TW202107984A - Smart dog walking system and method thereof - Google Patents

Abstract

A smart dog walking method includes the steps of : tracking a dog and determining whether the dog has a poop through a tracking module, and when determining that the dog has the poop through the tracking module, transmitting a notification signal to a mobile terminal of a breeder through a transmission module; controlling a length of a leash through a control module according to flighting area data, first three-dimensional position data corresponding to the dog, and second three-dimensional position data corresponding to a case, wherein the length of the leash is not less than a first preset value; determining whether a barrier is present around the case and obtaining a distance between the barrier and the case through a recognition module; and keeping flying at a preset height away from the ground depending on an environmental image, flying in a flighting area according to the flighting area data and the second three-dimensional position data, and dodging the obstacle according to the distance between the barrier and the case through a flight module. Therefore, the breeder can be assisted to take a dog walk.

Description

Intelligent dog walking system and method

The invention relates to a dog walking system and a method thereof, in particular to an intelligent dog walking system and a method thereof.

Due to the changes in the pattern of declining birthrate and aging society, people are more and more interested in keeping pets for emotional comfort. Among them, dogs are one of the most popular pets.

In recent years, most dog breeders will take their dogs to walk outdoors, in parks or in wider areas in the suburbs. The breeders usually use leashes to keep the dogs around. However, because the dogs move faster, people Running with a dog will be tiring. Therefore, there is a problem that the range of activity of the dog is limited by the physical strength of the breeder, which affects the dog's mood. In addition, breeders in an aging society also have the problem of taking their dogs for walks outdoors, in parks, or in wider suburban areas due to their high age.

Therefore, how to design a tool that can assist the breeder to take the dog for a walk and enable the dog to move in a happy mood has become the subject of the current efforts of the relevant industry.

The invention discloses an intelligent dog walking system and a method thereof.

First of all, the present invention discloses an intelligent dog walking system to assist the breeder to take a pet dog for a walk. The intelligent dog walking system includes a housing, a transmission and reception module, an identification module, a tracking module, a positioning module, a control module, and The flight module, wherein the transmission and reception module, the tracking module, the positioning module and the control module are arranged in the housing, the identification module and the flight module are arranged on the housing, the tracking module is connected to the transmission and reception module, and the control module The module is connected to the positioning module and the transmitting and receiving module, and the flight module is connected to the identification module, the positioning module and the transmitting and receiving module. The transmitting and receiving module is used to receive the flightable area data and the first three-dimensional position data from the harness, and to transmit the notification signal to the mobile terminal of the breeder; the identification module is used to obtain the environmental image, and judge whether there is an obstacle based on the environmental image And to obtain the distance between the obstacle and the housing; the tracking module is used to track the pet dog to obtain the pet dog image, and judge whether the pet dog is defecate according to the pet dog image, and when it is judged that the pet dog is defecate, through transmission and reception The module transmits the notification signal; the positioning module is used to obtain the second three-dimensional position data of the corresponding housing; the control module is used to control the length of the leash according to the flightable area data, the first three-dimensional position data and the second three-dimensional position data, The length of the leash is not less than the first preset value, and the leash is connected to the harness; the flight module is used to maintain the flight at a preset height away from the ground based on the environmental image, and the flightable area data and the second three-dimensional position data Fly in the flight area and avoid obstacles based on the distance between the obstacle and the shell.

In addition, the present invention discloses an intelligent dog walking method for assisting the breeder to take a pet dog for a walk. The steps include: providing an intelligent dog walking system, which includes a housing, a transmission and reception module, an identification module, a tracking module, and a positioning The module, the control module and the flight module, wherein the transmission and reception module, the tracking module, the positioning module and the control module are arranged in the housing, the identification module and the flight module are arranged on the housing, and the tracking module Connect the transmission and reception module, the control module is connected to the positioning module and the transmission and reception module, the flight module is connected to the identification module, the positioning module and the transmission and reception module; the transmission and reception module receives the flightable area data and the section from the strap A three-dimensional position data; the positioning module obtains the second three-dimensional position data of the corresponding housing; the recognition module obtains an environmental image, and judges whether there is an obstacle according to the environmental image and obtains the distance between the obstacle and the housing; tracking module Track the pet dog to obtain the image of the pet dog, and determine whether the pet dog is defecate based on the pet dog image. When it is determined that the pet dog is defecate, the notification signal is transmitted through the transmitting and receiving module; the control module is based on the flight area data, the first The three-dimensional position data and the second three-dimensional position data control the length of the leash, where the length of the leash is not less than the first preset value, and the leash is connected to the harness; and the flight module maintains the flight at a preset height away from the ground according to the environmental image , Fly in the flightable area based on the flightable area data and the second three-dimensional position data, and dodge the obstacle based on the distance between the obstacle and the housing.

The system and method disclosed in the present invention are as above. The difference from the prior art is that the present invention uses the tracking module to track and determine whether the pet dog is defecate. When it is determined that the pet dog is defecate, the receiving module transmits a notification signal to the breeder. The mobile terminal; the control module controls the length of the leash according to the flightable area data, the first three-dimensional position data corresponding to the pet dog, and the second three-dimensional position data corresponding to the housing, wherein the length of the leash is not less than the first preset Value; the recognition module determines whether there are obstacles around the shell and obtains the distance between the obstacle and the shell; and the flight module maintains the flight at a preset height away from the ground based on the environmental image, based on the flightable area data and the second The three-dimensional position data is flying in the flightable area and avoiding obstacles based on the distance between the obstacle and the shell.

Through the above technical means, the present invention can assist the breeder to take the pet dog for a walk, and the dog can move happily.

Before describing the intelligent dog walking system and method disclosed in the present invention, the terms defined by the present invention will be described first. The various modules included in the intelligent dog walking system of the present invention can be implemented in various ways, including Software, hardware, firmware or any combination thereof. The technology used in the implementation of software or firmware can be stored on machine-readable storage media, such as: read-only memory (ROM), random access memory (RAM), disk storage media, optical storage media, fast Flash memory devices, etc., and can be executed by one or more general-purpose or special-purpose programmable microprocessors.

The various modules of the present invention can communicate with each other in a wired or wireless manner to transmit signals and data. The intelligent dog walking system of the present invention and the mobile terminal can communicate with each other through a network communication system to transmit signals and data.

In addition, "first" or "second" in this article does not imply that the work is restricted.

The following describes the implementation of the present invention in detail with the drawings and embodiments, so as to fully understand and implement the implementation process of how the present invention uses technical means to solve technical problems and achieve technical effects.

Please refer to "Figure 1" first. "Figure 1" is a system block diagram of an embodiment of the intelligent dog walking system of the present invention. In this embodiment, the intelligent dog walking system 100 may include a housing 110, a transmission and reception module 120, an identification module 130, a tracking module 140, a positioning module 150, a control module 160, and a flight module 170, among which, The transmitting and receiving module 120, the tracking module 140, the positioning module 150 and the control module 160 may be arranged in the housing 110, the identification module 130 and the flight module 170 may be arranged on the housing 110, and the tracking module 140 may Connected to the transmission and reception module 120, the control module 160 can be connected to the positioning module 150 and the transmission and reception module 120, and the flight module 170 can be connected to the identification module 130, the positioning module 150 and the transmission and reception module 120.

The transmitting and receiving module 120 can be used to receive the flightable area data and the first three-dimensional position data from the strap (not drawn), and transmit the notification signal to the mobile terminal of the breeder (not drawn). Among them, the flightable area data can be the range of activities that the breeder wants to walk the dog. It can be, but not limited to, the location of a particular landmark (such as a park or a wider area in the suburbs). In more detail, the breeder can use The mobile terminal of the mobile terminal inputs the location coordinates of the special landmark or selects the location of the special landmark in a way of circle-selecting an electronic map. In other words, the breeder decides the range of activities he wants to walk the dog through the mobile terminal he has to form the flightable area data, and then the mobile terminal transmits the flightable area data to the receiving module 120. In addition, the harness used for walking the dog may have a positioning device for positioning the current position of the pet dog through the global positioning system technology, so as to send the corresponding first three-dimensional position data to the transmitting and receiving module 120. Furthermore, the transmitting and receiving module 120 can transmit a notification signal to the keeper's mobile terminal when the tracking module 140 determines that the pet dog is defecate. The detailed description will be described later.

The recognition module 130 can be used to obtain an environment image, determine whether an obstacle is present according to the environment image, and obtain the distance between the obstacle and the housing 110. The environment image may be, but is not limited to, a wide-angle environment image around the housing 110. In more detail, the recognition module 130 can use image processing technology to determine whether there is an obstacle around the housing 110 based on the wide-angle environmental image around the housing 110, and when determining whether there is an obstacle around the housing 110, use the image distance The measurement technology obtains the distance between the obstacle and the housing 110 according to the wide-angle environment image around the housing 110.

The tracking module 140 can be used to track the pet dog to obtain an image of the pet dog, and determine whether the pet dog is defecate based on the pet dog image, and when it is determined that the pet dog is defecate, a notification signal is transmitted through the transmitting and receiving module 120. In more detail, the tracking module 140 can track the pet dog of the breeder through the image tracking technology, and obtain the image of the pet dog at any time, and use the image processing technology to recognize whether the posture of the pet dog is arching its back (that is, judge the dog Whether it is stool), when it is judged that the posture of the pet dog is arching its back (that is, it is judged that the pet dog is stool), a notification signal is transmitted to the keeper's mobile terminal through the receiving and receiving module 120. The content of the notification signal includes the pet dog The place where defecation and defecation are being performed, so that the breeder can go to the place to clear the stool.

The positioning module 150 can be used to obtain the second three-dimensional position data corresponding to the housing 110. The second three-dimensional position data may be the current position of the housing 110 obtained through the global positioning system technology.

The control module 160 can be used to control the length of the leash according to the flightable area data, the first three-dimensional position data, and the second three-dimensional position data. The length of the leash is not less than the first preset value, and the leash is connected to the harness. In other words, the control module 160 is connected to the leash and can control the length of the leash according to the walking range of the dog, the current position of the pet dog, and the current position of the housing 110, so that the pet dog can walk or walk within a limited range of activities. Run. It should be noted that the length of the leash is not less than the first preset value, so as to prevent the length of the leash from being too short and making the pet uncomfortable. The first preset value can be adjusted according to the breeder based on the size or needs of the pet dog.

The flight module 170 can be used to maintain the flight at a preset height away from the ground based on the environmental image, fly within the flightable area based on the flightable area data and the second three-dimensional position data, and avoid obstacles based on the distance between the obstacle and the housing Things. In more detail, the flight module 170 can obtain the distance between the housing 110 and the ground (that is, its flying height) according to the wide-angle environment image around the housing 110 by using image distance measurement technology, and adjust the flight power by adjusting the distance between the housing 110 and the ground. The method maintains the flight at a preset altitude away from the ground; in addition, the flight module 170 needs to obtain the flightable area according to the data of the flightable area (that is, the range of activity for walking the dog) and the length of the leash of the first preset value, and then according to The current position (ie, the second three-dimensional position) of the housing 110 is controlled to fly within the flightable area; the flight module 170 can determine whether it is close to the obstacle by identifying the distance between the obstacle and the housing 110 obtained by the identification module 130, And avoid obstacles with obstacle avoidance technology.

Therefore, the intelligent dog walking system 100 can follow the activities around the pet dog, and limit the pets to walk or run within the dog walking activity range defined by the breeder, so as to assist the breeder to take the pet dog for a walk or run, and the pet dog can Be active in a happy mood.

The smart dog walking system 100 may further include a teasing module 180, which is disposed on the housing 110 and connected to the tracking module 140, the transmission and reception module 120, and the positioning module 150 for receiving control signals and then according to the dog image, The first three-dimensional position data and the second three-dimensional position data emit laser spots, so that the laser spots dynamically appear in front of the pet dog's eyes. In more detail, the breeder can transmit control signals to the intelligent dog walking system 100 through its mobile terminal, so that the teasing module 180 can use the image recognition technology to identify the head of the pet dog and the face it faces according to the image of the pet dog. Direction to further determine where the laser spot appears (usually in front of the pet dog) based on the current position of the pet dog and the current position of the housing 110, and thereby emit a dynamic laser spot, and the laser spot is usually in the pet In front of the dog's eyes, so that the pet dog can chase the laser spot and play. It should be noted that the energy of the laser spot should not be too strong, so as not to cause damage to the pet dog or its surrounding objects.

In this embodiment, the control module 160 can also be used to determine whether the pulling force of the rope is greater than the second preset value. When it is determined that the pulling force of the rope is greater than the second preset value, the control module automatically releases the rope. , The transmitting and receiving module 120 can continuously receive the first three-dimensional position data, and transmit the corresponding position signal to the mobile terminal. In more detail, the control module 160 may include a tension sensor (not shown) for sensing the tension of the rope, and further determine whether the tension of the rope is greater than the second preset value. When the pulling force is greater than the second preset value, there may be an abnormal situation (for example, the pet dog is too excited to run fast), which may cause the smart dog walking system 100 to be dragged away, thereby causing damage to the smart dog walking system 100. Therefore, when When the control module 160 determines that the pulling force of the leash is greater than the second preset value, it can automatically release the leash (that is, cut off the connection between the smart dog walking system 100 and the leash), where the second preset value can be based on The actual demand is adjusted. At this time, the tracking module 140 can continue to track the pet dog, so that the transmitting and receiving module 120 can continue to receive the first three-dimensional position data (that is, the current position of the pet dog), and continue to transmit the corresponding position signal to the mobile terminal. This includes loosening the leash and the current position of the pet dog, so that the breeder can go to the current position of the pet dog to find the pet dog.

In this embodiment, the flight module 170 can be connected to the control module 160, and the control module 160 can also be used to obtain the current length of the leash. When the flight module 170 determines the housing according to the flightable area data and the second three-dimensional position data When 110 is located at the boundary of the flightable area, increase its preset height from the ground according to the current length of the leash and the preset body size, so that the pet dog will stay away from the ground and fly to the preset position of the flightable area. Among them, the control module 160 may also include a drawstring sensor (not drawn) to obtain the current length of the leash; the preset position may be, but is not limited to, the geometric center position of the dog walking range; the preset body size It can be, but is not limited to, the size of a general pet dog; but this embodiment is not intended to limit the present invention, and can be adjusted according to actual needs. Therefore, the pet dog can move freely within the range of walking the dog. Since the harness is used for walking the dog, the flight module 170 will not cause the pet dog to be strangled or feel uncomfortable when the flight module 170 keeps the pet dog away from the ground. It should be noted that the height of the pet dog away from the ground can be less than or equal to 30 cm, but this embodiment is not intended to limit the present invention, and can be adjusted according to actual needs. It should be noted that the height of the pet dog away from the ground should not be too high. High, it is easy to cause panic and anxiety in pet dogs.

In this embodiment, the control module 160 can also be used to obtain the current length of the leash, the transmission and reception module 120 can also be used to receive the preset end time, preset body size and designated position data, and the flight module 170 can be based on the preset Set the end time, the preset body size and the length of the current leash to increase the preset height from the ground, so that the pet dog will stay away from the ground and fly to the position corresponding to the specified location data. Among them, the preset end time is the time to end walking the dog (which is the time that the breeder enters the end of walking the dog through his mobile terminal); the preset body size can be, but not limited to, the size of a general pet dog; specify The location data can be the location data of the breeder when the dog is finished walking; however, this embodiment is not intended to limit the present invention, and can be adjusted according to actual needs. Therefore, the pet dog can be returned to the breeder when the dog is finished walking.

Next, please refer to "Figure 2". "Figure 2" is a flowchart of an embodiment of the smart dog walking method executed by the smart dog walking system of "Figure 1". The steps include: providing a smart dog walking system, It includes a housing, a transmission and reception module, an identification module, a tracking module, a positioning module, a control module and a flight module. Among them, the transmission and reception module, the tracking module, the positioning module and the control module are arranged in In the shell, the identification module and the flight module are arranged on the shell, the tracking module is connected to the transmission and reception module, the control module is connected to the positioning module and the transmission and reception module, and the flight module is connected to the identification module, positioning module and The transmitting and receiving module (step 210); the transmitting and receiving module receives the flightable area data and the first three-dimensional position data from the harness (step 220); the positioning module obtains the second three-dimensional position data of the corresponding housing (step 230); The recognition module obtains an image of the environment, and judges whether there is an obstacle according to the environment image and obtains the distance between the obstacle and the housing (step 240); the tracking module tracks the pet dog to obtain the image of the pet dog, and according to the image of the pet dog Determine whether the pet dog is defecate. When it is determined that the pet dog is defecate, the notification signal is transmitted through the transmitting and receiving module (step 250); the control module controls the control based on the flightable area data, the first three-dimensional position data, and the second three-dimensional position data. The length of the rope, where the length of the rope is not less than the first preset value, and the rope is connected to the harness (step 260); and the flight module maintains the flight at a preset height away from the ground according to the environmental image, and according to the flightable area data and The second three-dimensional position data flies in the flyable area, and avoids the obstacle according to the distance between the obstacle and the housing (step 270).

Through the above steps, the tracking module can be used to track and determine whether the pet dog is defecate. When it is determined that the pet dog is defecate, the receiving module transmits a notification signal to the breeder’s mobile terminal; the control module is based on the flightable area data, The first three-dimensional position data corresponding to the pet dog and the second three-dimensional position data corresponding to the housing control the length of the leash, wherein the length of the leash is not less than the first preset value; the identification module determines whether there is an obstacle around the housing And obtain the distance between the obstacle and the housing; and the flight module maintains the flight at a preset height away from the ground according to the environmental image, and flies within the flightable area according to the flightable area data and the second three-dimensional position data, and according to the obstacles The distance between the object and the shell avoids obstacles. Therefore, the intelligent dog walking system can follow the activities around the pet dog, and limit the pets to walk or run within the dog walking activity range defined by the breeder, so as to assist the breeder to take the pet dog for a walk or run, and the pet dog can feel moody Activity happily.

In this embodiment, the intelligent dog walking system may further include a teasing module, and the intelligent dog walking method may further include the following steps: after the teasing module receives the control signal, it is based on the dog image, the first three-dimensional position data, and the second three-dimensional position data. A laser spot is emitted, so that the laser spot dynamically appears in front of the pet dog's eyes (not drawn). Therefore, pet dogs can chase the laser spot and play. The detailed description has been explained in the above paragraphs, and will not be repeated here.

The smart dog walking method may further include the following steps: the control module determines whether the pulling force of the leash is greater than a second preset value, and when it is determined that the pulling force of the leash is greater than the second preset value, the control module automatically releases Leash (not drawn); and the transmitting and receiving module continuously receives the first three-dimensional position data, and transmits the corresponding position signal to the mobile terminal (not drawn). Since the pulling force of the leash is greater than the second preset value, there may be an abnormal situation and the intelligent dog walking system is damaged. Therefore, the control module automatically loosens the connection relationship with the leash. At this time, the transmitting and receiving module is still sustainable Receive the current location of the pet dog, and notify the breeder to go to the current location of the pet dog to find the pet dog. The detailed description has been explained in the above paragraphs, and will not be repeated here.

In addition, the intelligent dog walking method may further include the following steps: the control module obtains the current leash length (not drawn); and when the flight module determines that the housing is located within the flightable area based on the flightable area data and the second three-dimensional position data When bordering, increase the preset height between the leash and the ground according to the current length of the leash to keep the pet dog away from the ground and fly to the preset position in the flightable area (not drawn). Therefore, the pet dog can move freely within the range of walking the dog. The detailed description has been explained in the above paragraphs, and will not be repeated here.

Furthermore, the intelligent dog walking method may further include the following steps: the control module obtains the current leash length; the transmission and reception module receives the preset end time, the preset body size and designated location data (not drawn); and the flight module According to the preset end time, preset body size and current length of the leash, increase the preset height from the ground to keep the pet dog away from the ground and fly to the position corresponding to the designated position data (not drawn). Therefore, the pet dog can be returned to the breeder when the dog is finished walking. The detailed description has been explained in the above paragraphs, and will not be repeated here.

It should be noted that, in addition to explaining the causality of the smart dog walking method, the above steps can be performed in any order.

In summary, it can be seen that the difference between the present invention and the prior art is that the tracking module is used to track and determine whether the pet dog is defecate. When it is determined that the pet dog is defecate, the receiving module transmits a notification signal to the keeper's mobile terminal. The control module controls the length of the leash according to the flightable area data, the first three-dimensional position data corresponding to the pet dog, and the second three-dimensional position data corresponding to the housing, wherein the length of the leash is not less than the first preset value; The module determines whether there are obstacles around the housing and obtains the distance between the obstacles and the housing; and the flight module maintains the flight at a preset height away from the ground based on the environmental image, and based on the flightable area data and the second three-dimensional position data Fly in the flightable area, and avoid obstacles according to the distance between the obstacle and the housing. This technical method can help the breeder take the pet dog for a walk, and the dog can move happily.

Although the present invention is disclosed in the foregoing embodiments as above, it is not intended to limit the present invention. Anyone familiar with similar art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of patent protection shall be determined by the scope of the patent application attached to this specification.

100: Smart dog walking system 110: shell 120: Transmission and Receiving Module 130: Identification Module 140: Tracking Module 150: positioning module 160: control module 170: Flight Module 180: teasing module Step 210: Provide an intelligent dog walking system, which includes a housing, a transmission and reception module, an identification module, a tracking module, a positioning module, a control module, and a flight module. Among them, the transmission and reception module, the tracking module, The positioning module and the control module are arranged in the housing, the identification module and the flight module are arranged on the housing, the tracking module is connected to the transmitting and receiving module, the control module is connected to the positioning module and the transmitting and receiving module, the flight module Connect identification module, positioning module and transmission and reception module Step 220: The transmitting and receiving module receives the flightable area data and the first three-dimensional position data from the strap Step 230: the positioning module obtains the second three-dimensional position data of the corresponding housing Step 240: The recognition module obtains an environment image, and judges whether an obstacle is present according to the environment image, and obtains the distance between the obstacle and the housing Step 250: The tracking module tracks the pet dog to obtain an image of the pet dog, and judges whether the pet dog is defecate based on the pet dog image, and when it is judged that the pet dog is defecate, a notification signal is transmitted through the transmitting and receiving module Step 260: The control module controls the length of the leash according to the flightable area data, the first three-dimensional position data, and the second three-dimensional position data, wherein the length of the leash is not less than the first preset value, and the leash is connected to the harness Step 270: The flight module maintains the flight at a preset height away from the ground according to the environmental image, flies within the flightable area according to the flightable area data and the second three-dimensional position data, and avoids obstacles according to the distance between the obstacle and the housing Things

Figure 1 is a system block diagram of an embodiment of the intelligent dog walking system of the present invention. Fig. 2 is a method flowchart of an embodiment of the smart dog walking method executed by the smart dog walking system of Fig. 1.

100: Smart dog walking system

110: shell

120: Transmission and Receiving Module

130: Identification Module

140: Tracking Module

150: positioning module

160: control module

170: Flight Module

180: teasing module

Claims (10)

An intelligent dog walking system is used to assist a breeder to take a pet dog for a walk. The intelligent dog walking system includes: A shell A transmitting and receiving module, arranged in the housing, for receiving a flightable area data and a first three-dimensional position data from a strap, and transmitting a notification signal to a mobile terminal of the breeder; An identification module, arranged on the casing, for obtaining an environmental image, judging whether there is an obstacle according to the environmental image, and obtaining the distance between the obstacle and the casing; A tracking module is arranged in the housing and connected to the transmitting and receiving module to track the pet dog to obtain a pet dog image, and determine whether the pet dog is defecate according to the pet dog image, when judging the pet When the dog is defecate, the notification signal is transmitted through the transmitting and receiving module; A positioning module arranged in the casing for obtaining a second three-dimensional position data corresponding to the casing; A control module is arranged in the casing and connected to the positioning module and the transmission and reception module, and is used to control the leash according to the flightable area data, the first three-dimensional position data, and the second three-dimensional position data Length, wherein the length of the lanyard is not less than a first preset value, and the lanyard is connected to the harness; and A flight module is arranged on the casing and connected to the identification module, the positioning module and the transmission and reception module, and is used to maintain a predetermined altitude away from the ground according to the environmental image, and to fly according to the flight The area data and the second three-dimensional position data fly in a flyable area, and avoid the obstacle according to the distance between the obstacle and the housing. The intelligent dog walking system according to item 1 of the scope of patent application, wherein the intelligent dog walking system further includes a teasing module, which is arranged on the housing and connected to the tracking module, the transmission and reception module, and the positioning module For receiving a control signal and emitting a laser spot according to the pet dog image, the first three-dimensional position data and the second three-dimensional position data, so that the laser spot dynamically appears in front of the pet dog's eyes. The intelligent dog walking system according to item 1 of the scope of patent application, wherein the control module is also used to determine whether the pulling force of the leash is greater than a second preset value, and when it is determined that the pulling force of the leash is greater than the second When the preset value is set, the control module automatically releases the leash, the transmitting and receiving module continuously receives the first three-dimensional position data, and transmits a corresponding position signal to the mobile terminal. The intelligent dog walking system according to item 1 of the scope of patent application, wherein the flight module is connected to the control module, and the control module is also used to obtain the current length of the leash, when the flight module determines the housing When located at the boundary of the flightable area, increase the preset height between the leash and the ground according to the current length of the leash and a preset body size, so that the pet dog is far away from the ground and flies to the flightable area Preset position. The intelligent dog walking system according to item 1 of the scope of patent application, wherein the flight module is connected to the control module, and the control module is also used to obtain the current length of the leash, and the transmitting and receiving module is also used to receive A preset end time, a preset body size, and a designated position data. The flight module increases the preset end time, the preset body size, and the current length of the leash. Set the height to keep the pet dog away from the ground and fly to the position corresponding to the specified location data. An intelligent dog walking method is used to assist a breeder to take a pet dog for a walk. The steps include: An intelligent dog walking system is provided, which includes a housing, a transmission and reception module, an identification module, a tracking module, a positioning module, a control module and a flight module. The transmission and reception module, The tracking module, the positioning module, and the control module are arranged in the housing, the identification module and the flight module are arranged on the housing, the tracking module is connected to the transmission and reception module, and the control module The group is connected with the positioning module and the transmission and reception module, and the flight module is connected with the identification module, the positioning module and the transmission and reception module; The transmitting and receiving module receives a flightable area data and a first three-dimensional position data from a strap; The positioning module obtains a second three-dimensional position data corresponding to the housing; The recognition module obtains an environmental image, determines whether an obstacle is present according to the environmental image, and obtains the distance between the obstacle and the housing; The tracking module tracks the pet dog to obtain an image of the pet dog, and determines whether the pet dog is defecate based on the pet dog image, and when it is determined that the pet dog is defecate, the notification signal is transmitted through the transmitting and receiving module; The control module controls the length of a leash according to the flightable area data, the first three-dimensional position data, and the second three-dimensional position data, wherein the length of the leash is not less than a first preset value, and the leash Rope to connect the harness; and The flight module maintains a flight at a predetermined altitude away from the ground according to the environmental image, flies within a flightable area according to the flightable area data and the second three-dimensional position data, and according to the relationship between the obstacle and the housing Avoid the obstacle at the distance between. The smart dog walking method according to item 6 of the scope of patent application, wherein the smart dog walking system further includes a teasing module, which is arranged on the housing and connected to the tracking module, the transmitting and receiving module, and the positioning module , The smart dog walking method further includes the following steps: the teasing module receives a control signal and emits a laser spot according to the dog image, the first three-dimensional position data, and the second three-dimensional position data, so that the laser spot Dynamically appear in front of the pet dog's eyes. The intelligent dog walking method according to item 6 of the scope of patent application, wherein the intelligent dog walking method further includes the following steps: The control module determines whether the pulling force of the leash is greater than a second preset value, and when it is determined that the pulling force of the leash is greater than the second preset value, the control module automatically releases the leash; and The transmitting and receiving module continuously receives the first three-dimensional position data, and transmits a corresponding position signal to the mobile terminal. The intelligent dog walking method according to item 6 of the scope of patent application, wherein the intelligent dog walking method further includes the following steps: The control module obtains the current length of the leash; and When the flight module determines that the housing is located at the boundary of the flightable area based on the flightable area data and the second three-dimensional position data, it is adjusted to increase the size of the shell according to the current length of the leash and a preset body size. The predetermined height of the ground makes the pet dog far away from the ground and fly to the predetermined position of the flightable area. The intelligent dog walking method according to item 6 of the scope of patent application, wherein the intelligent dog walking method further includes the following steps: The control module obtains the current length of the leash; The transmitting and receiving module receives a preset end time, a preset body size, and a designated location data; and The flight module increases the preset height with the ground according to the preset end time and the current length of the leash and the preset body size, so that the pet dog is far away from the ground and flies to the corresponding designated The location of the location data.

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