. For example, the stimulus output threshold is 5 shocks, and the lockout threshold is 10 shocks. However, in a preferred example, the lockout threshold is the same as the stimulus output threshold so animals will not receive an excess of stimuli before the condition is met. In some examples, the lockout threshold is based on the type of applied stimulus and one or more other stimuli such as the location of the animal or a particular guidance procedure undertaken or any other applied stimulus data.

[0230] In a further example the stimulus output threshold is one lockout, e.g a device meeting a locked out criteria is counted as a device meeting the stimulus output threshold. The controller is configured to count the number of lockouts in a group to determine the percentage of the group of devices (i.e. a subgroup of the group) which have reached a lockout status has reached the lockout threshold. As such, the stimulus information comprises information on whether the device has reached a lockout. A lockout may then be applied to the other devices in the group (another subgroup) which are not in a status.

[0231] A lockout may be removed (i.e stimulus are able to be applied once again) if the controller (device or system controller) determines the wearable device has moved a predetermined distance from the location where the lockout occurred, or has moved into a particular area, or some other guidance function, or animal or device position or characteristic criteria. The area for example being a zone which the animal was being held in. Alternatively, the lockout is removed if the controller determines the device has moved over a predetermined speed.

[0232] Figure 6 shows a diagram of information flow, according to the above description, as may be implemented by the controller of the system. In some examples, the controller 530 of the backend 100 is configured to receive stimulus information and make the appropriate control determinations, including that of the message sent to one or more wearable devices in order to change or disable the stimulus output of the wearable device.

[0233] Individualised lockout

[0234] In one example, the lockout threshold is individualised per device (e.g per animal) dependent on previous stimulus applied (e.g animal behaviour). For example, some animals may exhibit behavioural responses to applied stimuli which are different to other animals. Similarly, certain types of stimuli may elicit different behaviour responses from certain animals. In some examples, the controller is configured to determine the most effective stimulus to elicit a guidance function based on historical behavioural responses from the animal. Accordingly, individualised lockout thresholds may be applicable for different animals within a group, or different groups among many, based on the historical effectiveness of each stimuli per animal or group.

[0235] In one example, the controller determines the (individualised) lockout threshold by determining the average number of stimuli the device typically applies for that respective animal or group. To determine the individualised lockout threshold a set of lockout rules are implemented by the controller. Prior to running the rules, the historial applied stimulus data needs to be cleaned. For example, any outlier events which comprise erroneous or irrelevant stimulus data are filtered from the dataset, such as stimulus data arising from bad guidance commands or shifts, misuse of the product, or partial data. This may be done automatically by the controller or implemented software.

[0236] Individualised lockout rules may run based on historical data collected over a time period. Every time period, the historical data is collated, and the controller makes a decision to increase, decrease, or keep the lockout threshold the same dependent on the applied stimulus data for that animal for that time period. In some examples, the time period is a month, but alternatively could be a day, days, weeks, months, hours etc. The time period may be set by a user.

[0237] Further, in some examples, before applied stimulus data can be used to determine individualised lockout thresholds, the sample size of the applied stimulus data needs to be over a certain size. For example, for a device to have its lockout threshold changed depending on the applied stimulus data, the applied stimulus data must have been collected from over a predetermined number of commands. For example, the applied stimulus historical data, over the time period, must include at least X number of guidance commands (e.g a command number threshold). For example, the applied stimulus data over a month must include at least 5 shifts (e.g a command number threshold of 5. If there are fewer than 5 shifts are included in the applied stimulus data, then the lockout rules will not run on the device, and inherently the individualised lockout threshold remains unchanged.

[0238] The lockout threshold for each device initially is set as a default threshold set by the user. For example, every animal has a lockout threshold of X number of stimuli applied before the device hits lockout - e.g. stops the command or stops any further stimulus or stimuli from being applied. The number of stimuli in one example is 6 shocks for the controller to instruct the device to lockout.

[0239] Increasing the lockout threshold

[0240] In one example, the controller determines the average number of lockouts for a number of commands during a time period is greater than an acceptable lockout number, and as such the controller then increases the lockout threshold an X amount more than the current lockout threshold . For example, if the number of lockouts is 5 lockouts, and the average number of lockouts over a month was 5, then the lockout threshold may be moved from the current stimulus lockout threshold of 6 shocks, to 7 shocks.

[0241] In a further example, the controller determines the lockout to command ratio during a time period, and if the ratio is over an acceptable lockout number, then the lockout threshold is increased by an X amount more than the current lockout threshold. For example, if over eight shift commands, there are 7 lockouts, then the ratio is 0.875 [%]. The controller is configured increase the lockout threshold if the current ratio is over a predetermined ratio. The controller will increase the lockout threshold by X number of stimuli if , for example, the predetermined ratio is 0.5, and the current ratio of 0.875. In one example, the lockout threshold is increased by one. For example, the lockout threshold goes from 6 shocks to 7 shocks. The amount may be other examples also, like increasing the energy delivered, increasing the sound level, increasing the number of any stimulus able to be applied etc.

[0242] Decreasing the lockout threshold In one example, if the controller had determined the average number of lockouts or command ratio during a time period is not greater than an acceptable lockout number, then it may mean that the lockout threshold can be decreased for the device. In one example, the controller determines that the lockout threshold is not increased, in which case, the next step is for the controller to determine the maximum amount of stimuli the device applied to during the time period, and add an amount to said maximum - as long as the maximum is not higher than the threshold from the previous time period. For example, if in the current time period the device applied a maximum of three shocks during any command, then an amount, for example 1 shock, is added to the 3, to arrive at a lockout threshold of 4 shocks. If 4 shocks is less than the previous time period’s lockout threshold (for example 6 shocks) then 4 shocks becomes the new lockout threshold. Effectively decreasing the lockout threshold for said device.

[0243] Lower Limit lockout threshold

[0244] In one example the controller has a further rule when determining the lockout threshold, where the lockout threshold won’t be changed to an amount below a predetermined amount. For example, the lockout threshold won’t be changed to less than 2 shocks. This may be an outcome, as many devices apply zero shocks during a time period, which means a lockout threshold of one may be determined. Applying only one shock before the deceive lockouts may practically be too few. The lower limit lower limit lockout threshold may be any number as defined by a user.

[0245] Group Lockout Details

[0246] In one example, the lockout threshold is dependent on the type of command. For example, the lockout threshold for the same group may change depending on whether the type of command is one of a: constraints within a virtual paddock like hold in zone; or shift to a location. For example, the hold in zone lockout threshold is 20 shocks and shift lockout threshold is 6 shocks.

[0247] In one example, the predetermined amount / subgroup threshold is 0% and the predetermined stimulus output threshold is a number relating to the total combined number of stimuli applied by all devices in the group as described prior. In such an example, the predetermined stimulus output threshold is the number of animals in the group multiplied by a factor. Where the factor may be a number between 1 and, for example, 60. For example, if there are 30 animals and 30 sounds are received by one or more animals in the group, the condition is met.

[0248] In one example, the number of animals in the group of animals may be more than a group threshold for the condition to be met. For example, if there are only two animals in a group, then the system won’t proceed in determining if the condition is met. Generally, the more animals in a group, the more reliable the method is to determine when an event is occurring. The group threshold for dairy cattle for example may be 45 cattle. Any groups smaller than 45 will not have as reliable results. Controller 530 is configured to determine the group size, and if the group size is above a predefined group threshold, the controller will then proceed to determine if the condition can be met.

[0249] In a further example the controller only uses stimulus output data for the stimulus output threshold if said stimuli are applied by the device : within an area; within a distance from a point; or within proximity to other devices in the group. The area feature allows the system to be more accurate in determining unfair stimuli in some applications. For example, if all stimuli occurred around a gateway then it may be that the gateway is obstructed. If stimuli were applied to animals before they reached the gateway, then it is likely the stimuli were applied as part of a fair guidance command, as as such should not be counted towards the stimulus output threshold if they were outside of a predetermined distance from the gateway.

[0250] In one example, the area or distance from a point is user-defined about a geographical feature, such as a gate, paddock boundary, raceway, proximity to other animals in the group etc. The area may be determined in metres squared, or the proximity to the feature is determined in metres. In one example, the predetermined distance is dependent on the type of command, historical group behaviour, the type of feature, etc. For example, the predetermined threshold is 5 shocks, of 20% of the animals, within 20 metres of each other.

[0251] The device 400 may store geographical features in memory 430. The device 400 utilises the sensor package 440, such as the location sensor 442, like GPS, to determine the location of the device 400 to send back as part of the stimulus information to the controller 100 in the backend. The device 400 may send back raw location data, or processed data relating to how far away the stimulus was applied to the geographical location, or other devices.

[0252] In one example, to meet the stimulus output threshold of stimulus, all stimuli are applied within a time period. Similar to how a stimulus is to be applied in an area to count towards the stimulus output threshold, a time period may also be used. The stimulus output threshold of stimuli is measured, determined, or detected within said time period.

[0253] For example, the stimulus output threshold is 5 shocks, of a subgroup threshold of 20% of the group of animals, within a distance of 20 metres of a gateway feature, and within a time period of 20 minutes.

[0254] One object of the invention is to determine if an animal is being unfairly stimulated, based purely on the stimuli applied. Hence, adding time and / or area constraints of where and when stimuli were applied can lead to an outcome where the animal is not stimulated unfairly, or less so.

[0255] How the controller 530 instructs the stimulus devices on all devices in a group of animals after determining the condition is met, in one aspect, is not critical to the broad aspect of the system. However, in one example, the method comprises creating an event if the condition is met. In other aspects, the event step is missed. However for clarity of describing the system, an event is discussed as being created when the condition is met. The event is a tangible step showing that the condition has been met. From the event being created, subsequent steps may be created.

[0256] The condition being met, or an event being created, is an indication that the animals cannot follow the guidance stimuli given by the wearable devices.

[0257] In one example, the method comprises sending a message, or communicating a command, to the group of devices in response to the event, or the condition being met. Such a message may be to instruct the devices to one or more of: adjust any further stimuli, prevent any further stimuli; stop the command, pause the command, adjust the command, etc, on all 201 devices 400 in the group. In a preferred example, the message instructs all the devices in the group to stop applying any further stimuli to animals in the group. The message in one example, is sent via the transmitter 601 and received by the device’s 400 communications Package 410. The message may be sent via LoRa, and in particular may be sent via a multicast to all devices in the group. Other examples may utilise other methods of communication, as described herein, such as unicast, cell, wifi, and other appropriate wireless methods etc.

[0258] In alternative examples where the controller 470 determines an event, then messages are determined by each device and each device instructs itself to adjust stimuli application. One device 400 may receive the stimuli information of the group and determine if the condition is met, and subsequently instruct other devices to adjust their stimuli accordingly. In this application, the devices comprise similar transmitters and receivers to do so. Or, all devices may receive all stimuli information and determine if the condition is met, and instruct themselves.

[0259] In one example, after an event is created, the controller comprises the step of providing the user an option to either cancel the command or continue the command for the animals involved in the event. Further, the system may comprise a notification means for prompting a user 202 via an app notification to either cancel the shift or command or resume the shift or command, and a resuming means for resuming the shift or command for the animals involved in the event. Where the notification means may be a system to send a message to a user device 201 notifying them of the event occurring. The resuming means may be a system to receive instructions from the user device 201 , the instructions configured to be sent to the devices 400 via the controller 530. The instructions configured to instruct the devices 400 to resume the command if it was paused.

[0260] Once the condition has been met, and optionally an event created, the controller 530 instructs a message (i.e. communicates a command) to be sent to the group of devices. The message updates, pauses, disables, or replaces the previous instructions of the command, or leaves the command the same and at least adjusts the stimuli to be applied to the animal via the controller 470. E.g. Now that controller 530 has determined that animals of the subgroup are being stimulated unfairly, controller 530 sends a message to the group of devices 400 to stop them from applying any further unfair stimuli.

[0261] In one example, the devices are prevented from applying any stimuli after receiving the message. This is like a hard stop of all stimuli being applied from all devices 400 in the group. This may also be described as pausing or disabling the devices. In some examples, the device 400 may be fully disabled. However, a more likely example is that the devices no longer try to guide the animal according to the command, and thus no more stimuli are applied.

[0262] The method comprises sending a message to the group of devices in response to the event, to instruct the device to adjust or prevent any further stimuli from being applied.

[0263] In an alternative example, the message may instruct the device 400 to adjust the stimuli to be applied to the animal. For example, the message may instruct the controller 470 to adjust a variable of stimuli being applied to the group of animals. The adjustment of the stimulus may be one or more selected from: lowering the stimulus intensity, changing the power level of the stimulus, changing the volume of the stimulus, changing the total energy delivered, changing the total number of stimuli, changing the lockout threshold, and changing the stimulus type. The stimuli intensity may be adjusted to between 0% and 90% of its original intensity. In one example, the stimulus type is changed from shock to sound, or shock to vibration. However, it may be important to keep stimuli consistent so animals understand them, and how to avoid them.

[0264] The message information, which relates to what the message will instruct the controller 470 to perform may be defined in a number of ways. For example, the message information is predefined by a user, or determined by historical data as described here. Said historical data relating to previous shifting and hold in zone commands and related behavioural outcomes from applied stimuli. For example, if it was found that reducing the stimulus intensity by 5% when shifting animals through a gateway reduced stress and hence animal behaviour did not induce as many stimuli, then the next shift through the same gateway may be reduced to 5% if an event occurs. If it is found that all stimuli were applied within a very short time period, and small area, then the message information may instruct the devices to completely halt any further stimuli as there is clearly an obstruction to the animals shifting. However, if the stimuli all occur over a long time period and larger area, then the message information may instruct the devices to merely reduce the stimulus intensity, or pause the stimulus application for a time period, such that the animals have time to relax again. The message information may be determined by controller 530. There are many possibilities and derivatives of this technology. A skilled person in the art will realise that many different program codes can be created using the available data of animal position, movement, geographical features, time periods, stimuli information, etc. However, the broad concept of group level stimulus adjustment based on the stimulus application of a few of the animals (i.e a subgroup) in the group can be used to redefine what is possible for animal shifting and virtual fencing, and in particular, animal welfare. General Overview of Collar

[0265] 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, transition locations etc.

[0266] 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, 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.

[0267] 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.

[0268] 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. 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 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.

[0269] Examples of this disclosure include reference to cloud computing, 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.

[0270] 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.

[0271] In some examples described herein, the wearable device comprises a controller configured to operate functions of the wearable device, and the wearable device communicates with a computing device operating as a controller configured to manage control of the wearable device. The animal guidance system has a wearable device (collar) adapted to be worn by an animal as will be discussed in further detail below. However, the wearable device has at least one stimulus device operable to administer at least one form of stimulus to the animal and guide the animal to the target.

[0272] The animal guidance system further has at least one positioning system configured to output animal position data. The guidance system may be provided by a GPS device located on the wearable device, or local positioning system. Many forms of the positioning system are possible, and some of which are discussed in further detail below. The animal guidance system further has at least one animal activity sensing device configured to output animal activity data. Animal activity data typically includes data relating to the movement of an animal as defined by one or more sensors configured to generate a signal based on a change on any one or more degrees of freedom as may be desired. Further detail on animal activity data and interpretation of said data to indicate animal activity is discussed below.

[0273] The animal guidance system further has at least one controller device configured to undertake particular functional requirements. The specification below will discuss many functions in terms of desired outcomes, data and considerations to support those outcomes. It may be understood that for each outcome, the controller is configured to receive information, undertake any one or more functional steps based on the received information, and generate an output operable to achieve the stated outcome.

[0274] For example, in some examples, the controller is configured to receive the animal position data, receive the animal activity data, determine animal behaviour information from the animal position data and / or animal activity data; and generate an output operable to control at least one stimulus device to administer the stimulus to guide the animal to a target location.

[0275] In some examples, the controller is made up of several discrete processing devices, such as microprocessors or other equivalent forms of computing device, and collectively form a control system. Further, those processing devices are distributed over a variety of locations, and may be interconnected as a network. The processing devices of the network are connected, preferably wirelessly. A wearable animal apparatus may for example have a processor configured to receive and act on data from the animal positioning system and animal activity device. That data may be communicated via the network to one or more other processing devices.

[0276] In some examples, one of the processing devices acts as a master device that connects to any number of other devices, collates data from any one of the number of other devices, makes decisions based on that collated data, then communicates instructions to any one or more of the other processing devices. For example, in some examples, the controller has at least one master processing device connected to a number of other processing devices which are located on an animal wearable collar. In such examples, the master processing device acts as a first controller device part and the one or more on-collar processing devices acts as a second controller device part, the controller device parts acting together as the controller of the control system. In some examples, the controller of each wearable device has control status data which defines where on a hierarchy of apparatus that particular apparatus is ordered. In exemplary examples, that status data includes data which defines the apparatus as a master, for determining and sending control decisions, and a slave, for receiving and acting on those control decisions.

[0277] In some examples, functions of the controller are enabled according to a SaaS subscription status.

[0278] In order for the animal to move to a target location, a controller configured to operate the wearable device (also herein called a collar) may determine or be supplied with the target location. As such, the controller may determine at least the animal location and a target location, and any other used variables to output to the stimulus device a stimulus or stimuli to suggest movement to the animal to the target location.

[0279] In the preferred example, the controller onboard the wearable device is configured to receive a signal from an off-collar (off-wearable device) location relating to the target location. In some examples, the target location comprises a destination at the end of a pathway or heading. In some examples, the path between the target location contains one or more waypoints where the animal is desired to either pass through or exhibit some kind of behaviour when nearby. In further examples, the controller onboard the wearable device is configured to receive a signal from an off-collar (off-wearable device) location relating to the paddock or area that is to virtual restrain the animal within. The off-collar processor may be located in the cloud, on a remote PC, or on a user’s computing device etc.

[0280] In other examples, the wearable device comprises the processor. In further examples, determination of the above information to be determined is on the processor of the wearable device, or on both the off-collar and on-collar processors. Within this specification, where calculations or determinations are required, it is assumed they are performed by the control system which comprises computation by an on-collar processor and / or an off-collar processor. For example, in some exemplary examples, activity and location information is determined by the on-collar processor, whereas the target location and stimulus controls may be determined by an off-collar processor. Other implementations are possible.

[0281] Control infrastructure

[0282] 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 elicit movement of an animal to the target location, and many other animal guidance controls.

[0283] 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 which may cause the application of a desired form of stimulus to the cow to thereby elicit a behavioural response from the animal, such as guiding the animal to a new location.

[0284] 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.

[0285] 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 - i.e a backend 500, or a local hub 650. One preferred form of a 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.

[0286] 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.

[0287] 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.

[0288] 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 the 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.

[0289] 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 .

[0290] The PC 520 or a user device (such as mobile device) comprises a user interface and / or server 510, and for some examples, is configured to perform the control action on the basis of a control command. In one example, 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.

[0291] The device 400 may communicate directly with the front end 200 or via the backend 500 to the front end.

[0292] 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 anyu 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.

[0293] 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).

[0294] 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.

[0295] 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.

[0296] 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.

[0297] 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.

[0298] Collar

[0299] Figure 2 is an exemplary depiction of a wearable device (collar) 400 worn by a cow 10 as shown in Figure 3. 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. Figure 1 is an exemplary depiction of a device (collar) 400 worn by a cow 10. 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 402 ensures its protection. Solar panels 403 are incorporated to harness solar energy for charging. The Communications Package 410 includes a Receiver for receiving signals. The memory component 430 stores data and information. The Sensor Package 440 consists 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 462, and vibrators 463 for delivering sensory stimuli. Finally, the device controller 470 manages and controls the overall functionality of the device.

[0300] 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 (also known as payload), as referred to elsewhere in this specification, 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.

[0301] 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.

[0302] In some examples, animal movement data is derived from the GPS signal. For example, a heading and 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 an IMU configured to directly sense, for example, movement and heading data. Any number of IMU sensors may also be contained on the wearable device 400 for providing animal guidance data. Any combination of GPS and IMU-derived position and location data may be used by the controller as part of the deployment of guidance data or determinations of guidance data.

[0303] 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. 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.

[0304] In preferred forms, the Communications Package 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 boundary, receive new instructions, receive commands, and / or other parameters such as the communication of other sensor data.

[0305] The communications device is configured to communicate to at least the controller 530.

[0306] 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.

[0307] In one example, LoRa (from "long-range") is the physical proprietary radio modulation technique used for communication between a locally situated communications tower 860 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.

[0308] 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.

[0309] 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. 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.

[0310] Typically, an loT use case 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.

[0311] 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.

[0312] A front-end device (FEM) can be utilised between the transceiver of the long-range communications device and 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.

[0313] In one example, the device 400 comprises a 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

[0314] 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.

[0315] 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.

[0316] Bill of Parts

[0317] Animal 10 Device 400 straps 401 housing 402

[0318] Front End 200 solar panels 403 user device 201 Communications Package 410 user 202 memory component 430 Sensor Package 440

[0319] System 1000 Movement Sensor 441

[0320] Device + Backend Location Sensor 442 power source / battery 450

[0321] Backend 500 stimulus device 460

[0322] Cloud server 510 speakers 461

[0323] Computer 520 electrodes 462 controller 530 vibrators 463 Database 501 device controller 470 Memory 502

[0324] Communications Network 600

[0325] GPS satellites 610 base station 620 cell towers 630 Internet / satellite internet 640 local hub 650

Claims

CLAIMS1 . A system comprising: a group of wearable devices for a group of animals, each device comprising: o one or more stimulus output components operable to apply stimulus comprising: one or more types, one or more energy intensities; o animal guidance components operable to: receive or determine a command operable to enable, change or disable operation of one or more stimulus output components to guide animals based on the received or determined command; at least one controller configured to: o determine applied stimulus data from at least one device in the group of devices; o determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold; then o communicate a command, to the group or a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

2. The system of claim 1 , wherein the controller is further configured to: o determine the applied stimulus data has exceeded a threshold for the first subgroup of one or more wearable devices; then o determine the first subgroup comprises at least a threshold amount of wearable devices; then o communicate a command, to the second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

3. The system of claim 1 or claim 2, wherein the second subgroup comprises a selection of one or more devices from the group based on applied stimulus data indicative of where the applied stimulus data has not exceeded a threshold.

4. The system of any one of claims 1 to 3, wherein the threshold to determine the applied stimulus data has exceeded a threshold for a first subgroup of one or more wearable devices comprises a threshold unique to at least one or more wearable devices in the group.

5. The system of any one of claims 1 to 4, wherein the applied stimulus data comprises one or more of: a quantity of output stimulus,a frequency of output stimulus, a type of output stimulus, a measure of output energy intensity over a time period, a count of stimulus applied, a quantity of output stimulus comprising shocks applied, location of animal during stimulus application based on the animal guidance components comprising one or more sensors adapted to measure geoposition, time of stimulus application, a count of the number of times the device has implemented a lockout, where the lockout is implemented when the device has applied a predetermined number of output stimuli and is subsequently locked out from applying further stimuli, and a measure of animal behaviour to elicit stimulus based on the animal guidance components.

6. The system of any one of claims 1 to 5, wherein the applied stimulus data comprises historic data.

7. The system of any one of claims 1 to 6, wherein the applied stimulus data comprises data over a fixed time period.

8. The system of any one of claims 2 to 7, wherein the threshold amount of wearable devices comprises one or more of: a quantity of wearable devices in the group of wearable devices, a ratio of wearable devices in the group of wearable devices.

9. The system of claim 8, wherein the ratio of wearable devices comprises between 1 % and 99% of the group.

10. The system of any one of claims 1 to 9, wherein the system further comprises a wireless mesh comprising: a wireless transceiver component in a central hub; a wireless transceiver component in each device in the group of wearable devices and configured to transmit to and receive data from devices in the group of devices and / or the central hub; wherein the controller: is 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 a component of both the central hub and one or more of the wearable devices in the group of wearable devices.11 . The system of claim 10, wherein the wireless transceiver components are adapted to communicate by one or more of multicast; LoRa, Bluetooth, WiFi, Cellular, and / or Zigbee.

12. The system of any one of claims 1 to 11 , wherein the stimulus output components comprise one or more devices adapted to output of one or more of vibration, sound, and / or shock stimulus to thereby elicit a behavioural response from the animal.

13. The system of any one of claims 1 to 12, wherein the applied stimulus data has exceeded a threshold for the first subgroup of one or more wearable devices when the stimulus output component comprises a shock delivery device the threshold is five total number of shocks delivered.

14. The system of any one of claims 1 to 13, wherein the controller communicates a command to the second subgroup when any one of: the first subgroup comprises at least a group threshold number of devices; or the first subgroup comprises at least a group threshold of at least 20% of the group. the first subgroup comprises at least 40 wearable devices.

15. The system of any one of claims 1 to 14, wherein the command is communicated to the second subgroup of one or more wearable devices in the group of wearable devices, wherein the command is operable to disable one or more stimulus output components for a predetermined time period.

16. The system of any one of claims 1 to 15, wherein the system further comprises a user device configured to receive and display notifications, and the controller is further configured to: send a notification to the user device when a command is communicated to a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components; receive a user command on the user device to change or enable one or more stimulus output components; then: communicate the change or enable command, to the first subgroup, second subgroup, or group one or more wearable devices.

17. The system of any one of claims 1 to 16, wherein the applied stimulus data comprises data collected from one or more of: within a predefined area, within a predefined distance from a geopoint, within a predefined proximity to a predefined number of wearable devices in the group, within a time period.

18. The system of any one of claims 1 to 17, wherein the animal guidance components are further configured to receive an animal command comprising: a constraint within a virtual paddock, or a shift to a location.

19. The system of any one of claims 1 to 18, wherein changing one or more stimulus output components comprises a change to the intensity of a stimulus type or a change in stimulus type.

20. The system as claimed in any one of claims 1 to 19, wherein the first subgroup is: a group of wearable devices within the second subgroup; or one or more wearable devices configured to: determine the applied stimulus data has exceeded a threshold; then change or disable one or more stimulus output components on that one or more devices.21 . A system for preventing unfair stimuli being applied via a group of wearable devices to a group of animals, the system comprising a controller configured to: a. send a command to the group of devices, each device comprising a stimulus device configured to guide animals via applying stimulus according to the received command and an animal’s position; b. receive applied stimulus data relating to the stimulus applied from each device; c. determine if a predetermined percentage of the group of devices has met or exceeded a threshold of stimulus applied; and d. send a message to all devices in the group instructing the devices to not apply further stimuli.

22. The system as claimed in claim 21 , wherein the threshold is measured by one or more of; number of stimuli applied; total energy applied; and total time of stimulus applied.

23. The system as claimed in claim 21 or claim 22, wherein to meet the threshold of stimulus, all stimuli used to reach the threshold are to be applied within a time period.

24. The system as claimed in any one of claims 21 to 23, wherein the threshold is predetermined by historical data relating to the historically applied stimulus to the group, where the applied stimulus stimulus data comprises one or more of: number of stimuli applied; energy delivered; and time of stimulus applied.

25. The system as claimed in any one of claims 21 to 24, wherein the command and the message are sent wirelessly.

26. The system as claimed in any one of claims 21 to 25, wherein the messages are sent via multicast, and more preferably via one selected from; LoRa, Bluetooth, WiFi, Cellular, and Zigbee.

27. The system as claimed in any one of claims 21 to 26, wherein the predetermined percentage is between 1 % and 99% of the group.

28. The system as claimed in any one of claims 21 to 27, wherein the stimulus device is operable to apply stimuli to the animal including the application of one or more of vibration, sound, and / or shock stimulus operable to elicit a level of behavioural response from the animal.

29. The system as claimed in any one of claims 21 to 28, wherein the device comprises a lockout where the device cannot apply more than a predetermined number of stimuli.

30. The system as claimed in any one of claims 21 to 29, wherein to meet the predetermined threshold of stimulus, all stimulus used to reach the predetermined threshold are to be applied; within a predefined area, within a predefined distance from a point, or within a predefined proximity to a predefined number of devices in the group.31 . The system as claimed in any one of claims 21 to 30, wherein the applied stimulus data comprises a count of stimulus applied within a time period and within an area to satisfy the threshold.

32. The system as claimed in any one of claims 21 to 31 , wherein one or more of the: time period, area, mob threshold, predetermined percentage, and predetermined threshold are dependent on the type of command.

33. The system as claimed in any one of claims 21 to 32, wherein the type of command is one selected from: a constraint within a virtual paddock, or shift to a location.

34. The system as claimed in any one of claims 21 to 33, wherein the message comprises instructions for the device to reduce the intensity of stimulus of future stimulus to be applied across the group of devices.

35. The system as claimed in any one of claims 21 to 34, wherein the applied stimulus data relates to one or more of: count of stimulus applied, shocks applied, location of animal during stimulus application, time of stimulus application, intensity of stimulus, type of stimulus, and animal behaviour to elicit stimulus.

36. The system as claimed in any one of claims 21 to 35, wherein the message comprises instructions for all devices in the group to not apply any further stimulus.

37. The system as claimed in any one of claims 21 to 36, wherein the message comprises instructions for all devices in the group to pause the command.

38. The system as claimed in any one of claims 21 to 37, wherein the controller is located remotely from the device, or is housed in one or more devices.

39. The system as claimed in any one of claims 21 to 38, wherein device comprises at least one sensor configured to measure position data of the device relating to the animal’s position.

40. The system as claimed in any one of claims 21 to 39, wherein the device comprises a device controller configured to: receive the command; receive position data; and operate the stimulus device according to the command and the position data.41 . A method of modifying stimulus applied to a group of animals wearing wearable devices, the method comprising the steps of: o receiving applied stimulus data relating to stimulus applied from each device; o determining from the applied stimulus data if a predetermined amount of the devices have exceeded a predetermined threshold of stimuli applied; and o modifying or preventing further stimuli being applied by all devices.

42. The method as claimed in claim 41 , wherein the device comprises a controller, and the method comprises the step of the controller sending a command to the devices, the devices with the command being a group of devices, the command configured to instruct the device to guide the animals via applying stimuli to the animals.

43. The method as claimed in claim 41 or claim 42, wherein the method comprises determining a condition is met if a predetermined amount of the group of devices has exceeded a predetermined threshold of stimuli applied.

44. The method as claimed in any one of claims 41 to 43, wherein the method comprises sending a message to the group of devices in response to the condition, to instruct the device to modify or prevent further stimuli from being applied.

45. The method as claimed in any one of claims 41 to 44, wherein the predetermined amount is determined by one or more selected from a a. percentage of the group; b. portion of the group; c. fraction of the group;d. part of the group; e. share of the group; f. ratio of the group; g. over representation of the group; h. number of the group; or i. one or more of the group; exceeding a threshold of stimulus applied.

46. The method as claimed in any one of claims 41 to 45, wherein a met condition is an indication that the animals cannot follow the guidance stimuli given by the devices.

47. The method as claimed in any one of claims 41 to 46, wherein modification of the stimulus relates to modifying one or more of: the power level of stimuli; the total energy delivered to the animal; the intensity of the stimuli, the stimulus type; and the total number of stimuli applied to the animal.

48. A system for welfare protection of a group of animals involved in a remotely guided command, the system comprising: a wearable device configured to be worn by each animal in the group; a controller for determining an event where a predetermined amount of the devices in the group have applied at least a threshold of stimuli; and a transmitter for transmitting a message from the controller to be received by the devices, the message instructing the devices to adjust the stimuli intensity being applied by the entire group of devices if the event is determined.

49. The system as claimed in claim 48, wherein the stimuli intensity is adjusted to between 0% and 90% of its original intensity.

50. The system as claimed in claim 48 or claim 49, wherein the devices are prevented from applying any stimuli after receiving the message.51 . The system as claimed in any one of claims 48 to 50, wherein the device is configured to not give more than a threshold number of stimuli to any animal.

52. The system as claimed in any one of claims 48 to 51 , wherein the predetermined amount is less than the number of animals in the group.

53. A system for controlling the application of stimuli to an entire group of animals based on the behaviours of one or more animals in a subgroup, the system comprising: o a plurality of wearable devices worn by the animals in the group, the devices configured to stimulate the animals to guide them in response to the animal’s behaviour and a received command; and o a controller configured to:■ determine the amount of stimuli the subgroup devices have applied to the one or more animals dependent on the animal’s behaviour is over a stimulus threshold; and■ adjust the stimuli level or command of all devices in the group accordingly.

54. The system of claim 53, wherein the subgroup is within the group.

55. A system for determining a lockout threshold, the system comprising: a wearable device configured to be attached to an animal, the device comprising: o one or more stimulus output components operable to apply stimulus comprising: one or more types, one or more energy intensities ; ando animal guidance components operable to receive or determine a command operable to enable, change or disable operation of one or more stimulus output components to guide animals based on the received or determined command; at least one controller configured to: o determine applied stimulus data received from the device, wherein applied stimulus data comprises data relating to a number of lockouts implemented by the device over a time period, where lockouts implemented relates to the controller disabling operation of the one or more stimulus output components from applying stimulus if a lockout threshold is met; o increase the lockout threshold by an amount of stimuli if the number of lockouts is more than a predetermined acceptable number of lockouts; and o decrease the lockout threshold by an amount of stimuli if the number of lockouts is less than a predetermined acceptable number of lockouts.

56. The system as claimed in claim 55, wherein the applied stimulus data comprises the number of stimuli applied by the one or more stimulus output components.

57. The system as claimed in claim 56, wherein the controller is configured to increase the lockout threshold to a number of stimuli equal to a maximum amount of stimuli applied by the device during the time period plus a predetermined amount of stimuli, when the number of lockouts data is less than an acceptable number of lockouts.

58. The system as claimed in claim 57, wherein applied stimulus data comprises the maximum amount of stimuli given during a command.

59. The system as claimed in claim 57, wherein the maximum amount of stimuli given during a command is the number of shocks applied during a command.

60. The system as claimed in claim 58, wherein the amount of stimuli is a number or quantity of shocks applied to the animal.61 . The system as claimed in claim 57, wherein the predetermined amount of stimuli is one shock.

62. The system as claimed in any one of claims 55 to 61 , wherein the controller is configured to prevent the lockout threshold from being decreased under a lower limit.

63. The system as claimed in claim 62, wherein the lower limit is two shocks.

64. The system as claimed in any one of claims 55 to 63, wherein the system further comprises: a group of wearable devices for a group of animals, at least one controller configured to:■ determine applied stimulus data from at least one device in the group of devices;■ determine a first subgroup of one or more wearable devices where the applied stimulus data has exceeded a threshold; then■ communicate a command, to the group or a second subgroup of one or more wearable devices in the group of wearable devices, operable to change or disable one or more stimulus output components.

65. The system as claimed in claim 64, wherein the threshold is the lockout threshold.

66. The system as claimed in claim 64 or claim 65, wherein the time period is one selected from a day, days, weeks, months, and hours.

7. The system as claimed in claim 66, wherein the controller is further configured to count the number of commands guide animals sent during the time period; compare the count of the number of commands to a command number threshold; and if under the threshold not change the lockout threshold nor communicate the command to change or disable one or more stimulus output components.

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