Abstract:
A system for remote animal care is presented. The system includes a housing and a mobility portion coupled to the housing and operable to move the housing. The system further includes a wireless data communications system. In addition, the system includes food, water and medicine storage portions disposed within the housing. Further, the system includes a removable tray coupled to the housing, the tray having a food tray portion, a water tray portion and a medicine tray portion. Also, a docking portion is coupled to the housing and connectively coupled to the food, water and medicine storage portions. Also, the system includes an internal electronic fence transceiver in wireless communication with an external electronic fence, wherein the internal electronic fence transceiver activates the external electronic fence transceiver when the external electronic fence transceiver is at least a predetermined distance from the housing.

Description:
RELATED APPLICATIONS 
     This application claims priority to, and benefit of, U.S. Provisional Patent Application No. 61/848,437, filed Jan. 4, 2013, and U.S. Provisional Patent Application No. 61/702,856 filed Sep. 19, 2012, all of which are incorporated by reference herein for all purposes. 
    
    
     TECHNICAL FIELD 
     The invention relates generally to mechanical systems and, more particularly, the invention relates to a remote controlled personal robotic device. 
     DESCRIPTION OF THE RELATED ART 
     As computers have grown increasingly important in today&#39;s society, humans have created robotic devices to automate and enhance various activities that have traditionally been performed manually. Domesticated pets, livestock animals and wild animals maintained in a controlled environment rely in great measure on the care and attention of humans to remain mentally and physically healthy and alert. Items that are assistive in nature to help owners maintain the well being of their animals can provide some portion of such care and attention. Animal owners are often hampered in their attempts to properly care for their animals when the owner is required to be geographically distant from the place their animals are kept. In many cases, animal owners are required to contract with third-party providers to perform simple tasks related to feeding, watering and administering medications to animals when the animal owner is not physically present to do so. Indeed, each year, numerous animals die or are caused physical or emotional harm due to the lack of proper care by owners who are geographically removed from the animal or due to the inadvertent or purposeful oversight of third-party animal caregivers. 
     SUMMARY 
     A robotic system for remote care and maintenance of animals is presented. According to one embodiment of the present disclosure, the system includes a housing and a mobility portion coupled to the housing and operable to move the housing. The system further includes a wireless data communications system disposed with the housing and wirelessly communicatively coupled with an external data communications system and an electronic data processor disposed within the system and controlling the mobility portion. In addition, the system includes food, water and medicine storage portions disposed within the housing. Further, the system includes a removable tray coupled to the housing and disposed proximate to a lower portion of the housing, the tray having a food tray portion operable to receive food from the food storage portion, a water tray portion operable to receive water from the water storage portion and a medicine tray portion operable to receive medicine from the medicine storage portion and a docking portion fixedly coupled to the housing and disposed generally on a rear portion of the housing, and connectively coupled to the food, water and medicine storage portions. Also, the system includes an internal electronic fence transceiver in wireless communication with an external electronic fence transceiver, the internal electronic fence transceiver disposed generally within the housing and the external electronic fence transceiver disposed externally and remote from the housing, wherein the internal electronic fence transceiver activates the external electronic fence transceiver when the external electronic fence transceiver is at least a predetermined distance from the housing. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A better understanding of the claimed subject matter can be obtained when the following detailed description of the disclosed embodiments is considered in conjunction with the following figures. 
         FIG. 1  is a diagram illustrating a front view of an animal care device  100  according to one embodiment of the present disclosure; 
         FIG. 2A  is a side view of tray  118  according to one embodiment of device  100  according to one embodiment of the present disclosure; 
         FIG. 2B  is a top view of tray  118  according to one embodiment of device  100  according to one embodiment of the present disclosure; 
         FIG. 3  is a rear view of device  100  according to one embodiment of the present disclosure; 
         FIG. 4  is a side view of device  100  according to one embodiment of the present disclosure; and 
         FIG. 5  is a block diagram of a docking station  500  for device  100  according to one embodiment of the present disclosure. 
     
    
    
     DESCRIPTION 
     Humans have been making use of animals for both productive purposes, such as food and labor, and as companions, such as domesticated dogs and cats, since the earliest days of recorded history. In order to make use of these animals, the animals are typically kept in controlled or semi-controlled environments, such as houses and fenced outdoor areas, in order to control the movements of the animals and to protect the animals from predators. As a result of placing the animals in such environments, the animal must rely upon human assistance and support in order to survive. For example, domestic dogs and cats rely upon their owners to provide food and water. In addition, humans often train the animals to behave in certain ways that require human assistance or support as the animals may be physically incapable of performing such actions directly. For example, a door may need to be opened for a dog to allow the dog to relieve itself outside and a cat litter box requires periodic cleaning by the owner. However, the time available to an owner to perform these activities may be limited or the owner may need to be in a physically distant location from the animal due to, for example, job responsibilities. A pet care robot may be used to perform various animal care tasks that normally are performed by humans. For example, a pet care robot may be capable of walking and playing with a domestic dog that lives in a residence, and providing food, water and medicine to the dog. In addition, the pet care robot may provide a video and audio link to allow the dog to see the dog&#39;s owner, even though the owner is physically distant from the dog. 
       FIG. 1  is a diagram illustrating a front view of an animal care device  100  according to one embodiment of the present disclosure. The animal care device  100 , in various embodiments, provides various capabilities useful for providing care to an animal. For example, the animal care device  100  may walk a dog, provide food, water and medicine, or provide a video display showing a real-time or prerecorded video or image of the dog&#39;s owner. The animal care device  100  comprises a main body  102 , an upper body  104 , a pair of front wheels  106 , a pair of rear wheels  108 , a wireless system  110 , a camera  112 , a playing device  114 , audio/video display  116 , a tray  118 , an arm  120 , a scent emitter  130  and a heat/cold emitter  132 . 
     Main body  102  comprises the main physical support structure for the animal care device  100 . In the disclosed embodiment, main body  102  is generally cylindrical in shape and provides mounting support for front wheels  106 , rear wheels  108 , tray  118  and display  116 . Enclosed within main body  102  may be various electronic, electro-mechanical and mechanical systems for operation of animal care device  100  as described in greater detail below. Main body  102  may be formed from any suitable material, such as steel, aluminum, plastic or other composites as desired. For example, an animal care device  100  for use with a horse may require use of stronger, heavier or more costly materials than one for use with domesticated house pets. Main body  102  may alternatively be of other suitable shapes. Front wheels  106  are coupled to main body  102  and may be used to move and/or steer animal care device  100 . Rear wheels  108  are coupled to main body  102  and may alternatively or in addition to front wheels  106  to move and/or steer animal care device  100 . The illustration of the pair of front wheels  106  and rear wheels  108  represent only a single embodiment of device  100 , alternatively, various other drive systems may be used in various suitable combinations for the use of device  100 . For example, a single rear wheel  108  may be used and rear and front wheels  108  and  106  may be combined or organized in some other suitable format, such as four wheels with a steering system similar to a passenger vehicle. Also, device  100  may be a tracked vehicle for operation outdoors or in hostile environments, such as snow. Device  100  may further comprise electronic data processing capabilities, such as using a central processing unit (CPU) coupled to memory (not shown), in order to store and execute computer programming instructions to control device  100 . 
     In one embodiment, upper body  104  comprises a generally dome shaped element removably or fixably coupled to main body  102 . More specifically, upper body  104  and main body  102  may be formed as a single physical element or may represent separate physical elements that are coupled together. For example, upper body  104  may be designed to be removed from main body  102  to allow access to the interior of main body  102  for maintenance purposes. Upper body  104  may also be of other suitable shapes in various embodiments. Upper body  104  provides support and mounting locations for wireless system  110 , camera  112  and toy  114 . Enclosed within upper body  104  may be electrical, electro-mechanical and/or mechanical elements in support of device  100  as described in greater detail below. For example, portions of wireless system  110  may be disposed within the interior of upper body  104 . Upper body  104  may further be operable to rotate around a vertical axis independently of main body  102 , for example, to allow camera  112  to be pointed in various directions without rotating main body  102  as well. In general, similar to main body  102 , upper body  104  may be of a suitable shape and be made of suitable materials for a particular embodiment of device  100 . 
     Wireless system  110  comprises one or more of a global positioning system (GPS) transmitter/receiver, a wireless audio and/or data communications transmitter/receiver, such as an IEEE 802.11a/b/g/n or cellular data connection, Bluetooth transmitter/receiver, and a wireless fence system and suitable associated hardware, such as an antenna. 
     Camera  112  comprises any suitable still and/or video camera for generating an image and communicating the image to the wireless system  110 . 
     Toy  114  comprises a ball at the end of cord that is operable to be ejected away from device  100  and retracted back to device  100 . For example, a rubber ball may be used that is thrown for a dog to chase so that an owner can play with their dog from a remote location. Alternatively, toy  114  may comprise an imitation mouse that may be used to entertain a cat. In general, toy  114  may comprise any suitable object that is tethered to device  100  and ejected away from, and returned to, device  100  for interaction with an animal. 
     Tray  118  comprises a tray that is detachable from and re-attachable to device  100  in order to serve food, water and/or medicines to an animal. In one embodiment, device  100  lowers itself so that the bottom of tray  118  is sitting upon the ground and then releases tray  118 . Device  100  would then raise itself back to a normal operating height and move away from tray  118  to allow an animal to eat and drink from the tray. Device  100  would later return to tray  118 , lower itself such that the bottom of main body  102  is generally in contact with the top of tray  118 , and reattach tray  118  to main body  102 . Tray  118  may alternatively be removably coupled to main body  102  in any suitable way. For example, tray  118  may slide into and out of a cavity in main body  102 , for example using a lip on tray  118  that engages with a track below main body  102 . Tray  118  is described in more detail in association with  FIGS. 2   a  and  2   b  below. 
     Arm  120  comprises a movable arm operable to deliver a payload  122  to an animal. In one embodiment, payload  122  comprises a syringe for providing an injection to an animal and arm  120  is capable of articulation appropriate for providing an injection. For example, an animal may be diabetic and require an insulin injection. For another example, payload  122  may comprise an injectable or spray-based tick repellent. 
     Scent emitter  130  comprises a suitable system for emitting a predetermined scent. As many animals rely on scent, as opposed to visual or auditory cues, device  100  provides the caregiver the ability to provide one or more scents as appropriate for the animal under care. For example, in one embodiment, scent emitter  130  may simply comprise a cavity with a fan where an object, such as clothing worn by a caregiver, is placed to provide a familiar scent to an animal. Alternatively, scent emitter  130  may comprise more complex systems using chemicals or concentrated scents that may be sprayed or otherwise emitted from device  100  as desired by a caregiver. Scent emitter  130  may operate independently according to predetermined criteria, such as time of day, and/or may be under direct remote control by the caregiver. 
     According to one embodiment of the present invention, a heat/cold emitter  132  may be included with device  100 , such as on main body  102 . Heat/cold emitter comprises one or both of a heater and/or air conditioner operable to heat and/or cool an area around device  100 . For example, in harsh environments it may be necessary to provide environmental controls for an animal, such as a pregnant horse that lives outside during unexpected weather changes or a domestic pet in the event of a power failure at a house. 
       FIG. 2   a  is a side view of tray  118  according to one embodiment of device  100 .  FIG. 2   b  is a top view of tray  118  according to one embodiment of device  100 . As shown in  FIG. 2   a , in one embodiment, tray  118  may comprise a cutout in the rear portion to account for movement of rear wheels  108 . In one embodiment, tray  118  further comprises at least one post  212  engageable within main body  102  to hold and release tray  118  from main body  102 . For example, posts  212  may engage with a solenoid within main body  102  to couple tray  118  to main body  102  and retain tray  118  with device  100 . In this example, the solenoids may be activated to latch with posts  212  or may use friction to retain tray  118 , while the deactivation of the solenoids would allow tray  118  to be released from a lower portion of main body  102 . Alternatively, tray  118  may be releasably coupled to main body  102  using a magnetic retention and release system or other suitable electrical, electro-mechanical or mechanical systems. As shown in  FIG. 2   b , tray  118  comprises a food portion  200 , a water portion  202  and a medicine portion  204 . Food portion  200  receives food from device  100  and contains the food for consumption by an animal. Water portion  202  receives water or other liquids from device  100  and contains the water for consumption by an animal. Medicine portion  204  receives medicine in solid or liquid form from device  100  and contains the medicine for consumption by an animal. For example, tray  118  may be a plastic tray with open-topped compartments acting as portions  200 ,  202  and  204 . 
     In one embodiment, tray  118  may further comprise sensor  210 . Sensor  210  is operable to detect that one or more of portions  200 ,  202  and/or  204  are in need of refilling and signaling to device  100  that tray  118  needs refilling. 
       FIG. 3  is a rear view of device  100  according to one embodiment of the present disclosure.  FIG. 4  is a side view of device  100  according to one embodiment of the present disclosure.  FIGS. 3 and 4  are described together for greater clarity. Device  100  further comprises a plurality of charging ports  300 , an electrical port  302 , a directional system  304 , a water bin  320 , a food bin  322 , a medicine bin  324 , a waste bin  326 , a cleaning nozzle  330 , a water suction nozzle  332 , a battery  340  and a motor  342 . Charging ports  300  comprise a food port  310 , a water port  312 , a medicine port  314  and a waste port  316 . Electrical port  302  comprises suitable electrical interfaces for recharging device  100  from a power source, such as an electrical grid tied receptacle, solar panels, wind power or other suitable electrical power sources. 
     Food port  310  comprises a receptacle operable to receive animal feed to refill device  100  with feed for dispensing to an animal on tray  118 . Food received from food port  310  is stored in food bin  320 . Food bin  320  comprises any suitable container for solid or liquid items, is disposed within main body  102  and is coupled to food port  310  via a suitable tube or pipe. In one embodiment, food bin  320  may be removed from main body  102  by opening upper body  104 . For example, food bin  320  may be removed for cleaning or manual refilling. 
     Water port  312  comprises a receptacle operable to receive water to refill device  100  for dispensing to an animal on tray  118 . Water received from water port  311  is stored in water bin  322 . Water bin  322  comprises any suitable container for liquid items, is disposed within main body  102  and is coupled to water port  312  via a suitable tube or pipe. In one embodiment, water bin  322  may be removed from main body  102  by opening upper body  104 . 
     Medicine port  314  comprises a receptacle operable to receive medicines to refill device  100  for dispensing to an animal on tray  118 . Medicine received from medicine port  314  is stored in medicine bin  324 . Medicine bin  324  comprises any suitable container for solid or liquid items, is disposed within main body  102  and is coupled to medicine port  314  via a suitable tube or pipe. In one embodiment, medicine bin  324  may be removed from main body  102  by opening upper body  104 . In another embodiment, medicine bin  324  may be coupled to or accessible by payload  122  to in order to refill a syringe, for example, via a tube through arm  120 . 
     In addition, one or more of bins  320 ,  322 ,  324  and/or  326  may be refrigerated or heated as needed. For example, medicine bin  324  may be required to be kept refrigerated to keep medicine from spoiling. 
     Waste bin  326  receives water and other debris from suction nozzle  332  for storage until the contents of waste bin  326  are removed from device  100  via waste port  316 . Waste port  316  is coupled to waste bin  326  via a suitable tube or pipe to allow extraction of the contents of waste bin  326 . 
     Cleaning nozzle  330  comprises a device operable to expel water at a suitable level of pressure to clean tray  118 . Cleaning nozzle  330  is coupled to water bin  322  via a suitable tube or pipe. For example, cleaning nozzle  330  may comprise a water-spraying device that sprays water under pressure onto tray  118 . In one embodiment, cleaning nozzle  330  is of a suitable size and located within main body  102  at a location such that cleaning nozzle  330  sprays water onto tray  118 . In another example, cleaning nozzle  330  may be operable to move within main body  102  in order to clean portions of tray  118 . In addition, cleaning nozzle  330  may represent multiple cleaning elements, such as multiple sprayers, for cleaning tray  118  in various embodiments. For example, nozzle  330  may comprise or include a heated air emitter to dry tray  118  or other surfaces. Further, in one embodiment, a bin for a cleaning solution may be further coupled between water bin  322  and cleaning nozzle  330 . In yet another embodiment, nozzle  330  may be used to clean areas under device  100  after tray  118  has been detached, for example, to clean a floor. 
     Suction nozzle  332  comprises a device operable to remove water and/or debris from tray  118  and deposit the removed water and/or debris in waste bin  328  via a suitable tube or pipe. For example, as cleaning nozzle  330  is spraying water to clean tray  118 , suction nozzle  332  is removing the used water from tray  118 . In general, suction nozzle  332  comprises any suitable device or devices operable to remove used water and used cleaning fluids from tray  118 . In various embodiments, cleaning nozzle  330  and suction nozzle  332  may require the use of pumps (not shown) to generate suitable levels of water pressure for cleaning tray  118  and suction force to remove liquid and/or solid debris. For example, in one embodiment, suction nozzle  332  and cleaning nozzle  330  may be used to clean surfaces other than tray  118 , such as debris or waste on a floor or other surface. This embodiment may require the release of tray  118  prior to performing such cleaning activities. 
     Battery  340  comprises any suitable battery technology, such as lead-acid, NiMH, Lithium-Ion and NiCad, operable to power motor  342  and device  100  generally. Battery  340  is electrically coupled to charging port  300  and is recharged when charging port  300  is connected to an external power source. Battery  340  is sized as suitable for the animal being cared for by device  100  and the related power demands of motor  342  and the various electronics associated with device  100 , such as wireless communications system  110 . For example, an animal care device for taking care of horses in an outdoor field may be larger and require a stronger motor  342  and battery  340  to deal with the relatively harsh environment. In contrast, an animal care device that is primarily designed for use with a household pet may require a less powerful motor  342  and battery  340 . 
     Motor  342  comprises a suitable motor for driving front wheels  106  and/or rear wheels  108 , depending on the embodiment of device  100 , to allow device  100  to move from place to place. In one embodiment, motor  342  comprises an electric motor powered by battery  340 . 
     Directional system  304  comprises a movable joint operable to turn rear wheels  108  and to lower device  100 . In one embodiment, rear wheels  108  provide directional control for device  100 , while front wheels  106  provide the driving force to move device  100 . In addition, to order to release tray  118  on the ground, device  100  may lower itself so that the bottom of tray  118  is on or near the ground before releasing tray  118 . In this embodiment, directional system  304  pivots the rear wheels  108  to lower device  100  closer to the ground. 
       FIG. 5  is a block diagram of a docking station  500  for device  100  according to one embodiment of the present disclosure. Docking station  500  interfaces with charging ports  300  and electrical ports  302 . Docking station  500  comprises a food recharger port  510 , a water recharger port  512 , a medicine recharger port  514 , a waste removal port  516  and an electrical recharging interface  502 . 
     Food recharger port  510  comprises a suitable system to couple and decouple to food port  310  in order to refill food bin  322  via food port  310 . For example, food recharger port  510  and food port  310  may comprise a pair of generally hollow cylinders where one cylinder is slightly larger than the other cylinder to allow the smaller cylinder to enter into the larger cylinder to create a connection where solid and/or liquid food can pass through from food recharger port  510  to food port  310  into food bin  322 . 
     Water recharger port  512  comprises a suitable system to couple and decouple to water port  312  in order to refill water bin  320 . For example, water recharger port  512  and water port  312  may operate similarly to ports  510  and  310 . 
     Medicine recharger port  514  comprises a suitable system to couple and decouple to medicine port  314  in order to refill medicine bin  324 . For example, medicine recharger port  514  and medicine port  314  may operate similarly to ports  510  and  310 . 
     Waste removal port  516  comprises a suitable system to couple and decouple to waste port  316  in order to allow the emptying of waste bin  326 . For example, waste bin  326  may become partially or completely filled with solid and/or liquid waste as a result of the cleaning of tray  118 . Waste removal port  516  and waste port  316  may operate similarly to ports  510  and  310 . 
     Electrical recharging interface  502  comprises a suitable electrical system for recharging battery  340  via port  302 . For example, interface  502  and port  302  may comprise a suitable male/female electrical connection system. 
     As illustrated in  FIG. 5 , docking station  500  may be located at a suitable location, such as a laundry room or outdoor location, for recharging and refilling device  100 . In one embodiment, docking station  500  is located outdoors and uses equipment suitable for outdoor and/or harsh environment use. Device  100  may automatically detect that one or more of bins  320 ,  322 ,  324  and  326  need refilling or emptying and return to docking station  500  and/or notify the caregiver that one or more of bins  320 ,  322 ,  324  and  326  need refilling, or that battery  340  needs recharging. Alternatively, the caregiver may remotely command device  100  to return to docking station  500  and/or device  100  may return to docking station  500  on a predetermined schedule or in response to other inputs. Docking station  500  itself may also be operable to generate a notification to the caregiver that the docking station  500  requires refilling. 
     In operation, device  100  may be used by an animal caregiver to assist with the care of one or more animals, regardless of whether the caregiver is physically located near the animals or is physically distant. Device  100  may be directly controlled by the caregiver, such as via a remote control or via a network connection, such as via an application on a computer, smartphone, tablet or other electronic computing device, that communicates with device  100  over a global computer network, such as the Internet. In addition, device  100  may be pre-programmed to perform various activities independently. For example, device  100  may provide food, water and/or medicine on tray  118  at predetermined times. Device  100  may also be controlled via a combination of independent programming and remote control. 
     Initially, or after one or more uses of device  100 , device  100  is filled and charged, or refilled and recharged, at docking station  500 . For example, device  100  may be controlled by a remote control by a human user or may be capable of automatically finding docking station  500 , such by GPS location or a beacon of a suitable type that device  100  may navigate to. In one embodiment, device  100  rolls to docking station  500  and reverses into docking station  500 . Rear wheels  108  then articulate to allow device  100  to lower or raise itself and couple ports  300  and  302  with docking station  500 . 
     The animal caregiver may interact with the animal using display  116  and camera  112 . Camera  112  allows the caregiver to see the animal, and may provide a pan, tilt and/or zoom functionality to improve viewing of the animal from a remote location, such as over the Internet. Display  116  allows the animal to see an image, such as the caregiver. Display  116  comprises any suitable display system for video and audio and is capable of receiving video and audio via wireless system  110 . The audio capabilities of display  116  allow the animal to both see and hear the caregiver, and allow the caregiver to hear the animal. For example, the caregiver could program device  100  to generate familiar sounds, such as a normal pre-sleep ritual, associated with the caregiver at a certain time, such as when the animal is sleeping. In general, device  100  may play pre-recorded audio and/or video messages at pre-determined times, in response to predetermined situations and/or as commanded remotely by the caregiver, such as via an application on a smartphone used by the caregiver. In addition, toy  114  allows the caregiver to play with the animal. For another example, a veterinarian may use camera  112  to evaluate the medical condition of an animal under the care of device  100 . 
     As device  100  is mobile, device  100  can move around with the animal. In one embodiment, wireless system  110  generates a signal usable as an electronic fence system. Electronic fences are commonly used to keep an animal, such as a dog, within a predefined area without the use of physical barriers. For example, the electronic fence may be linked to a shock collar that indicates that the dog is not allowed to go beyond a certain point. Such an electronic fence system, when incorporated into device  100 , allows device  100  to walk an animal. For example, an animal that has been trained that the animal can only go a certain distance, such as 50 feet, away from device  100  by the electronic fence, allows device  100  to walk the animal. More specifically, since the animal knows that it must remain within a certain distance from device  100 , or be subject to appropriate corrective measure, such as an audible signal or an electronic shock from a shock collar, device  100  could, for example, move down a sidewalk along a predetermined route, or under the remote control of a care giver, and walk an animal even though the care giver is not physically present. In one embodiment, the electronic fence collar worn by the animal contains a water immersion detection capability to detect if the animal has entered or fallen into a body of water, such as a swimming pool, lake or pond. In this embodiment, the collar may alert device  100  that the animal has entered a body of water and the device  100  may generate an alert, such as to the remote care giver or an emergency response group, or take other predetermined actions in response thereto. 
     Device  100  may use a GPS or other location device associated with device  100  and/or the animal being cared for to provide location information of the animal and/or device  100  to the animal caregiver. The location information may be used by device  100  to generate an alert to the caregiver and/or other people based on one or more predetermined conditions. For example, an alert could be generated if the animal goes beyond a certain distance from device  100 . In one embodiment, device  100  communicates with a device that tracks an animal&#39;s vital signs and responds appropriately in the event of a medical emergency. For example, if it is known that an animal has a medical condition that requires medicine only under certain circumstances, device  100  could provide such medicine via tray  118  or payload  122  when the medical condition is detected by the vital signs monitoring device, such as in response to low blood sugar, elevated blood pressure or elevated heart rate. 
     In addition, device  100  may include special programming to automatically handle emergency situations. For example, device  100  may be capable of communicating with a smoke and fire detection system in a house, and use the electronic fence functionality to bring a house pet outside in the event of a fire, such as by decreasing the distance of the electronic fence to keep the animal close to device  100  until device  100  and the animal have reached a safe or predetermined location. In one embodiment, device  100  may itself be equipped with a carbon monoxide detector, smoke detector, fire detector and/or other sensors to detect toxic fumes, smoke, fire or other hazards. For example, device  100  may include a glass break sensor along with programming to know that device  100  and an animal under the care of device  100  are alone in a structure, and that a glass break represents a potential intruder. For another example, device  100  may include programming to generate an alert to an emergency service, such as a fire department, that includes images, description and count of the animals under the care of device  100 . Such an alert may be sent when device  100  detects a hazardous situation, such as a fire, so that emergency responders are aware of the number and identity of animals in a structure. In addition, such an alert may include medical information, such as drug allergies, handicaps or pregnancy, of animals under care of device  100  to assist medical personnel in an emergency. Further, such an alert may also include the planned emergency evacuation location that device  100  will lead animals to in the event of an emergency to assist first responders in locating the animals. In general, device  100  may be programmed to communicate current and/or historical data associated with one or more sensors associated with device  100  to the caregiver and/or may be commanded by the caregiver to provide such data. 
     Tray  118  allows device  100  to feed, water and provide medicine to animal. In one embodiment, when an animal is to be fed, such as device  100  being preprogrammed with feeding times, determining feeding is necessary according to predetermined criteria or is commanded to feed the animal by the caregiver, device  100  fills tray  118  with food, water and medicine (if needed). For example, food, water and medicine from bins  320 ,  322  and  324  may be respectively deposited in tray portions  200 ,  202  and  204 . Tray  118  may use portions  200 ,  202  and/or  204  for uses other than food, water and medicine. For example, portion  200  may be used as a cat litter box instead of providing food. 
     Device  100  then lowers itself so that the bottom of tray  118  is generally in contact with the ground and releases tray  118 . For example, device  100  may use rear wheels  108  to pivot the front of device  100  generally downward and then reverse, while allowing tray  118  to slide out. Alternatively, after the bottom of tray  118  is generally in contact with the ground, device  100  may release tray  118  and raise itself back up to a normal operating height and leave tray  118  on the ground. In general, any suitable system for releasing and recovering tray  118  may be used by device  100 . 
     After the animal has finished eating and drinking, device  100  retrieves and cleans tray  118 . For example, device  100  may lower itself over tray  118 , reattach tray  118  to device  100 , and raise itself back to a normal operating height. Alternatively, device  100  may slide tray  118  back into device  100 . Device  100  then cleans tray  118  using cleaning nozzle  330  and suction nozzle  332 . In one embodiment, device  100  may also use cleaning nozzle  330  and suction nozzle  332  to clean up detected debris, such as animal excrement or soil from a flowerpot knocked over by an animal. For example, caregiver could notice such debris via camera  112  and remotely control device  100  to leave tray  118  at a suitable location to allow use of nozzles  330  and  332  to clean up such debris. Alternatively or in addition, device  100  may automatically detect such debris and perform an appropriate cleaning operation. In addition, in one embodiment, device  100  may include a heater and/or air blower device associated with nozzles  330  and/or  332 , to dry the area cleaned by nozzles  330  and  332 . Further, in another alternative embodiment, scent emitter  130  may include the additional ability to emit a scent designed to be pleasing to humans, such as a scent similar an air freshener, that is emitted on or near a recently cleaned area to lessen offensive odors that may remain after the cleaning process. 
     Device  100  may also communicate with a home automation system that allows device  100  to open and close doors in a structure. For example, device  100  could wirelessly lock and unlock doors equipped with appropriate devices and push open doors for the animal at appropriate times, such as to allow the animal outside to play at certain times. In addition, device  100  may use such control over doors to control which areas of a structure that an animal is allowed to enter or prohibited from entering. Device  100  may also use such a home automation system to control environmental conditions, such as a heater or air conditioner. In addition, in one embodiment, device  100  may also communicate with a security system to allow an animal to move about the house without activating the alarm. For example, many security systems use motion detectors to provide security for a structure, however, such motion detectors often generate false alarms when an animal triggers the motion detector. Device  100  may avoid such false alarms by deactivating the motion detector when location information associated with an animal indicates that an animal is near a motion detector controlled area. For another example, device  100  may detect than a dog has spent a significant amount of time in front of a door that the dog uses when the dog needs to relieve itself. Upon detecting that the dog has been in front of the door for an appropriate period of time, device  100  could unlock and/or open the door to let the dog out, and deactivate the alarm system on that door to prevent a false alarm, while still allowing the alarm system to be used with an animal in the house. 
     Device  100  may also record the location of itself and/or the animal and provide such information to the caregiver. For example, device  100  may use the GPS device to provide a map of movements over a period of time to the caregiver via a remote data connection. 
     Device  100  may also include programming to detect if the animal has remained stationary for an abnormally long period of time, such as by using GPS information communicated from a collar worn by the animal to device  100 . For example, if a normally active animal has not moved for several hours, this may indicate a medical problem or that the animal is deceased. The programming may take any suitable action in response thereto, such as generating an alert to the caregiver or an emergency response group, or by providing medicine to the animal, such as via arm  120 . 
     As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, aspects of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. 
     Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. 
     A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. 
     Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. 
     Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The program code may execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user&#39;s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). 
     Aspects of the present invention may be described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational actions to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated. 
     The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.