Patent Publication Number: US-2020281163-A1

Title: Smart leash system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present patent application is a continuation of U.S. Non-Provisional patent application Ser. No. 16/592,710, filed Oct. 3, 2019, which is related to and claims the priority benefit of U.S. Provisional Patent Application Ser. No. 62/814,613, filed Mar. 6, 2019, the contents of each of which are hereby incorporated by reference in its entirety into the present disclosure. 
    
    
     STATEMENT REGARDING GOVERNMENT FUNDING 
     This invention was not made with government support. 
     TECHNICAL FIELD 
     The present disclosure generally relates to devices for animal behavior control, and in particular, to a smart leash that can be used for that purpose. 
     BACKGROUND 
     This section introduces aspects that may help facilitate a better understanding of the disclosure. Accordingly, these statements are to be read in this light and are not to be understood as admissions about what is or is not prior art. 
     Animal leashes are ubiquitous. Many local ordinances require animals to be on leashes when in public. However, many animals, particularly dogs, can be distracted by events occurring around them and behave in a manner that places the animal on leash, the walker of the animal, other animals, and other individuals at risk. 
     A popular type of leash is a retractable leash that allows a walker of the animal to control the separation distance between the walker and the animal on leash. However, for a large animal, a walker may have difficulty controlling the animal, even when the retractable leash is placed on a short setting (i.e., a short leash). 
     In a typical situation, the animal may see something of interest and begins to move towards the object of interest and in doing so exert a force onto the leash which is held by the walker of the animal and for first order approximation is assumed to be stationary or traveling at a constant speed. That object may be another animal. The animal on the retractable leash or other types of leashes available in the industry continues to exert a force, until such force causes an annoyance for the walker. The force applied to the walker results in an equal and opposite force to the animal on the leash. Such a force if singular or repetitive, could not only cause injury to the walker but also to the animal on the leash. If the walker is unable to absorb the force, the walker may fall or simply let go of the leash, both situations can result in immediate injury to the walker, or an injury to others (humans or other animals) when the animal on leash is no longer controlled by its walker. Another type of arrangement is the so called pinch-collar which includes dull spikes that press on the animal&#39;s neck and throat. These types of leashes while could result in a smaller force being applied by the animal due to the uncomfortable pinch provided by the collar, often result in the animal ignoring the pinch and continue to apply excessive force. 
     The aforementioned equal and opposite force on the animal does not provide an effective apriori feedback to the animal on leash. It is a reactive feedback rather that a preventative feedback. That is, the force provides a feedback only after the animal on leash has committed to the full exertion of the force rather than providing a feedback prior to such full exertion. Thus the animal on leash has no opportunity to correct its behavior. 
     Unfortunately, prior art leashes are all based on such reactive feedback and lack the capabilities to afford the animal on leash to correct its behavior. 
     Therefore, there is an unmet need for a novel approach for an animal behavior control device that allows a person to walk or run with an animal on leash and which provides selective and programmable feedback to the animal. 
     SUMMARY 
     A smart leash system is disclosed. The system includes a handheld system configured to be held by a user. The system also includes a harness system configured to be worn by an animal. In addition, the system includes a leash coupled to and extended between the handheld system and the harness system. Furthermore, the system includes a load measuring sensor coupled to the handheld system and configured to measure force applied to the leash. One of the handheld system, the harness system, and both the handheld system and the harness system is configured to receive a force signal representing the force applied to the leash and signal the harness system to provide a feedback to the animal when the force exceeds a predetermined threshold. 
     A method of providing training feedback to an animal is also disclosed. The method includes placing a smart leash system (SLS) on an animal. The SLS includes a harness system configured to be worn by an animal, a leash, a handheld system held by a user, and a load measuring sensor coupled to the handheld system and adapted to provide a force signal proportional to a force placed on the leash. The method also includes receiving the force signal by one of the handheld system, the harness system, and both the handheld system and the harness system, the signal representing a force applied to the leash. The method further includes providing a feedback to the animal when the signal representing the force exceeds a predetermined threshold. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1A  is schematic of a person walking an animal using a smart leash system (SLS) of the present disclosure. 
         FIG. 1B  is a block diagram of the SLS of  FIG. 1A . 
         FIG. 1C  is a schematic view of the SLS of  FIG. 1A  showing a handheld system, a leash, and a collar system. 
         FIG. 2  is a block diagram of the handheld system shown in  FIG. 1C . 
         FIG. 3  is a block diagram of the SLS of  FIG. 1A  in greater detail. 
         FIG. 4  is a flowchart of operation of the SLS of  FIG. 1A , providing two modes of operation including a training mode and an automatic mode. 
     
    
    
     DETAILED DESCRIPTION 
     For the purposes of promoting an understanding of the principles of the present disclosure, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of this disclosure is thereby intended. 
     In the present disclosure, the term “about” can allow for a degree of variability in a value or range, for example, within 10%, within 5%, or within 1% of a stated value or of a stated limit of a range. 
     In the present disclosure, the term “substantially” can allow for a degree of variability in a value or range, for example, within 90%, within 95%, or within 99% of a stated value or of a stated limit of a range. 
     A novel approach for an animal behavior control device is provided in the present disclosure that allows a person to walk or run with an animal on leash and which provides selective and programmable feedback to the animal after the animal has reached a full extension of the leash and based on thresholds of force signals. The feedback allows the animal on leash to correct its behavior prior to reaching an unacceptable level of force placed on the leash. Referring to  FIG. 1A , a schematic of the animal, the walker, and the leash is provided. A block diagram of the same is also provided in  FIG. 1B . Referring to  FIG. 1B , a smart leash system  100  is shown including a handheld system  102  and a collar system  104 . The handheld system  102  is coupled to the collar system  104  by a smart leash collar  106 . The handheld system  102  is in electronic communication (wired, wireless, or a combination of wired and wireless) with the collar system  104 . In the case of wireless, the handheld system  102  is adapted to use a plurality of wireless schemes, e.g., Wi-Fi, Wi-Fi P2P, Zigbee, Z wave, Thread, Bluetooth, dedicated RF, IPv6 over low power wireless Personal Area Networks, GPRS/2G/3G/4G/LTE, near-field communication, SigFox, and other wireless protocols known to a person having ordinary skill in the art. In the case of wired, the handheld system  102  is adapted to use a plurality of wired schemes, including serial and parallel communication schemes. These include I 2 C, SPI, ethernet, RS-232, RS-485, UART, USART, USB, CAN and other wired communication schemes known to a person having ordinary skill in the art. 
     Referring to  FIG. 1C , another schematic of the smart leash system  100  is shown. The smart leash system  100  according to  FIG. 1C , again includes to the handheld system  102 , the collar system  104 , and the smart leash  106 . Optionally on the smart leash  106  there is a tension load sensor  108  in line with the smart leash  106 . This tension load sensor  108  can be provided as part of the smart leash  106 , as part of the collar system  104 , or as part of the handheld system  102 , hence it is shown in phantom lines to indicate it is optionally provided on the smart leash  106  according to the embodiment shown in  FIG. 1C . 
     The handheld system  102  is shown as a block diagram in  FIG. 2 , according to one embodiment of the present disclosure. The handheld system  102  includes a plurality of manual inputs  202   1 , . . . ,  202   n  each electrically coupled to a processor  204  at a corresponding manual input pin  206   1 , . . .  206   n  via an optional conditioning circuit (not shown) adaptable to convert the corresponding signals to appropriate levels for the processor  204 . The processor  204  can be an off the shelf processor, e.g., ARM processors, which require supporting components, e.g., memory; or the processor  204  can be a microcontroller, e.g., different microcontrollers from Microchip with integrated components; or the processor can be a field programmable gate array (FPGA) mounted and operated on a board. Depending on the type of processor/microcontroller/FPGA used, these manual inputs ( 202   1 , . . . ,  202   n ) and their corresponding manual input pins ( 206   1 , . . .  206   n ) may be multiplexed by a multiplexer (not shown) as known to a person having ordinary skill in the art. 
     The handheld system  102  may also include a plurality of manual outputs each electrically coupled to the processor  204  at a corresponding manual input pin  207   1 , . . .  207   n . There may be optional conditioning circuits (not shown) adaptable to convert the corresponding signals to appropriate levels from the processor  204 . 
     The processor  204  may also include a wireless communication pin  208   i  coupled to an external wireless input module  220   i  that is coupled to an input pin  212   i , e.g., an antenna. The wireless input module  220   i  may alternatively be integrated into the processor  204 . The processor  204  may optionally have a wireless communication output pin  208   o , coupled to an external wireless output module  220   o  that is coupled to an output pin  212   o , e.g., an antenna. The wireless output module  220   o  may alternatively be integrated into the processor  204 . 
     The processor  204  may also include input wired communication input buses. According to one embodiment, pins  214   i , and  214   o  are adapted to provide parallel communication bus input and output, accordingly. Similarly, according to another embodiment, pins  216   i , and  216   o  are adapted to provide serial communication bus input and output, accordingly. The handheld system  102  also includes a power source a corresponding voltage regulation circuit (power block)  222  coupled to the processor  204 . The power block  222  includes a power source, e.g., a battery that according to one embodiment can be a rechargeable battery, and down converting circuitry adapted to provide appropriate voltage and current for use by the processor  204 . 
     Referring to  FIG. 3 , an embodiment of a smart leash system  300  according to the present disclosure is provided. The smart leash system  300 , includes two portions coupled via a communication link. The first portion represents a handheld system  300 A (see the handheld system  102  of  FIG. 1C ). The second portion represents the smart collar system  300 B (see the smart collar system  104  of  FIG. 1C ). The handheld system  300 A includes a first processor  304  coupled to an auxiliary manual input  302 , manual inputs including manual electrical stimulation input  306   1 , manual vibrate stimulation input  306   2 , and manual audible stimulation input  306   3 . The first processor  304  is also coupled to the tension load sensor  308 . As discussed above, the tension load sensor  308  may be optionally provided on the smart collar system  303 B, the handheld system  300 A, or the smart leash  106  (see  FIG. 1C ). 
     The first processor  304  obtains its power from a power block  322 . In most cases, the power block  322  includes a battery, e.g., a rechargeable battery, and the accompanying circuit to condition the power for use by the processor  304 . 
     The coupling between the handheld system  300 A, and in particular between the wireless communication module  320  and the smart collar system  300 B is i) wireless, ii) wired, or iii) a combination of wired and wireless. A list of potential protocols for both wired and wireless communications between the two systems is provided above. 
     The smart collar system  300 B includes a second processor  354 , which is coupled to the wireless communication module  370  and which is adapted to establish wireless communication between the first processor  304  and the second processor  354 . The second processor  354  is also coupled to the power block  372 . In most cases, the power block  372  includes a battery, e.g., a rechargeable battery, and the accompanying circuit to condition the power for use by the processor  354 . The second processor  354  is also coupled to the outputs including electrical stimulation output  306   1 , vibrate stimulation output  306   2 , and audible stimulation output  306   3 . 
     As discussed above, the wireless channel shown between the handheld system  300 A and the smart collar system  300 B, can be any combination of wireless, and wired communication with protocols for which as discussed above. 
     The two processors  304  and  354  are adapted to execute software encoded on respective non-transitory computer readable mediums. A flowchart is shown in  FIG. 4  distributed over two pages which shows a process  400  carried out by the two processors  304  and  354  under the control of said software. The process  400  begins at the block  402 , from which it proceeds to receiving an input at block  404  from the auxiliary manual input  302  (see  FIG. 3 ). That input provides the software the knowledge as to whether smart leash system  300  is in a training mode or in an automatic mode, as shown in the decision block  406 . If the setting on the auxiliary input places the smart leash system  300  in training mode the process  400  proceeds to checking the status of the three manual inputs as provided in block  412 . Otherwise, if the process  400  determines the smart leash system  300  is in the automatic mode, the process  400  proceeds to the block  426 , as described more fully below. 
     In training mode, the process  400  checks to determine which of the three manual inputs is pressed. For example, if the manual electrical stimulation input  306   1  is pressed, then the process records the force registered from the tension load sensor  308  and stores the force as the threshold for electrical stimulation (Th_s). To do this, the user may simply attach the smart collar system  300 B to a fixed point, e.g., a hook on a wall, and apply a force that the user finds appropriate for application of electrical stimulation. Similarly, if the manual vibration stimulation input  306   2  is pressed, then the process records the force registered from the tension load sensor  308  and stores the force as the threshold for vibration stimulation (Th_v). To do this the user may simply attach the smart collar system  300 B to a fixed point, e.g., a hook on a wall, and apply a force that the user finds appropriate for application of vibration stimulation. Alternatively, if the manual audible stimulation input  306   3  is pressed, then the process records the force registered from the tension load sensor  308  and stores the force as the threshold for audible stimulation (Th_b). To do this, the user may simply attach the smart collar system  300 B to a fixed point, e.g., a hook on a wall, and apply a force that the user finds appropriate for application of audible stimulation. It should be apparent that Th_b&lt;Th_v&lt;Th_s. For example, Th_b=1 lbf; Th_v=2 lbf; and Th_s=3 lbf. According to one embodiment, in order to avoid overlap between neighboring threshold, each higher threshold must be at least between about 1.1 to 1.5 higher than the previous threshold. In other words, 1.1*Th_b&lt;Min(Th_v)&lt;1.5*Th_b. Therefore, in the above example, the minimum value for Th_v is between 1.1 lbf and 1.5 lbf. In the above example, the Th_v was chosen as 2 lbf which is significantly higher than 1.5 lbf. 
     Coming out the block  412 , the decision blocks  414 ,  418 , and  422  each determine whether the electrical stimulation input is pressed (i.e., decision block  414 ); the vibration stimulation input is pressed (i.e., decision block  418 ); or the audible stimulation input is pressed (i.e., decision block  422 ). If none of the buttons are pushed, then the output of the decision block  422  traverses back to the block  412 . The thresholds are set in the block  410 . For example, if the electrical stimulation input is pressed, then the electrical stimulation threshold, i.e., the shock stimulation (Th_s), is set in block  410 . If the vibration stimulation input is pressed, then the vibration stimulation threshold (Th_v) is set in block  410 . If the audible stimulation input is pressed, then the audible stimulation threshold (Th_b) is set in block  410 . The output of the block  410  traverses to the block  404  to repeat the process for determining whether in automatic or manual/training mode. 
     If at the decision block  406  it is determined that the smart leash system  300  is in the automatic mode, then as discussed above, the process  400  proceeds to the block  426 . In this block the process first determine values for the three thresholds. The process then reads force value (V_load) from the tension load sensor  308 . V_load is compared to the three threshold (Th_s in the decision block  430 ; Th_v in the decision block  434 ; and Th_b in the decision block  438 ). If the test associated with each of these decision blocks is positive, that test results in activation of the corresponding stimulation. For example, if the test of V-load&gt;Th-s, then process  400  activates the electrical stimulation output  357   1  in block  432 . If the test of V-load&gt;Th-v, then process  400  activates the vibration stimulation output  357   2  in block  436 . If the test of V-load&gt;Th-b, then process  400  activates the audible stimulation output  357   3  in block  440 . If answer to each of the decision blocks  430  and  434  is negative, the process  400  proceeds to the next decision block. If, however, the answer to the decision block  438  is negative, the process  400  proceeds back to the start block  402 . In addition, after setting any of the stimulation outputs (i.e.,  357   1 ,  357   2 , or  357   3 ), the process  400  also returns to the start block  402 . 
     The various threshold settings are thus selectable according to the amount of force that tension load sensor  308  registers and at which point the various stimulation inputs are pressed. While not shown, the period of time for stimulation may be selectable or fixed. For example, the period of time for stimulation (electrical, vibration, or audible) may be determined by how long the trainer holds the associated input pin. That is, an internal counter registers stimulation period for each type of stimulation, and not only holds in memory the threshold for that stimulation, but also the amount of time that the stimulation should persist. Alternatively, according to another embodiment, the stimulation period may be fixed for each type of stimulation. For example, the electrical stimulation may require T_s while vibration and audible may require T_v and T_b, respectively. These fixed periods may be different. For example T_b&gt;T_v&gt;T_s or they may all be the same, or two may be the same and different that the other, e.g., T_b=T_v&gt;T_s. 
     According to another embodiment, for each type of stimulation, there may be stimulations at different levels associated with different force levels. For example, suppose the threshold for vibrate stimulation is set at 2 lbf. And further suppose the threshold for electrical stimulation is set for 3 lbf. According to one embodiment, the level of vibration may be adjustable, e.g., according to a linear curve between 2 lbf and 3 lbf. For example, initially after crossing 2 lbf, the vibrate stimulation may have a peak-to-peak amplitude of V 1  with a frequency of f 1 , however, at 2.9 lbf the vibrate stimulation may be at a peak-to-peak amplitude of V 2  and a frequency of f 2 . The progress from V 1  to V 2  and f 1  to f 2  may be based on a linear curve, or a non-linear curve, e.g., a second order relationship vs. force registered. According to one embodiment, progress from V 1  to V 2  may be independent from progress from f 1  to f 2 . In other words, at 2 lbf the vibration stimulation may be at a peak-to-peak amplitude of V 1  and f 1 , while at 2.9 lbf, the vibration may be at a peak-to-peak amplitude of V 2  but still at a frequency of f 1 . Such variations may be programmable (not shown) by utilizing the existing manual inputs, or by employing additional inputs. 
     According to another embodiment, the handheld system  300 A may include a screen that provides various readouts, such as the registered force, or other information about the training mode or the automatic mode. Alternatively, the handheld system  300  may be configured to provide such information on to a smart device, e.g., a smart cellular phone, a smart watch, a tablet, or other smart devices that can be carried by a walker. Whether on the handheld system  300  or on an associated smart device, the threshold can also be set up strictly electronically by traversing through a menu system that allows the user to program each threshold without apply a force. In this embodiment, the threshold values only (i.e., Th_s, Th-v, Th_b) can be set up without actual exertion of force; or alternatively other parameters such peak-to-peak amplitude and frequency and a mathematical function that governs progress of the peak-to-peak amplitude and/or frequency between the threshold values can also be set up electronically. 
     As discussed above, the location of the tension load sensor  308  can be on handheld system  300 A, on the smart collar system  300 B, or on the smart leash  106 . Placement of the sensor on the handheld system  300 A or  300 B removes the necessity to remotely powering the sensor. 
     The handheld system  300 A or the smart collar system  300 B or both may be equipped with a swivel mechanism to allow angular articulation of the leash. Such articulation allows for the force to be registered in a normal fashion with respect to the leash. In other words, since force is a vector quantity, it includes an amplitude and a direction. If the direction of the vector is not normal with respect to the force sensor, it may register an incorrect value since a component of the direction is perpendicular to the axial direction of the sensor. 
     Alternative and while note shown, according to one embodiment of the present disclosure, the sensor may be adapted to provide forces in X and Y directions according to a Cartesian system. Such a system would allow setting thresholds, as discussed above, not only for a single direction but also for two perpendicular directions (i.e., X and Y). Such a system would allow the user to not only apply a corrective feedback when the force exceeds a threshold in the X direction but also provide additional feedback when the force exceeds in the Y-direction. This allows the walker to monitor and train an animal in walking or running in a substantially straight line. 
     While not shown, according to one embodiment of the present disclosure, the force sensor may be replaced or work in conjunction with one or more accelerometers mounted on the smart collar system  300 B. The accelerometer will not only provide force information, they can provide acceleration in one or more directions. For example, if the leash is not at its full extension and the animal on the leash begins to accelerate above a threshold set in a similar manner as discussed above for setting thresholds for force, then the smart leash system  300  may be able to provide a feedback to the animal prior to the full extension of the leash at which point force begins to register on the tension load sensor  308 . The accelerometer(s) may be adapted to provide acceleration according to a Cartesian coordinate system, not only in the X and Y directions but also in the Z direction. Such a system would enable a user to limit the activity of the animal on leash with respect to up-and-down jumping as well as accelerating in an X-Y plane. 
     While a smart collar  300 B is shown in the figures of the present disclosure, it should be appreciated that a harness can also be implemented in place of the collar or in addition thereto. The harness typically is placed around the chest of the animal. Such a harness advantageously provides additional locations for providing stimulation besides the neck area of the animal. For example, stimulation can be provided in multiple locations about the chest of the animal, e.g., on either side of the chest, further enhancing the feedback. 
     While not shown, according to one embodiment of the present disclosure, the collar can be equipped with a global positioning system sensor (GPS) that provides location of the animal with respect to the walker, whose handheld system may also be equipped with such a sensor. These sensors may provide relative distance between the walker and the animal on leash. The distance information can also be used to set up thresholds similar to the thresholds described above for the force. Thus when the stimulation can be governed by distance of the animal on leash from the walker. A first threshold is associated with a first distance, a second threshold with a second distance, and so on. 
     While not shown, according to one embodiment of the present disclosure, the handheld system  300 A can be replaced by a belt attached to the waist of the animal. This arrangement is particularly helpful for runners who require their arms to be free. Similar to the discussion above, the waist-worn belt can be in wireless communication with a handheld smart device such as a smart watch to provide information regarding force, acceleration, etc. 
     While not shown, according to one embodiment of the present disclosure, the smart collar system  300 B may be equipped with various health monitoring devices such as temperature measurement, blood oxygen saturation, pulse meter, humidity sensor, etc., in order to provide information about the health of the animal on leash to the owner. Similar to the threshold setting for force, each of these health monitoring devices can be associated with a corresponding set of thresholds to alert the walker of the health of the animal. For example, if the animal&#39;s temperature rises above a first threshold, the smart leash system may be configured to alert the user with for example a feedback signal (audible, or vibration) that the first threshold has been reached. 
     Also, while not shown, according to one embodiment of the present disclosure, a second set of feedback can be provided to the user to alert the user animal feedback has indeed been deployed. For example, a vibration sensor may be implemented near the source of vibration on the smart collar  300 B to provide feedback to the walker that the vibration feedback has been delivered. Another example may be a microphone near the source of audible sound feedback that receives the audible feedback and provides feedback to the walker that the audible feedback has been delivered to the animal on leash. 
     While the smart collar discussed herein has additional functionality above and beyond a typical collar, it should be appreciated that a number of collar arrangements are within the scope of the present disclosure. These include choker collars, spike collars, pincher collar, and retractable collar/leash combinations. 
     Those having ordinary skill in the art will recognize that numerous modifications can be made to the specific implementations described above. The implementations should not be limited to the particular limitations described. Other implementations may be possible.