Abstract:
A dog collar for the remote control and confinement of a dog or other suitable animal to selected geographical boundary. The system uses a series of audible cues or electrical shocks to motivate the dog to move away from an approaching preselected boundary while continually monitoring the current GPS location of the dog and recording those positions. A user interface allows for a user to program a boundary into the dog collar.

Description:
This application claims the benefit of filing priority under 35 U.S.C. §119 and 37 C.F.R. §1.78 of the U.S. Provisional Application Ser. No. 61/497,842 filed Jun. 16, 2011, for a Software Algorithm For Mobile Devices Using Position Sensor To Lock User Position Within Boundary Lines, and U.S. Provisional Application Ser. No. 61/551,842 filed Oct. 26, 2011, for a Dog Collar with Aural Cues and Tract-Lock GPS Technology. All information disclosed in those prior provisional applications is incorporated herein by reference. 
    
    
     FIELD OF THE INVENTION 
     The present invention relates generally to devices using GPS based software and hardware to determine an Earth based location. In greater particularity, the present invention relates to GPS devices and the recordation of their geo-location. In even greater particularity, the present invention relates to animal control collars for the control and confinement of an animal to predefined boundary area. 
     BACKGROUND OF THE INVENTION 
     The use of global positioning systems (GPS) to determine the terrestrial position of a portable device is well-known in the art. For instance, U.S. Pat. No. 5,375,059 to Kyrtsos et al., U.S. Pat. No. 5,438,517 to Sennott et al., and U.S. Pat. No. 5,490,073 to Kyrtsos each describe a navigational system for vehicles utilizing the electromagnetic signals received from GPS satellites. The aforementioned patents (U.S. Pat. No. 5,375,059; U.S. Pat. No. 5,438,517; U.S. Pat. No. 5,490,073) are hereby incorporated by reference in their entireties. 
     A global positioning system works by utilizing a network of GPS satellites that continuously transmit signals to the Earth; the data transmitted by these signals includes the precise time at which the signal was transmitted by the satellite. By noting the time at which the signal is received at a GPS receiver, a propagation time delay can be calculated. By multiplying the propagation time delay by the signal&#39;s speed of propagation, the GPS receiver can calculate the distance between the satellite and the receiver. This calculated distance is called a “pseudorange,” due to error introduced by the lack of synchronization between the receiver clock and GPS time, as well as atmospheric effects. Using signals from at least three satellites, at least three pseudoranges are calculated, and the position of the GPS receiver is determined through a geometrical triangulation calculation. 
     When GPS signals are not available, the position of a portable device may also be calculated through other means, such as a dead-reckoning system incorporating an accelerometer. For instance, U.S. Pat. No. 5,606,506 to Kyrtsos and U.S. Pat. No. 6,308,134 to Croyle et al. each describe navigational systems integrating both GPS and dead-reckoning techniques. U.S. Patent Publication No. 2007/0260398 to Stelpstra further describes a device that calculates calibration parameters for its accelerometer while GPS data is available, enabling the device to determine its position exclusively using data derived from the accelerometer when GPS data is unavailable. The aforementioned patents and patent publications (U.S. Pat. No. 5,606,506; U.S. Pat. No. 6,308,134; U.S. Patent Publication No. 2007/0260398) are hereby incorporated by reference in their entireties. 
     Certain currently available GPS systems also utilize remote databases to store GPS related information, which is then communicated to a portable device. U.S. Pat. No. 6,222,483 to Twitchell et al., for example, discloses a GPS location system for mobile phones in which the GPS satellite information is stored in a database on a server accessed via an Internet interface. The aforementioned patent (U.S. Pat. No. 6,222,483) is hereby incorporated by reference in its entirety. 
     Animal training systems that utilize geo-positioning techniques to control movement of an animal via electrical and audible cues are also known in the art. For example, U.S. Pat. Nos. 7,034,695 and 7,786,876 to Troxler and U.S. Pat. No. 5,857,433 to Files each disclose a device for controlling an animal&#39;s movement using a collar to provide a physical stimulus and/or audible cue. The aforementioned patents (U.S. Pat. No. 5,857,433; U.S. Pat. No. 7,034,695; U.S. Pat. No. 7,786,876) are hereby incorporated by reference in their entireties. 
     However, while some geo-positioning animal collars exits, none offer the convenience and remote control offered by interfacing with a remote database, especially where a user can upload various geo-positional parameters, verbal cues and vocal commands, and also be able to track in real-time an animal&#39;s location. Hence, what is needed is a system to allow for remote programing of an animal collar and the retention of that programming so that re-programing of the animal collar is convenient and consistent in its operation. 
     SUMMARY OF THE INVENTION 
     In summary, the invention is a dog collar system and method for the remote control and confinement of a dog or other suitable animal to selected geographical boundary. The system uses a series of audible cues or electrical shocks to motivate the dog to move away from an approaching preselected boundary while continually monitoring the current GPS location of the dog and recording those positions. Other features and objects and advantages of the present invention will become apparent from a reading of the following description as well as a study of the appended drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A dog collar with geo-positioning tracking and control cue capability incorporating the features of the invention is depicted in the attached drawings which form a portion of the disclosure and wherein: 
         FIG. 1  is a general communication system infrastructure diagram showing a dog wearing the invention and connected to various communication elements in which the collar operates; 
         FIG. 2A  is a three dimensional view of the invention showing its internal electronics; 
         FIG. 2B  is a side view of the invention showing its shocking prongs and an external switch; 
         FIG. 3  is a process flow diagram showing part of the processing of the invention; 
         FIG. 4  is a process flow diagram showing another portion of the processing of invention with stimulus control of the dog; and, 
         FIG. 5  is a diagram to show how the steps of  FIGS. 3 and 4  are implemented in a real world scenario. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Referring to the drawings for a better understanding of the function and structure of the invention,  FIG. 1  shows a schematic view of the communications infrastructure  10  utilized by the present invention during typical use in a hunting scenario. In this sample scenario, an individual  11  desires to track the position of his dog  16  within a particular tract of land as the dog follows a scent. The user initiates a software application on mobile device  12 , which includes receivers capable of detecting signals originating from GPS satellites  14 , WiFi repeater/booster stations  13 , and one or more cell towers  21 , as well as signal  18  originating from the electronics module  19  located on the dog&#39;s collar  15 . 
     By connecting with the Internet  22  via WiFi, Bluetooth, or cell transmissions, the software application can access both land tract data and the dog&#39;s geo-positional data stored in a SQL relational database on a remote server, such as cloud server  23 . The data contained on cloud server  23  can also be accessed and modified by remote computing device  24 , such as a PC, via an Internet connection. 
       FIG. 2A  depicts a three-dimensional view of the dog&#39;s collar  15 . The dog&#39;s collar  15  consists of two major components: an electronics module  19  and a self-adjusting strap  17 . The electronic components are housed in a generally waterproof case  26 . The electronics module  19  is powered by battery  29 , which is accessible via battery compartment access panel  31 . Electronics module  19  receives power and data via connection ports  32 , which include a USB connector and a power connector. Dual-sided motherboard  33  serves as the infrastructure for the electronic components contained in the module, including input/output electronics  34 , WiFi chip  36 , sound synthesizer  37 , GPS chip  38 , cellular transceiver  41 , and microprocessor  42 . Electronics module  19  also contains acoustic device  27 , which is located directly beneath case perforations  28  in order to produce optimal sound quality. Additional embodiments of invention include electronic components used for monitoring and recording physiological data, such as the dog&#39;s pulse rate or body temperature. 
       FIG. 2B  depicts a side view of the dog&#39;s collar  15 . The on/off switch  46  is located on the side of the electronics module  19 , directly adjacent to an LED  48  that indicates whether the collar&#39;s electronic components are on or off. Self-adjusting collar strap  17  attaches to the electronics module  19  via strap retainers  44 . Shocking prongs  47  protrude through holes in strap  17  in order to maintain contact with the dog&#39;s body. 
       FIG. 3  illustrates the process by which the software algorithm of the present invention determines a dog&#39;s terrestrial position. As discussed previously, a user who wishes to determine his or her dog&#39;s position will initiate the software application on mobile device  12 . The user will also ensure that the dog collar  15  is switched on, thereby initiating the software in collar  15  as well. Upon initiation  52 , the dog collar  15  will retrieve and load last-known position data from the local storage  53  in the dog collar  15 . After loading the last-known position data, the software algorithm determines  54  the most appropriate communication access state, choosing among the available communication paths  56 , which, depending on signal strength and availability, could include communication via Bluetooth, cell, WiFi, wired, or other such methods. The software algorithm ranks the various communication paths  56  in real time, basing its ranking on signal strength, transmission speed, and other such factors that affect the efficiency of data transmission. Once the optimal communication path  56  is chosen, the software algorithm determines  57  whether the chosen communication path  56  will allow it to access the Internet or a device associated with the dog&#39;s owner, such as mobile device  12  or PC  24 . If the software is unable to access the Internet or a device with the chosen communication path  56  (e.g., if the signal were too weak to provide an adequate connection),  FIG. 3  illustrates a method by which the software uses the last-known position data previously retrieved from local storage  53  to calculate  63  the dog&#39;s current position, a process which is detailed below. In other embodiments of the invention, however, position data produced by dead-reckoning techniques, such as an accelerometer-based method, may be used in place of the last-known position data. 
     If the chosen communication path  56  will allow the software to access the Internet or a device, it will access  58  the owner&#39;s account on cloud server  59  or local storage on the owner&#39;s device. The software will communicate with the server or device to record data indicating the dog&#39;s current geo-positional location and/or update the status of the dog&#39;s position with respect to a boundary. The software will also access any designated boundary data, if available. 
     Once the software application has communicated with cloud server  59  or a device, the software determines  61  whether a position data source is available. Again,  FIG. 3  illustrates a process in which GPS positioning is the method used to calculate the dog&#39;s current location, but other embodiments of the present invention would utilize various methods of location determination, including a system integrating GPS positioning with accelerometer-based dead-reckoning. 
     In order to determine whether a position data source is available, the software communicates with a GPS receiver located in electronics module  19 . If at least three GPS signals are available, the software uses the time stamp obtained from each signal to calculate a pseudorange for each satellite. Once the pseudoranges have been calculated, the algorithm geometrically triangulates  63  the terrestrial position of collar  15  and records the resulting position data as the dog&#39;s current location. 
     In the preferred embodiment of the invention, accuracy of geo-position data is increased by utilizing multiple position calculations, including triangulation based on signals from GPS satellites, cell towers, and WiFi transceivers, as well as data obtained from an accelerometer-based dead-reckoning system. Additionally, a differential “receiver autonomous integrity monitoring” (“RAIM”) method may be applied to data received from the GPS, cell tower, or WiFi transceiver signals. The RAIM method utilizes data obtained from redundant sources (i.e., signal sources above the minimum number required for triangulation) to estimate the statistical probability of inaccuracy in a device&#39;s calculated geo-position. Further, the preferred embodiment of the invention utilizes a NIST-calibrated time stamp to calculate and compensate for geo-positioning error resulting from inaccuracies in the time stamps contained in GPS, WiFi, and cell signals used for triangulation, as well as inaccuracies in the internal clock of components of electronics module  19 . The preferred embodiment of the invention utilizes NIST-calibrated time data obtained from a remote server. One example of a provider of time data with a NIST Certificate of Calibration is Certichron, Inc. A further embodiment of the invention would utilize a nearby base station with a known location. Geo-positioning data for the local base station would be obtained via GPS, WiFi, and cell signal triangulation methods and utilized to further calculate and compensate for inaccuracies associated with the geo-position data obtained by electronics module  19 . Through one or a collection of the above strategies, accurate geographical location to within a few inches for a device may be routinely obtained. 
     Once the software has obtained position data via any of the above-discussed methods, the software will then determine  64  whether data associated with a designated boundary is available. If not, the software will wait a preloaded time  66  and then proceed again to determine  64  whether boundary data has become available. The algorithm will continue this process until the software is able to access boundary information for the to session. 
     Referring now to  FIG. 4 , the software proceeds to establish  68  a geographic boundary for the session. In one method, a data file with coordinates for a pre-specified boundary could be downloaded to the collar. In another embodiment, the user could specify that the boundary relating to a particular tract of land (e.g., a property line) be established as the boundary for the session. In an additional embodiment, a boundary data set could be created by the user by pinpointing vertices of a polygon on a map of a tract of land on a remote computing device and uploading the data set directly to the collar or via database  59 . In another method, a user could pinpoint a single point and define the boundary as a circle of a specified radius with its center at the pinpointed location. In an additional embodiment, a user could travel the desired boundary line holding either mobile device  12  or collar  15 , thereby creating a boundary data set consisting of the coordinates of selected points on the desired boundary line.  FIG. 5  shows an example  90  of a dog located within a boundary established by one or more of the above-mentioned methods. 
     In a preferred embodiment of the invention, a user could “draw” the boundary directly onto a map of a tract of land in a software application coupled electronically with device  12  or database  23 . In this embodiment, mobile device  12  would include a touch-sensitive screen apparatus; when the user touches a point on the map of the tract shown on the device&#39;s screen, the application would record that point&#39;s geo-position coordinates. As the user touches successive points on the screen, the application would record a series of coordinates. Once the user defined the desired boundary on the map of the tract, the data set consisting of the series of coordinates would be used to establish that session&#39;s boundary. Further, in the preferred embodiment of the invention, each boundary defined by a user is stored in a SQL relational database, allowing the user to utilize the same boundary data set in later sessions. 
     Referring again to  FIG. 4  and  FIG. 5 , a geographic boundary  99  is established  68  for the session, the software loads  69  the boundary data and, potentially, displays boundary  99  on the user&#39;s PC or mobile device, such as a tablet computer. Along with the boundary data, the software also loads aural cues  72  and shock settings  73  that have been stored either locally, on a connected device, or on cloud server  59 . The algorithm then compares  74  the dog&#39;s current position with the boundary  99  previously established for the session. If the software determines  76  that the dog&#39;s current position is not within the specified boundary limits, the software will initiate  80  a shock, aural cue, and/or voice command, which the dog&#39;s owner would have previously recorded to a data file and stored  82  in the database on cloud server  59 . In lieu of an administered shock, the collar might also be equipped with a canine offensive mist that may be dispensed upon command. In addition to these immediate corrective actions, the software would also signal  84  the dog&#39;s owner to notify him of the dog&#39;s current position with respect to the boundary  99 . 
     In an embodiment of the invention in which the owner chooses to create a boundary by pinpointing the center of a circle with a specified radius, after the software algorithm compares  74  the dog&#39;s current position with the boundary  102  established for the session. If the software determines  77  that the dog&#39;s current position is not within the specified radius limits established as the boundary for the session, the software will initiate  80  a shock, aural cue, and/or voice command and signal  84  the owner to notify him of the dog&#39;s current position with respect to the boundary. 
     If the software determines that the dog&#39;s current position is within the specified boundary for the session, the algorithm then determines  78  the dog&#39;s position with respect to a buffer zone. Generally, the buffer zone will be defined by the owner as a set distance from any point on the boundary line (e.g., the user would like to receive a warning if the dog travels within 2 feet of any point on the boundary line). In another embodiment of the invention, the owner could define a more specialized buffer zone (e.g., the owner would like to receive a warning if the dog travels within 10 feet of a boundary line adjacent to a particular tract of land, but would only like to receive a warning if the dog travels within 2 feet of a boundary line adjacent to a separate tract of land). In either case, the buffer zone may be defined either by the owner in the software application, or by a remote user connected to a remote computing device with access to the server storing the SQL relational database. In one of the sample scenarios depicted in  FIG. 5 , the user has chosen to define the buffer zone as a specified distance  104  from boundary line  102 . 
     If the application determines  78  that the dog&#39;s current position  98  is within the defined buffer zone, the software will initiate  80  an aural cue and/or voice command and signal  84  the owner. 
     Even if the dog&#39;s current location is not within the buffer zone, the application also uses predictive modeling to determine whether the dog is approaching the buffer zone, based on the velocity vectors obtained from GPS/WiFi/cell tower triangulation data or data obtained from the collar&#39;s accelerometer or other dead-reckoning system. If the velocity vector data indicates that the dog will enter the buffer zone within a time period that has been pre-specified by the owner or a remote administrator (e.g., if the dog will enter the buffer zone within 5 seconds), the application will initiate  80  an aural cue and/or voice command and signal  84  the owner. 
     After performing the steps discussed above, the application then determines  79  whether the owner&#39;s database record is available. If so, the application updates the position data contained in either local storage on mobile device  12  or PC  24 , or the SQL relational database stored on cloud server  23 , updating  81  the owner&#39;s data file by recording the dog&#39;s current location with respect to time, as well as a velocity vector to indicate the dog&#39;s heading. 
       FIG. 5  may be used to illustrate the processes discussed above with respect to a pet-confinement scenario  90 . A dog&#39;s owner  94  desires to confine his pet to a portion of the owner&#39;s property having property boundary  91 . The owner  94  would initiate the software application using either mobile device  12  or PC  24 . Each of these devices would have access to the SQL database stored on cloud server  23  via a WiFi router source  96  located in the owner&#39;s house  92 , but it is recognized that either device could access the Internet via a Bluetooth, cell, wired, or other such method. The owner  94  would then have access to any shape files stored on the database, including, for example, a shape file containing boundary data for the owner&#39;s property line  91 . 
     The owner&#39;s device would also receive signal  18  transmitting geo-positional data from dog collar  15 . Upon initiation of the software application, a satellite view of the land surrounding the dog&#39;s location is displayed on a screen, and the dog&#39;s current position will be displayed as a point on the map. Drawing coordinate data from the shape file accessed previously, the screen display will also include a representation of property boundary  91  overlaid onto a satellite map image. 
     The owner  94  would then proceed to create a boundary  99  for the dog. In a preferred embodiment of the invention, the owner  94  would simply “draw” the boundary directly onto the map of the property in the software application. As the owner  94  selects successive points on the screen, the application would record a series of coordinates. Once the owner  94  defined the desired boundary  99  on the map of the property, the data set consisting of the series of coordinates would be used to establish that session&#39;s boundary  99 . Alternatively, the owner  94  could simply walk the desired boundary line  99  while holding the collar, allowing the application to record the series of geo-position coordinates in a similar fashion. 
     In this sample scenario, the owner  94  has defined session boundary  99  and buffer zone  101 , consisting of a set of points a particular distance (e.g., 2 feet) away from any point on boundary line  99 . In an alternative embodiment of the invention, owner  94  could pinpoint a single location  98  and define the boundary  102  as a circle of a specified radius  103  with its center at the pinpointed location  98 . The owner  94  could also define a buffer zone for boundary  102  as a circle of specified radius  103  minus distance  104 , with its center at the pinpointed location  98 . 
     As the dog moves around the yard, the application screen on the owner&#39;s device would track the dog moving within the parcel in real-time. Additionally, if another individual desired to track the dog&#39;s movement within the parcel, a remote computing device could retrieve the user&#39;s movement data from the database stored on cloud server  23 . Generally, as long as the dog remains within the area defined by boundary  99 , the owner&#39;s application screen would indicate, via both a color-coded display and an “in bounds” message, that the dog&#39;s current position is within the boundary. 
     As for example when dog  16  reaches point  98 , various types of data are calculated and potentially displayed on the application screen shown on the owner&#39;s device. The software algorithm calculates and displays the distance  106  from the dog&#39;s current position  98  to the nearest point on boundary  99 , as well as the distance  107  from the dog&#39;s current position  98  to the nearest point within the buffer zone. The software algorithm also calculates and displays a velocity vector based on the dog&#39;s current bearing. As discussed previously, if the application determined, based on the calculated velocity vector, that the dog would enter the buffer zone within a specified period of time, an “approaching buffer zone” warning would display on the application screen, and an accompanying aural cue and/or voice command would be produced via the acoustic device  27  on the dog collar  15 . If the dog entered the buffer zone, the application would alert the owner with a color-coded display and warning message indicating that the dog&#39;s current position is within the buffer zone, and an accompanying aural cue and/or voice command would be produced via the acoustic device  27  on the dog collar  15 , such as a series of mid-frequency “beeping” sounds, which would escalate in pitch as the dog approaches the boundary  99 . If the dog travels outside of the predefined boundary  99 , the application would alert the owner with a color-coded display and warning message indicating that the dog&#39;s current position is outside the boundary  99 , and an accompanying aural cue and/or voice command would be produced via the acoustic device  27  on the dog collar  15 , and a shock stimulus could be delivered to the dog via shocking prongs  47 . 
     While I have shown my invention in one form, it will be obvious to those skilled in the art that it is not so limited but is susceptible of various changes and modifications without departing from the spirit thereof.