Livestock guidance device and method therefor

Abstract

The present invention relates to a wearable device for livestock and an associated method for guiding animals to a target location, where to guide the animal into the zone the device comprises a controller, stimulus apparatus and a position sensor. A problem with current animal guidance systems is that animals may learn to turn off stimulus devices by adjusting their headings, without moving towards a target location. The present device only stimulates the animal if the animal is outside of a preferred heading threshold, where the heading threshold is defined by an angle range headed in a direction from the animal location to the target location, and the angle range decreases relative to one or more variables so as to encourage the animal to maintain a constant heading.

Description

[0001] LIVESTOCK GUIDANCE DEVICE AND METHOD THEREFOR

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

[0003] BACKGROUND OF THE INVENTION

[0004] Virtual fencing is an alternative to physical fencing that aims to remotely guide the movement and location of animals using a wearable device comprising stimulus applicators, position sensors and wireless technologies. Virtual fencing has the potential to improve livestock, pasture and environmental management and reduce labour and costs associated with fixed fences.

[0005] However, there are some problems with the current virtual fencing systems. One problem is that some animals may not respond appropriately to the stimulus, for example audio cues, vibration, or electric shocks that are used to guide them away from crossing the virtual boundary, or guiding the animals towards a target location, such as back across virtual boundary or to a target location. Not responding appropriately may result in animals escaping from the virtually fenced area or spending too much time outside of a virtually fenced area.

[0006] Another problem is that animals may develop behaviours to stop the virtual fencing system device from applying stimulus without adjusting their position as desired. For example, if trying to direct animals towards a target location by directional cues, animals may learn to flick or direct their heads in the desired direction to stop the cues, then continue to stay where they are.

[0007] Therefore, there is a need for an improved device and method to guide an animal back into a towards a target location that can overcome these problems and enhance animal welfare and productivity.

[0008] OBJECT OF THE INVENTION

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

[0010] SUMMARY OF THE INVENTION

[0011] In a first aspect the invention broadly consists of a wearable device configured to be worn by an animal, the device configured to guide the animal to a target location, the device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the heading and location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; a controller configured to: receive data defining the target location; receive position data indicative of the animal location and animal heading; determine or receive the target heading extending between the animal location and the target location; determine via the position data that the animal heading is inside or outside a heading threshold, the heading threshold defined by an angle extending either side of the target heading, operate the at least one stimulus device to apply a first stimulus to the animal if the position data indicates the animal heading is outside the heading threshold; and decrease the angle of the heading threshold if the position data indicates the animal heading is inside the heading threshold.

[0012] In one embodiment, the controller is further configured to apply a stimulus if the position data indicates the heading is outside the heading threshold. In one embodiment, the controller is further configured to stop the first stimulus being applied if the position data indicates the heading moves from outside to inside the heading threshold.

[0013] In one embodiment, the controller is further configured to change the angle of the heading threshold dependent on the distance from the target location.

[0014] In one embodiment, the controller is further configured to decrease the angle of the heading threshold as the animal location moves closer to the target location, and increase the angle of the heading threshold the further the animal location moves from the target location.

[0015] In one embodiment, the controller is further configured to decrease the angle dependent on one or more of: time spent in the threshold; and spent guiding the animal to the target location distance moved by the animal; animal heading relative to the target heading; and an animal characteristic.

[0016] In one embodiment, the controller is further configured to start decreasing the angle at a rate if the position data indicates the heading is inside the heading threshold.

[0017] In one embodiment, the rate at which the angle decreases is between 0.5 and 10 degrees per second, and preferably around 2 degrees per second.

[0018] In one embodiment, the rate at which the angle decreases is degrees per metre.

[0019] In one embodiment, the rate at which the angle decreases is between 0.5 and 10 degrees per metre.

[0020] In one embodiment, the controller is further configured to start increasing or decreasing the angle if the position data indicates the animal heading is within the heading threshold.

[0021] In one embodiment, the controller is further configured to determine the animal speed via the position data, or the at least one sensor is configured to measure the animal speed.

[0022] In one embodiment, the controller is further configured to start increasing or decreasing the angle if the position data indicates the animal heading is within the heading threshold and the position data indicates that the animal speed is below an animal speed threshold.

[0023] In one embodiment, the animal speed threshold is one selected from a range of speeds between 100 and 500 millimetres per second, and preferably around 255 millimetres per second.

[0024] In one embodiment, the controller is further configured to stop increasing or decreasing the angle if the position data indicates at least one of: the speed threshold is exceeded and the animal heading is outside the heading threshold.

[0025] In one embodiment, the controller is further configured to increase or decrease the angle whilst the position data indicates the heading is inside the heading threshold..

[0026] In one embodiment, alternatively, the controller is further configured to increase or decrease the angle whilst the position data indicates the heading is outside the heading threshold..

[0027] In one embodiment, the controller is further configured to limit the angle of the heading threshold to a first minimum angle.

[0028] In one embodiment, the first minimum angle is an angle selected from a range of angles between 1 and 20 degrees, and preferably 6 degrees.. the controller is further configured to limit the angle of the heading threshold to a maximum angle prior to the angle being increased or decreased

[0029] In one embodiment, the maximum angle is an angle selected from a range of angles between 20 and 179 degrees, and preferably 80 degrees..

[0030] In one embodiment, the controller is further configured to reset the angle of the heading threshold to a second minimum angle being greater than the first minimum angle, if the position data indicates the animal heading has moved from outside to inside the heading threshold, and the heading threshold angle was last set at the first minimum angle.

[0031] In one embodiment, the second minimum angle is an angle selected from a range of angles between 1 .1 and 60 degrees, and preferably 30 degrees..

[0032] In one embodiment, the heading target is defined as a bearing..

[0033] In one embodiment, the angle is defined as an angle range extending symmetrically across the heading target..

[0034] In one embodiment, the angle is defined as the angle of a minor circular sector extending symmetrically across the heading target, the sector having an origin at the animal location..

[0035] In one embodiment, the angle is defined as the angle between two radii extending from the animal location equally spaced from the target heading..

[0036] In one embodiment, the controller is further configured to increase or decrease the angle each side of the target heading equally..

[0037] In one embodiment, the target location is one selected from: the next waypoint along a path, a final destination, a virtual fence, or the closest part of the zone the animal is being directed to..

[0038] In one embodiment, the controller is configured to decrease the angle of the heading threshold as the position data indicates the animal location is getting closer to the target location, and upon reaching the target location the controller is configured to reset or increase the angle of the heading threshold to a predetermined angle.

[0039] In one embodiment, the controller is configured to determine from the position data if the animal location is at the target location, and then select the next target location.

[0040] In one embodiment, the wearable device is a collar adapted to be worn about the neck of the animal..

[0041] In one embodiment, the animal is a livestock animal..

[0042] In one embodiment, the wearable device comprises memory to store at least one or more of current and / or historical: position data, target location, initial angle, first minimum angle, second minimum angle, maximum angle, animal heading, animal location, last set heading threshold angle, heading threshold, and stimulus intensity..

[0043] In one embodiment, the wearable device comprises a receiver to receive one or more selected from: data defining the target location, initial angle, first minimum angle, second minimum angle, maximum angle, and heading threshold..

[0044] In one embodiment, the wearable device comprises a transmitter to transmit one or more selected from: animal location, and animal heading..

[0045] In one embodiment, the at least one stimulus device is operable to apply a stimulus including the application of one or more of vibration, sound, and / or shock stimulus.. In one embodiment, the at least one stimulus device comprises one or more of the following; at least one speaker, a vibrator, and at least one electrode..

[0046] In one embodiment, the controller is configured to instruct the at least one stimulus device to stop applying the first stimulus to the animal if the position data indicates the animal heading is inside the heading threshold;

[0047] In one embodiment, the controller is further configured to apply a first stimulus being a sound if the position data indicates the heading is outside the heading threshold..

[0048] In one embodiment, the controller is further configured to apply the first stimulus to a side of the animal angled furthest from the target heading..

[0049] In one embodiment, the controller is further configured to stop the first stimulus being applied if the position data indicates the heading moves from outside to inside the heading threshold..

[0050] In one embodiment, the controller is further configured to increase the first stimulus in intensity (volume, frequency, duty cycle) proportional with time spent outside the heading threshold..

[0051] In one embodiment, the controller is further configured to increase or decrease the first stimulus in intensity (volume, frequency, and / or duty cycle) proportional with heading if the position data indicates the heading is outside the heading threshold..

[0052] In one embodiment, the controller is further configured to increase or decrease the first stimulus in intensity (volume, frequency, and / or duty cycle) proportional with the distance from the target location if the position data indicates the heading is outside the heading threshold..

[0053] In one embodiment, the controller is further configured to stop the first stimulus being applied if the position data indicates the animal heading has moved outside to inside the heading threshold..

[0054] In one embodiment, the controller is further configured to apply a second stimulus (shock) if the position data indicates the heading remains outside of the heading threshold for a time period..

[0055] In one embodiment, the controller is further configured to apply a third stimulus (vibration) if the position data indicates the animal heading is inside of the heading threshold..

[0056] In one embodiment, the controller is further configured to apply a third stimulus (vibration) if the position data indicates the animal heading is inside of the heading threshold, and the position data which also indicates speed, indicates the animal speed is below a speed threshold..

[0057] In one embodiment, the position data comprises data derived from an animal location sensor and / or an animal position sensor, and the position data comprises one or more of animal location data, animal heading data, animal speed data, and animal angular position data..

[0058] In a second aspect the invention broadly consists of a wearable device configured to guide an animal to a target location via applying stimulus to the animal if its heading is outside of a heading threshold directed at the target location and being defined by an angle range either side of a bearing towards the target location, wherein the device reduces the angle range dependent with one or more of a) time and b) distance from the target location.

[0059] In one embodiment, the angle range is reduced if the animal heading is within the heading threshold and is moving below a predefined speed threshold.

[0060] In one embodiment, the device reduces the angle range dependent with one or more of a) time spent in the heading threshold, b) time spent being guided towards the target location and c) a decrease in distance from the target location. In one embodiment, the device triggers a reduction, or a reduction rate, of the angle range if the animal enters into the heading threshold.

[0061] In one embodiment, the device of the second aspect comprises any of the embodiments described for the first aspect or fourth aspect.

[0062] In one embodiment, the device comprises at least one sensor configured to measure position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: receive target location data indicative of a target area; determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading intersects the target area; operate the at least one stimulus device dependent on satisfaction of the criterion.

[0063] In a third aspect the invention relates to a wearable device configured to be worn by an animal, the device configured to guide the animal to a target area, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive target location data indicative of a target area; b. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading intersects the target area; c. operate the at least one stimulus device dependent on satisfaction of the criterion.

[0064] In a fourth aspect the invention relates to a wearable device configured to be worn by an animal, the device configured to guide the animal from a current area to a target area, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data indicative of at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive current location data indicative of the current area within which the animal is virtually fenced within; b. receive target location data indicative of the target area the animal is to be guided to, and virtually fenced within; c. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if a notional line extending from the device location and along the device heading intersects the target area; d. determine if the device heading satisfies a distance criterion, the distance criterion based on a determination that a distance between the current area and target area is less than a threshold distance; and e. operate the at least one stimulus device to apply a first non-directional sound frequency on satisfaction of the heading criterion and the distance criterion, and do not apply any stimulus if the heading criterion or distance criterion is not satisfied. In one embodiment, the controller is configured to continue to operate the at least one stimulus device to apply a first non-directional sound frequency until the controller determines the device is within the target area based on the position data and target location data.

[0065] In one embodiment, the below embodiments relate to the above two aspects.

[0066] In one embodiment, the controller is configured to operate in a. a first condition when the criterion is satisfied; and b. a second condition when the criterion is not satisfied.

[0067] In one embodiment, the controller is further configured to a. determine if the device location is in the target area based on a comparison of the position data to the target location data, and if so b. operate in a third condition.

[0068] In one embodiment, the controller is configured to a. determine the device location is in the target area based on a comparison of the position data to the target location data; b. determine the length of time the device location is in the target area, and if the length of time exceeds a time threshold, operate in a third condition.

[0069] In one embodiment, in the first condition the controller is configured to instruct the at least one stimulus device to apply a first stimulus selected from one or more of: a. vibration; b. shock; and c. sound; or apply no stimulus.

[0070] In one embodiment, in the second condition the controller is configured to instruct the at least one stimulus device to apply a second stimulus selected from one or more of: a. vibration; b. shock; and c. sound; or apply no stimulus.

[0071] In one embodiment, the stimulus applied in the first condition and second condition are different from each other.

[0072] In one embodiment, the stimulus applied in the first condition and second condition are different from each other in one or more of: intensity, pattern application, or order applied.

[0073] In one embodiment, in the a. first condition the controller is configured to instruct the at least one stimulus device to apply the first stimulus as a first sound frequency; and b. second condition no stimulus is applied, or the controller is configured to instruct the at least one stimulus device to apply a second stimulus as a sound frequency higher than the first sound frequency.

[0074] In one embodiment, the first stimulus and / or second stimulus is a non-directional stimulus.

[0075] In one embodiment, in the third condition the controller is configured to a. cancel application of the first or second stimulus; and / or b. apply a third stimulus.

[0076] In one embodiment, in the third condition the controller is configured to cancel application of the first or second stimulus. In one embodiment, the third stimulus is a vibration or tune.

[0077] In one embodiment, the tune is a sound pattern.

[0078] In one embodiment, the third stimulus is applied to inform the animal it can stop moving, or it’s in the desired area.

[0079] In one embodiment, the controller is configured to receive current location data indicative of the current area within which the animal is enclosed within.

[0080] In one embodiment, the device is configured to guide the animal to a target area from a current area.

[0081] In one embodiment, the controller is further configured to determine if the device heading satisfies a heading criterion and a distance criterion.

[0082] In one embodiment, the distance criterion is based on a determination that a distance between the current area and target area is less than a threshold distance, and when the distance criterion is not met, the controller is configured to disable application of any applied stimulus.

[0083] In one embodiment, the distance criterion is based on a determination that the closest two intersection points from the perimeters of the current area and target area laying on the device heading are greater than a distance threshold; and when the distance criterion is met, the controller is configured to disable application of any applied stimulus.

[0084] In one embodiment, the controller is configured to operate in a mode selected from: a first mode where the controller operates the at least one stimulus device to retain the animal in the current area; a second mode where the controller operates the at least one stimulus device to guide the animal from the current area to the target area.

[0085] In one embodiment, the controller is configured to operate in a mode selected from: a third mode where the controller operates the at least one stimulus device to retain the animal in the target area.

[0086] In one embodiment, the controller is configured to update the target area to the current area once the device is located in the target area..

[0087] In one embodiment, the current area or target area encloses the animal via virtual fencing..

[0088] In one embodiment, the device is operable to virtually fence the animal in the current area or target area..

[0089] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus to retain the animal within the current area or target area..

[0090] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus when the device location is near, or crosses, the perimeter of the current area or target area in the respective first mode or second mode..

[0091] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus when the device location exits the current area or target area..

[0092] In one embodiment, the controller is further configured to operate the at least one stimulus device to guide the animal to, and subsequently retain the animal within, the target area.

[0093] In one embodiment, a user defines the current and / or target area..

[0094] In one embodiment, the target area and current area each have respective perimeters which define the area.. In one embodiment, the current location data and target location data comprise geographical coordinates defining one or more of: an area, a perimeter, and vertices of a perimeter..

[0095] In one embodiment, the controller is configured to receive a time, entered by the user via a user interface, at which the controller is configured to operate the at least one stimulus device to guide the animal from the current area to the target area..

[0096] In one embodiment, the controller is configured to send a raycast from device location; and determine if the raycast hits the target area..

[0097] In one embodiment, the device heading is fixed relative to the device..

[0098] In one embodiment, the device heading is indicative of the heading of the animal, along the animal’s median plane in the animal’s cranial direction..

[0099] In one embodiment, the criterion is satisfied if the device heading is determined by the controller to be one of: between a pair of points selected from the plurality of vertices forming at least part of the target perimeter, and between a pair of points located at intersections of the current perimeter and the target perimeter.

[0100] In a further aspect the invention relates to a operating a wearable device configured to be worn by an animal and to guide the animal to a target location, the device comprising: at least one sensor configured to measure the position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller; the method comprising guiding an animal to a target location by operating the controller to execute the steps of: a. receive current location data indicative of the current area within which the animal is virtually fenced within; b. receive target location data indicative of the target area the animal is to be guided to, and virtually fenced within; c. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if a notional line extending from the device location and along the device heading intersects the target area; d. determine if the device heading satisfies a distance criterion, the distance criterion based on a determination that a distance between the current area and target area is less than a threshold distance; and e. operate the at least one stimulus device to apply a first non-directional sound frequency on satisfaction of the heading criterion and the distance criterion, and do not apply any stimulus if the heading criterion or distance criterion is not satisfied..

[0101] In another aspect the invention relates to a wearable device configured to be worn by an animal, the device configured to guide the animal to a target location from a current location, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the heading and location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive target location data comprising a plurality of vertices defining a target perimeter; b. receive current location data indicative of a current perimeter; c. determine if the heading satisfies a heading criterion, wherein the criterion is satisfied if the heading is determined by the controller to be one selected of: i. extending between a pair of points selected from the plurality of vertices, and a pair of points located at intersections of the current perimeter and the target perimeter; and ii. intersecting the target perimeter d. operate the at least one stimulus device dependent on satisfaction of the criterion..

[0102] In one embodiment, the controller is configured to select a vertices pair from the plurality of vertices for the pair of points via the vertices pair satisfying one selected from the following conditions: a. the vertices pair with the greatest distance between them compared to other pairs of vertices; b. the vertices pair with the greatest distance between them compared to other pairs of vertices whilst still allowing the heading threshold to not extend outside of the current perimeter or target perimeter; c. the vertices pair with a combined distance furthest from the location compared to other pairs of vertices; and d. the vertices pair with a combined distance closest to the location compared to other pairs of vertices.

[0103] In one embodiment, the controller is further configured to a. determine two intersection points of the heading with both a perimeter line of the current perimeter and the target perimeter; b. determine the distance between the two intersection points; and c. don’t apply any stimulus if distance is greater than a predefined distance..

[0104] In one embodiment, the predefined distance is one selected from 0.01 ,1 , 2, 3, 4, 5, 10 and 100 metres, or any number in between 0.01 metres and 100 metres..

[0105] In one embodiment, the controller is configured to define a heading threshold defined by two notional lines extending from the device location to the each point of the pair of points..

[0106] In one embodiment, the controller is further configured to satisfy the criterion if the device heading is within the heading threshold..

[0107] In one embodiment, the controller is further configured to apply a stimulus with an intensity dependent on the angle of the device heading outside of the heading threshold..

[0108] A wearable device configured to be worn by an animal, the device configured to guide the animal to a target area, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive target location data indicative of a target area; b. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading intersects the target area; c. operate the at least one stimulus device dependent on satisfaction of the criterion.

[0109] In another aspect the invention relates to a wearable device configured to be worn by an animal, the device configured to guide the animal from a current area to a target area, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data indicative of at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive current location data indicative of the current area within which the animal is virtually fenced within; b. receive target location data indicative of the target area the animal is to be guided to, and virtually fenced within; c. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if a notional line extending from the device location and along the device heading intersects the target area; d. determine if the device heading satisfies a distance criterion, the distance criterion based on a determination that a distance between the current area and target area is less than a threshold distance; and e. operate the at least one stimulus device to apply a first non-directional sound frequency on satisfaction of the heading criterion and the distance criterion, and do not apply any stimulus if the heading criterion or distance criterion is not satisfied.

[0110] In one embodiment, the controller is configured to continue to operate the at least one stimulus device to apply a first non-directional sound frequency until the controller determines the device is within the target area based on the position data and target location data.

[0111] Wherein the below embodiments relate to the above two aspects.

[0112] In one embodiment, the controller is configured to operate in a first condition when the criterion is satisfied; and a second condition when the criterion is not satisfied.

[0113] In one embodiment, the controller is further configured to determine if the device location is in the target area based on a comparison of the position data to the target location data, and if so operate in a third condition.

[0114] In one embodiment, the controller is configured to determine the device location is in the target area based on a comparison of the position data to the target location data; determine the length of time the device location is in the target area, and if the length of time exceeds a time threshold, operate in a third condition.

[0115] In one embodiment, in the first condition the controller is configured to instruct the at least one stimulus device to apply a first stimulus selected from one or more of: vibration; shock; and sound; or apply no stimulus.

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

[0117] In one embodiment, the stimulus applied in the first condition and second condition are different from each other.

[0118] In one embodiment, the stimulus applied in the first condition and second condition are different from each other in one or more of: intensity, pattern application, or order applied.

[0119] In one embodiment, in the first condition the controller is configured to instruct the at least one stimulus device to apply the first stimulus as a first sound frequency; in the second condition no stimulus is applied, or the controller is configured to instruct the at least one stimulus device to apply a second stimulus as a sound frequency higher than the first sound frequency.

[0120] In one embodiment, the first stimulus and / or second stimulus is a non-directional stimulus.

[0121] In one embodiment, in the third condition the controller is configured to cancel application of the first or second stimulus; and / or apply a third stimulus.

[0122] In one embodiment, in the third condition the controller is configured to cancel application of the first or second stimulus. In one embodiment, the third stimulus is a vibration or tune.

[0123] In one embodiment, the tune is a sound pattern.

[0124] In one embodiment, the third stimulus is applied to inform the animal it can stop moving, or it’s in the desired area.

[0125] In one embodiment, the controller is configured to receive current location data indicative of the current area within which the animal is enclosed within.

[0126] In one embodiment, the device is configured to guide the animal to a target area from a current area.

[0127] In one embodiment, the controller is further configured to determine if the device heading satisfies a heading criterion and a distance criterion.

[0128] In one embodiment, the distance criterion is based on a determination that a distance between the current area and target area is less than a threshold distance, and when the distance criterion is not met, the controller is configured to disable application of any applied stimulus.

[0129] In one embodiment, the distance criterion is based on a determination that the closest two intersection points from the perimeters of the current area and target area laying on the device heading are greater than a distance threshold; and when the distance criterion is met, the controller is configured to disable application of any applied stimulus.

[0130] In one embodiment, the controller is configured to operate in a mode selected from: a first mode where the controller operates the at least one stimulus device to retain the animal in the current area; a second mode where the controller operates the at least one stimulus device to guide the animal from the current area to the target area.

[0131] In one embodiment, the controller is configured to operate in a third mode where the controller operates the at least one stimulus device to retain the animal in the target area.

[0132] In one embodiment, the controller is configured to update the target area to the current area once the device is located in the target area..

[0133] In one embodiment, the current area or target area encloses the animal via virtual fencing..

[0134] In one embodiment, the device is operable to virtually fence the animal in the current area or target area..

[0135] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus to retain the animal within the current area or target area..

[0136] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus when the device location is near, or crosses, the perimeter of the current area or target area in the respective first mode or second mode..

[0137] In one embodiment, the controller is configured to operate the at least one stimulus device to apply stimulus when the device location exits the current area or target area..

[0138] In one embodiment, the controller is further configured to operate the at least one stimulus device to guide the animal to, and subsequently retain the animal within, the target area.

[0139] In one embodiment, a user defines the current and / or target area..

[0140] In one embodiment, the target area and current area each have respective perimeters which define the area.. In one embodiment, the current location data and target location data comprise geographical coordinates defining one or more of: an area, a perimeter, and vertices of a perimeter..

[0141] In one embodiment, the controller is configured to receive a time, entered by the user via a user interface, at which the controller is configured to operate the at least one stimulus device to guide the animal from the current area to the target area..

[0142] In one embodiment, the controller is configured to send a raycast from device location; and determine if the raycast hits the target area..

[0143] In one embodiment, the device heading is fixed relative to the device..

[0144] In one embodiment, the device heading is indicative of the heading of the animal, along the animal’s median plane in the animal’s cranial direction..

[0145] In one embodiment, the criterion is satisfied if the device heading is determined by the controller to be one of: between a pair of points selected from the plurality of vertices forming at least part of the target perimeter, and between a pair of points located at intersections of the current perimeter and the target perimeter.

[0146] In a further aspect the invention relates to a operating a wearable device configured to be worn by an animal and to guide the animal to a target location, the device comprising: at least one sensor configured to measure the position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller; the method comprising guiding an animal to a target location by operating the controller to execute the steps of: a. receive current location data indicative of the current area within which the animal is virtually fenced within; b. receive target location data indicative of the target area the animal is to be guided to, and virtually fenced within; c. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if a notional line extending from the device location and along the device heading intersects the target area; d. determine if the device heading satisfies a distance criterion, the distance criterion based on a determination that a distance between the current area and target area is less than a threshold distance; and e. operate the at least one stimulus device to apply a first non-directional sound frequency on satisfaction of the heading criterion and the distance criterion, and do not apply any stimulus if the heading criterion or distance criterion is not satisfied..

[0147] In another aspect the invention relates to a wearable device configured to be worn by an animal, the device configured to guide the animal to a target location from a current location, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the heading and location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive target location data comprising a plurality of vertices defining a target perimeter; b. receive current location data indicative of a current perimeter; c. determine if the heading satisfies a heading criterion, wherein the criterion is satisfied if the heading is determined by the controller to be one selected of: i. extending between a pair of points selected from the plurality of vertices, and a pair of points located at intersections of the current perimeter and the target perimeter; and ii. intersecting the target perimeter d. operate the at least one stimulus device dependent on satisfaction of the criterion..

[0148] In one embodiment, the controller is configured to select a vertice pair from the plurality of vertices for the pair of points via the vertice pair satisfying one selected from the following conditions: the vertice pair with the greatest distance between them compared to other pairs of vertices; the vertice pair with a combined distance furthest from the location compared to other pairs of vertices; and the vertice pair with a combined distance closest to the location compared to other pairs of vertices.

[0149] In one embodiment, the controller is further configured to determine two intersection points of the heading with both a perimeter line of the current perimeter and the target perimeter; determine the distance between the two intersection points; and don’t apply any stimulus if distance is greater than a predefined distance..

[0150] In one embodiment, the predefined distance is one selected from 0.01 ,1 , 2, 3, 4, 5, 10 and 100 metres, or any number in between 0.01 metres and 100 metres..

[0151] In one embodiment, the controller is configured to define a heading threshold defined by two notional lines extending from the device location to the each point of the pair of points..

[0152] In one embodiment, the controller is further configured to satisfy the criterion if the device heading is within the heading threshold..

[0153] In one embodiment, the controller is further configured to apply a stimulus with an intensity dependent on the angle of the device heading outside of the heading threshold..

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] As used hereinbefore and hereinafter, the term “and / or” means “and” or “o , or both.

[0160] As used hereinbefore and hereinafter, “(s)” following a noun means the plural and / or singular forms of the noun. 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.

[0161] 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.

[0162] The entire disclosures of all applications, patents and publications, cited above and below, if any, are hereby incorporated by reference.

[0163] BRIEF DESCRIPTION OF THE DRAWINGS

[0164] Preferred embodiments of the invention will be described by way of example only and with reference to the drawings, in which:

[0165] Figure 1 : shows a schematic of the possible communications network between a device on an animal and the user or processor.

[0166] Figure 2: shows a flow diagram of information between the backend and the device.

[0167] Figure 3: shows a perspective view of the device on an animal.

[0168] Figure 4: shows a schematic diagram of an example of multiple heading threshold angles, where the animal is headed towards the target location.

[0169] Figure 5: shows a schematic diagram of an example of multiple heading threshold angles, where the animal is headed away from the target location, but within a heading threshold.

[0170] Figure 6: shows a schematic diagram of an example heading threshold, where the animal is headed away from the target location and outside of a heading threshold.

[0171] Figure 7: shows a controller control flow diagram for either applying stimulus control or decreasing the heading threshold.

[0172] Figure 8: shows a controller control flow diagram for either applying stimulus control or decreasing the heading threshold, where the flow diagram also comprises a step to keep the angle of the heading threshold above a minimum.

[0173] Figure 9: shows a plan view of a cow heading towards a target location with a schematic overlay with bearings, of an example maximum heading threshold, and the moveable minimum heading thresholds (first and second minimum angles), and indications of piezo (sound application) outside of the heading thresholds.

[0174] Figure 10a: shows a schematic diagram of an animal with a heading intersecting a target area.

[0175] Figure 10b: shows a schematic diagram of an animal with a heading not intersecting a target area.

[0176] Figure 11a,b: shows a schematic diagram of a current area having a distance d from a target area.

[0177] Figure 12a, b: shows a schematic diagram of a comparison between two methods of guiding an animal, 12a showing an embodiment with a heading intersecting a target area, 12b showing an embodiment with a heading not heading between a pair of points. Figure 13a,b: shows a schematic diagram of a comparison between two guidance methods, 13a showing an embodiment with a heading not intersecting a target area, 13b showing an embodiment with a heading not heading between a pair of points, but having a heading threshold defined by the pair of points.

[0178] Figures 14a-f: shows schematic diagrams of various embodiments of the pair of points being used or selected.

[0179] Figures 15a-d: shows schematic diagrams of various embodiments of the pair of points dependent on the location of the target area relative to the current area.

[0180] DETAILED DESCRIPTION

[0181] With reference to the above drawings, in which similar features are generally indicated by similar numerals, Figure 3 illustrates an animal guidance system 2 adapted to receive animal guidance commands, and optionally communicate or be comprised of a system 1000 comprising a backend 500 and front end 200. In one example, system 2 comprises 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. 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, or share capabilities with the device 700.

[0182] The device 400, in general, is configured to guide animals to a target location 304, or guide and contain animals within a virtual boundary or fence, such as a virtual paddock or zone according to a command. To guide the animal the device 400 uses a stimulus device 460, which comprises one or more of the following: speakers 461 ; electrodes 462; and vibrator 463. The stimulus can be applied to directionally guide the animal 10. The stimuli attempt to change or alter the animal’s positional behaviour.

[0183] A controller 530 sends a command to device 400. The command comprises guidance instructions for the wearable devices 400, and the stimulus module 460 is configured to guide animals 10 through the application of stimuli according to the command. The command is operable by a device controller 470. The command is sent to device 400 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 communication package 410. The command contains instructions that are readable by the device 400 and device controller 470. In some examples, controller 530 and controller 470 are the same, or share some responsibilities.

[0184] The command contains data of a target location 304. The target location may be one selected from: the next waypoint along a path, a final destination, a virtual fence, or the closest part of the zone the animal is being directed to. The controller 470 is configured to receive position data of the animal's location and determine a heading 11 that would head the animal towards the target location 304. A heading threshold 301 , as shown in Figures 4 - 6, is implemented on either side of the target heading 305 the device attempts to keep the animal heading 11 within the heading threshold 301. If the animal heading 11 is out of the heading threshold 301 the device 400 is configured to stimulate the animal in an attempt to head the animal back into the heading threshold. Once an animal is at a target location, a subsequent target may be selected and the process may start again. Where target locations are waypoints, the angle may decrease slowly. Alternatively, each target location may trigger a stepwise reduction in the angle.

[0185] The heading threshold 301 is defined by an angle 306 as shown in Figure 6. Where the angle 306 is preferably symmetrically placed about the target heading 305. An issue one may encounter in trying to guide an animal 10 within a heading threshold 301 is that the animal may find it difficult to find the correct heading 305 to head within the heading threshold 301 if the angle 306 is too narrow. If the angle is too narrow the animal may sweep past the heading threshold without realising the stimulus has stopped, or without the device 400 determining quickly enough that the animal heading is within the threshold. As such, a wider heading threshold angle 306 should be used so animals are not unfairly stimulated because they can’t find the heading threshold, or they can at least more easily find the heading threshold. However, once the animal has found the heading threshold, the wider heading threshold means that the animal can wander its heading substantially yet still stay within the threshold. This leads to the animal heading further away from the target heading 305 than ideal.

[0186] Furthermore, it has been discovered that animals will head just outside the heading threshold and flick their heads, and hence the collar device, so their heading is in the heading threshold to prevent any stimulus from being applied, whilst at the same time continuing body movement with a course heading outside of the heading threshold.

[0187] It has also been found that once animals start to move in a direction, it is easier to continue to guide them on the target heading 305 compared to an animal that is not moving or is moving slowly.

[0188] To keep the animal headed towards the target location and to stop it from wandering outside of the heading threshold the heading threshold is decreased in angle proportional to one or more variables. One of the said variables may be time, where the angle of the heading threshold is decreased with time. As such, the longer an animal spends inside the heading threshold the narrower the heading threshold angle will become.

[0189] One of the benefits of decreasing the angle with respect to a variable is it makes it less likely for the animal to head away from the target location and stay within the heading threshold.

[0190] Further, the initial larger angle heading threshold makes it easy for the animal to find the heading threshold and align its heading within it. As the heading threshold angle decreases, it may be easier for the animal to make small changes in its heading to avoid any stimuli that occur if the animal heading strays out of the heading threshold.

[0191] Once the animal starts to move or has spent some time with its heading inside the heading threshold, the heading threshold angle can be decreased.

[0192] Distance from location, distance moved, animal speed, time within the threshold, and / or animal velocity, may be variables used to affect the rate of change of the angle of the heading threshold.

[0193] The device 400 comprises at least one sensor package 440 configured to output animal position data. The sensor package 440 may be provided by a positioning system, such as a GPS device located on the wearable device, or a local positioning system. Many forms of the positioning system are possible, some of which are discussed in further detail herein. An example of the position data includes the location of the animal. The controller is configured to receive said position data. The controller in one example is configured to determine via the location data if the animal is within a virtually fenced area or not. The position data also comprises the heading of the animal.

[0194] The controller 470 receives or determines the target location, receives the position data, and instructs or operates the stimulus device 460 to apply the appropriate stimuli, if required, to the animal to guide the animal towards the target location.

[0195] The controller 470 is configured to receive or determine a heading threshold. The heading threshold is defined by an internal angle 306 extending on either side of the target heading 305. In other examples, the heading threshold may be defined by two angles extending either side of the target heading, for example, the heading threshold may have an angle of 20 degrees on either side of the target heading, yielding a total threshold of 40 degrees. In some embodiments, the left and right threshold angles aside the target heading may be different. This may be in particular use cases, for example, if guiding an animal next to a fence line it may be desired to have the heading threshold asymmetric about the target heading. In one example, the angle is defined as the angle of a minor circular sector extending symmetrically across the heading target, the sector having an origin at the animal location. In a further example, the angle is defined as the angle between two radii extending from the animal location equally spaced from the target heading.

[0196] Figure 4 shows a variety of heading thresholds 301 , 302, and 303 with different angles and used for different purposes, described later. The controller is further configured to instruct the stimulus device to apply a particular stimulus if the position data indicates the animal heading 11 is headed outside of the heading threshold 303, for example as shown in Figure 6. And vice versa, the controller is configured to instruct the stimulus device to apply a particular stimulus, such as a ‘positive cue’ like a sound, vibration or no stimulus, if the position data indicates the animal heading 11 is headed within the heading threshold 301 . An example of an animal headed within the heading threshold is shown in Figure 5.x

[0197] A simplified example of a flow process for a controller to apply stimuli and decrease the heading threshold is shown in Figure 7.

[0198] Herein described where the heading ‘enters’ or is ‘within’ the heading threshold, it may mean that the controller receives position data from the sensor package 440 and determines the compass or cardinal bearing. Bearings are expressed in degrees (°) and range from 0 - 360. They typically read in a clockwise direction. The controller is configured to compare the heading bearing and determine whether it falls within a threshold range of bearings that are within the heading threshold. For example, if the angle of the heading threshold is 40 degrees, and the target heading is 0 degrees (North), then the heading threshold will include bearings between -20 and 20 degrees of north. An example of bearings are shown in Figure 9, where a top-down view of a livestock animal is shown with a heading at 0 degrees towards a destination (target location). For example, if the animal heading is 3 degrees North, then it may be considered entered, inside, or within the heading threshold. A person skilled in the art will realise the many ways a controller or software can determine the heading, and whether it falls within the threshold or how it compares to the target heading. The heading may also be determined by the GPS, compass or IMU.

[0199] In some examples, the position data is derived from the GPS signal. For example, a heading, position and / or speed can be derived from changing GPS coordinates; or acceleration data can be derived from changing GPS coordinates and thereby used to determine a change in speed and displacement. In some examples, the wearable device 400 contains a compass and / or an IMU configured to directly sense, for example, heading, movement, and / or heading data. Any number of IMU sensors may also be contained on the wearable device 400 for providing position data. Any combination of GPS and IMU-derived data may be used by the controller as part of the deployment of position data or determinations of position data.

[0200] In one example, controller 470 is configured to decrease the angle with time. The time may be based on a timer which may be started if, or an interrupt which triggers a change if; the animal leaves the zone, starts guidance (i.e. the controller starts to guide the animal towards a target location), enters, or first enters the heading threshold. The change in angle may be delayed from when the animal heading enters the heading threshold. In one example, the controller is configured to decrease or start to decrease the heading threshold if a trigger event of the animal heading entering the heading threshold is met. The controller may be configured to start decreasing the angle at a rate if the position data indicates the heading is inside the heading threshold.

[0201] In one example, the controller is configured to start increasing or decreasing the angle if the position data indicates the animal heading is within the heading threshold. In one example, alternatively, the controller is further configured to increase or decrease the angle whilst the position data indicates the heading is outside the heading threshold.

[0202] The controller may be configured to stop the change in the angle if the position data indicates the animal heading is outside the heading threshold. And likewise, continue with the change if the animal heading enters back into the heading threshold. The controller may be configured to increase or decrease the angle each side of the target heading equally or disproportionately based on one or more various factors, such as the distance from the target, variance from the heading or target, past behavioural traits or similar.

[0203] The controller is configured to decrease the angle of the heading threshold at a predetermined rate, for example, a rate of degrees per time unit. For example, the heading threshold angle may be decreased at a rate of 3 degrees per second. However many rates may be applicable and will depend on the use case, such as animal type, shift type, guidance command type, and farm type etc.

[0204] In other examples, the rate decreases disproportionally with time but is dependent on it. For example, the rate may gradually decrease or stepwise decrease, such as a decrease of 6 degrees every 2 seconds. In one example, the rate at which the angle decreases is between 0.5 and 10 degrees per second and preferably around 2 degrees per second. There may be many ways to decrease the rate with respect to time. The rate should be easy to understand for animals and not require sudden changes in the animal's behaviour for the animal to avoid stimuli.

[0205] In a further example, the controller 470 is configured to decrease the angle proportional or dependent with distance from the target location, or speed or both. In one example, the angle is decreased linearly with distance travelled (or distance to the target location) and / or speed by the animal and as determined by the position sensor.

[0206] In a further example, the controller 470 is configured to decrease the angle proportional or dependent on both distance and time, or speed and distance.

[0207] In a further example, the controller 470 is configured to decrease the angle proportional or dependent on an animal characteristic, such as grazing activity, heart rate, rumination, previous walking speeds, overall dynamic body acceleration (ODBA), etc. If it can be determined a cow is more relaxed, the angle may be decreased faster than if it was determined a cow was more agitated. Heart rate, previous walking speeds, ODBA may link to stress and agitation. A skilled person in the art will realise that various animal characteristics may be well suited to depend the angle change rate on.

[0208] The controller may be configured to do a calculation to determine the ideal rate of decrease. For example, the controller may estimate the time period the animal will ideally take to get to the target location, and determine the rate based on said time period estimate so that angle decreases linearly with the estimated time period. Likewise, the controller may determine the ideal rate of decrease based on the distance to the target location.

[0209] In other examples, the controller is configured to take into account the historical animal characteristics based on their previously recorded position data, such as average walking speed, or the rate of decrease which leads to the most efficient movement to the target location. Where efficient movement may take into account the distance travelled compared to the straight line distance to the target location, the animal speed, the number of stimuli the animal received, or a combination of these.

[0210] In some examples the controller is configured to increase the angle of the heading threshold the closer the animal location is from the target location and decrease the angle of the heading threshold the further the animal location is from the target location, or vice versa.

[0211] In a further example, the controller is configured to change the angle of the heading threshold dependent on the received heading. In one embodiment, the received heading is compared to the target heading, the closer the heading is to the target heading, the slower or faster the rate of the angle change. For example, if the heading is within 5 degrees of the target heading the rate may be a 1 degree decrease per minute or distance unit; and if the heading is within 15 degrees of the target heading the rate may be 3 degrees decrease per minute or distance unit. The controller may be configured to look up a lookup table of a range of headings with appropriate rates of head angle changes and apply the correct rate depending on the received heading. In other examples, it is the opposite, where the rate of angle change is less the further away the heading is from the target heading. In one example, the controller is not configured to increase the heading threshold once it has been decreased, regardless of the heading. In a further example, the controller is configured to change the angle of the heading threshold dependent on the received heading. In one embodiment, the received heading is compared to the target heading. If the received heading is with an angle range from the target, then the threshold will be changed accordingly. For example, if the heading falls within the angle range of 5 degrees across the target heading, then the controller is configured to change the heading threshold to 15 degrees. The further the animal moves away from the target heading, the tighter the ratio of heading to angle threshold will be. For example, a heading within a 10-degree range may mean a threshold heading of 11 degrees is applied, and a heading within 10 to 20 degrees either side of the target heading may mean a threshold heading of 45 degrees.

[0212] Further limitations may be added to the control logic so that improved animal guidance and fairer application of stimulus to animals is applied. In one example, a speed threshold is used. For example, if the controller receives data from the position sensor which indicates the animal heading is within the heading threshold and the animal speed or velocity is below the speed threshold, only then will the controller decrease the heading threshold angle. If the controller determines the heading is within the heading threshold but the animal speed is above a threshold then in one example the controller will not reduce the angle.

[0213] The controller is further configured to start increasing or decreasing the angle if the position data indicates the animal heading is within the heading threshold and the position data indicates that the animal speed is below an animal speed threshold.

[0214] The animal speed threshold is one selected from a range of speeds between 100 and 500 millimetres per second, preferably around 255 millimetres per second. In one example, the controller is configured to determine the speed threshold by taking into account the historical animal characteristics based on their recorded position data, such as average walking speed, or the rate of decrease which leads to the most efficient movement to the target location. In other examples, the speed threshold is predefined by a user.

[0215] The controller is further configured to stop increasing or decreasing the angle if the position data indicates at least one of: the speed threshold is exceeded, and the animal heading is outside the heading threshold.

[0216] In one example, if an animal heading leaves the heading threshold, and then re-enters the heading threshold, the angle of the heading threshold is at the previous angle if the animal left. Further, in one example, the decrease of the heading threshold stops if the animal goes beyond the heading threshold. The controller is configured to determine from the received position data that the heading is outside the heading threshold, and hence will stop decreasing the angle of the heading threshold. The controller determines from the received position data that the heading is back within the heading threshold, and the controller is configured to continue to decrease the angle of the heading threshold from the last set angle.

[0217] It would be unfair on an animal to reduce the heading threshold angle to an angle that was too acute for the animal to be able to meaningfully head within, and hence not get stimulated. As such a minimum heading threshold is implemented with an angle limitation. Figures 4 and 5 show a first minimum heading threshold 302 having an example minimum angle. In one example the controller is configured to limit the angle of the heading threshold to a first minimum angle. Where the first minimum angle is an angle selected from a range of angles between 1 and 20 degrees, and preferably 6 degrees.

[0218] If the controller determines from the received position data that the heading has moved back within the heading threshold, but the last set angle was less than a predefined angle, the controller is configured to increase or reset the angle of the heading threshold to a second minimum angle - herein the heading threshold is called the second minimum heading threshold 303. The controller is configured to reset the angle of the heading threshold to a second minimum angle greater than the first minimum angle, if the position data indicates the animal heading has moved from outside to inside the heading threshold, and the heading threshold angle was last set at the first minimum angle. Figure 8 shows a flowchart implementing a check to determine whether a first minimum heading threshold has been reached, and if so, to reset the heading threshold to a second minimum angle heading threshold 303 as shown in Figures 4 and 5. In one example, the second minimum angle is an angle selected from a range of angles between 1.1 and 60 degrees, preferably 30 degrees. The controller is further configured to continue to decrease the angle of the second minimum heading threshold once the position data indicates the animal heading is within it. If the animal is determined to be in the zone or at the target location, no further stimuli is applied. Further, in one example, once at the zone or at the target location the head threshold angle is increased or reset. The reset angle may be the initial angle or may be the second angle. The reset angle may be the initial angle if the angle was last below the second angle and above the first angle, or the reset angle may be the first angle if the angle was last below the first angle.

[0219] Upon first entering a region where the heading threshold is utilised, the angle of the heading threshold is set to a maximum, which is predefined by a user or otherwise determined by the controller. The controller is configured to receive the predefined maximum angle of the heading threshold 301 . The controller is configured to start decreasing the angle of the heading threshold 301 once it receives position data indicative of the heading being within the heading threshold 301 as described elsewhere. In one example, the maximum angle is an angle selected from a range of angles between 20 and 179 degrees, preferably 80 degrees.

[0220] In examples where the angle of the heading threshold increases, for example where the position data indicates the animal is moving away from the zone - the controller is further configured to limit the angle of the heading threshold to a maximum angle.

[0221] In some embodiments, the head threshold comprises hysteresis. For example, the threshold may be higher when the heading is moving toward larger angles, and lower when moving towards smaller angles, or vice versa.

[0222] Guidance Method Two

[0223] In an alternative or additional embodiment the controller is configured to operate at least one stimulus device of the wearable device to guide animals from their current area 810 they are retained in (optionally by the same wearable device) to a target area 820. The wearable device is equipped with a set of features that collectively contribute to effective animal guidance. Specifically, the device comprises at least one sensor 440 responsible for measuring position data, including the heading and location of the wearable device 400 and, consequently, the animal. Further, the wearable device incorporates at least one stimulus device 460 capable of applying stimuli to the animal, thereby eliciting a behavioural response. This responsive behaviour is strategically induced through the coordination of a controller, which performs several key functions. The controller is programmed to receive target location data specifying the target area and simultaneously gather position data reflecting the device's heading and location.

[0224] The current area and target area may be defined by location data which the controller is configured to receive (such as from a user device) or determine (i.e. an ideal target area created by the controller). The location data may comprise geographical coordinates, geo-indexes, perimeters defined by vectors or vertices, user defined areas etc. In one embodiment, the current area 810 is defined by a perimeter 811 and target area 820 defined by a target perimeter 821 . Wherein both perimeters may be defined by a plurality of vertices 812 or 822 respectively. The controller is configured to receive said area, perimeters and / or vertices.

[0225] The wearable device 400 is configured to be worn by an animal and guide the animal to a specified target area 820. The device consists of at least one sensor from a sensor package 440 configured for measuring the position data of the wearable device, specifically at least in one embodiment, the heading and location, thus determining the animal's heading and location. The device 400 heading and location will generally follow the animal’s 10 heading and location. For example, if the animal turns left, the device heading will be left also, and the change, or current state is recorded or detected by the at least sensor as position data.

[0226] Additionally, the device incorporates at least one stimulus device 460 capable of applying stimuli to the animal to elicit a behavioural response. A feedback loop exists where stimulus may be applied to the animal via the at least one stimulus device dependent on the position data, and the position data may then change depending on the stimulus applied to the animal, as the animal moves in response to the applied stimulus.

[0227] The controller receives current location data indicative of a current location within which the animal is confined, retained, or enclosed, and target location data indicative of a target location within which the animal is to be confined, retained, or enclosed in. The locations may be defined by perimeters or areas. In one embodiment, perimeters are defined by vertices forming a polygon or shape outlining the target or current area. Alternatively, the location data may comprise references to geo indexes. In another embodiment, the current location data is indicative of a particular location, such as a shed, a gateway, or raceway or other location not indicative of an area.

[0228] The controller is further configured to guide the animal to the target location. In a first embodiment, the controller is configured to determine whether the device heading satisfies a criterion. The controller operating the at least one stimulus device to guide the animal to the target location, and applying specific stimulus depending on whether the controller determines a criterion has been met.

[0229] The controller in one embodiment, is configured to operate in one of multiple conditions. Further, in the same or other embodiments, the controller is configured to operate in one of multiple modes. The conditions depend on the device heading and device location, and the modes depending on a set programme, routine, or user initiated action. The conditions being satisfied will determine which stimulus to apply, and the mode will determine what conditions are to be satisfied if any.

[0230] Criterion and Conditions

[0231] In one embodiment, the controller is configured to determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading crosses or intersects the target area. If satisfied the device 400 is configured to guide the animal from its current location to the target location with a specific set of stimulus which the device determines depending on the mode. In prior art systems, animals may be guided to a specific discrete location which may mean an animal receives excessive stimulus in being guided on a very narrow heading. However the current embodiment allows the animal a lot of leeway, or tolerance, to have its heading wander, as long as the heading continues to cross or intersect the target area. Figure 10a shows an example of the animal heading 11 intersecting a target area 820 or target boundary 821 , whereas Figure 10b shows an example of an animal 10 with a heading 11 missing the target. The controller is configured to determine whether or not the heading will hit, or intersect, the target, and apply an appropriate stimulus accordingly. The heading 11 hitting the target may be described as the heading 11 satisfying a criterion.

[0232] In one embodiment, the controller is configured to operate in a first condition if a heading criterion is met, where a met criterion is the heading hitting the target. The controller is configured to operate in a second condition if a heading criterion is not met, where a not met criterion is the heading missing the target. The controller is further configured to operate the at least one stimulus device depending on the condition the controller is operating in.

[0233] In the first condition the controller is configured to instruct the at least one stimulus device to apply a first stimulus selected from one or more of: vibration; shock; and sound; or apply no stimulus. In one embodiment, in the first condition the controller is configured to instruct the at least one stimulus device to apply a vibration or a first low sound frequency. In other embodiments no stimulus may be applied when in the first mode. This embodiment allows animals to move towards the correct direction at their own pace. This may be useful for flighty animals, or where time to get to the target area is less important.

[0234] Further, in the second condition a second stimulus can be instructed to be applied, such a second stimulus however may be no stimulus being applied, or the controller is configured to instruct the at least one stimulus device to apply a second stimulus in the form of a sound frequency higher than the first stimulus low sound frequency. Preferably, the first stimulus and / or second stimulus is a non-directional stimulus. A non-directional stimulus is a stimulus that does not indicate a specific direction for the animal to move. A directional stimulus, on the other hand, is a stimulus that signals a particular direction for the animal to follow, such as a vibration, a sound, or a visual cue that indicates or prompts left or right movement of the animal. In one embodiment, the non-directional stimulus is a sound emitted by a speaker, the sound configured to be applied to both ears of a cattle animal equally. Certain frequencies of sound or vibration may be used that have less directionality for particular cattle. For example the first stimulus is no stimulus applied, and the second stimulus is a direction sound configured to in operation guide the animals so its heading once again intersects with the target.

[0235] In other embodiments, the first stimulus and / or second stimulus is a directional stimulus - for example speakers configured to apply more or different sound to one ear compared to the other ear of the animal. In one embodiment, the direction stimulus is sound that may be ramped, applied to the ear of the animal opposite to the direction it is desired to guide the animal. For the second stimulus, the direction to turn the animal may be determined by the controller as the least amount of angle needed to turn the animal for the animal to have its heading 11 intersect the target.

[0236] In operation, a first stimulus may resemble an animal receiving a mild or soothing stimulus, like a gentle vibration or a low-frequency, low-intensity sound. This signal serves to inform the animal that it is oriented in the correct direction (heading) and can proceed towards a new target location. In the second condition, when the animal is headed in an incorrect direction, i.e away from the target location, then no stimulus is applied. This stimulus application may be described as a low touch, stress free, relaxed, or passive shifting. Where the animal is only coerced or prompted to move, be guided, or shift towards the target location when it is facing the correct heading.

[0237] In other embodiments, in the second condition the controller is configured to instruct the at least one stimulus device to apply a second stimulus selected from one or more of: vibration; shock; and sound. In particular, the stimulus applied in the first condition and second condition are different from each other in one or more of: intensity, pattern application, or order applied. As the animal needs to know the difference between stimulus applied from different conditions.

[0238] Once the animal has reached the target area, the first and second conditions and their respective stimulus need to stop. In operation, the controller is configured to compare the position data of the device 400, to the target location data, and determine if the device location is in the target area, and if so operate in a third condition. In the third condition a third stimulus may be applied to prompt the animal to stop moving, to head in any direction, or to affirm they are free to move. The third stimulus may be a stimulus which is not dependent on heading. For example, the third stimulus may be a short sound or vibration. In one embodiment, the third stimulus is reassuring, such as a sound tune, repeatable sound pattern, or soft vibration.

[0239] The controller is programmed to continuously apply the first stimulus to the animal if the heading criterion is continuously satisfied until the controller receives position data confirming the animal's location within the target area. Conversely, if the criterion is not satisfied, the controller applies a second stimulus. This second stimulus is maintained until the controller receives position data indicating the criterion is met or the animal is within the target area.

[0240] In a further embodiment it may be desired for the animal to be within the target area for a period of time before the third stimulus is applied. This ensures the animal does not cross into the target area and then immediately retreat or turn around out of the target area once the first stimulus has been removed. In one example, the controller is configured to compare the position data to the target location data, and determine if the location is in the target area, determine the length of time the device location is in the target area; compare the length of time to a time threshold; and operate in a third condition if the length of time is greater than the threshold. For example, the threshold may be 5 seconds, and as such the controller is configured to wait for the device to be in the target area for 5 seconds before stopping the first and / or second stimulus and applying the third stimulus.

[0241] Distance Figure 11 shows a schematic of an embodiment where the controller is configured to determine the distance between the current location (such as a current virtual fence confining the animal) and target location, and guide the animal accordingly. In such an embodiment it is preferable the animal is guided to a target location when the target location is within a threshold distance to the current location, and not guided to the target location when the target location is greater than the threshold distance to the current area. This prevents the controller trying to guide animals a long way in between the current location and the target area, this can cause confusion to the animal, or lack of a successful guidance shift. The animal may be less likely to be guided successfully across fresh pasture, for example, between the current location and target location.

[0242] The current location may be a point location, and in this embodiment, the distance determined may be the distance between the device location and the target location. However in other embodiments, as schematically shown in the figures, the current location is indicative of a current area 810 comprising a current perimeter 811 , and determined distance is between the perimeters of the current area and target area, along the notional heading 11 .

[0243] The controller is configured to determine the distance between current area and target area. There are many ways a skilled person in the art could programme the controller to determine the distance. In one embodiment, the heading 11 of the animal is determined, and the two intersections points 850 at which the heading intersects with both the current perimeter and target perimeter are determined, and the distance between the pair of points is determined. In one embodiment, the intersection points 850 nearest each other are selected, so the closest together target perimeter and current perimeter are selected, and not the far side of the target perimeter.

[0244] The controller is configured to determine the nearest intersection points of both perimeters of the current area and target area laying on the device heading.

[0245] The heading may be defined or represented by a notional heading line 11 coincident with the heading. Simple maths may be used to determine the distance, such as Euclidean distance, between the two points. For more accuracy or when determining greater distances, the Haversine formula may be utilised. The heading 11 may be based on the polar coordinate system. Further, the heading may be described as a ray heading along the heading from the device location. The heading may be described as hitting, intersecting, engaging, crossing or similar to the target area, or target location, or target notional line. This description of the heading may be used for all both the distance threshold and the guidance.

[0246] If the controller determines the distance from the current location (current point location, device location, or the current perimeter) from the target location is greater than a threshold distance then the wearable device is configured to not attempt to guide the animal to the target location. In one embodiment, if the distance is determined to greater than the threshold, the controller is configured to one or more of: do not operate in the first or second condition; do not instruct the at least one stimulus device to apply stimulus; instruct the at least one stimulus device to stop applying any stimulus; and do not guide the animal to the target area.

[0247] In one embodiment, the controller is configured to determine if the distance (between the current area and target area) is less than the threshold, and if so, a distance criterion is satisfied.

[0248] To guide an animal in the first condition, the heading criterion and distance criterion must be satisfied. If either criterion is not satisfied, the controller is configured to stop guidance, not apply any stimulus, stop any applied stimulus, or change from the first condition to the second condition.

[0249] In one embodiment, the controller is configured to: determine the nearest intersection points of both perimeters of the current area and target area laying on the device heading, or a notional heading line; determine the distance between the intersection points; compare the distance to a threshold, and if the distance is greater than or equal to the threshold don’t instruct the at least one stimulus device, or instruct the at least one stimulus device to stop applying any stimulus if stimulus is being applied. A threshold distance may be measured in metres, for example between 1 and 100m, more preferably between 1 and 10 metres, for example 5 metres. However the distance threshold may be set appropriately depending on the training state of the animals wearing the devices 400, the terrain, and how trained they are to be guided between the current and target locations.

[0250] In a further embodiment a raycast system may be utilised to determine if the device heading intersects the target location, and further, may be utilised to determine the distance between areas aforementioned.

[0251] In one embodiment, the controller is configured to send a ray cast (aka notional heading line) from the device’s location and determine if it intersects with a target area. The method may involve several steps. First, the ray origin is set up by defining the starting point and direction of the ray cast, which is typically the position and forward direction of the device. Next, the ray cast is performed by using a ray casting function to project a ray from the controller’s position in the specified direction. The controller is further configured to determine if the ray intersects with any objects or target areas by examining the results of the ray cast for any hits. Finally, the intersection is handled by executing the desired logic if the ray intersects with the target area, such as highlighting the target, triggering an event, satisfying a criterion, preceding to the next step in the method, or providing feedback to the user.

[0252] In one embodiment, the threshold or predefined distance is one selected from 0.01 ,1 , 2, 3, 4, 5, 10 and 100 metres, or any number in between 0.01 metres and 100 metres.

[0253] Modes and VF

[0254] In one embodiment, the controller is configured to operate in a mode selected from: a first mode where the controller operates the at least one stimulus device to retain the animal in the current area 810; a second mode where the controller operates the at least one stimulus device to guide the animal from the current area 810 to the target area 820; and a third mode where the controller operates the at least one stimulus device to retain the animal in the target area 820. I.e. in operation this resembles the animal device either retaining the animal in the current area, shifting the animal to the target area, and once within the target area, retaining the animal in the target area. Each mode requires applying different stimuli to the animal.

[0255] Only within the second mode, where the controller operates the at least one stimulus device to guide the animal from the current area 810 to the target area 820, does the controller determine if the heading criterion is satisfied or not.

[0256] The controller is configured to receive information regarding which mode to be in from a user. For example, the user may schedule or trigger a shift of the animal to the target location. Upon the required time to shift, the controller is configured to operate in the second mode. Prior to this, the controller in one embodiment, will be in the first mode. Once the device location is detected as being within the target area, the controller automatically sets itself to the third mode.

[0257] Data

[0258] In one embodiment, the current location data and target location data comprises data defining one or more of: an area, a perimeter, and vertices of a perimeter. The data may be geographical coordinates, geo indices, references to prior encoded paddock boundaries / areas etc.

[0259] In one embodiment, the controller is configured to receive a time, entered by the user via a user interface, at which the controller is configured to operate the at least one stimulus device to guide the animal from the current area to the target area.

[0260] The heading of an animal, like a cow, is the direction it is facing. For example, the heading may be described as a notional heading line along the median plane of a cow in the cranial direction. Or a notional heading line laying on the heading of the animal. The median plane is a vertical plane that divides the body into left and right halves. It passes through the midline of the body. The cranial direction refers to the front of the animal. So, if considering the median plane in the cranial direction, the heading is looking at a notional line running vertically along the midline from the back to the front of the cow. The heading of the cow would then be determined by the orientation of this notional line. If the cow is facing straight ahead, parallel to this line, its heading is in the cranial direction along the median plane. If the cow turns to the left or right, the heading changes accordingly. The location of the device 400, and hence animal will locate the heading in 2D space.

[0261] In a first embodiment the criterion for the controller to operate the first stimulus is the heading from the location of the wearable device intersecting with any portion of the perimeter of the target perimeter 821 . To determine this criterion, the controller is configured to receive both the location and the heading of the device 500 from the sensor package 440. A person skilled in the art will be able to program the controller with one of multiple methods for the controller to determine if the heading, or notional heading line, extending along the heading, will intersect with the target area, or target perimeter. Such methods may include ray-casting algorithms, point-in-polygon algorithms, vector operations (which represent the perimeter edges and the heading vector as mathematical vectors, and use vector operations such as dot product and cross product to determine the angle between the heading vector and the perimeter edges), trigonometry, etc. Figure 10a shows an example of a heading 11 intersecting with the target perimeter 821 and Figure 10b shows an example of a heading 11 not intersecting with the target perimeter 821 .

[0262] Pair of Points

[0263] In an alternative embodiment the controller is configured to determine if the heading satisfies a heading criterion, wherein the criterion is satisfied if the heading is determined by the controller to be one selected of: extending between a pair of points selected from a plurality of vertices 822 forming the target location 820, and a pair of points 830 located at intersections of the current perimeter and the target perimeter. As per the above embodiments, the controller is configured to operate the at least one stimulus device dependent on satisfaction of the criterion. In the present embodiment, the controller has selected a pair of points of which between the points and the device location form a heading threshold. Examples of various heading thresholds are shown in Figures 13a to 15d.

[0264] Figure 12a and 12b show a schematic of an embodiment where the device (also animal) has a heading 11 which satisfies the heading criterion in Figure 12a for the heading intersecting the target area, but does not satisfy the heading criterion of intersecting a notional line 823 between a pair of points 830, or at least extending between a pair of points 830.

[0265] Figures 12a and 12b show a difference between various embodiments. Figure 12a shows the heading 11 of the device not satisfying the criterion by missing the target location, and therefore being in the second condition. Figure 12b shows the heading 11 not satisfying the criterion by being within the pair of points 830, and therefore being in the second condition. However, as there is a heading threshold 840 which is defined between the pair of points 830 and the device location, the controller can determine the difference of heading X outside of heading threshold 840. Stimulus may then be applied dependent on the variable X. For example, the stimulus may ramp in intensity the higher the X value. In one embodiment, the stimulus is a ramped sound which increases with higher values of X, leading to a maximum volume. The stimulus intensity may also be dependent on time.

[0266] Figure 13a,b shows a schematic diagram of a comparison between two guidance methods, 13a showing an embodiment with a heading not intersecting a target area, 13b showing an embodiment with a heading not heading between a pair of points, but having a heading threshold from the pair of points.

[0267] In one embodiment, the controller is designed to select a pair of vertices from a plurality of vertices for the pair of points by satisfying one of the following conditions. Firstly, the controller may choose the vertice pair with the greatest distance between them compared to other pairs of vertices, as illustrated in Figure 14a compared to Figure 14b. Secondly, the controller might select the vertice pair with the greatest distance between them while ensuring that the heading threshold does not extend outside the current or target perimeter. For instance, Figure 14f demonstrates a wide vertice pair, yet the heading threshold remains within the confines of the current and target areas, preventing the animal from needing to traverse outside these areas. Thirdly, the controller could opt for the vertice pair with a combined distance furthest from the location compared to other pairs of vertices, as shown in Figure 14d. Lastly, the controller may select the vertice pair with a combined distance closest to the location compared to other pairs of vertices, as depicted in Figures 14b or 15b. Selection of pair

[0268] Figures 14 and 15 show many examples of a variety of pairs of points. In one embodiment, the controller is configured to select a vertice pair from a plurality of vertices forming at least part of the target perimeter, the vertice pair satisfying one selected from the following conditions: the vertice pair with the greatest distance between them compared to other pairs of vertices; the vertice pair with a combined distance furthest from the location compared to other pairs of vertices; and the vertice pair with a combined distance closest to the location compared to other pairs of vertices.

[0269] Alternatively, instead of the heading criterion being satisfied by a) hitting the target area, or b) extending between the pair or points, it may be satisfied by c) intersecting a notional line 823 extending between the pair of points. Notional line 823 may also be used for the determination that the device is in the target area, only if the device has crossed the notional line, this may be useful in examples like Figure 15d where the current area extends into the target area.

[0270] In a further embodiment, the controller may be configured to select the best method of guidance, either a) hitting the target area, or b) extending between the pair or points. The selection may be based on nearest target, or the widest heading tolerance to be able to still intersect the target area, etc.

[0271] One outcome of the embodiment as shown in Figures 10 onwards is the calm and relaxed manner in which the device 400 may guide an animal towards the target area, preferably with lower power usage. Low power usage comes through not applying many stimuli, and when applying stimuli, applying low power use stimuli such as a relatively low powered sound. The calm and relaxed manner of the cattle may be from the second stimulus not being present, or being less aversive, than the first stimulus. Where the second stimulus is used when the animal is not facing the target area, and as such able to act in a relaxed manner without pressure. When the animal is facing the target area, a low powered stimulus may be utilised to encourage the animal to keep heading towards the target area 820. In other embodiments, the first stimulus is no stimulus or a very low intensity stimulus and the second stimulus is more intense. However this may have the downside of panicking the animal. Furthermore, using a first stimulus such as a low intensity sound uses minimal power draw from a potentially power constrained device, such as the device 400. Compared to for example, a low vibration stimulus application which may have a higher power draw than sound. Further, continual processing power and stimulus applied for directional guidance (stimulus applied to turn an animal left or right) to stay on a desired heading line (e.g line 305 in Figure 5) )are higher than stimulus which are applied when a heading criterion is satisfied, i.e correct heading or not correct heading. Further, directional guidance whilst staying with a narrower heading threshold may use more power than for example, a heading which intersects with a target area, which in most applications will be a larger heading target than a predefined heading threshold.

[0272] COLLAR DETAILS

[0273] In some examples, the wearable device comprises animal guidance components as are detailed elsewhere in this specification. The guidance components are fundamentally operable to receive guidance commands, and based on those commands, enable, adjust, or disable the operation of one or more stimulus output components, such as the stimulus device 460, at one or more intensity levels to guide animals according to the guidance command. For example, to apply a sound through speakers 461 if the animal leaves the heading threshold.

[0274] The collar may comprise one or more speakers, and preferably two speakers, each speaker configured to apply a sound to each left and right ear of an animal. The controller is further configured to apply a first stimulus being a sound if the position data indicates the heading is outside the heading threshold. Where the controller in one example is configured to send a control command to instruct the stimulus device to output a stimulus, such as a sound. To directionally control the animal, to for example, guide the animal back inside the heading threshold, the controller is further configured to apply the first stimulus via the stimulus device to a side of the animal angled furthest from the target heading. The animal tends to move away from the stimulus, and as such a stimulus applied to be felt by the left side of the animal will tend to guide an animal to head towards the right. In some examples, the stimulus, such as the sound, vibration or shock, is configured to increase or decrease the intensity with respect to (proportional, or dependent with) one or more of heading, time outside the heading threshold, and distance to the target location. The intensity may be one or more selected from changing the volume, frequency, duty cycle, pitch etc.

[0275] In one example, the controller is configured to apply a third stimulus via the stimulus device, such as a vibration if the position data indicates the animal heading is inside of the heading threshold, and optionally is above or below an animal speed. The vibration may be used as a means to encourage the animal to stay within the heading threshold, to keep moving above a predefined speed, or to encourage the animal to move faster.

[0276] In one example, the controller is configured to apply a third stimulus (vibration) if the position data indicates the animal heading is inside of the heading threshold, and the position data which also indicates speed, indicates the animal speed is below a speed threshold. The animal speed threshold is one selected from a range of speeds between 100 and 500 millimetres per second, preferably around 255 millimetres per second. In one example, the controller is configured to determine the speed threshold by taking into account the historical animal characteristics based on their recorded position data, such as average walking speed, or the rate of decrease which leads to the most efficient movement to the target location. In other examples, the speed threshold is predefined by a user.

[0277] In an example of a preferred example, there may be two speakers, the first speaker may be on the lefthand side and is adapted to be positioned more proximal to the left ear of the animal and a second speaker may be on the right-hand side and is adapted to be positioned more proximal the right ear of the animal. Both speakers may be capable of transmitting sound independently and in concert with the other. Instead of having speakers on two sides, it may be possible that the collar (300) only comprises a speaker on one side, or in the centre position of the collar (300).

[0278] In this example of a preferred example, there are two vibrators, the first vibrator is on the left-hand side and a second vibrator is on the right-hand side. Both vibrators are capable of vibrating independently and in concert with the other. Instead of having vibrators on two sides, it may be possible that the collar (300) only comprises vibrator on one side, or in the centre position of the collar (300).

[0279] There may be electrode(s) able to contact the neck of the animal if the collar is secured around the neck of the animal to provide an electrical current or shock to the animal. The first electrode may be on the lefthand side and the second electrode may be on the right-hand side. Both electrodes are capable of providing an electrical current or shock to the animal independently and in concert with the other. Instead of having electrodes on two sides, it may be possible that the collar only comprises electrode(s) on one side, or in the centre position of the collar.

[0280] In one embodiment, the collar comprises either speaker(s), vibrator(s) or electrode(s). It may also be possible that the collar comprises either speaker(s) and vibrator(s), or speaker(s) and electrode(s), or vibrator(s) and electrode(s).

[0281] The first stimulus may be in the form of a sound that is varied in intensity, volume and / or frequency, and / or the vibration that is varied in form of strength and / or frequency. In some embodiments, the first stimulus comprises a pattern of various stimuli. For example, the volume and / or frequency of the sound and / or strength and / or frequency of the vibration may be lower initially and gradually begin to increase. The increase in intensity may be based on the urgency in which a response from the animal is desired. If the animal is getting further away from the heading threshold, the sound and / or shock intensity may be higher than if the animal was closer to the heading threshold.

[0282] The stimulus intensity may be determined by applying sound intensity (SI) between 0% to 100% using the equation SL= ix + 2a + Pst where, i, 2 and 3 are gains (distance gain, heading gain, and time gain, respectively) which are tuned or adjusted per cow, x is the distance to the target location, t is the elapsed time since the animal has left the zone, or left the heading threshold, a is the delta heading from the target heading,

[0283] If Sl= 1 , then a further stimulus may be applied. Any one of the gains may be removed or added depending on the use case. For example SL= 2a + Pst, SL= ix + st , and SL= ix + 2a.

[0284] In one example, the controller is configured to apply a second stimulus, such as a shock, if the intensity of the first stimulus reaches a predefined maximum, e.g Sl=1.

[0285] In order to receive commands, the wearable device is in communication with one or more other devices including other devices in the group and / or a central hub such as a backend server described elsewhere in this specification. The most practical channel of communication is by wireless methods as described elsewhere in this specification. Therefore, in some examples, the system comprises a wireless mesh comprising a wireless transceiver component in a central hub and / or a wireless transceiver component in each device in the group of wearable devices such that the device is configured to transmit to and receive data from devices in the group of devices and / or the central hub.

[0286] To coordinate the transmission of guidance commands to one or more wearable devices the controller 470 is operable to receive and process data, and make control determinations for provision to one or more of the wearable devices. Implementation of the controller is discussed elsewhere in this specification, however, it should be noted that the controller comprises a processor, or multiple processors, and any function of the controller may be implemented on one or more of the processors. For example, each wearable device would have a processor, and the central hub has a processor. The controller may be implemented by one of these processors, or a combination of these processes in order to implement the features of the invention.

[0287] The controller is, therefore, one of a component of the central hub, is one or more of the wearable devices in the group of wearable devices, and / or is a distributed controller comprising one or more components of the one or more of the wearable devices in the group of wearable devices and / or a distributed controller comprising components of the one or more of the wearable devices and the central hub. Figure 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.

[0288] 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.

[0289] The wearable device 400 utilises technology by the company HALTER® and is further described in patent publications WO2019180624 and WO2019180623. The HALTER® technology is capable of restraining an animal in a paddock defined by a virtual boundary, as well as being able to shift the animal from one location to another such as from a paddock to a milking shed. The wearable device 400 achieves this via administering audible signals to the left and / or right ears of the animal 10, and / or in combination with administering vibration and / or electrical stimulus to the animal 10, directionally or otherwise. The wearable device 400 utilises electronics and / or software to control stimuli using control actions, as well as to communicate externally - such as to receive target locations, predefined variables such as heading thresholds etc. The herein described animal guidance functions are provided by a control system which may herein be referred to as operations of a controller, which in some examples may be the same controller 470 and / or controller 530. The controller is implemented by one or more computing devices which form the architecture of a system configured to perform desired functions. Reference to “controller” may refer to one or more electronic devices that are configured to directly or indirectly communicate with, or over, one or more networks. A computing device may be a mobile device. As an example, a mobile device may include a smart wearable device such as a wearable animal collar (or “collar”), a cellular phone, IOT capable device, a smartphone, a portable computer, such as watches, glasses, lenses, clothing, and / or the like, and / or other like devices. In other non-limiting examples, the computing device may be a desktop computer or other non-mobile computer. Furthermore, the term “computer” may refer to any computing device that includes the necessary components to receive, process, and output data, and normally includes a display, a processor, a memory, an input device, and a network interface.

[0290] 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.

[0291] 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.

[0292] Reference to “a server” or “a processor,” as used herein, may refer to a previously-recited server and / or processor that is recited as performing a previous step or function, a different server and / or processor, and / or a combination of servers and / or processors, and refer to general implementations of processors which form the functional elements of the controller. For example, a first server and / or a first processor that is recited as performing a first step or function may refer to the same or different server and / or a processor recited as performing a second step or function. Further, reference to a server or processor may refer to a group of servers or a group of processors, each configured to perform a task. Such tasks may include processes or algorithms which are undertaken by one or more servers of processors. Tasks undertaken by any one or more processors, such as by an on-collar and / or off-collar processor, are therefore to be understood as tasks undertaken collectively by the controller or control system.

[0293] Examples of this disclosure include reference to cloud computing, and implementation of the teachings recited herein are not limited to a cloud computing environment. Rather, examples of the invention are capable of being implemented in conjunction with any other type of computing environment now known or later developed. Cloud computing is a model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g. networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. Some examples are private clouds where the cloud infrastructure is operated solely for an organisation. Other examples are community clouds, where cloud infrastructure is shared by several organisations and supports a specific community that has shared concerns such as security requirements, policy, or compliance considerations. The community cloud may be managed by the organisations or a third party and may exist on-premises or off-premises. In some examples, a public cloud infrastructure is made available to the general public or a large industry group and is owned by an organisation selling cloud services. A cloud computing environment is service-oriented with a focus on statelessness, low coupling, modularity, and semantic interoperability. At the heart of cloud computing is an infrastructure comprising a network of interconnected devices. The cloud computing models may be managed by the organisation or a third party and may exist on-premises or off-premises. One applicable implementation model for the present disclosure is by Software as a Service (SaaS). SaaS is the capability provided to the consumer to use the provider's applications running on a cloud infrastructure. The applications are accessible from various client devices through a client interface such as a web browser. The consumer does not typically manage or control the underlying cloud infrastructure including network, servers, operating systems, storage, or even individual application capabilities.

[0294] Non-limiting examples or aspects of the invention are directed to a method and system for controlling functions of a wearable animal collar which are operable to direct an animal to a target location. Accordingly, some examples relate to an animal guidance system operable to guide the animal to a target location through the use of a variable forward angle heading threshold.

[0295] Control infrastructure

[0296] Figure 1 is one example of a general communication system infrastructure diagram incorporating the features of the invention in an example where a device 400 in a field is being monitored and optionally controlled. In this specification, geographical control of sensors or animals is performed with a device 400 or wearable device 400. In one example, the wearable device 400 further operates to output stimuli that operate to guide an animal. Guidance of an animal is conducted with animal guidance information, and such information may include geographical boundary information, geographical target information and control operations, including stimuli output, which elicits movement of an animal to the target location, and many other animal guidance controls.

[0297] In this relatively simple example, a user 202 tracks the position of a cow 10 within a particular portion of the field and if deemed necessary or desirable, outputs guidance information that may cause the application of a desired form of stimulus to the cow to elicit thereby a behavioural response from the animal, such as guiding the animal to a new location.

[0298] 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.

[0299] 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 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. 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.

[0300] 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.

[0301] The PC 520 or a user device (such as mobile device 201) comprises a user interface and / or server, and for some examples, is configured to perform a control action on the basis of a control command. Preferably, the processors of the control system are operatively connected to or are part of a user device such as a smartphone, PDA, PC, laptop or any other suitable user device.

[0302] The device 400 may communicate directly with the front end 200 or via the backend 500 to the front end.

[0303] The user 202 may monitor the result of the comparison performed by a processor that is either part of, or is operatively connected to the device 400, on a screen of the mobile device 201 , and depending upon the result of the comparison, the user 202 may send an appropriate control command including animal guidance information or any variable relating to the performance of the device controller / processor. The control command may then be received by the device processor which will then determine, according to the control command received, whether a control action is required. If the collar processor determines from a control command that no stimulus is to be applied to the animal 10, then no control signal will be transmitted or sent to the stimulus device of the collar 400. However, if the controller determines from a control command that a stimulus (such as a sound and / or vibration and / or an electric shock) is to be applied to the animal 10, then a control signal will be sent to the stimulus device to administer the appropriate stimulus to the animal 10.

[0304] In one example, the device 400 comprises a sensor package 440. The sensor package comprises a position sensing system, or interface with a position sensing system that acts to locate animals and locations of interest within a consistent geographical frame of reference. The position sensing system operates to provide animal position data. The position sensing system further operates to provide a reference to any one or more locations. The position sensing system further operates to provide a relative frame of reference to the animal position data and the one or more locations. Preferably, the position sensing system comprises at least a movement sensor 441 (such as an IMU) and location sensor 442 (such as GPS). In one example, the position data comprises data derived from an animal location sensor and / or an animal position sensor, and the position data comprises one or more of animal location data, animal heading data, animal speed data, and animal angular position data.

[0305] 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.

[0306] 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.

[0307] 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.

[0308] 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.

[0309] Collar Hardware

[0310] Figure 4 is an exemplary depiction of a wearable device (collar) 400 worn by a cow 10. In one example, the wearable device 400 is designed to be worn on the body of a user or animal and is equipped with straps 401 that enable it to be attached securely to various parts of the body such as the wrist, ankle, neck or waist. The device 400 in other examples is integrated, or is, a personal hand held device, tracker or the like. 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 ensures its protection. Solar panels 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, and vibrators for delivering sensory stimuli. Finally, the device controller 470 manages and controls the overall functionality of the device.

[0311] The memory component 430 is configured to store at least one or more of current and / or historical: position data, target location, initial angle, first minimum angle, second minimum angle, maximum angle, animal heading, animal location, last set heading threshold angle, heading threshold, and stimulus intensity. In another example, additional memory may be located off the collar, for example in the backend 500. The device 400 is then configured to receive or data from the off device memory.

[0312] The wearable device comprises a receiver 415 to receive one or more selected from: data defining the target location, initial angle, first minimum angle, second minimum angle, maximum angle, and heading threshold. The receive 415 is part of a communication package 410.

[0313] Guidance information is operable to direct an animal to, or contain an animal within a desired location. Guidance information may also include information derived from sensors on the wearable device 400 which are then communicated to the controller 530 for application in further determinations. Guidance information or commands, may also include other data which may be communicated between the controller 530 and / or a wearable device 400, including control outputs which may direct particular operation of any one or more electronic devices of the wearable device, or changes to any software stored for execution on the wearable device.The guidance information may include the commands, messages, stimuli information, geographical target locations for the animals to be guided to, virtual fencing / 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.

[0314] 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.

[0315] 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.

[0316] In preferred forms, the Communications Package 410 comprises a communications device or is a radio transceiver or uses a radio signal in order to report the status of the device (status data) and / or to update a new area boundary, receive new instructions, receive commands, and / or other parameters such as the communication of other sensor data.

[0317] The communications device 410 is configured to communicate to at least the controller 530.

[0318] 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.

[0319] In one example, LoRa (from "long-range") is the physical proprietary radio modulation technique used for communication between a locally situated communications tower 630 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.

[0320] 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.

[0321] 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.

[0322] 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.

[0323] An loT use case typically comprises severely resource-constrained devices - such as the device 400. Whereas the device 400 is constrained by power constraints, as it relies on solar power and a lightweight battery. Due to the power constraints, other established long-range technologies are not usable. LoRa offers long coverage, and reliability and can be used at very low power.

[0324] 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. A front-end device (FEM) can be utilised between the transceiver of the long-range communications device and the antenna to efficiently optimise both the transmission range and receiver sensitivity. A FEM integrates transmit power amplification, receive low noise amplification, antenna switching between the transmit and receive paths, and the required matching and filtering.

[0325] In one example, the device 400 comprises an 860 to 930 MHz RF Front-End device from Skyworks. In particular, the device 400 comprises a SKY66420-11. The SKY66420-11 is a high-performance, highly integrated RF front-end device designed for LPWAN - supporting LoRa®, SigFox and other unlicensed band technologies.

[0326] 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.

[0327] Although the invention has been described by way of example and with reference to particular examples, it is to be understood that modifications and / or improvements may be made without departing from the scope or spirit of the invention.

Claims

CLAIMS1 . A wearable device configured to be worn by an animal, the device configured to guide the animal to a target location, the device comprising: at least one sensor configured to measure position data of the wearable device, the position data indicative of at least the heading and location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; a controller configured to: a) receive data defining the target location; b) receive position data; c) determine or receive the target heading extending between the animal location and the target location; d) determine, based on the position data, that the animal heading is inside or outside a heading threshold, the heading threshold defined by an angle extending either side of the target heading; e) operate the at least one stimulus device to apply a stimulus to the animal if the animal heading is outside the heading threshold; and f) decrease the angle of the heading threshold if the position data indicates the animal heading is inside the heading threshold.

2. The wearable device as claimed in claim 1 , wherein the controller is further configured to apply a stimulus if the position data indicates the heading is outside the heading threshold.

3. The wearable device as claimed in claim 1 , wherein the controller is further configured to stop the stimulus being applied if the position data indicates the heading moves from outside to inside the heading threshold.

4. The wearable device as claimed in claim 1 , wherein the controller is further configured to determine a distance between animal location and the target location, and change the heading threshold dependent on the said distance.

5. The wearable device as claimed in claim 1 , wherein the controller is further configured to decrease the heading threshold as the animal location moves closer to the target location, and increase the heading threshold the further the animal location moves from the target location.

6. The wearable device as claimed in claim 1 , wherein the controller is further configured to decrease the heading threshold dependent on one or more of: a. timeI. spent in the threshold; andII. spent guiding the animal to the target location b. distance moved by the animal; c. animal heading relative to the target heading; and d. an animal characteristic.

7. The wearable device as claimed in claim 1 , wherein the controller is further configured to decrease the heading threshold at a rate if the position data indicates the heading is inside the heading threshold.

8. The wearable device as claimed in claim 1 , wherein the controller is further configured to increase or decrease the heading threshold if the position data indicates the animal heading is within the heading threshold.

9. The wearable device as claimed in claim 1 , wherein the controller is further configured to determine the animal speed via the position data, or the at least one sensor is configured to measure the animal speed.

10. The wearable device as claimed in claim 9, wherein the controller is further configured to start increasing or decreasing the heading threshold if the position data indicates the animal heading is within the heading threshold and the position data indicates that the animal speed is below an animal speed threshold.11 . The wearable device as claimed in claim 10, wherein the controller is further configured to stop increasing or decreasing the heading threshold if the position data indicates at least one of: the speed threshold is exceeded and the animal heading is outside the heading threshold.

12. The wearable device as claimed in claim 1 , wherein the controller is further configured to limit the heading threshold to a first minimum angle.

13. The wearable device as claimed in claim 1 , wherein the controller is further configured to limit the heading threshold to a maximum angle prior to the heading threshold being increased or decreased.

14. The wearable device as claimed in claim 12, wherein the controller is further configured to reset the heading threshold to a second minimum angle, being greater than the first minimum angle, if the position data indicates the animal heading has moved from outside to inside the heading threshold, and the heading threshold was last set at the first minimum angle.

15. A wearable device configured to guide an animal to a target location via applying stimulus to the animal if its heading is outside of a heading threshold directed at the target location and defined by an angle range spanning either side of a bearing towards the target location, wherein the device reduces the angle range dependent with one or more of a) time and b) distance from the target location.

16. The wearable device as claimed in claim 15, wherein the angular range is reduced if the animal heading is within the heading threshold and is moving below a predefined speed threshold.

17. The wearable device as claimed in claim 16, wherein the device reduces the angular range dependent on one or more of a) time spent within the heading threshold, b) time spent being guided towards the target location and c) a decrease in distance from the target location.

18. The wearable device as claimed in claim 15, wherein the device triggers a reduction, or a reduction rate, of the angle range if the animal enters inside the heading threshold.

19. The wearable device as claimed in claim 15, wherein the device comprises a. at least one sensor configured to measure position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; b. at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to:I. receive target location data indicative of a target area; ii. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading intersects the target area; ill. operate the at least one stimulus device dependent on satisfaction of the criterion.

20. A method of operating a wearable device configured to be worn by an animal and to guide the animal to a target location, the device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the heading and location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller; the method comprising guiding an animal to a target location by operating the controller to execute the steps of: a. receiving data defining the target location; b. receiving position data indicative of the animal location and animal heading; c. determining or receiving a target heading extending between the animal location and the target location; d. determining via the position data that the animal heading is inside or outside a heading threshold, the heading threshold defined by an angle extending either side of the target heading, e. operating the at least one stimulus device to apply a stimulus to the animal if the position data indicates the animal heading is outside the heading threshold; and f. adjusting the angle of the heading threshold if the position data indicates the animal heading is inside the heading threshold.21 . The method as claimed in claim 20, wherein the method comprising guiding an animal to a target location by operating the controller to execute the step of: decreasing the angle of the heading threshold if the position data indicates the animal heading is inside the heading threshold.

22. A wearable device configured to be worn by an animal, the device configured to guide the animal to a target area, the wearable device comprising: at least one sensor configured to measure position data of the wearable device, the position data comprising at least the device heading and device location of the wearable device and hence the animal; at least one stimulus device operable to apply stimuli to the animal to elicit a behavioural response from the animal; and a controller configured to: a. receive target location data indicative of a target area; b. determine if the device heading satisfies a heading criterion, wherein the criterion is satisfied if the device heading intersects the target area; c. operate the at least one stimulus device dependent on satisfaction of the heading criterion.

23. The wearable device as claimed in claim 22, wherein the controller is configured to operate in a. a first condition when the criterion is satisfied; and b. a second condition when the criterion is not satisfied.

24. The wearable device as claimed in claim 22 or 23, wherein the controller is further configured to a. determine if the device location is in the target area based on a comparison of the position data to the target location data, and if so b. operate in a third condition.

25. The wearable device as claimed in claim 24, wherein the controller is configured to a. determine the device location is in the target area based on a comparison of the position data to the target location data; and b. determine a length of time the device location is in the target area, and if the length of time exceeds a time threshold operate in a third condition.

26. The wearable device as claimed in any one of claims 23 to 24, wherein in the first condition the controller is configured to instruct the at least one stimulus device to apply a first stimulus selected from one or more of: a. vibration; b. shock; and c. sound; or apply no stimulus.

27. The wearable device as claimed in any one of claims 23 to 24, wherein in the second condition the controller is configured to instruct the at least one stimulus device to apply a second stimulus selected from one or more of: a. vibration; b. shock; and c. sound; or apply no stimulus.

28. The wearable device as claimed in claim 27, wherein the stimulus applied in the first condition and second condition are different from each other.

29. The wearable device as claimed in any one of claims 23 to 28, wherein the controller is configured to a. instruct the at least one stimulus device to apply the first stimulus as a first sound frequency in the first condition; b. not send instructions to apply stimulus, or instruct the at least one stimulus device to apply a second stimulus as a sound frequency higher than the first sound frequency, in the second condition.

30. The wearable device as claimed in any one of claims 22 to 27, wherein the first stimulus and / or second stimulus is a non-directional stimulus.31 . The wearable device as claimed in any one of claims 27 to 30, wherein in the third condition the controller is configured toa. cancel application of the first or second stimulus; and / or b. apply a third stimulus.

32. The wearable device as claimed in claim 31 , wherein the third stimulus is a vibration or tune.

33. The wearable device as claimed in any one of claims 22 to 31 , wherein the controller is configured to receive current location data indicative of a current area within which the animal is enclosed within.

34. The wearable device as claimed in claim 32, wherein the device is configured to guide the animal to a target area from a current area.

35. The wearable device as claimed in any one of claims 22 to 34, wherein the controller is further configured to determine if the device heading satisfies the heading criterion and a distance criterion, and if so, operate the stimulus device to in operation guide the animal to the target area.

36. The wearable device as claimed in claim 35, wherein the distance criterion is met if the a distance along the device heading between the current perimeter and target perimeter is less than a threshold distance.

37. The wearable device as claimed in claim 36, wherein the controller is configured to not guide the animal to the target area when one of the distance criterion and heading criterion is not met.

38. The wearable device as claimed in claim 35, wherein the distance criterion being met is based on a determination that the distance between the closest two intersection points from the perimeters of the current area and target area laying on the device heading is greater than a distance threshold; and when the distance criterion is met, the controller is configured to operate the stimulus device to in operation guide the animal to the target area.

39. The wearable device as claimed in any one of claims 22 to 37, wherein the controller is configured to operate in a mode selected from: a first mode where the controller operates the at least one stimulus device to retain the animal in the current area; a second mode where the controller operates the at least one stimulus device to guide the animal from the current area to the target area.

40. The wearable device as claimed in any one of claims 22 to 38, wherein the controller is further configured to operate the at least one stimulus device to guide the animal to, and subsequently retain the animal within, the target area.

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