Patent ID: 11963516
Assignee: PUMPKII INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  B  G  H | IPC A  B  G  H

Claim 0:
1. A method for depth of field tracking and controlling of a pet companion robot device, for interacting with a pet, equipped with a camera and at least one camera control motors, a chassis with moving mechanisms equipped with Mecanum wheels, and a control unit, the method comprising:
locating a target pet within a field of view of the camera, wherein the field of view of the camera includes a vertical center line, a horizontal center line and a center point O, wherein a width of the field of view is W and a height of the field of view is H;
drawing a minimum target rectangle around the target pet, with sides of the minimum target rectangle parallel with the corresponding sides of the field of view of the camera, wherein a width of the minimum target rectangle is w and a height of the minimum target rectangle is h;
calculating an actual depth RP, wherein RP=(w*h)/(W*H); and
comparing the actual depth RP with a predefined expected depth EP;

locating a center point P of the minimum target rectangle;
determining in which quadrant of the field of view the center point P is located;
when the center point P is located in quadrants I or II, adjusting the pet companion robot device to the right to make the center point P overlap with the vertical center line of the field of view of the camera; and
when the center point P is located in quadrants III or IV, adjusting the pet companion robot device to the left to make the center point P overlap with the vertical center line of the field of view of the camera.