Abstract:
A waterfowl decoy comprising a waterfowl decoy body, a propulsion system, an accelerometer, and a microcontroller. In a preferred embodiment, the waterfowl decoy body has an inner cavity with an equipment mounting surface therein with the propulsion system coupled to the equipment mounting surface and configured to propel the waterfowl decoy across a surface of water. The accelerometer is coupled to the equipment mounting surface and configured to sense accelerations of the waterfowl decoy body when propelled across the surface of water, and the microcontroller is coupled to the accelerometer and configured to calculate a distance traveled by the waterfowl decoy body when propelled across the surface of water. A waterfowl decoy system and a method of manufacturing a waterfowl decoy system are also provided.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This Application claims the benefit of U.S. Provisional Application Ser. No. 61/209,459 filed on Mar. 9, 2009, entitled: SUPER SWIMMERS DECOY SYSTEM, commonly owned with the present invention and incorporated herein by reference. This Application is a Divisional Application of and further claims the benefit of prior application Ser. No. 12/716,709 filed on Mar. 3, 2010, entitled: SEMI-AUTONOMOUS WATERFOWL DECOY SYSTEM, currently allowed, to Jayce E. Jones, et al. The above-listed Application is commonly assigned with the present invention and is incorporated herein by reference as if reproduced herein in its entirety. 
    
    
     TECHNICAL FIELD OF THE INVENTION 
     The present invention is directed, in general to a hunter&#39;s waterfowl decoy system and more specifically, to a semi-autonomous waterfowl decoy system. 
     BACKGROUND OF THE INVENTION 
     Decoys of great variety in construction and purpose are available to be employed as lures for hunting and to a lesser extent to attract wild animals for animal observation and/or to retrieve biological or other samples for further study. For example, wild birds, fish and other animals are often captured, e.g., through anesthesia, and banded, provided with radio emitting tags or otherwise distinguished from the flock, school or herd for the purpose of later tracking or identification. More frequently, decoys are employed during hunting season to emulate a waterfowl or a group of waterfowl at a location suitable for example, for feeding, in order to lure migratory waterfowl to within suitable shooting range and subsequent recovery of downed waterfowl carcasses. 
     While decoys often provide a life-like appearance, it is also desirable to have the decoy move in the water such that it emulates the swimming motion of a duck, or other waterfowl, in a life-like fashion. Many attempts have been made to so motivate decoys. However, the resulting decoys are often designed such that they will tend to exhibit fixed or regular swimming, feeding or diving motion, unlike the actual random motion of, for example, a duck. 
     Some previous decoys have employed an apparatus for causing the decoy to repeatedly traverse a fixed tether or string. Hence, the decoy traverses back and forth along the tether string in a fashion which is atypical of the motion of a wild duck. Other decoys use manually preset rudders which cause the decoy to traverse a set circular path on the water surface. Of course, this is unlike the random motion of real ducks. 
     In order to provide more lifelike swimming motions, some previous decoys have used radio-control technology to direct the decoy motion and operate specific subsystems simulating such actions as feeding, anchoring and game retrieval. Each decoy is controlled individually from a dedicated transmitter, requiring the full concentration of one hunter to the exclusion of searching for inbound live game. However, a large number of decoys are typically used during a hunt. Using anywhere from one dozen to ten dozen decoys is not uncommon when duck hunting. The number of decoys used is typically even greater, sometimes over twenty dozen, when hunting for geese. Therefore, radio controlled technology, regardless of the opportunity to control a variety of motions, is generally contraindicated for migratory waterfowl hunting. 
     Accordingly, what is needed in the art is a decoy or decoy system that does not suffer from the deficiencies of the prior art. 
     SUMMARY OF THE INVENTION 
     To address the above-discussed deficiencies of the prior art, the present invention provides a waterfowl decoy comprising a waterfowl decoy body, a propulsion system, an accelerometer, and a microcontroller. In a preferred embodiment, the waterfowl decoy body has an inner cavity with an equipment mounting surface therein with the propulsion system coupled to the equipment mounting surface and configured to propel the waterfowl decoy across a surface of water. The accelerometer is coupled to the equipment mounting surface and configured to sense accelerations of the waterfowl decoy body when propelled across the surface of water, and the microcontroller is coupled to the accelerometer and configured to calculate a distance traveled by the waterfowl decoy body when propelled across the surface of water. 
     In an alternative embodiment, a waterfowl decoy system comprises a base pole, a waterfowl decoy body, a propulsion system, an accelerometer, a decoy microcontroller, and a first receiver. The base pole has a transmitter configured to send a radio frequency signal while the waterfowl decoy body has an inner cavity with an equipment mounting surface therein. The propulsion system is coupled to the equipment mounting surface and configured to propel the waterfowl decoy across a surface of water. The accelerometer is coupled to the equipment mounting surface and configured to sense accelerations of the waterfowl decoy body when propelled across the surface of water. The decoy microcontroller is coupled to the accelerometer and configured to calculate a distance traveled by the waterfowl decoy body when propelled across the surface of water. Furthermore, the first receiver is coupled to the equipment mounting surface and the microcontroller, whereas the first receiver communicates the range setting to the decoy microcontroller. 
     Also provided is a method of manufacturing a waterfowl decoy system comprising coupling a transmitter to a base pole, configuring the transmitter to send a radio frequency signal, providing a waterfowl decoy body having an inner cavity with an equipment mounting surface therein, coupling a propulsion system to the equipment mounting surface and configuring the propulsion system to propel the waterfowl decoy across a surface of water. The method also includes coupling an accelerometer to the equipment mounting surface and configuring the accelerometer to sense accelerations of the waterfowl decoy body when propelled across the surface of water, coupling a decoy microcontroller to the accelerometer and configuring the decoy microcontroller to calculate a distance traveled by the waterfowl decoy body when propelled across the surface of water, and coupling a first receiver to the equipment mounting surface and the microcontroller and configuring the first receiver to communicate the range setting to the decoy microcontroller. 
     The foregoing has outlined preferred and alternative features of the present invention so that those skilled in the art may better understand the detailed description of the invention that follows. Additional features of the invention will be described hereinafter that form the subject of the claims of the invention. Those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiment as a basis for designing or modifying other structures for carrying out the same purposes of the present invention. Those skilled in the art should also realize that such equivalent constructions do not depart from the spirit and scope of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For a more complete understanding of the present invention, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which: 
         FIGS. 1A and 1B  illustrate an elevation view and a block diagram, respectively, of one embodiment of an autonomous waterfowl decoy constructed according to the principles of the present invention; 
         FIGS. 2A-2F  illustrate flow charts of the main program algorithm and subroutines that define the program logic employed to control the waterfowl decoy; 
         FIG. 3  illustrates an elevation view of a second embodiment of an autonomous waterfowl decoy system; and 
         FIG. 4  illustrates an elevation view of a third embodiment of an autonomous waterfowl decoy system. 
     
    
    
     DETAILED DESCRIPTION 
     Referring initially to  FIGS. 1A and 1B , illustrated are an elevation view and a block diagram, respectively, of one embodiment of an autonomous waterfowl decoy  100  constructed according to the principles of the present invention. The waterfowl decoy  100  comprises a decoy body  110 , an inner cavity  120  having an equipment mounting surface  130  located therein, a microcontroller  140 , a dual axis accelerometer  150 , a propulsion system  160 , a multi-position range control switch  170 , first and second rechargeable battery packs  181 ,  182 , respectively, and a power receptacle  190 . Access to the inner cavity  120  is achieved by lifting a hinged back  101  of the decoy body  110 . The microcontroller  140 , dual axis accelerometer  150 , part of the propulsion system  160 , the multi-position range control switch  170 , the first and second rechargeable battery packs  181 ,  182 , respectively, and the power receptacle  190  are mounted on the equipment mounting surface  130  above a waterline  195  that the decoy  100  will encounter. 
     The waterfowl decoy  100  must be constructed in such a way and of such a material that the decoy  100  floats on a water surface at a height, i.e., waterline  195 , similar to that of the waterfowl species, e.g., duck, goose, etc., that the decoy  100  simulates. One who is of skill in the art is familiar with materials, e.g., plastic, fiberglass, etc., and floatation means, e.g., closed cell rigid plastic foam, by which proper floatation may be achieved. Ballast may be added as necessary to assure stability of the decoy  100  when on the water  10 . 
     The waterfowl decoy  100  is constructed so as to autonomously “swim” on the water surface  10  within a preset range (radius) R of a starting point S ( FIG. 3A ). The preset range R is selected by selecting one of the multi-positions of the range control switch  170 . For example, the multi-position range control switch  170  may have three positions  171 - 173  corresponding to radii of 15′, 30′, and 45′ of the starting point S. Of course, these distances are merely representative and other distances may be used. The decoy  100  achieves this autonomy through operation of an algorithm (to be described below) loaded into the microcontroller  140  limited by the range R selected with the multi-position range control switch  170 . The microcontroller  140  is powered by the first rechargeable battery pack  181  mounted on the equipment mounting surface  130 . 
     In a preferred embodiment, the propulsion system  160  comprises left and right conventional DC electric motors  161 ,  162  mounted on the equipment mounting surface  130  and coupled to left and right propellers  163 ,  164  that project below the water surface  10  and are offset on either side of a centerline  197  of the decoy  100 . The left and right electric motors  161 ,  162  and thus the left and right propellers  163 ,  164  are powered by the second rechargeable battery pack  182  that is also mounted on the equipment mounting surface  130 . The second rechargeable battery pack  182  may be a 6V DC battery pack of lithium or lithium-ion battery cells. Of course, other battery types may also be used to increase battery life and decrease the size or weight of the battery pack. The left and right electric motors  161 ,  162  and thus the left and right propellers  163 ,  164  may be independently powered as directed by the microcontroller  140 . Furthermore, the speed of rotation of the left and right motors  161 ,  162  and, therefore, the rotational speed of the left and right propellers  163 ,  164  may be controlled by the DC voltage applied to the left and right motors  161 ,  162  as controlled through an h-bridge integrated circuit, e.g., SN754410 a product of Texas Instruments Inc. of Dallas, Tex., by use of a pulse width modulation (PWM) signal from the microcontroller  140 . Likewise, DC voltage applied to the left and right electric motors  161 ,  162  may be reversed so as to drive the left and right propellers  163 ,  164  in a reverse direction, as necessary. Thus, by running the right electric motor  162  in forward and the left electric motor  161  in reverse, a much tighter turn to the left of the decoy  100  should be achieved than by simply running the right electric motor  162  at full speed in forward. The first and second rechargeable battery packs  181 ,  182  are recharged by power supplied through the power receptacle  190 . In one embodiment, the power receptacle  190  may comprise both AC and DC power receptacles. Appropriate circuitry to rectify the AC power or to step down the DC voltage as needed for the first and second rechargeable battery packs  181 ,  182  is provided. In one embodiment, the left and right electric motors  161 ,  162  may require 6 VDC and the microcontroller  140  may require 5 VDC. One who is of skill in the art is familiar with the circuitry necessary to provide the appropriate charging voltage. 
     The dual axis accelerometer  150  may be a Memsic 2125 Dual Axis accelerometer. The Memsic 2125 accelerometer is a low cost, thermal accelerometer capable of measuring tilt, collision, static and dynamic acceleration, rotation, and vibration with a range of ±3 G&#39;s on two axes. The Memsic 2125 is provided on a small printed circuit board providing all I/O connections for easy incorporation into the decoy  100 . The Memsic 2125 Dual Axis Accelerometer is available from Parallax Inc. of Rocklin, Calif. Each axis output of the dual axis accelerometer  150  is in the form of a 100 Hz PWM duty cycle in which acceleration is proportional to the ratio tHx/Tx where tHx is the width of the high voltage curve and Tx is the width of one full cycle. In practice, it has been found that Tx is consistent so reliable results can be achieved by measuring only the duration of tHx. 
     In one embodiment, the microcontroller  140  is an Arduino Duemilanove USB Microcontroller Module by Spark Fun Electronics of Boulder, Colo. A dead reckoning program is used to determine the distance traveled by the waterfowl decoy  100  with inputs of dual axis acceleration from the Memsic 2125 Dual Axis accelerometer. One who is of skill in the art is familiar with computation of dead reckoning distance when time and acceleration are known. 
     Referring now to  FIG. 2A , illustrated is a flow chart of one embodiment of the overall program logic employed to control the waterfowl decoy  100 . Beginning at Start Step  201 , at the next Step  202  the algorithm checks for the range control setting R (See  FIG. 3A ) of the multi-position range control switch  170 . The switch setting sets the range control value R in the algorithm at Step  203 . At this point, distance traveled by the decoy is zero. The algorithm then generates a random number between 0 and 399 at Step  204 . At Step  205 , the random number is checked for a value less than 99. If the random number is less than 99, the algorithm branches to the right turn routine. If the random number is not less than 99, the algorithm advances to Step  206  and checks for a value less than 199. 
     If the random number is less than 199, the algorithm branches to the left turn routine. If the random number is not less than 199, the algorithm advances to Step  207  and checks for a value less than 299. If the random number is less than 299, the algorithm branches to the straight movement routine. If the random number is not less than 299, the algorithm advances to Step  208  and checks for a value less than or equal to 399. If the random number is less than or equal to 399, the algorithm branches to the no movement routine. If the random number is not less than or equal to 399, the algorithm advances to Step  209  and checks for a distance value greater than or equal to the range control setting R. If the distance value is not greater than or equal to the range control setting R, the algorithm branches back to Start at Step  201 . If the distance value is greater than or equal to the range control setting R, the algorithm branches to the turn around routine. 
     As specified above, if the random number is less than 99, the algorithm branches to the right turn routine. Referring now to  FIG. 2B , illustrated is a flow chart of one embodiment of the right turn function logic employed to control the waterfowl decoy  100 . Beginning at Start Step  211 , the algorithm reads X and Y acceleration data from the accelerometer  150  at Step  212 . At Step  213 , the algorithm directs the microcontroller to turn ON the left motor  161  to create a right turn. At Step  214 , the algorithm continues with the left motor running for 3 seconds. At Step  215 , the algorithm directs the microcontroller to turn the left motor  161  OFF. At Step  216 , the algorithm directs the microcontroller to read the X and Y acceleration data from the accelerometer  150 . At Step  217 , the algorithm calculates the distance moved according to the dead reckoning equation. At Step  218 , the algorithm adds the distance moved to the then total distance. At Step  219 , the algorithm returns to the Main Program at Step  204  and proceeds as above. 
     As explained above, if the random number is less than 199, the algorithm branches to the left turn routine. Referring now to  FIG. 2C , illustrated is a flow chart of one embodiment of the left turn function logic employed to control the waterfowl decoy  100 . Beginning at Start Step  221 , the algorithm reads X and Y acceleration data from the accelerometer  150  at Step  222 . At Step  223 , the algorithm directs the microcontroller  140  to turn ON the right motor  162  to create a left turn. At Step  224 , the algorithm continues with the right motor  162  running for 3 seconds. At Step  225 , the algorithm directs the microcontroller to turn the right motor  162  OFF. At Step  226 , the algorithm directs the microcontroller  140  to read the X and Y acceleration data from the accelerometer. At Step  227 , the algorithm calculates the distance moved according to the dead reckoning equation. At Step  228 , the algorithm adds the distance moved to the then total distance. At Step  229 , the algorithm returns to the Main Program at Step  204  and proceeds as above. 
     As specified above, if the random number is less than 299, the algorithm branches to the straight movement routine. Referring now to  FIG. 2D , illustrated is a flow chart of one embodiment of the straight movement function logic employed to control the waterfowl decoy  100 . Beginning at Start Step  231 , the algorithm reads X and Y acceleration data from the accelerometer  150  at Step  232 . At Step  233 , the algorithm directs the microcontroller to turn both right and left motors  161 ,  162  ON. At Step  234 , the algorithm continues with both right and left motors  161 ,  162  running for 3 seconds. At Step  235 , the algorithm directs the microcontroller to turn both right and left motors  161 ,  162  OFF. At Step  236 , the algorithm directs the microcontroller to read the X and Y acceleration data from the accelerometer. At Step  237 , the algorithm calculates the distance moved according to the dead reckoning equation. At Step  238 , the algorithm adds the distance moved to the then total distance. At Step  239 , the algorithm returns to the Main Program at Step  204  and proceeds as above. 
     As explained above, if the random number is less than or equal to 399, the algorithm branches to the no movement routine. Referring now to  FIG. 2E , illustrated is a flow chart of one embodiment of the no movement function logic employed to control the waterfowl decoy  100 . Beginning at Start Step  241 , the algorithm reads X and Y acceleration data from the accelerometer  150  at Step  242 . At Step  243 , the algorithm waits three seconds. At Step  244 , the algorithm directs the microcontroller  140  to read the X and Y acceleration data from the accelerometer  150 . At Step  245 , the algorithm calculates the distance moved according to the dead reckoning equation. At Step  246 , the algorithm adds any distance that the decoy may have moved to the then total distance. At Step  247 , the algorithm returns to the Main Program at Step  204  and proceeds as above. 
     As specified above, if the distance value at Step  209  is greater than or equal to the range control setting R, the algorithm branches to the turn around routine. Referring now to  FIG. 2F , illustrated is a flow chart of one embodiment of the turn around routine function logic employed to control the waterfowl decoy  100 . Begin at Start Step  251 . At Step  252 , the algorithm goes to the Right Turn Routine of  FIG. 2B  and proceeds as above while collecting the magnitude of the angle of right turn. At Step  253 , the algorithm reads the magnitude of the angle of last movement. At Step  254 , the algorithm checks the angle of right turn against a value of 160 degrees. If the angle is more than 160 degrees, the algorithm proceeds to Step  255  which branches back to Step  252  for a further right turn. If the angle is less than 160 degrees, the algorithm branches to Step  256  and the straight movement routine of  FIG. 2D . Upon completion of the straight movement routine and before returning to the Main Program, the total distance is checked against the preset range R at Step  257 . If the total distance is less than the preset range R, the algorithm proceeds to Step  258  and returns to the Main Program at Step  204 . If the total distance is more than the preset range R, the algorithm returns to Step  256  and the straight movement routine where the loop repeats until the total distance is less than the preset range R and the algorithm can return to the Main Program at Step  204 . 
     Referring now to  FIG. 3A , illustrated is a plan view of a second embodiment of a semi autonomous waterfowl decoy system  300 . The waterfowl decoy system  300  comprises a base pole  310 , a central control unit  320  and a plurality of waterfowl decoys  330 . The base pole  310  comprises a plurality of decoy hooks  311 , a like plurality of charging cords  312 , a rechargeable battery pack  313 , a microcontroller  314 , a multi-position range switch  315 , a transmitter  316 , a hanger arm  317 , an AC power receptacle  318 , a DC power receptacle  319 , and a radio frequency (RF) transmitter  323 . The plurality of decoy hooks  311  may be formed as part of the base pole  310  for storing the plurality of waterfowl decoys  330 . In a similar manner, the like plurality of charging cords  312  are coupled to the base pole  310  for charging batteries (not shown) within the plurality of waterfowl decoys  330 . Removable AC and DC power cords  341 ,  342 , respectively, are provided to power the recharging circuits associated with the rechargeable batteries of the decoys  330  and the central control unit  320 . 
     As an alternative to the base pole  310 , the system  300  may be configured with a base decoy (not shown) that contains the central control unit  320 , rechargeable battery pack  313 , microcontroller  314 , multi-position range switch  315 , transmitter  316 , AC power receptacle  318 , the DC power receptacle  319 , and a radio frequency (RF) transmitter  323 . Thus, the base decoy performs the same functions as the base pole  310  except for decoy storage and decoy charging. The base decoy would generally not have “swimming” capability, although it could be implemented with radio control technology as a way to recover the plurality of waterfowl decoys  330  by using the homing function to be described below. 
     Referring now to  FIG. 3B , illustrated is a plan view of a functional block diagram of the embodiment of a semiautonomous waterfowl decoy  330  of  FIG. 3A . Each of the plurality of waterfowl decoys  330  is substantially the same as the waterfowl decoy  100  of  FIG. 1  and comprises an inner cavity  331  having an equipment mounting surface  332  located therein, a microcontroller  333 , a dual axis accelerometer  334 , a propulsion system  335 , first and second rechargeable battery packs  336 ,  337 , respectively, and a power receptacle  338 , and an RF receiver  370 . This embodiment differs from the embodiment of  FIG. 1  in that multi-position range switch  315  is located in a central control unit  320  coupled to the base pole  310  and not in the individual decoys  330 . This embodiment operates in essentially the same manner as the embodiment of  FIG. 1  except that the multi-position range switch  315  is set in the central control unit  320  and the range setting is transmitted to all of the deployed decoys by the RF transmitter  323 . Therefore, the individual decoys  330  commence calculation in their microcontrollers  333  at Step  204  of the Main Program (See  FIG. 2A ). Remaining operation of the system is the same as described above. 
     Referring now to  FIG. 4 , illustrated is an elevation view of a third embodiment of an autonomous waterfowl decoy system  400 . The waterfowl decoy system  400  differs from the embodiment of  FIG. 3  in that the decoy system  400  further comprises an RF receiver  415  and a hand-held remote control  420 . The RF receiver  415  is located in a central control unit  425  similar to the central control unit  320  of  FIG. 3A . The RF receiver  415  is configured to receive commands from the hand-held remote control  420 . This embodiment provides considerably more flexibility in mimicking actual motion of the intended waterfowl species. This embodiment may be used to convey commands that affect all of the decoys  430  or only specific decoys. Commands that involve all of the decoys  430  may include, but are not limited to: setting one of the plurality of range settings for the waterfowl decoys  430 , and commanding all of the waterfowl decoys  430  to return to the base pole  410 . The command to return to the base pole  410 , once issued to the decoys  430 , may be implemented by incorporating a homing feature that homes on the transmitter  423  on the base pole  410 . Once the decoys  430  have homed to the base pole  410 , the remote control  420  may be used to turn the entire system  400  OFF except for the base pole RF receiver  415  which remains alert for a command from the hand-held remote control  420  to turn the system ON. 
     In one embodiment, the system  400  may comprise a variety of waterfowl decoys  430 , each one of which has one or more different motions that mimic a motion of the intended waterfowl species. For example, one decoy may turn its head to the left or right on command. The command may be initiated by the operator/hunter inputting an attention command to the RF receiver  415  in the central control unit  425 . This prepares the microcontroller to receive a specific numerical command associated with the desired decoy operation. For example, the attention command may be a separate button on the remote control  420 , or it may be a two or three digit numerical command sent from the key pad of the remote control  420 , e.g., “111” may alert the microcontroller to a command to follow. Turning a decoy head may have a command of “212”. That command is then interpreted by the microcontroller  414  and a command is sent to all of the decoys  430  but it is only understood by the decoys  430  having a capability for head turning. The head turning mechanism may be implemented by a simple mechanical servo being operated by the decoy microcontroller. Other decoys may be constructed with a head dipping motion, such as for “drinking” or “feeding” by the decoy. In this case, the command may be “214” which is then retransmitted by the transmitter and only interpreted by the decoys  430  having the head dipping motion implemented therein. One who is of skill in the art will readily understand how this can be implemented in a decoy. Similarly, decoys may be constructed that extend the decoy wings and replicates a motion of the waterfowl drying its wings by “spinning” or other decoys may be implemented for opening and closing the decoy bill. While more mechanically involved, one who is of skill in the art may devise mechanisms to enable a decoy to simulate preening where the decoy head is placed under the wing as if cleaning the wing feathers. Furthermore, a decoy may be constructed that combines: (a) an upper body of the decoy  430  rising a moderate amount above a lower body that remains in the water to provide flotation and stabilize the decoy  430 , and (b) a wing motion to simulate a waterfowl start of takeoff. The mechanisms to create these functions may be readily designed by one who is of ordinary skill in the art. 
     Although the present invention has been described in detail, those skilled in the art should understand that they can make various changes, substitutions and alterations herein without departing from the spirit and scope of the invention in its broadest form.