Powered smart dog tether

Abstract

An animal tether system and method wherein the rate of extension and retraction of the tether and/or the length of the tether can be actively controlled at least in part as a function of the angular direction and/or speed and/or length of which the tether extends/retracts. The system can be used to maintain an animal in a non-circular boundary, such as a rectangular space, by controlling how far the tether can extend at certain angular positions. The system also allows a user to block off certain areas within a space from access by the animal.

1 . A tether system for an animal comprising:
 a reel operably powered by a motor;   a tether supported on the reel for extension and retraction in response to rotation of the reel by said motor; and,   said motor extends and retracts the tether based at least in part in data received from a sensor.   
     
     
         2 . The tether system of  claim 1 , further comprising a controller for controlling the motor to extend and retract the tether. 
     
     
         3 . The tether system of  claim 2 , further comprising an angular position sensor for sensing an angular direction in which the tether extends from the reel, and a rotational sensor for sensing a rate of rotation of the reel. 
     
     
         4 . The tether system of  claim 3 , further comprising a brake assembly for braking rotation of the reel. 
     
     
         5 . The tether system of  claim 4 , further comprising a spring for rotationally biasing the reel to retract the tether. 
     
     
         6 . The tether system of  claim 5 , further comprising a clutch for selectively coupling the motor to the reel. 
     
     
         7 . The tether system of  claim 6 , further comprising a one-way bearing interposed between the motor and the reel such that the reel can rotate faster than a rate at which the motor drives the reel when retracting the tether. 
     
     
         8 . The tether system of  claim 7 , wherein the brake assembly includes a caliper and a sensor for sensing an amount of braking torque developed by the caliper. 
     
     
         9 . The tether system of  claim 8 , further comprising a reel cover adapted to enclose the reel, wherein the reel cover is rotatable relative to a shroud of the system in response to a change in angular direction of the tether. 
     
     
         10 . The tether system of  claim 9 , wherein the reel cover supports the angular position sensor. 
     
     
         11 . The tether system of  claim 10 , further comprising at least one battery for providing power to at least one of the electric motor, controller, or at least one sensor. 
     
     
         12 . The tether system of  claim 1 , wherein the at least one sensor includes one or more of an encoder for measuring rotation of the reel, an angular position sensor for measuring an angle of extension of the tether, or tension sensor for measuring tension in the tether. 
     
     
         13 . The tether system of  claim 1 , further comprising a frame supporting the reel, motor and controller. 
     
     
         14 . The tether system of  claim 13 , further comprising at least one wheel mounted to the frame for supporting the tether system for movement across the ground. 
     
     
         15 . A tether system for an animal comprising:
 a reel;   a tether supported on the reel for extension and retraction in response to rotation of the reel;   a power brake for braking the reel; and   a controller operatively coupled to the brake for controlling the brake to brake the reel based at least in part in data received from at least one sensor.   
     
     
         16 . A tether system as set forth in  claim 15 , wherein the power brake comprises a rotor fixed for rotation to a shaft with the reel, and a caliper configured to be selectively actuated to apply a braking force to the rotor. 
     
     
         17 . A tether system as set forth in  claim 16 , further comprising a sensor for sensing an amount of braking torque developed by the caliper. 
     
     
         18 . A tether system as set forth in  claim 16 , wherein the brake includes an electric actuator for selectively actuating the caliper. 
     
     
         19 . A method for controlling a tether system for an animal comprising:
 sensing a direction of extension of the tether, a length of the tether, or a rate of extension of the tether; and   wherein the tether system includes a reel, a tether supported on the reel for extension and retraction in response to rotation of the reel, a motor operatively connected to the reel for rotating the reel to extend and retract the tether, and a controller for controlling the motor to extend and retract the tether based at least in part in data received from at least one sensor.