When my dog was young he'd go to the door and I'd let him out - he'd pee and we'd both be happy about it.
My dog's old now and doesnt bother getting up much. Now I never really know if he's got to "go" or not. Much wondering ensues and I'm doing a little overkill for sure on the "let the dog out" thing.
So, you know those scales that shoot electricity up one foot and out the other to determine how much of a fatso you are? Stick some pooch friendly prongs on a collar or something so the electricity (small amts please) can see if your dog's bladder is full. It could play music like "la cucaracha" of something to let you know.
Even better: the songs could alternate so you can say "It's playing the "Evita Theme" its your turn to take the dog out!" because you'd know it was your turn by the song.
Or I could just get a doggy door but wheres the fun in that?
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This could be useful for our nine year old, too, before going on car trips.
I think I've seen some devices in catalogs recently that claim to let you understand what your dog is saying (grin). This would seem to solve your problem...
Probably too late for your old dog, but maybe for the next one teach it to ring a bell when it wants out. We hung some bells on our front door, and everytime the dog wants out she rings the bell. It took about a month to teach her, but it was well worth it!
My dog is a 10 yr old coonhound and he still asks (he comes up and growls woofs at me), whenever he needs to go..
I think this could be quite useful if someone can come up with a way to detect a full bladder. If it's not invasive, it could be used on people too. It might be especially useful for potty training tottlers. Also great for problem bed-wetters.