Monitoring system capable of adjusting activity range of pet dog

Abstract

The invention provides a monitoring system capable of adjusting the activity range of a pet dog, and the system comprises the following components: a high-precision environment calibration and initial fence generation module which integrates a laser radar, an RGB-D camera, a high-precision GPS and cloud server equipment, and generates a high-precision 3D point cloud map through employing the laser radar and an SLAM algorithm; the system combines GPS positioning to mark terrain and obstacles and cloud fusion data to generate an initial safety fence, ensures that the fence is accurately matched with an actual environment, provides a reference for subsequent dynamic adjustment, integrates millimeter wave radar environment perception, UWB beacon positioning and handheld controller interaction, realizes remote dynamic hand-drawing of a virtual fence to control a pet activity range, and improves pet activity. A user points to an adjustment boundary through the radio controller, the millimeter wave radar analyzes gesture intention in real time and repositions the position of the UWB beacon, and the user is endowed with the intelligent control ability of flexibly defining and immediately adjusting the activity range of the pet.

Description

Technical Field

[0001] The present invention relates to the technical field of pet monitoring, in particular to a monitoring system capable of adjusting the activity range of a pet dog. Background Art

[0002] Planning pets' roaming areas is essential for protecting their safety, maintaining public order, and fostering harmonious coexistence between humans and pets. Without planning, pets face multiple risks due to uncontrolled free range. First, pets are at risk of getting lost or accidentally injured, such as by crossing into urban roads and causing traffic accidents, or by coming into contact with poisonous plants or becoming trapped in dangerous terrain in the wild. Second, pets may pollute the public environment through uncontrolled defecation and excretion, invade private property, or come into conflict with other animals, leading to neighborhood disputes and even legal action. Furthermore, excessive free range can lead to behavioral problems, such as rummaging through trash, vandalism, and excessive barking. A long-term lack of a sense of boundaries can reduce their socialization skills and increase the risk of stress reactions. Furthermore, uncontrolled activity can lead to exercise imbalances, resulting in health risks such as obesity and physical exhaustion. From an ecological and community perspective, pets entering nature reserves can disrupt wildlife habitats and disrupt ecological balance. Uncontrolled activity can also increase the burden on community management, such as increased cleaning costs, exacerbating conflicts among residents, and even triggering a collective rejection of pet ownership. Therefore, by scientifically planning the range of activities (such as electronic fences), we can ensure that pets can release their nature and meet their exploration needs in a safe area, while avoiding potential social and health risks, balancing pet welfare and public responsibility, and ultimately achieving harmonious coexistence of pets, humans, and the environment.

[0003] Existing pet electronic fence systems mainly use GPS or radio frequency signals to set preset geographic fences of fixed shapes (such as circles and rectangles), rely on basic positioning technology to delineate the boundaries of pet activities, and trigger collar vibration or electric shock warnings when the pet approaches the boundaries; however, its fixed geometric shape is difficult to adapt to complex terrain such as courtyards and parks (such as irregular plots and obstacle areas), and users cannot freely define the activity range that fits the actual scenario. Adjusting the boundaries requires the use of professional equipment or cumbersome parameter settings. The operation threshold is high and the response is delayed. At the same time, the functions are limited to basic out-of-bounds alarms, and lack historical trajectory analysis, environmental obstacle linkage avoidance, multi-pet collaborative management and interaction with smart devices (such as smart door locks and cameras). As a result, the system lacks flexibility, ease of use and scalability, and cannot meet the dynamic and refined needs of modern pet management. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides a monitoring system that can adjust the activity range of pet dogs, solving the problems that existing pet electronic fences cannot freely define the activity range that fits the actual scenario, adjusting the boundaries requires the help of professional equipment or cumbersome parameter settings, and has a high operating threshold and delayed response.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a monitoring system capable of adjusting the activity range of a pet dog, the system comprising the following components:

[0008] High-precision environmental calibration and initial fence generation module: This module generates a high-resolution terrain point cloud by scanning the environment using a millimeter-wave radar base station. Combined with the two-way ranging data from UWB beacons deployed at the border, it uses SLAM algorithms and TDoA positioning technology to build a local high-precision map and automatically generates an initial closed fence with the beacons as nodes.

[0009] User-drawn dynamic fence and safety verification module: Users send commands through a handheld radio controller, and the millimeter-wave radar dynamically identifies the boundary adjustment intention pointed by the controller, combined with UWB beacon position relocation, to achieve "virtual hand-drawing";

[0010] Real-time monitoring and graded response module: Deploys a fixed millimeter-wave radar base station, which uses a MIMO antenna array and digital beamforming technology to track collar reflection signals at a 10Hz frequency, with a positioning accuracy of ±15cm. When continuous violations are detected, the base station triggers a graded response from the collar via 24GHz directional radio, simultaneously activating local audible and visual alarms.

[0011] Data feedback and adaptive optimization module: The millimeter-wave radar base station has a built-in FPGA edge computing unit to analyze the distribution of pet movement hot spots, automatically reducing the UWB beacon power in high-frequency out-of-bounds areas to adjust the fence range. The collar integrates IMU and PPG sensors, dynamically suppressing the intensity of electric shock according to changes in the pet's heart rate and switching to sound and light alarms, forming a localized closed-loop optimization.

[0012] Preferably, the specific steps of the high-precision environment calibration and initial fence generation module are:

[0013] (1) The user deploys UWB beacons along the desired boundary. The millimeter-wave radar base station scans the environment through mechanical rotation, generates a terrain point cloud using FMCW frequency-modulated continuous wave, and simultaneously records the TWR data of the UWB beacon.

[0014] (2) The base station edge computing unit fuses the millimeter wave point cloud and UWB beacon coordinates through the SLAM algorithm, uses the TDoA positioning algorithm to build a local high-precision map, and automatically generates an initial closed fence with the beacon as the node. The user confirms the beacon logical connection relationship through the radio controller button or the joystick to complete the fence initialization.

[0015] Preferably, the specific steps of the user hand-drawing dynamic fence and safety verification module are:

[0016] (1) The user sends boundary adjustment instructions to the UWB beacon through a handheld radio controller. The millimeter wave radar base station scans the area pointed by the controller in real time, identifies the target boundary through radar echo characteristics, and generates virtual fence incremental coordinates based on the UWB beacon ranging data;

[0017] (2) Local verification process: The millimeter-wave radar detects the distance and slope of obstacles within the new fence range based on terrain point cloud data. If there is a violation, the controller vibrates to provide feedback and the adjustment is terminated. After the verification is passed, the base station updates the fence coordinates to all UWB beacons through LoRa broadcast, and the beacons synchronously form a closed boundary.

[0018] Preferably, the specific steps of the real-time monitoring and hierarchical response module are:

[0019] (1) The fixed millimeter-wave radar base station transmits frequency-modulated waves at a frequency of 10 Hz, and calculates the pet's real-time location through the Doppler frequency shift and phase difference of the collar's reflected signal. When the location is detected to have exceeded the fence boundary three times in a row, a hierarchical response protocol is triggered;

[0020] (2) Response execution: The base station sends coded instructions to the collar through the directional antenna. The first-level response activates the collar's vibration motor, the second-level response starts the spray unit, and the third-level response triggers a controllable electrostatic pulse. At the same time, the base station's local buzzer alarms and the LED indicator shows the out-of-bounds level.

[0021] Preferably, the specific steps of the data feedback and AI optimization module are:

[0022] (1) The millimeter-wave radar base station has a built-in edge computing unit that analyzes the density of pet movement trajectory points every day. If the crossing-border rate in a certain area is greater than 30% for five consecutive days, the UWB beacon transmission power in that direction will be automatically reduced, narrowing the fence range.

[0023] (2) The collar IMU sensor monitors the pet's heart rate and acceleration. When it detects a heart rate increase of >25% and lasts for 10 seconds after an electric shock, it automatically locks the response level and switches to an audible and visual alarm. The optimized data is stored in the base station SD card and supports USB export analysis.

[0024] Preferably, the smart collar integrates a multi-mode positioning module, an IMU sensor, and a multi-mode penalty module, and the multi-mode penalty module is composed of the following units:

[0025] (1) Electric shock unit: adjustable pulse circuit;

[0026] (2) Sound and light alarm unit: piezoelectric buzzer + RGBLED light;

[0027] (3) Odor spray unit: micro air pump + liquid storage tank, filled with harmless irritating odor liquid.

[0028] Preferably, the multi-mode positioning module is composed of GPS+WiFi fingerprint positioning+Bluetooth beacon assistance.

[0029] Preferably, the IMU sensor can detect the pet's movement state and dynamically adjust the positioning frequency.

[0030] (3) Beneficial effects

[0031] The present invention provides a monitoring system capable of adjusting the range of pet dog activities.

[0032] Beneficial effects:

[0033] 1. This invention integrates millimeter-wave radar environmental perception, UWB beacon positioning, and handheld controller interaction to achieve remote dynamic hand-drawn virtual fence control of the pet's activity range. The user adjusts the boundary by pointing with the radio controller. The millimeter-wave radar analyzes the gesture intention in real time and integrates the UWB beacon position repositioning. Combined with terrain point cloud obstacle verification and LoRa network synchronization to update the fence coordinates, high-precision radar tracking and multi-level response mechanism are simultaneously utilized to ensure positioning accuracy and safety while giving users the intelligent control capability of flexibly defining and instantly adjusting the pet's activity range. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a monitoring system capable of adjusting the activity range of a pet dog proposed by the present invention. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Example:

[0037] like Figure 1As shown, an embodiment of the present invention provides a monitoring system capable of adjusting the activity range of a pet dog, the system comprising the following components:

[0038] High-precision environmental calibration and initial fence generation module: This module generates a high-resolution terrain point cloud by scanning the environment using a millimeter-wave radar base station. Combined with two-way ranging data from UWB beacons deployed at the boundary, the module uses SLAM algorithms and TDoA positioning technology to build a local high-precision map. This automatically generates an initial closed fence with the beacons as nodes. Using dual-frequency millimeter-wave radar (77GHz terrain scanning + 60GHz target tracking) and UWB beacons (ultra-wideband anchors) for collaborative positioning, the module achieves high-precision environmental modeling and fence generation without GPS or cloud services through the following steps:

[0039] (1) Terrain point cloud generation: The 77GHz millimeter-wave radar, based on FMCW frequency-modulated continuous wave technology, generates a 3D terrain point cloud with sub-meter resolution (0.1° angular resolution) by mechanically rotating the scan at 120° horizontally and 60° vertically. It also simultaneously integrates the TWR (two-way ranging) and TDoA (time difference of arrival) data of the UWB beacon to construct a local SLAM map with centimeter-level accuracy (±10cm).

[0040] (2) Fence self-organizing network: users deploy UWB beacons along the border (interval ≤ 5 meters), and the base station automatically generates an initial closed fence through wireless ranging between beacons. It supports joystick selection of beacon nodes and dynamically adjusts the logical connection relationship to form a scalable physical boundary;

[0041] (3) Safety verification: Based on millimeter wave point cloud data, the maximum slope within the fence (threshold > 20%) and the minimum distance between obstacles (threshold < 1.5 meters) are calculated in real time. If there is a violation, the controller will trigger a vibration alarm and prohibit the fence from taking effect.

[0042] User-drawn dynamic fence and safety verification module: The user sends instructions through a handheld radio controller, and the millimeter-wave radar dynamically identifies the boundary adjustment intention pointed by the controller. Combined with the UWB beacon position relocation, "virtual hand-drawing" is realized. Through millimeter-wave radar spatial perception and UWB beacon relocation technology, the "virtual hand-drawing" function without screen touch is realized. Specifically, it includes:

[0043] (1) Pointing interaction: The user holds a handheld radio controller (with an integrated 2.4 GHz directional antenna) and points it at the target area. The millimeter-wave radar analyzes the controller's directional angle (±1° accuracy) and the UWB beacon feedback signal to identify the boundary segment that the user intends to adjust.

[0044] (2) Virtual hand-drawing: The joystick controls the displacement of the beacon node (step 0.5 meters), and the millimeter-wave radar renders the incremental coordinates of the virtual fence in real time (the LCD screen displays a simplified topology diagram), which is updated to all beacons through LoRa broadcast to form a dynamic closed boundary;

[0045] (3) Adaptive adsorption: When the user adjusts the boundary close to an obstacle (<1.5 meters) or a steep slope (>20%), the system automatically adsorbs to the nearest safe coordinate to avoid missetting the dangerous area.

[0046] Real-time Monitoring and Tiered Response Module: A fixed millimeter-wave radar base station is deployed. Using a MIMO antenna array and digital beamforming technology, it tracks collar reflection signals at a 10Hz frequency, achieving a positioning accuracy of ±15cm. Upon detecting continuous intrusions, the base station triggers a graded response from the collar via 24GHz directional radio, simultaneously activating local audible and visual alarms. This all-weather tracking and graded response mechanism, based on millimeter-wave radar Doppler frequency shift and phase difference analysis, enables the following functions:

[0047] (1) High frame rate tracking: The 60GHz millimeter-wave radar base station uses a MIMO antenna array and DBF digital beamforming technology to transmit frequency-modulated waves at a 10Hz update frequency. The Doppler frequency shift of the collar-reflected signal is used to calculate the pet's real-time location (accuracy ±15cm), supporting a detection rate of over 90% in rainy and foggy environments.

[0048] (2) Hierarchical response chain: When three consecutive out-of-bounds detections are detected (cumulative displacement > 1 meter), the base station sends a coded command to the collar via a 24GHz directional antenna, triggering a three-level response:

[0049] Level 1 response: The collar has a built-in micro eccentric motor (vibration frequency 50Hz, lasting 2 seconds);

[0050] Secondary response: the piezoelectric pump releases pungent odor liquid (single injection volume 0.2 mL, liquid reservoir capacity 10 mL);

[0051] Level 3 response: High-voltage ceramic module generates controllable electrostatic pulses (0.1-0.3mA adjustable, pulse width ≤1ms);

[0052] (3) Local synchronous alarm: The base station has a built-in 85dB buzzer and RGB LED light, which will trigger an audible and visual alarm (red light is always on + buzzer sounds intermittently) when crossing the boundary.

[0053] Data Feedback and Adaptive Optimization Module: The millimeter-wave radar base station has a built-in FPGA edge computing unit that analyzes the distribution of pet movement hotspots and automatically reduces the UWB beacon power in high-frequency out-of-bounds areas to adjust the fence range. The collar integrates an IMU and PPG sensor to dynamically suppress the intensity of the electric shock based on the pet's heart rate and switch to an audible and visual alarm, forming a localized closed-loop optimization. FPGA-based edge computing and the collar's biosensor data fusion enable adaptive fence optimization and dynamic adjustment of the penalty strategy.

[0054] (1) Hot zone analysis: The millimeter-wave radar base station aggregates pet trajectory data daily and generates a heat map using a density clustering algorithm. If the boundary crossing rate in a certain area is greater than 30% for five consecutive days, the UWB beacon transmission power in the corresponding direction is automatically reduced (in steps of 1 dBm), and the fence range is reduced by 5%-10%;

[0055] (2) Physiological feedback regulation: The collar integrates a PPG optical heart rate sensor (sampling rate 10Hz) and an IMU (three-axis acceleration ±16g). When it detects a heart rate increase of >25% after an electric shock and lasts for 10 seconds, it automatically locks the third-level response and switches to an audible and visual alarm (buzzer 85dB + red LED flashing), and reports the abnormal event to the base station via LoRa.

[0056] (3) Environmental adaptation: The millimeter-wave radar monitors weather interference (such as rain and fog intensity) in real time and dynamically increases the transmission power (maximum +3dBm) to maintain tracking accuracy and ensure system robustness in complex environments.

[0057] The specific steps of the high-precision environment calibration and initial fence generation module are as follows:

[0058] (1) The user deploys UWB beacons along the desired boundary. The millimeter-wave radar base station scans the environment through mechanical rotation, generates a terrain point cloud using FMCW frequency-modulated continuous wave, and simultaneously records the TWR data of the UWB beacon.

[0059] (2) The base station edge computing unit fuses the millimeter wave point cloud and UWB beacon coordinates through the SLAM algorithm, uses the TDoA positioning algorithm to build a local high-precision map, and automatically generates an initial closed fence with the beacon as the node. The user confirms the beacon logical connection relationship through the radio controller button or the joystick to complete the fence initialization.

[0060] The specific steps for users to hand-draw dynamic fences and safety verification modules are as follows:

[0061] (1) The user sends boundary adjustment instructions to the UWB beacon through a handheld radio controller. The millimeter wave radar base station scans the area pointed by the controller in real time, identifies the target boundary through radar echo characteristics, and generates virtual fence incremental coordinates based on the UWB beacon ranging data;

[0062] (2) Local verification process: The millimeter-wave radar detects the distance and slope of obstacles within the new fence range based on terrain point cloud data. If there is a violation, the controller vibrates to provide feedback and the adjustment is terminated. After the verification is passed, the base station updates the fence coordinates to all UWB beacons through LoRa broadcast, and the beacons synchronously form a closed boundary.

[0063] The specific steps of the real-time monitoring and graded response module are:

[0064] (1) The fixed millimeter-wave radar base station transmits frequency-modulated waves at a frequency of 10 Hz, and calculates the pet's real-time location through the Doppler frequency shift and phase difference of the collar's reflected signal. When the location is detected to have exceeded the fence boundary three times in a row, a hierarchical response protocol is triggered;

[0065] (2) Response execution: The base station sends coded instructions to the collar through the directional antenna. The first-level response activates the collar's vibration motor, the second-level response starts the spray unit, and the third-level response triggers a controllable electrostatic pulse. At the same time, the base station's local buzzer alarms and the LED indicator shows the out-of-bounds level.

[0066] The specific steps of the data feedback and AI optimization module are as follows:

[0067] (1) The millimeter-wave radar base station has a built-in edge computing unit that analyzes the density of pet movement trajectory points every day. If the crossing-border rate in a certain area is greater than 30% for five consecutive days, the UWB beacon transmission power in that direction will be automatically reduced, narrowing the fence range.

[0068] (2) The collar IMU sensor monitors the pet's heart rate and acceleration. When it detects a heart rate increase of >25% and lasts for 10 seconds after an electric shock, it automatically locks the response level and switches to an audible and visual alarm. The optimized data is stored in the base station SD card and supports USB export analysis.

[0069] The smart collar integrates a multi-mode positioning module, an IMU sensor, and a multi-mode penalty module. The multi-mode penalty module consists of the following units:

[0070] (1) Electric shock unit: adjustable pulse circuit;

[0071] (2) Sound and light alarm unit: piezoelectric buzzer + RGBLED light;

[0072] (3) Odor spray unit: micro air pump + liquid storage tank, filled with harmless irritating odor liquid.

[0073] The multi-mode positioning module consists of GPS+WiFi fingerprint positioning+Bluetooth beacon assistance.

[0074] The IMU sensor can detect the pet's movement status and dynamically adjust the positioning frequency.

[0075] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring system capable of adjusting the range of pet dog activities, characterized in that: The system includes the following components: High-precision environmental calibration and initial fence generation module: This module generates a high-resolution terrain point cloud by scanning the environment using a millimeter-wave radar base station. Combined with the two-way ranging data from UWB beacons deployed at the border, it uses SLAM algorithms and TDoA positioning technology to build a local high-precision map and automatically generates an initial closed fence with the beacons as nodes. User-drawn dynamic fence and safety verification module: Users send commands via a handheld radio controller, and the millimeter-wave radar dynamically identifies the controller's boundary adjustment intention, combined with UWB beacon position relocation, to achieve "virtual hand-drawing"; Real-time monitoring and graded response module: Deploys a fixed millimeter-wave radar base station, which uses a MIMO antenna array and digital beamforming technology to track collar reflection signals at a 10Hz frequency, with a positioning accuracy of ±15cm. When continuous violations are detected, the base station triggers a graded response from the collar via 24GHz directional radio, simultaneously activating local audible and visual alarms. Data feedback and adaptive optimization module: The millimeter-wave radar base station has a built-in FPGA edge computing unit to analyze the distribution of pet movement hot spots, automatically reducing the UWB beacon power in high-frequency out-of-bounds areas to adjust the fence range. The collar integrates IMU and PPG sensors, dynamically suppressing the intensity of electric shock according to changes in the pet's heart rate and switching to sound and light alarms, forming a localized closed-loop optimization.

2. The monitoring system capable of adjusting the activity range of a pet dog according to claim 1, characterized in that: The specific steps of the high-precision environment calibration and initial fence generation module are as follows: (1) The user deploys UWB beacons along the desired boundary. The millimeter-wave radar base station scans the environment through mechanical rotation, generates a terrain point cloud using FMCW frequency-modulated continuous wave, and simultaneously records the TWR data of the UWB beacon. (2) The base station edge computing unit fuses the millimeter wave point cloud and UWB beacon coordinates through the SLAM algorithm, uses the TDoA positioning algorithm to build a local high-precision map, and automatically generates an initial closed fence with the beacon as the node. The user confirms the beacon logical connection relationship through the radio controller button or the joystick to complete the fence initialization.

3. The monitoring system capable of adjusting the activity range of a pet dog according to claim 1, characterized in that: The specific steps of the user hand-drawn dynamic fence and safety verification module are as follows: (1) The user sends boundary adjustment instructions to the UWB beacon through a handheld radio controller. The millimeter wave radar base station scans the area pointed by the controller in real time, identifies the target boundary through radar echo characteristics, and generates virtual fence incremental coordinates based on the UWB beacon ranging data; (2) Local verification process: The millimeter-wave radar detects the distance and slope of obstacles within the new fence range based on terrain point cloud data. If there is a violation, the controller vibrates to provide feedback and the adjustment is aborted; After verification, the base station updates the fence coordinates to all UWB beacons via LoRa broadcast, and the beacons synchronize to form a closed boundary.

4. The monitoring system capable of adjusting the range of pet dog activity according to claim 1, characterized in that: The specific steps of the real-time monitoring and hierarchical response module are: (1) The fixed millimeter-wave radar base station transmits frequency-modulated waves at a frequency of 10 Hz, and calculates the pet's real-time location through the Doppler frequency shift and phase difference of the collar's reflected signal. When the location is detected to have exceeded the fence boundary three times in a row, a hierarchical response protocol is triggered; (2) Response execution: The base station sends coded instructions to the collar through the directional antenna. The first-level response activates the collar's vibration motor, the second-level response starts the spray unit, and the third-level response triggers a controllable electrostatic pulse. At the same time, the base station's local buzzer alarms and the LED indicator shows the out-of-bounds level.

5. The monitoring system capable of adjusting the range of pet dog activity according to claim 1, characterized in that: The specific steps of the data feedback and adaptive optimization module are: (1) The millimeter-wave radar base station has a built-in edge computing unit that analyzes the density of pet movement trajectory points every day. If the crossing-border rate in a certain area is greater than 30% for five consecutive days, the UWB beacon transmission power in that direction will be automatically reduced, narrowing the fence range. (2) The collar IMU sensor monitors the pet's heart rate and acceleration. When it detects a heart rate increase of >25% and lasts for 10 seconds after an electric shock, it automatically locks the response level and switches to an audible and visual alarm. The optimized data is stored in the base station SD card and supports USB export analysis.

6. The monitoring system capable of adjusting the range of pet dog activity according to claim 1, characterized in that: The smart collar integrates a multi-mode positioning module, an IMU sensor, and a multi-mode penalty module. The multi-mode penalty module consists of the following units: (1) Electric shock unit: adjustable pulse circuit; (2) Sound and light alarm unit: piezoelectric buzzer + RGBLED light; (3) Odor spray unit: micro air pump + liquid storage tank, filled with harmless irritating odor liquid.

7. The monitoring system capable of adjusting the range of pet dog activity according to claim 6, characterized in that: The multi-mode positioning module is composed of GPS+WiFi fingerprint positioning+Bluetooth beacon assistance.

8. The monitoring system capable of adjusting the range of pet dog activity according to claim 6, characterized in that: The IMU sensor can detect the pet's movement status and dynamically adjust the positioning frequency.

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