System and method for preventing unfair stimulus application

Abstract

This disclosure relates to wearable animal devices that deliver controllable stimuli using location data for virtual fencing and livestock handling. The problem addressed is repeated or unnecessary stimuli, or re- enabling the device after it has been disabled, even when the animal hasn't addressed its current behaviour. The device comprises one or more stimulus output components, a position sensing system, and a controller. After a predetermined disablement threshold of stimulus is met, the controller enters a disablement state. Re-enabling occurs only when configured conditions are satisfied, including an accuracy threshold for the position sensing system and a distance threshold defined by movement from the disablement location or towards a destination target.

Description

[0001] SYSTEM AND METHOD FOR PREVENTING UNFAIR STIMULUS APPLICATION

[0002] The present invention relates to a system and method for preventing wearable devices configured to virtually fence and shift animals from applying unfair stimuli to animals, and more particularly, a system and method to re-enable a wearable after it has been locked after applying a number of stimuli which meet a threshold.

[0003] BACKGROUND OF THE INVENTION

[0004] The present invention relates to a system, a device for detecting and disabling wearable devices for an animal.

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

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

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

[0008] It is an object of the present invention to provide a system that overcomes or at least partially ameliorates some of the abovementioned disadvantages or which at least provides the public with a useful choice.

[0009] SUMMARY OF INVENTION

[0010] In a first aspect the invention consists of a device configured for disabling and re-enabling one or more stimulus output components to an animal wearing the device, comprising: one or more stimulus output components operable to apply stimulus to the animal; a position sensing system configured to sense the location of the device and output location data indicative of the sensed location; a controller configured to determine when the device has met a predetermined disablement threshold of stimulus applied to the animal; and disable the one or more stimulus output components thereby preventing any further stimuli to any animal if the predetermined disablement threshold has been met; record via the position sensing system a disablement location of the disablement of the one or more stimulus output components; re-enable the one or more stimulus output components, thereby allowing stimuli to be applied to the animal, if the controller determines from the location data a distance threshold is met, where the animal has moved a predetermined distance, selected from one of: from the disablement location; and towards a destination target; and an accuracy threshold for the position sensing system is metre-enable the one or more stimulus output components, thereby allowing stimuli to be applied to the animal, if the controller determines from the location data.

[0011] In a further aspect the invention consists of a device configured to control an animal wearable apparatus having one or more stimulus components operable to apply stimulus to an animal, and a position sensing system configured to sense the location of the apparatus and output location data indicative of the sensed location, the device comprising: a controller configured to: determine stimulus applied to the animal has met a predetermined disablement threshold, and ; disable the one or more stimulus output components thereby preventing any further stimuli to the animal; determine a location of the disablement of the one or more stimulus output components based on the location data (‘disablement location’); and enable the one or more stimulus output components, thereby allowing stimuli to be applied to the animal, when the controller determines from the location data: a distance threshold is met, where the animal has moved a predetermined distance, selected from one of: i) from the disablement location; and ii) towards a destination target; and an accuracy threshold for the position sensing system is met. In a further aspect the invention consists of a device configured for disabling and re-enabling one or more stimulus output components to an animal wearing the device, comprising: one or more stimulus output components operable to apply stimulus to the animal; a position sensing system configured to sense the location of the device and output location data indicative of the sensed location; a controller configured to determine when the device has met a predetermined disablement threshold of stimulus applied to the animal; and disable the one or more stimulus output components thereby preventing any further stimuli to any animal if the predetermined disablement threshold has been met; record the disablement location of the disablement of the one or more stimulus output components; re-enable the one or more stimulus output components, thereby allowing stimuli to be applied to the animal, if the controller determines from the location data a distance threshold is met where the animal has moved a predetermined distance from the disablement location, wherein the predetermined distance is increased with successive disablements.

[0012] In one embodiment, the statements below relate to both above aspects.

[0013] In one embodiment, wherein the position sensing system comprises a GNSS receiver and the controller is configured to require a predetermined number of GNSS fixes over a period of time for the accuracy threshold to be met.

[0014] In one embodiment, wherein the position sensing system comprises a GNSS receiver and the controller is configured to require a predetermined number of GNSS satellites to be involved in the GNSS fix for the accuracy threshold to be met.

[0015] In one embodiment, wherein the controller is configured to determine an average distance from the disablement location to multiple sensed locations taken over a specified time period or a set number of sensed locations, and determine if the average distance between the disablement location and the sensed locations meets the distance threshold.

[0016] In one embodiment, the controller is configured to convert geographic coordinates to Cartesian coordinates, and determine an average distance from the disablement location to multiple sensed locations taken over a specified time period or a set number of sensed locations, and determine if the average distance between the disablement location and the sensed locations meet (or exceed) the distance threshold.

[0017] In one embodiment, wherein the position sensing system comprises a fusion of GNSS and dead reckoning using an inertial measurement unit to determine the sensed location, and the controller is configured to use the sensed locations to determine the distances from the disablement location, and determine the average distance of the distances, and determine if the average distance meets the distance threshold.

[0018] In one embodiment, the position sensing system comprises a fusion of GNSS and dead reckoning using an Inertial Measurement Unit (IMU) to determine the sensed location, and the controller is configured to use the sensed locations to determine the distances from the disablement location, and determine the average distance of the distances, and determine if the average distance meets the distance threshold.

[0019] In one embodiment, the predetermined distance is at least 20, 25, 50, or 100 metres.

[0020] In one embodiment, the controller is configured to determine that the device has moved a predetermined distance towards a destination target, rather than a predetermined distance only, in order to meet the distance threshold.

[0021] In one embodiment, the controller utilises the accuracy threshold requirements described in claims 1-7 (e.g., multiple GNSS fixes, number of satellites, average location, dead reckoning etc.) to determine if the device has moved the predetermined distance towards the destination target.

[0022] In one embodiment, the controller is configured to determine the direction of movement of the device relative to a predetermined destination target, and only re-enables the one or more stimulus output components if the device has moved a predetermined distance towards the destination target.

[0023] In one embodiment, the controller determines the direction of movement using a combination of GNSS and inertial measurement data from an Inertial Measurement Unit (IMU).

[0024] In one embodiment, wherein the controller is configured to calculate a target distance between the disablement location and location of the destination target, and determine if a distance between disablement location and the sensed location, is less than the target distance and more than the predefined distance, and hence meets the distance threshold.

[0025] In one embodiment, the controller is configured to determine the direction of movement from the location data, and determine if the direction of movement is towards the destination target .

[0026] In one embodiment, the controller is configured to change the predetermined distance after a set number of disablements. In one embodiment, the set number of disablements is one or more.

[0027] In one embodiment, the predetermined distance is increased after each disablement.

[0028] In one embodiment, the predetermined distance is increased by the same amount after each set number of disablements.

[0029] In one embodiment, the predetermined distance is increased by varying amounts after each set number of disablements.

[0030] In one embodiment, the controller is configured to require the device to move the predetermined distance towards a destination target to meet the distance threshold, and the predetermined distance is increased after the set number of disablements.

[0031] In one embodiment, the accuracy threshold requirements are utilised by the controller to determine if the device has moved the predetermined distance towards the destination target.

[0032] In one embodiment, the disablement threshold is a count of a number of stimuli the one or more stimulus output components have applied.

[0033] In one embodiment, the disablement threshold differs based on the type of applied stimulus, such as total time or number of; shock, audio time, or vibration.

[0034] In one embodiment, the disablement threshold differs based on the location of the animal or a particular guidance procedure being undertaken.

[0035] In one embodiment, the disablement threshold is a number of electrical shocks.

[0036] In one embodiment, the disablement threshold is a number of electrical shocks within a time period, and / or area.

[0037] In one embodiment, the controller is configured to re-enable the one or more stimulus output components if the device has moved back into a virtual area that the device is configured to guide the animal to, and contain within, by the application of stimulus from the one or more stimulus output components.

[0038] In one embodiment, the controller is configured to re-enable the one or more stimulus output components if the device has moved back into a virtual area and the accuracy threshold is met, where the accuracy threshold is the meet if the average location of the sensed locations over a time period is within the virtual area.

[0039] In one embodiment, the wearable device is configured such that re-enabling of stimulus output components further requires that a predetermined time period has elapsed since the disablement.

[0040] In a further aspect, the invention broadly relates to a method implemented by a controller of a wearable device for an animal comprises: detecting that a disablement threshold for stimuli has been met; entering a disablement state and recording a disablement location; evaluating location data until both a distance threshold and an accuracy threshold are satisfied; and then re-enabling the stimulus output components.

[0041] In one embodiment, the distance threshold is satisfied when the device has moved a predetermined distance, either from the disablement location or towards a destination target. In one embodiment, the method further requires that a predetermined time period has elapsed since the disablement before re-enabling the stimulus output components.

[0042] In a further aspect, the invention broadly relates to a method of operating the device as described herein, the method comprising: providing the device as described herein; detecting, by the controller, that a predetermined disablement threshold of stimulus applied to the animal has been met; in response, disabling the one or more stimulus output components thereby preventing any further stimuli to the animal; recording, via the position sensing system, a disablement location corresponding to the disablement of the one or more stimulus output components; obtaining, from the position sensing system, location data indicative of the location of the device; determining from the location data that a distance threshold is met, wherein the animal has moved a predetermined distance selected from one of: from the disablement location; and towards a destination target; determining that an accuracy threshold for the position sensing system is met; and re-enabling the one or more stimulus output components, thereby allowing stimuli to be applied to the animal.

[0043] As used in this specification and the claims, the terms ‘comprise’, ‘comprises’ and ‘comprising’ are used in an open, non-limiting sense, denoting the presence of the stated features without excluding the presence or addition of other features, integers, steps or components. The terms ‘include’, ‘includes’ and ‘including’ are to be construed in the same way. By contrast, ‘consist of’ and ‘consisting of’ are closed terms that exclude unspecified features.

[0044] BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Preferred embodiments of the invention will be described by way of example only and with reference to the drawings, in which:

[0046] Figure 1 : shows a schematic of the possible communications network between a device on an animal and the user. Figure 2: shows a perspective view of a device in operation on an animal according to one embodiment.

[0047] Figure 3: shows a flow diagram of the controller determining if an accuracy threshold is met. Figure 4: shows a flow diagram of the controller determining if an accuracy threshold is met and increasing the predetermined distance for each successive disablement.

[0048] Figure 5: shows a flow diagram of the controller determining if the device is moving towards the destination target.

[0049] Figure 6: shows a flow diagram of the devices and system.

[0050] DETAILED DESCRIPTION

[0051] With reference to the above drawings, in which similar features are generally indicated by similar numerals, Figures 3 and 6 illustrate a general system 2 according to a first preferred example of the system adapted for animal guidance. In one example, the system comprises a wearable device 400 configured to be worn by an animal 10. Such an animal 10 may be any of dogs, pets, dairy cows, beef animals, bovine, goat, bos, bos taurus, bison, sheep, bull, lama or any other animal that is desired to be tracked, communicated with, ‘contained’, ‘moved’, ‘shifted’, ‘drafted’, and / or ‘guided’ etc. Examples of the system are particularly useful to cattle that primarily feed on pasture or crops within paddocks. The animal 10 may form part of a herd, mob or group of animals where one or more animals 10 in the herd wear a device 400. In this specification, the wearable device is implemented as a collar, e.g. for placement around the neck of an animal. Many placements and appropriate implementations are possible and the most suitable location will be dependent on the particular animal and environment for use. The device 400 may comprise or communicate with a secondary device 700, the device 700 optionally having some or all capabilities of the device 400.

[0052] The invention relates to a device, system and method for preventing unfair stimuli being applied to an animal using a wearable device. Herein it will be described the device comprises the controller configured to determine the stimulus type, disablement (aka lockout), and re-enable, however it is envisaged the device may communicate with an external controller to make one or more of the said determinations. A simplified control flow of the controller is shown in Figure 4. Device 400 is equipped with a stimulus device 460 configured to apply stimuli to animal 10 to guide them according to a received guidance command. The device (or system) monitors stimulus information relating to one or more of the amount, type and intensity of the stimuli applied by the devices 400. The device determines when a disablement threshold of stimulus has been applied to an animal. When a threshold has been determined to have been met, it may be described as a disablement. The system is configured to pause, adjust, change, disable, or modify the guidance stimuli or command to prevent or adjust further unfair stimuli being applied to the group - e.g. to disable the device so no more unfair stimuli may be applied to the animal.

[0053] The device 400 in general is configured to guide animals to a location, or guide and contain animals within a virtual boundary 51 , such as a virtual paddock according to a command. To guide the animals the device 400 uses a stimulus device 460, which comprises one or more of the following: speakers 461 ; electrodes 462; and vibrators 463. The stimulus can be applied to directionally guide the animal 10. The stimuli attempt to change or alter the animal’s behaviour. In one example, the purpose of the system is to reduce unfair stimuli being applied to animals 10. Unfair stimuli may occur when animals 10 are following guidance instructions correctly but are prevented from achieving the correct behaviour due to external factors.

[0054] The command comprises guidance instructions for the wearable devices 400, which are equipped with a stimulus device 460 to guide animals 10 through the application of stimuli according to the command.

[0055] For example, the command may entail directing the animal within a virtual paddock with boundaries, or along a specific pathway, leading to a particular destination. The command may be created directly or indirectly by a user 202 at a front end 200, such as a user device 201 like a mobile phone or similar device.

[0056] A hold-in zone command is a command which guides an animal to stay in a specific area. This command can be used to keep animals safe, for example, by preventing them from wandering into traffic, or keeping them in a grazing area. It can also be used to train animals, for example, by teaching them to stay in a specific spot while they are being groomed.

[0057] A shift command is a command which guides an animal to move to a new location or area. This command can be used to direct animals, for example, by telling them to go to their food bowl or to their bed, to a new grazing area, to a stand off pad, or to a milking shed. It can also be used to train animals, for example, by teaching them to follow a specific path.

[0058] Both hold in zone commands and shift commands can be used with a variety of animals, including dogs, cats, horses, and livestock. The specific way that these commands are implemented will vary depending on the animal and the purpose of the command.

[0059] In one example, the animal 10 is guided by a stimulus applied by the stimulus device 460 comprised by or integral with device 400. The stimulus may be left and right sound devices 461 configured to guide the animal right and left respectively. The sound device may be a speaker, piezo, sound excitor or similar. A stimulus such as electric shock from an electrode(s) 462 may be used to enforce the sound stimuli from the speakers. This is just one example of many ways to apply stimuli. Stimuli may be only one type of stimuli or maybe a mixture of many. Stimuli may be held on for less or longer times, or more or less intensity, or in many other ways envisaged by a person skilled in the art.

[0060] In some examples, stimuli are characterised based on determinations of type, frequency and / or intensity. For example, different types of stimuli may have different contributions to the stimuli characterisation for a particular frequency and / or intensity. In some examples, the determinations are aggregated to represent a measure of stimuli on the basis for which control outcomes are based.

[0061] Applying stimulus with the device 400 is described in more detail elsewhere in this specification. The stimulus is applied to elicit a behavioural response from the animal. For example, a sound to the left of the animal’s head may elicit a movement of the animal’s head to the right, and the animal may start to direct itself towards the right.

[0062] Controller 470 further reads or receives information from a sensor package 440, part of a position sensing system. The sensor package 440 may comprise one or more of a movement sensor and location sensor. These sensors are able to detect the movement and location of the collar, and hence the animal. The movement and location of the collar can be related to the behavioural response of the animal. If the collar is detected to move left, it is likely the animal has moved left. The stimulus can be applied to elicit a desired behavioural response, and a control loop is created using the sensor package.

[0063] If the animal, and hence the group, has a hold in zone command, then if the animal approaches or has left a virtual boundary as detected by the sensor package, then the speakers will attempt to guide the animal back to the zone it attempted to be held in via applying sound to the appropriate ears of the animal.

[0064] If the animal ignores the sounds as detected by the sensor package, then the controller may instruct the stimulus device 460 to apply a shock to reinforce the sounds. The sounds may be ramped up in volume, intensity, and / or frequency, prior to the shock. The behavioural response to the sounds may be for the animal to turn around, or head into the zone again. If the animal can’t get into the zone, or can’t re-enter the zone, or can’t stay in the zone due to constraints outside the animal’s control - then a stimulus such as a shock may have been applied unfairly, regardless of the animal performing the correct behavioural response. An example of this occurring is if a user creates a zone that is too small for the mob of animals to all be constrained within. The controller 470 attempts to guide the group back into the zone, but the animals cannot achieve the correct behaviour, and hence get unfairly stimulated. In another example, if an animal (or group of animals) has a shift command, the animal will be attempted to be guided to a target location, area, along a path, to the next waypoint, or to a similar destination. Similar to holding the animal in a zone, shifting may attempt to guide the animal left and right using speakers. A secondary stimulus, such as vibration, shock, or louder or alternative sound, may be applied to the animal if it ignores the first stimulus or does not correct its behaviour. In one example, the first stimulus may be ramped up in volume, intensity, and / or frequency prior to a shock being applied so the animal has ample opportunity to correct its behaviour. However, if the animal cannot achieve the shift even with the correct behavioural response, or cannot achieve the behavioural response due to constraints outside of the animal's control, then the secondary stimulus may have been applied unfairly. An example of this is if a user has a physical gate preventing the animal’s movement to the target location, even though the guidance from the command is trying to guide the animal through the closed gate.

[0065] There are many different behavioural responses that animals can exhibit. Some common examples include turning around, moving head left or right, and moving forward or backward. These are just a few examples of the many different behavioural responses that animals can exhibit. The specific behaviour that an animal exhibits will depend on a variety of factors, including its species, its environment, the command, the stimuli, and the animal’s state of mind. Accordingly, examples comprise a system where there is a group of wearable devices for a group of animals. A wearable collar providing guidance functions is one example of the wearable device. Each wearable device has a stimulus output component operable to apply stimulus to the animal with the wearable device. The stimulus may take many forms including sound, vibration and shock as detailed elsewhere in this specification. The stimulus output is sometimes provided to all devices in the group, and at other times the stimulus output is provided to particular animals in the group. However, there is a need to control the stimulus output of some, additional or all devices in a group depending on a behavioural response exhibited by an animal or a smaller group of animals.

[0066] In some examples, the stimulus output comprises one or more types and one or more energy intensities. Sound, vibration and shock are examples of stimulus output which can be varied to nearly any number of energy intensities. The intensity may refer to energy peaks or energy over time of a particular stimulus output.

[0067] In some examples, the wearable device comprises animal guidance components as are detailed elsewhere in this specification. The guidance components are fundamentally operable to receive guidance commands, and based on those commands, enable, adjust, or disable operation of one or more stimulus output components at one or more intensity levels to guide animals according to the guidance command.

[0068] In order to receive commands, the wearable device is in communication with one or more other devices including other devices in the group and / or a central hub such as a backend server described elsewhere in this specification. The most practical channel of communication is by wireless methods as are described elsewhere in this specification. Therefore, in some examples the system comprises a wireless mesh comprising a wireless transceiver component in a central hub and / or a wireless transceiver component in each device in the group of wearable devices such that the device is configured to transmit to and receive data from devices in the group of devices and / or the central hub.

[0069] The controller may comprise 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.

[0070] The controller may be, or be a part of, a cloud server 510 or a computer 520. The backend 500 may utilise the communications network 600, such as a receiver, to receive the stimulus information, or any related information, from the device or device 400. Where the receiver is may be integrated with, or be, a cell tower 630, internet or satellite 640, or on a base station 620 located near the devices. In alternative examples, the device 400 makes a determination of the threshold and / or condition on an on-device 400 controller 470. As used herein, and where applicable, the controller of the device can perform the same functions as the controller in the backend 500. Control functions of the controller 470 and backend controller 500 may be distributed, shared or localised as desired by the system operator.

[0071] In one example, the system or device comprises a stimuli disablement, where once a disablement threshold is met the stimulus device 460 or device 400 is configured to stop applying stimuli.

[0072] Stopping the stimuli may be achieved by effectively disabling one or more of the stimulus components within the wearable device or equivalent mechanism such as an output override within the microprocessing of the wearing device.

[0073] The disablement threshold is a count of a number of stimuli the stimulus device has applied for a wearable device. In one example, a disablement threshold may be 5 applied shocks. In some examples, the disablement threshold is based on the type of applied stimulus. For example, it may be the total shock time, or total audio time, or total vibration time. The disablement threshold may further depend on the location of the animal or a particular guidance procedure undertaken or any other applied stimulus data. For example, if the animal is being held in a zone by the device (e.g. virtual fencing), or the animal is being shifted to a new location by the device (e.g. guidance) - the disablement threshold may be higher or lower accordingly.

[0074] A disablement may be removed (i.e. stimulus are able to be applied or enabled once again) if the controller (device or system controller) determines the wearable device has moved a predetermined distance from the location where the disablement occurred, or has moved into a particular area, or some other guidance function, or animal or device position or characteristic criteria. The area for example being a zone which the animal was being held in. Alternatively, the disablement is removed if the controller determines the device has moved over a predetermined speed.

[0075] However issues may occur with re-enabling, that lead to further unfair stimuli being applied to an animal from the device.

[0076] In one operational example, if the disablement threshold is met, the device can be re-enabled by moving a predetermined distance. This distance is determined by the controller using location data from an on-board location sensor package. 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 location sensed by the position sensing system may be described as the sensed position. However, the position sensing system can drift and provide inaccurate data to the controller. As a result, the device may be re-enabled (disablement removed) if the controller incorrectly determines that the device has moved the predetermined distance, even if the animal itself has not moved and the perceived movement is due to location drift. This may lead to an immovable animal having unfair stimulus applied to it. In one embodiment, the controller of the device is configured to only re-enable the stimulus device if the sensor data indicates an accuracy over a predefined threshold. There are many ways to determine the accuracy of the location sensor. Figure 3 shows a flow simplified diagram of the control logic for a disablement and re-enablement with a position sensor accuracy threshold.

[0077] For example, if the position sensing system comprises a GNSS, there must be more than one GNSS fix, or a set threshold of GNSS fixes, at a location to meet the predefined threshold. Specifically, there must be multiple GNSS fixes spaced over a period of time that surpasses the predetermined distance. When using GNSS for location tracking, a single GNSS fix might not be reliable due to potential inaccuracies caused by signal interference, atmospheric conditions, or multipath effects (where signals bounce off buildings or other structures). Therefore, to ensure accuracy, multiple GNSS fixes are required. These fixes should be taken at intervals over a period of time to confirm that the device remains within a specific area. For instance, if a device needs to confirm its presence outside a predetermined distance, it should gather several GNSS fixes over a few minutes to ensure consistency and reliability in its location data.

[0078] As used herein, position-sensing system means any arrangement configured to provide device location data. Examples include satellite receivers such as GNSS receivers, where GNSS includes GPS, Galileo, GLONASS and BeiDou, with or without augmentation, assisted GNSS, inertial dead-reckoning using an IMU, and non-satellite techniques such as cellular, Wi-Fi or other radio-based positioning. References to GPS are examples of GNSS and vice versa. References to an accuracy threshold mean a condition that must be satisfied before reenablement is permitted, for example by any one or a combination of: obtaining multiple valid satellite fixes spaced over time, meeting a minimum satellite count or solution quality, demonstrating position stability by averaging locations over a period, or achieving a confidence measure from fusion of GNSS and inertial data. Unless the context dictates otherwise, the accuracy threshold is evaluated contemporaneously with the distance criterion.

[0079] In another example, if the position sensing system comprises a GNSS, there must be a predefined number of satellites involved in the GNSS fix outside the predetermined distance. This ensures the accuracy and reliability of the location data. GNSS accuracy improves with the number of satellites involved in the fix. Typically, a minimum of four satellites is required to calculate a 3D position (latitude, longitude, and altitude). However, for higher accuracy, especially in challenging environments like urban canyons or dense forests, more satellites are needed. By setting a threshold for the number of satellites (e.g., at least two or more), the system can ensure that the location data is reliable and precise.

[0080] Additionally, the controller can be configured to take the average sensed location from the position sensing system over a set period of time. If the average location is outside the predetermined distance, the device can be re-enabled. There are various methods to calculate an average location. The number of locations used for the average and the period of time may differ depending on the required accuracy. For instance, the number of locations may be recorded every second, and the period of time may be 10 seconds. Alternatively, the number of locations could be 30, with the time period being whatever is required to obtain 30 locations. Averaging multiple location readings over time helps to smooth out any anomalies or errors in individual GNSS fixes. This method involves collecting several location points and calculating their average to determine a more accurate position. The frequency of data collection (e.g., every second) and the total duration (e.g., 10 seconds) can be adjusted based on the desired accuracy. For example, in a high-precision application, the system might take a location reading every second for 30 seconds and then calculate the average of these 30 points to determine the device’s position. In a further embodiment, each time a new location update is determined, the controller calculates the distance from the “disablement” location to the updated location. The controller is further configured to determine the average distance from the disablement location to multiple location updates taken over a specified time period or a set number of location updates. To achieve this, the controller sums all the distances and divides by the number of distances to obtain the average distance. This averaging process helps to smooth out any inaccuracies from individual GNSS fixes. If the average distance meets the predetermined threshold, the device can be re-enabled by the controller.

[0081] In another example, the controller is configured to use dead reckoning with a position sensor, such as an Inertial Measurement Unit (IMU) as part of the position sensing system, to determine the position of the device. As described above, the average location over a time period may also be used with dead reckoning. Dead reckoning is a navigation method that estimates the current position based on a previously known position, speed, and direction of travel. An IMU, which includes accelerometers and gyroscopes, can track the movement of the device even when GNSS signals are unavailable. By combining dead reckoning with GNSS data, the system can maintain accurate positioning. For instance, if a device loses GNSS signal while moving, the IMU can continue to estimate its position based on the last known GNSS fix and the device’s movements 56.

[0082] Furthermore, the location may be determined using a fusion of dead reckoning and GNSS. As described above, the average location over a time period may be used with the fusion of dead reckoning and GNSS to enhance accuracy and reliability. Combining dead reckoning with GNSS, known as sensor fusion, leverages the strengths of both methods. GNSS provides accurate absolute positioning, while dead reckoning offers continuous tracking even when GNSS signals are weak or unavailable. By integrating data from both sources, the device can correct for errors and provide a more reliable and accurate position. For example, in complex environments where GNSS signals might be obstructed by trees or hills, dead reckoning can fill in the gaps, and the combined data can be averaged over time to ensure precise location tracking. In some embodiments, re-enablement requires that one or more configurable conditions are satisfied: a minimum time period has elapsed since disablement; a distance threshold relative to the disablement location is met, the distance being evaluated from a plurality of locations output by the position sensing system including GNSS fixes and estimated locations; and a distancereduction threshold towards a destination target is met, determined from a plurality of sensed or estimated locations, wherein the destination target may be defined as a point or as a polygonal region. Each condition can be applied independently or in any combination, and determinations based on location are subject to the accuracy threshold for the position sensing system.

[0083] In one embodiment, re-enabling requires expiry of a predetermined time period since the disablement. When the controller enters the disablement state it starts a lockout timer and records a disablement timestamp; until the elapsed time reaches a minimum period, the controller inhibits re-enabling regardless of whether the distance threshold or the accuracy threshold are satisfied. The minimum period can be fixed or adaptive, for example configured per animal or increased after repeated disablements, and the timestamp may be stored in nonvolatile memory so that the timer survives power loss or reset. Once the period has elapsed, the device re-enables only if any additional configured conditions are also met, such as the distance threshold and the accuracy threshold; where time is the sole condition, re-enabling occurs upon expiry of the period. In a further embodiment, the time embodiment may be

[0084] In a combined embodiment, re-enabling requires both expiry of a predetermined time period since the disablement and satisfaction of a distance threshold. On entry to the disablement state the controller starts a lockout timer and records a disablement location. The controller then periodically obtains location data from the position sensing system and re-enables only if, at the time of evaluation, all of the following are true: the elapsed time is at least the predetermined period; the distance threshold is met, wherein the animal has moved a predetermined distance selected from one of from the disablement location and towards a destination target; and the accuracy threshold is met. If a further disablement occurs before re-enablement, the timer and the recorded disablement location are reset.

[0085] In a related embodiment, re-enablement is also permitted on detection of a virtual paddock change, indicating a change in the external environment such that subsequent guidance is to be applied with respect to the new virtual paddock.

[0086] In another operational example, if the disablement threshold is met during a shift or guidance to a destination target, the device can be re-enabled by moving a predetermined distance. However, if the controller is configured to determine the distance from the disablement location, there may be a drawback when there is an obstruction (like a fence) that prevents animals from making progress towards the destination (gate, shed) of the shift or guidance. Animals may then still be able to move the predetermined distance, but without the ability to get closer to the target, so the disablement would be re-enabled, albeit unfairly on the animals. In one embodiment, the controller is configured to determine from the location data the device has moved a predetermined distance towards the destination target. For example, the device must move 25 metres towards the destination target to re-enable stimulus. Figure 5 shows a flow simplified diagram of the control logic for a disablement and re-enablement with a determination of location being towards the destination target. This figure shows the determination of the accuracy threshold, however, this feature may be optional.

[0087] In one embodiment, the controller determines the direction of movement using a combination of GNSS and inertial measurement data from an Inertial Measurement Unit (IMU). In a further embodiment, the controller is configured to determine or receive the location of the destination target and calculate the target distance between the disablement location and location of the destination target, and determine if a sensed distance between disablement location and the sensed location, is less than the target distance and more than the predefined distance, and hence meets the distance threshold.

[0088] The location accuracy for the location sensor described above may be used for the above embodiment.

[0089] In a further operational example, if the disablement threshold is met and the animal is able to remove the disablement by moving a predetermined distance, it may be able to do so by moving the predetermined distance, but not making any tangible gain towards the target - and thus eventually get locked out again. For example, if a fence or obstruction is obstructing the animal from the target (e.g. the virtual fenced area for containing the animal). Thus, the animal may be moving back and forth in an area and thus be able to re-enable the disablement, but not make progress towards the target, so after re-enablement, more stimuli will occur, and another disablement will occur.

[0090] In one embodiment, the controller is configured to change the predetermined distance after a set number of disablements. Figure 5 shows a flow simplified diagram of the control logic for a disablement and re-enablement with a step of increasing the predetermined distance after a re- enablement / disablement.

[0091] The set number of disablements may be any range of whole numbers, from one onwards. For example, the predetermined distance may change after, 1 , 2, 3, 4 disablements. The change may not be linear, for example, the predetermined distance may change after 2, 5, 6 disablements. Increasing the predetermined distance after a disablement will make it increasingly difficult for an animal to re-enable after each disablement. The predetermined distance may increase by the same amount after each set number of disablements, or the predetermined distance may vary. For example, it may increase by 100 metres of each set number. I.e. 100m, 200m, then 300m. Alternatively, the predetermined distance may vary, so the predetermined distance after each successive disablement may be for example; 10 metres, 50 metres, 126.4 metres.

[0092] The embodiment described above of moving towards the destination target may utilise the present embodiment of increasing the predetermined distance after a set number of disablements. Further, the location accuracy for the location sensor described above may be used for the above embodiment.

[0093] The wearable device 400 utilises technology by the company HALTER® and is further described in patent publications WO2019180624 and WO2019180623. The HALTER® technology is capable of restraining an animal in a paddock defined by a virtual boundary, as well as being able to shift the animal from one location to another such as from a paddock to a milking shed. The wearable device 400 achieves this via administering audible signals to the left and / or right ears of the animal 10, and / or in combination with administering vibration and / or electrical stimulus to the animal 10, directionally or otherwise. The wearable device 400 utilises electronics and / or software to control stimuli using control actions, as well as to communicate externally - such as to receive target locations, transition locations etc.

[0094] 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 back-end controller 500. The controller is implemented by one or more computing devices which form the architecture of a system configured to perform desired functions. Reference to “controller” may refer to one or more electronic devices that are configured to directly or indirectly communicate with, or over, one or more networks. A computing device may be a mobile device. As an example, a mobile device may include a smart wearable device such as a wearable animal collar (or “collar”), a cellular phone, IOT capable device, smartphone, a portable computer, such as watches, glasses, lenses, clothing, and / or the like, and / or other like devices. In other non-limiting examples, the computing device may be a desktop computer or other non-mobile computer. Furthermore, the term “computer” may refer to any computing device that includes the necessary components to receive, process, and output data, and normally includes a display, a processor, a memory, an input device, and a network interface. 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. 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.

[0095] Reference to “a server” or “a processor,” as used herein, may refer to a previously-recited server and / or processor that is recited as performing a previous step or function, a different server and / or processor, and / or a combination of servers and / or processors, and refer to general implementations of processors which form the functional elements of the controller. For example, a first server and / or a first processor that is recited as performing a first step or function may refer to the same or different server and / or a processor recited as performing a second step or function. Further, reference to a server or processor may refer to a group of servers or group of processors, each configured to perform a task. Such tasks may include processes or algorithms which are undertaken by one or more servers of processors. Tasks undertaken by any one or more processors, such as by an on-collar and / or off-collar processor, are therefore to be understood as tasks undertaken collectively by the controller or control system.

[0096] Examples of this disclosure include reference to cloud computing, implementation of the teachings recited herein are not limited to a cloud computing environment. Rather, examples of the invention are capable of being implemented in conjunction with any other type of computing environment now known or later developed. Cloud computing is a model of service delivery for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g. networks, network bandwidth, servers, processing, memory, storage, applications, virtual machines, and services) that can be rapidly provisioned and released with minimal management effort or interaction with a provider of the service. Some examples are private clouds where the cloud infrastructure is operated solely for an organisation. Other examples are community clouds, where cloud infrastructure is shared by several organisations and supports a specific community that has shared concerns such as security requirements, policy, or compliance considerations. The community cloud may be managed by the organisations or a third party and may exist on-premises or off-premises. In some examples, a public cloud infrastructure is made available to the general public or a large industry group and is owned by an organisation selling cloud services. A cloud computing environment is service- oriented with a focus on statelessness, low coupling, modularity, and semantic interoperability. At the heart of cloud computing is an infrastructure comprising a network of interconnected devices. The cloud computing models may be managed by the organisation or a third party and may exist on-premises or off-premises. One applicable implementation model for the present disclosure is by Software as a Service (SaaS). SaaS is the capability provided to the consumer to use the provider's applications running on a cloud infrastructure. The applications are accessible from various client devices through a client interface such as a web browser. The consumer does not typically manage or control the underlying cloud infrastructure including network, servers, operating systems, storage, or even individual application capabilities. 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. In some examples described herein, the wearable device comprises a controller configured to operate functions of the wearable device, and the wearable device communicates with a computing device operating as a controller configured to manage control of the wearable device. The animal guidance system has a wearable device (collar) adapted to be worn by an animal as will be discussed in further detail below. However, the wearable device has at least one stimulus device operable to administer at least one form of stimulus to the animal and guide the animal to the target.

[0097] The animal guidance system further has at least one positioning system configured to output animal position data. The guidance system may be provided by a GNSS system I GNSS device located on the wearable device, or local positioning system. Many forms of the positioning system are possible, and some of which are discussed in further detail below. The position sensing system is configured to sense the location of the device and output location data indicative of the sensed location.

[0098] The animal guidance system further has at least one animal activity sensing device configured to output animal activity data. Animal activity data typically includes data relating to the movement of an animal as defined by one or more sensors configured to generate a signal based on a change on any one or more degrees of freedom as may be desired. Further detail on animal activity data and interpretation of said data to indicate animal activity is discussed below.

[0099] The animal guidance system further has at least one controller device configured to undertake particular functional requirements. The specification below will discuss many functions in terms of desired outcomes, data and considerations to support those outcomes. It may be understood that for each outcome, the controller is configured to receive information, undertake any one or more functional steps based on the received information, and generate an output operable to achieve the stated outcome.

[0100] For example, in some examples, the controller is configured to receive the animal position data, receive the animal activity data, determine animal behaviour information from the animal position data and / or animal activity data; and generate an output operable to control at least one stimulus device to administer the stimulus to guide the animal to a target location.

[0101] In some examples, the controller is made up of several discrete processing devices, such as microprocessors or other equivalent forms of computing device, and collectively form a control system. Further, those processing devices are distributed over a variety of locations, and may be interconnected as a network. The processing devices of the network are connected, preferably wirelessly. A wearable animal apparatus may for example have a processor configured to receive and act on data from the animal positioning system and animal activity device. That data may be communicated via the network to one or more other processing devices.

[0102] In some examples, one of the processing devices acts as a master device that connects to any number of other devices, collates data from any one of the number of other devices, makes decisions based on that collated data, then communicates instructions to any one or more of the other processing devices. For example, in some examples, the controller has at least one master processing device connected to a number of other processing devices which are located on an animal wearable collar. In such examples, the master processing device acts as a first controller device part and the one or more on-collar processing devices acts as a second controller device part, the controller device parts acting together as the controller of the control system. In some examples, the controller of each wearable device has control status data which defines where on a hierarchy of apparatus that particular apparatus is ordered. In exemplary examples, that status data includes data which defines the apparatus as a master, for determining and sending control decisions, and a slave, for receiving and acting on those control decisions.

[0103] In some examples, functions of the controller are enabled according to a SaaS subscription status.

[0104] In order for the animal to move to a target location, a controller configured to operate the wearable device (also herein called a collar) may determine or be supplied with the target location. As such, the controller may determine at least the animal location and a target location, and any other used variables to output to the stimulus device a stimulus or stimuli to suggest movement to the animal to the target location.

[0105] In the preferred example, the controller onboard the wearable device is configured to receive a signal from an off-collar (off-wearable device) location relating to the target location. In some examples, the target location comprises a destination at the end of a pathway or heading. In some examples, the path between the target location contains one or more waypoints where the animal is desired to either pass through or exhibit some kind of behaviour when nearby. In further examples, the controller onboard the wearable device is configured to receive a signal from an off-collar (off-wearable device) location relating to the paddock or area that is to virtually restrain the animal within. The off-collar processor may be located in the cloud, on a remote PC, or on a user’s computing device etc.

[0106] In other examples, the wearable device comprises the processor. In further examples, determination of the above information to be determined is on the processor of the wearable device, or on both the off-collar and on-collar processors. Within this specification, where calculations or determinations are required, it is assumed they are performed by the control system which comprises computation by an on-collar processor and / or an off-collar processor. For example, in some exemplary examples, activity and location information is determined by the on-collar processor, whereas the target location and stimulus controls may be determined by an off-collar processor. Other implementations are possible.

[0107] Figure 1 is one example of a general communication system infrastructure diagram incorporating the features of the invention in an example where a device 400 in a field is being monitored and optionally controlled. In this specification, geographical control of sensors or animals is performed with a device 400 or wearable device 400. In one example, the wearable device 400 further operates to output stimuli that operate to guide an animal. Guidance of an animal is conducted with animal guidance information, and such information may include geographical boundary information, geographical target information and control operations, including stimuli output, which elicit movement of an animal to the target location, and many other animal guidance controls.

[0108] In this relatively simple example, a user 202 tracks the position of a cow 10 within a particular portion of the field and if deemed necessary or desirable, outputs guidance information which may cause the application of a desired form of stimulus to the cow to thereby elicit a behavioural response from the animal, such as guiding the animal to a new location.

[0109] 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.

[0110] The wearable device 400 can send and receive data from local wireless data transmission devices (embodied as a tower or base station 620). The base stations 20 are configured to send and receive wireless communications, and in some cases, function as a transmitter. The base stations 20 can send and receive information to cell towers 630 or satellites 640 to the internet to store data stored on a remote server, such as cloud server 510 - i.e. a backend 500, or a local hub 650. One preferred form of a base station 620 is a spread spectrum low-frequency RF transmitter. For example, as part of a LoRa transmission protocol system as will be explained with reference to a preferred example below. The LoRa system may utilise the local hub 650 to communicate with the internet or cell.

[0111] The wearable device 400 is capable of detecting signals originating from one or more of GNSS 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.

[0112] 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.

[0113] The PC 520 or a user device (such as mobile device 201) comprises a user interface and / or server, and for some examples, is configured to perform the control action on the basis of a control command. Preferably, the processors of the control system are operatively connected to or are part of a user device such as a smartphone, PDA, PC, laptop or any other suitable user device.

[0114] 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 .

[0115] The PC 520 or a user device (such as mobile device) comprises a user interface and / or server 510, and for some examples, is configured to perform the control action on the basis of a control command. In one example, the processors of the control system are operatively connected to or are part of a user device such as a smartphone, PDA, PC, laptop or any other suitable user device.

[0116] The device 400 may communicate directly with the front end 200 or via the backend 500 to the front end.

[0117] 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.

[0118] 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 440 (such as an IMU) and location sensor 440 (such as GNSS). In another example, the controller is configured to use dead reckoning with a position sensing, such as from the Inertial Measurement Unit (IMU), to determine the position of the device.

[0119] 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 GNSS. 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.

[0120] Locating position information of an object with a GNSS position sensor is previously known in the art and calculation of a position is performed by precisely timing the signals sent by GNSS 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 GNSS satellites (the almanac). The GNSS 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.

[0121] 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 GNSS data to the controller to thereby indicate the animal position data.

[0122] 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.

[0123] Figure 2 is an exemplary depiction of a wearable device (collar) 400 worn by a cow 10 as shown in Figure 3. In one example, the wearable device 400 is designed to be worn on the body of a user or animal and is equipped with straps 401 that enable it to be attached securely to various parts of the body such as the wrist, ankle, neck or waist. The device 400 in other examples is integrated, or is, a personal hand held device, tracker or the like. Figure 1 is an exemplary depiction of a device (collar) 400 worn by a cow 10. The device 400 is a housing for numerous electronic components which perform or assist operation functions. The collar 400 is a housing for numerous electronic components which perform or assist operation functions. The straps 401 provide secure attachment for the device, while the housing 402 ensures its protection. Solar panels 403 are incorporated to harness solar energy for charging. The Communications Package 410 includes a Receiver for receiving signals. The memory component 430 stores data and information. The Sensor Package 440 consists of a Movement Sensor and a Location Sensor for monitoring physical activity and location. The power source / battery 450 supplies energy to the device. The stimulus device 460 incorporates speakers 461 , electrodes 462, and vibrators 463 for delivering sensory stimuli. Finally, the device controller 470 manages and controls the overall functionality of the device.

[0124] 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 for application in further determinations. Guidance information (also known as payload), as referred to elsewhere in this specification, may also include other data which may be communicated between the controller and / or a wearable device 400, including control outputs which may direct particular operation of any one or more electronic devices of the wearable device, or changes to any software stored for execution on the wearable device. The guidance information may include the commands, messages, stimuli information, geographical target locations for the animals to be guided to, virtual fencing I hold in zone information defining a containment zone for an animal to be guided within, and / or pathway data indicating a path an animal is to be guided along. The guidance information may include or be based on animal data including animal activity of location data, historic animal location data, and future or desired animal location data. Any one or more of the depicted information devices may be communicated between the server and wearable device according to desired guidance functions of the system.

[0125] The wearable device may further comprise one or more antennae that operate to communicate radio signals to and from the device. A GNSS 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 GNSS receiver with wireless network communication into a single package, and or for short-range communications.

[0126] In some examples, animal movement data is derived from the GNSS signal. For example, a heading and speed can be derived from changing GNSS coordinates; or acceleration data can be derived from changing GNSS coordinates and thereby used to determine a change in speed and displacement. In some examples, the wearable device 400 contains an IMU configured to directly sense, for example, movement and heading data. Any number of IMU sensors may also be contained on the wearable device 400 for providing animal guidance data. Any combination of GNSS and IMU-derived position and location data may be used by the controller as part of the deployment of guidance data or determinations of guidance data.

[0127] 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. In preferred forms, the Communications Package comprises a communications device or is a radio transceiver or uses a radio signal in order to report the status of the device (status data) and / or to update a new area boundary, receive new instructions, receive commands, and / or other parameters such as the communication of other sensor data.

[0128] The communications device is configured to communicate to at least the controller 530.

[0129] 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 802.11ah, CC430, NB-lot etc.

[0130] In one example, LoRa (from "long-range") is the physical proprietary radio modulation technique used for communication between a locally situated communications tower 620 and the devices 400. LoRa is based on spread-spectrum modulation techniques derived from chirp spread spectrum (CSS) technology. LoRa was developed by Cycleo (patent US9647718) and later acquired by Semtech.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] Typically, an loT use case comprises severely resource-constrained devices - such as the device 400. Whereas the device 400 is constrained by power constraints, as it relies on solar power and a lightweight battery. Due to the power constraints, other established long-range technologies are not usable. LoRa offers long coverage, and reliability and can be used at very low power.

[0135] 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 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.

[0136] In one example, the device 400 comprises a 860 to 930 MHz RF Front-End device from Skyworks. In particular, the device 400 comprises a SKY66420-11 . The SKY66420-11 is a high- performance, highly integrated RF front-end device designed for LPWAN - supporting LoRa®, SigFox and other unlicensed band technologies

[0137] 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. 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 device configured to control an animal wearable apparatus having one or more stimulus components operable to apply stimulus to an animal, and a position sensing system configured to sense the location of the apparatus and output location data indicative of the sensed location, the device comprising: a controller configured to: determine stimulus applied to the animal has met a predetermined disablement threshold, and disable the one or more stimulus output components thereby preventing any further stimuli to the animal; determine a location of the disablement of the one or more stimulus output components based on the location data (‘disablement location’); and enable the one or more stimulus output components, thereby allowing stimuli to be applied to the animal, when the controller determines from the location data: a) a distance threshold is met, where the animal has moved a predetermined distance, selected from one of: i) from the disablement location; and ii) towards a destination target; and b) an accuracy threshold for the position sensing system is met.

2. The device as claimed in claim 1 , wherein the accuracy threshold is met when the position sensing system comprises a GNSS receiver and the controller is configured to require a predetermined number of GNSS fixes over a period of time.

3. The device as claimed in claim 1 or 2, wherein the accuracy threshold is met when the position sensing system comprises a GNSS receiver and the controller is configured to require a predetermined number of GNSS satellites to be involved in the GNSS fix.

4. The device as claimed in any one of claims 1 to 3, wherein the controller is configured to compute an average sensed location from the position sensing system over a set period of time, and use the average to determine if the distance threshold is met.

5. The device as claimed in any one of claims 1 to 4, wherein the controller is configured to determine an average distance from the disablement location to multiple sensed locations taken over a specified time period or a set number of sensed locations, and determine if the average distance between the disablement location and the sensed locations meets the distance threshold.

6. The device as claimed in any one of claims 1 to 5, wherein the position sensing system comprises an inertial measurement unit, and the controller is configured to determine the average distance, and determine if the average distance between the disablement location and the sensed locations meets the distance threshold based on dead reckoning with the inertial measurement unit to determine the sensed location of the device.

7. The device as claimed in any one of claims 1 to 6, wherein the position sensing system comprises a fusion of GNSS and dead reckoning using an inertial measurement unit to determine the sensed location, and the controller is configured to use the sensed locations to determine the distances from the disablement location, and determine the average distance of the distances, and determine if the average distance meets the distance threshold.

8. The device as claimed in any one of claims 1 to 7, wherein the predetermined distance is at least 20, 25, 50, or 100 metres.

9. The device as claimed in any one of claims 1 to 8, wherein the controller is configured to determine that the device has moved a predetermined distance towards a destination target, rather than a predetermined distance only, in order to meet the distance threshold.

10. The device as claimed in any one of claims 1 to 9, wherein the controller utilises the accuracy threshold to determine if the device has moved the predetermined distance towards the destination target.11 . The device as claimed in any one of claims 1 to 10, wherein the controller is configured to calculate a target distance between the disablement location and location of the destination target, and determine if a distance between the disablement location and the sensed location, is less than the target distance and more than the predefined distance, and hence meets the distance threshold.

12. The device as claimed in claim 11 , wherein the controller is configured to determine the direction of movement from the location data, and determine if the direction of movement is towards the destination target.

13. The device as claimed in any one of claims 1 to 12, wherein the controller is configured to change the predetermined distance after a set number of disablements.

14. The device as claimed in claim 13, wherein the predetermined distance is increased after each disablement.

15. The device as claimed in claim 13 or 14, wherein the controller is configured to require the device to move the predetermined distance towards the destination target to meet the distance threshold, and the predetermined distance is increased after the set number of disablements.

16. The device as claimed in any one of claims 1 to 15, wherein the disablement threshold is one or more of: a. a count of stimuli applied; b. total time or count per stimulus type including shock, audio or vibration; c. a value dependent on animal location or a guidance procedure; d. a set number of electrical shocks; and e. a set number of electrical shocks within a time period and / or area.

17. The device as claimed in any one of claims 1 to 16, wherein the controller is configured to re-enable the one or more stimulus output components if the device moves within a virtual area that the device is configured to guide the animal to, and / or contain within, by the application of stimulus from the one or more stimulus output components.

18. The device as claimed in claim 17, wherein the controller is configured to re-enable the one or more stimulus output components if the device has moved back into a virtual area and the accuracy threshold is met, where the accuracy threshold is met if the average location of the sensed locations over a time period is within the virtual area.

19. The device as claimed in any one of claims 1 to 18, wherein re-enabling further requires that a predetermined time period has elapsed since the disablement.

20. A method implemented by a controller of a wearable device for an animal, the method comprising: detecting that a disablement threshold for stimuli has been met; entering adisablement state and recording a disablement location; evaluating location data until both a distance threshold and an accuracy threshold are satisfied; and then re-enabling the stimulus output components.

21. The method as claimed in claim 20, wherein the distance threshold is met when the device has moved a predetermined distance, selected from one of: from the disablement location and towards a destination target.

22. The method as claimed in claim 20 or 21 , wherein re-enabling further requires that a predetermined time period has elapsed since the disablement.

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