Method, device and system for intelligently tracking pet to be monitored

Abstract

The invention belongs to the technical field of security monitoring, and particularly relates to an intelligent to-be-monitored pet tracking method, device and system. The method comprises the following steps: sending a pulse signal to an environment where the household camera is located; acquiring a feedback signal of a beacon carried by the pet to be monitored in response to the pulse signal; determining a position relation of the pet to be monitored relative to the household camera based on the received feedback signal, wherein the position relation at least comprises an angle parameter and a distance parameter; and controlling a camera of the household camera to deflect according to the position relationship, so that the camera can shoot the pet to be monitored. The to-be-monitored pet can be tracked in real time, the to-be-monitored pet is prevented from being lost, and the burden of the user for breeding the to-be-monitored pet is reduced.

Description

Technical Field

[0001] The present application belongs to the field of security monitoring technology, and in particular relates to a method, device and system for intelligently tracking pets to be monitored. Background Art

[0002] Many families keep pets to be monitored, but people now have less and less time to take care of them. When the owner is not at home, the pet can be checked through surveillance video, but pets to be monitored are generally small in size, and vision-based tracking methods have blind spots, which can lead to loss of tracking.

[0003] The solutions currently proposed to this problem include: setting up multiple sensors in the house, using multiple sensors to locate each other to determine the position of the pet to be monitored, and using a shaking head camera to take pictures of the pet to be monitored, thereby obtaining the position of the pet to be monitored.

[0004] However, some pets to be monitored cannot stay indoors all the time, such as some dogs, and need to be walked frequently. If there is no time to walk the dog and the pet to be monitored runs out of the house by itself, it is easy to cause the pet to be monitored to be lost.

[0005] Therefore, how to more effectively perform intelligent monitoring of pets is a problem that needs to be solved. Summary of the Invention

[0006] The purpose of this application is to provide an intelligent method, device and system for tracking pets to be monitored, so as to solve the problem that pets to be monitored are easily lost outdoors.

[0007] The first aspect of the present application provides a method for tracking an intelligent pet to be monitored, mainly comprising:

[0008] Sending a pulse signal to the environment where the home camera is located;

[0009] obtaining a feedback signal from a beacon carried by the pet to be monitored in response to the pulse signal;

[0010] Determining a positional relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the positional relationship includes at least an angle parameter and a distance parameter;

[0011] The camera deflection of the home camera is controlled according to the positional relationship so that the camera can capture the pet to be monitored.

[0012] Preferably, the controlling the camera deflection of the home camera includes:

[0013] Determine whether the pet to be monitored is within the visible area monitored by the home camera, where the visible area includes the field of view that can be captured after the camera of the home camera rotates one circle;

[0014] When the pet to be monitored is within the visual area of ​​the home camera, marking the home camera as an available camera;

[0015] Controlling at least one camera of the available cameras to deflect.

[0016] Preferably, the controlling the camera of at least one of the available cameras to deflect comprises:

[0017] The available cameras are sorted from near to far according to the positions of the pet to be monitored and the available cameras, and the deflection control is performed on one or more available cameras that are closest in the sorting.

[0018] Preferably, the method for tracking an intelligent pet to be monitored further comprises:

[0019] When no pet to be monitored is found in the field of view of the shooting, determining whether it is in an obstruction state;

[0020] The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

[0021] Preferably, the method for tracking an intelligent pet to be monitored further comprises:

[0022] The images captured by one or more available cameras that are ranked first are displayed in a large area on the display screen, and the images captured by other available cameras are displayed in a small area outside the large area of ​​the display screen.

[0023] Preferably, controlling the camera deflection of the home camera includes:

[0024] After initially receiving a feedback signal from the beacon carried by the pet to be monitored, controlling the camera of the home camera to deflect to face the pet to be monitored;

[0025] When the pet to be monitored moves to a designated area outside the shooting range of the home camera, the camera head of the home camera is controlled to deflect in the direction where the pet to be monitored leaves the designated area, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera head of the home camera is deflected to face the pet to be monitored.

[0026] The second aspect of the present application provides a smart device for tracking pets to be monitored, which mainly includes:

[0027] A pulse signal sending module, used for sending a pulse signal to the environment where the home camera is located;

[0028] a feedback signal receiving module for acquiring a feedback signal from a beacon carried by the pet to be monitored in response to the pulse signal;

[0029] a pet position calculation module for determining a position relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the position relationship includes at least an angle parameter and a distance parameter;

[0030] The pet tracking module to be monitored is used to control the camera deflection of the home camera according to the position relationship so that the camera can capture the pet to be monitored.

[0031] Preferably, the pet tracking module to be monitored includes:

[0032] A unit for preliminarily determining the position of a pet to be monitored, configured to determine whether the pet to be monitored is within a visible area monitored by the home camera, wherein the visible area includes a field of view that can be captured by the camera of the home camera after one rotation;

[0033] an available camera determining unit, configured to mark the home camera as an available camera when the pet to be monitored is within the visual area of ​​the home camera;

[0034] The available camera selection unit is used to control the deflection of at least one of the available cameras.

[0035] Preferably, the available camera selection unit includes:

[0036] The sorting unit is used to sort the available cameras from near to far according to the positions of the pet to be monitored and the available cameras, and to perform deflection control on one or more available cameras that are closest in the sorting.

[0037] Preferably, the intelligent pet tracking device to be monitored further comprises:

[0038] An occlusion state judgment module is used to judge whether it is an occlusion state when no pet to be monitored is found in the field of view of the shooting;

[0039] The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

[0040] Preferably, the intelligent pet tracking device to be monitored further comprises:

[0041] The image processing module is used to display the images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display the images captured by other available cameras in a small area outside the large area of ​​the display screen.

[0042] Preferably, the pet tracking module to be monitored includes:

[0043] an initial alignment unit, configured to display images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display images captured by other available cameras in small areas outside the large area of ​​the display screen;

[0044] A camera tracking movement control unit is used to control the camera of the home camera to deflect in the direction where the pet to be monitored leaves the designated area when the pet to be monitored moves to a designated area outside the shooting range of the home camera, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera of the home camera is deflected to face the pet to be monitored.

[0045] A third aspect of the present application provides an intelligent pet tracking system to be monitored, comprising at least one or more home cameras and an electronic device carried by the pet to be monitored, wherein the electronic device has a built-in beacon;

[0046] Each of the home cameras is provided with an antenna array for sending a pulse signal to the beacon and for the home camera to receive a feedback signal from the beacon. The home camera has a camera that can rotate for shooting, and the home camera is configured to implement the method for intelligently tracking pets to be monitored as described above.

[0047] Preferably, the electronic device carried by the pet to be monitored is set in the pet collar.

[0048] This application can track the pet to be monitored in real time, prevent the pet to be monitored from being lost, and reduce the burden on users to raise the pet to be monitored. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a flow chart of a preferred embodiment of the intelligent pet tracking method of the present application.

[0050] Figure 2 This is a diagram showing the camera initially aiming at the pet to be monitored.

[0051] Figure 3 A diagram showing the designated area where the pet to be monitored leaves the camera. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the implementation of this application will be described in more detail below in conjunction with the drawings in the implementation of this application. In the drawings, the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The described implementation is a part of the implementation of this application, not all of the implementations. The implementation described below with reference to the drawings is exemplary and is intended to be used to explain this application, and should not be understood as a limitation on this application. Based on the implementation in this application, all other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The implementation of this application is described in detail below in conjunction with the drawings.

[0053] The first aspect of the present application provides a method for tracking an intelligent pet to be monitored, such as Figure 1 As shown, it mainly includes:

[0054] Step S1, sending a pulse signal to the environment where the home camera is located;

[0055] Step S2: obtaining a feedback signal from the beacon carried by the pet to be monitored in response to the pulse signal;

[0056] Step S3: determining a positional relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the positional relationship includes at least an angle parameter and a distance parameter;

[0057] Step S4: controlling the camera deflection of the home camera according to the positional relationship so that the camera can capture the pet to be monitored.

[0058] The home camera of the present application can be a camera with a rotatable camera head, or a camera that can be mounted on a pan-tilt platform and rotates with the pan-tilt platform, or a combination of the two. For example, if the pan-tilt platform rotates half a circle, the camera mounted on the pan-tilt platform can also rotate half a circle, thereby achieving 360° surround shooting. In addition, the home camera can be a single camera, or a dual camera, or multiple cameras. For example, in the case of a dual camera, the lower camera is fixed and the upper camera is a rotatable camera.

[0059] The present application installs a pulse transmitting device on a home camera to send out a pulse signal, which can be captured by a beacon carried by the pet to be monitored and give a feedback signal, which can be received by a pulse receiving device installed on the home camera. In an alternative embodiment, the pulse transmitting device and the pulse receiving device can be installed separately in other positions. It should be understood that when the pulse transmitting device and the pulse receiving device are both installed on the home camera, they can rotate synchronously with the pan / tilt head of the home camera. When the pulse transmitting device and the pulse receiving device are installed separately, it is necessary to calibrate the positional relationship between the pulse transmitting device, the pulse receiving device and the home camera so as to perform coordinate conversion when solving the camera deflection angle of the home camera.

[0060] According to the feedback signal, the positional relationship of the pet to be monitored relative to the home camera can be understood, thereby controlling the home camera to deflect so that the home camera can capture the pet to be monitored.

[0061] It is understandable that the above scheme can set the processing step size, that is, repeat the above steps at specified intervals, so that the camera of the home camera can be controlled to deflect at any time according to the specific location of the pet to be monitored, thereby achieving continuous tracking of the pet to be monitored.

[0062] In some optional implementations, controlling the camera deflection of the home camera includes:

[0063] Step S41: Determine whether the pet to be monitored is within the visible area monitored by the home camera, where the visible area includes the field of view that can be captured after the camera of the home camera rotates one circle;

[0064] Step S42: When the pet to be monitored is within the visible area of ​​the home camera, mark the home camera as an available camera;

[0065] Step S43: Control at least one camera of the available cameras to deflect.

[0066] In this embodiment, multiple home cameras are typically installed. Although the cameras can rotate 360°, they are limited by the location of the residential area where they are installed, and cannot achieve 360° coverage without blind spots. For example, they may be blocked by trees, buildings, and other fixed facilities. Therefore, in steps S41 and S42, it is necessary to determine the viewing area of ​​each home camera so that the position of the monitored pet can be determined based on the location of the monitored pet. Home cameras that can capture the monitored pet are defined as available cameras. Then, in step S43, one or more available cameras are selected for joint control to track and capture the monitored pet from multiple angles.

[0067] In some optional implementations, controlling at least one camera of the available cameras to deflect includes:

[0068] The available cameras are sorted from near to far according to the positions of the pet to be monitored and the available cameras, and the deflection control is performed on one or more available cameras that are closest in the sorting.

[0069] In this embodiment, when selecting available cameras, it is generally believed that the closer the available cameras are to the pet to be monitored, the clearer the pictures or videos of the pet to be monitored will be. Therefore, one or more available cameras that are closest in the preferred sorting are deflected and controlled, and other available cameras or home cameras are no longer deflected to save resources.

[0070] In some optional embodiments, the method for tracking an intelligent pet to be monitored further includes:

[0071] When no pet to be monitored is found in the field of view of the shooting, determining whether it is in an obstruction state;

[0072] The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

[0073] Although the pet to be monitored is within the shooting range of the available camera, there are still cases where the pet to be monitored cannot be photographed. This is mainly because there are some mobile obstructions, such as pedestrians, vehicles, etc. For this reason, this embodiment determines whether it is in an obstruction state by repeatedly shooting at intervals of a certain period of time. Usually, for pedestrian obstructions, the pet can be detected again after a set time, and the pedestrian only needs to be marked as an obstruction. However, for vehicles, etc., the stay time may be too long, and the pet to be monitored is very likely to be close to the vehicle. At this time, after executing the operation multiple times in a cycle, the pet to be monitored may still not be found. It can be determined that the pet to be monitored is not in the monitoring area, or the visual camera is considered to be unavailable at this time and does not participate in subsequent sorting processes.

[0074] In some optional embodiments, the method for tracking an intelligent pet to be monitored further includes:

[0075] Step S5: Display the images captured by the one or more available cameras that are ranked first in a large area on the display screen, and display the images captured by the other available cameras in small areas outside the large area of ​​the display screen.

[0076] This embodiment is used to display pictures or videos of the pet to be monitored that are tracked and shot. If the terminal is connected to multiple cameras, multi-frequency display is usually performed on the terminal. The largest screen is connected to the best available camera to display the clearest picture, and other small screens display other linked pictures. The large screen display picture is dynamically adjusted according to the position of the pet to be monitored. The so-called best available camera here usually refers to the camera closest to the pet to be monitored. Of course, there is also a situation where the pet to be detected is located exactly between two available cameras. At this time, the pictures taken by these two cameras can be loaded into the largest screen, which can be displayed alternately or further partitioned.

[0077] In some optional implementations, controlling the camera deflection of the home camera includes:

[0078] Step S44: after initially receiving a feedback signal from the beacon carried by the pet to be monitored, controlling the camera of the home camera to deflect to face the pet to be monitored;

[0079] Step S45: When the pet to be monitored moves to a designated area outside the shooting range of the home camera, the camera head of the home camera is controlled to deflect in the direction in which the pet to be monitored leaves the designated area, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera head of the home camera is deflected to face the pet to be monitored.

[0080] This embodiment mainly describes the camera deflection angle and rate control strategy. In step S44, as shown in FIG. Figure 2 As described, when the pet A to be monitored enters the shooting range B of the home camera, the home camera is deflected so that the pet A to be monitored is located at the center of the shooting range B. In other alternative embodiments, when the home camera is initially determined to need to be deflected to track the pet to be monitored, the home camera is deflected so that the pet A to be monitored is located at the center of the shooting range B.

[0081] Afterwards, a designated area C is set within the shooting range B. The designated area C is usually concentric with the shooting range B and is approximately 1 / 4 of the shooting range. When the monitored pet A moves within the designated area C, the camera of the home camera does not deflect. In step S45, when the monitored pet A moves outside the designated area C, the camera of the home camera is controlled to deflect according to the direction and angular velocity when leaving, as shown in FIG. Figure 3 As shown, when the pet A to be monitored leaves the right side of the designated area C, the camera of the home camera is controlled to deflect to the right, and its deflection speed is greater than the movement speed of the pet A to be monitored, for example, 1.5 times to 2 times. After a certain period of time, the pet A to be monitored is back in the center of the shooting range B.

[0082] This embodiment can, to a certain extent, prevent the camera from shaking due to slight movements of the pet to be monitored, thereby ensuring image quality.

[0083] The second aspect of the present application provides a device for tracking an intelligent pet to be monitored corresponding to the above method, mainly comprising:

[0084] A pulse signal sending module, used for sending a pulse signal to the environment where the home camera is located;

[0085] a feedback signal receiving module for acquiring a feedback signal from a beacon carried by the pet to be monitored in response to the pulse signal;

[0086] a pet position calculation module for determining a position relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the position relationship includes at least an angle parameter and a distance parameter;

[0087] The pet tracking module to be monitored is used to control the camera deflection of the home camera according to the position relationship so that the camera can capture the pet to be monitored.

[0088] In some optional embodiments, the pet tracking module to be monitored includes:

[0089] A unit for preliminarily determining the position of a pet to be monitored, configured to determine whether the pet to be monitored is within a visible area monitored by the home camera, wherein the visible area includes a field of view that can be captured by the camera of the home camera after one rotation;

[0090] an available camera determining unit, configured to mark the home camera as an available camera when the pet to be monitored is within the visual area of ​​the home camera;

[0091] The available camera selection unit is used to control the deflection of at least one of the available cameras.

[0092] In some optional implementations, the available camera selection unit includes:

[0093] The sorting unit is used to sort the available cameras from near to far according to the positions of the pet to be monitored and the available cameras, and to perform deflection control on one or more available cameras that are closest in the sorting.

[0094] In some optional embodiments, the smart pet tracking device to be monitored further includes:

[0095] An occlusion state judgment module is used to judge whether it is an occlusion state when no pet to be monitored is found in the field of view of the shooting;

[0096] The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

[0097] In some optional embodiments, the smart pet tracking device to be monitored further includes:

[0098] The image processing module is used to display the images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display the images captured by other available cameras in a small area outside the large area of ​​the display screen.

[0099] In some optional embodiments, the pet tracking module to be monitored includes:

[0100] an initial alignment unit, configured to display images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display images captured by other available cameras in small areas outside the large area of ​​the display screen;

[0101] A camera tracking movement control unit is used to control the camera of the home camera to deflect in the direction where the pet to be monitored leaves the designated area when the pet to be monitored moves to a designated area outside the shooting range of the home camera, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera of the home camera is deflected to face the pet to be monitored.

[0102] A third aspect of the present application provides an intelligent pet tracking system to be monitored, comprising at least one or more home cameras and an electronic device carried by the pet to be monitored, wherein the electronic device has a built-in beacon;

[0103] Each of the home cameras is provided with an antenna array for sending a pulse signal to the beacon and for the home camera to receive a feedback signal from the beacon. The home camera has a camera that can rotate for shooting, and the home camera is configured to implement the method for intelligently tracking pets to be monitored as described above.

[0104] In this embodiment, the pet to be monitored first carries an electronic device with a beacon, such as a UWB antenna. Simultaneously, a UWB antenna array, typically consisting of two antennas, is attached to a home camera to transmit and receive signals to the beacon and measure the position of the pet to be monitored relative to the home camera. During operation, the home camera's UWB antenna array is mounted on the same pan / tilt (PTZ) as the home camera. Based on the algorithm provided in this application, the distance between the pet to be monitored carrying the beacon and the home camera, as well as the angle relative to the antenna array, is calculated in real time. When tracking the pet to be monitored, the PTZ is controlled to rotate in a specified direction based on the feedback of the angle and distance to continue capturing the pet to be monitored.

[0105] In some optional embodiments, the electronic device carried by the pet to be monitored is set in a pet collar.

[0106] The electronic device of the present application can be placed in various devices that are convenient for the pet to be monitored to carry, such as pet collars, clothes, anklets, bells, etc.

[0107] This application solves the problem of tracking pets to be monitored by ordinary home cameras, so that the pets to be monitored can always be photographed by home cameras.

[0108] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for tracking an intelligent pet to be monitored, applied to a home camera, characterized in that: include: Sending a pulse signal to the environment where the home camera is located; obtaining a feedback signal from a beacon carried by the pet to be monitored in response to the pulse signal; Determining a positional relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the positional relationship includes at least an angle parameter and a distance parameter; The camera deflection of the home camera is controlled according to the positional relationship so that the camera can capture the pet to be monitored.

2. The method for tracking an intelligent pet to be monitored according to claim 1, wherein: The controlling the camera deflection of the home camera comprises: Determine whether the pet to be monitored is within the visible area monitored by the home camera, where the visible area includes the field of view that can be captured after the camera of the home camera rotates one circle; When the pet to be monitored is within the visual area of ​​the home camera, marking the home camera as an available camera; Controlling at least one camera of the available cameras to deflect.

3. The method for tracking an intelligent pet to be monitored according to claim 2, wherein: The controlling the camera of at least one of the available cameras to deflect comprises: The available cameras are sorted from near to far according to the positions of the pet to be monitored and the available cameras, and the deflection control is performed on one or more available cameras that are closest in the sorting.

4. The method for tracking an intelligent pet to be monitored according to claim 3, wherein: The method for tracking an intelligent pet to be monitored further includes: When no pet to be monitored is found in the field of view of the shooting, determining whether it is in an obstruction state; The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

5. The method for tracking an intelligent pet to be monitored according to claim 3, wherein: The method for tracking an intelligent pet to be monitored further includes: The images captured by one or more available cameras that are ranked first are displayed in a large area on the display screen, and the images captured by other available cameras are displayed in a small area outside the large area of ​​the display screen.

6. The method for tracking an intelligent pet to be monitored according to claim 1, wherein: Controlling the camera deflection of the home camera includes: After initially receiving a feedback signal from the beacon carried by the pet to be monitored, controlling the camera of the home camera to deflect to face the pet to be monitored; When the pet to be monitored moves to a designated area outside the shooting range of the home camera, the camera head of the home camera is controlled to deflect in the direction where the pet to be monitored leaves the designated area, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera head of the home camera is deflected to face the pet to be monitored.

7. An intelligent device for tracking pets to be monitored, characterized in that: include: A pulse signal sending module, used for sending a pulse signal to the environment where the home camera is located; a feedback signal receiving module for acquiring a feedback signal from a beacon carried by the pet to be monitored in response to the pulse signal; a pet position calculation module for determining a position relationship of the pet to be monitored relative to the home camera based on the received feedback signal, wherein the position relationship includes at least an angle parameter and a distance parameter; The pet tracking module to be monitored is used to control the camera deflection of the home camera according to the position relationship so that the camera can capture the pet to be monitored.

8. The intelligent pet tracking device according to claim 7, wherein: The pet tracking module to be monitored includes: A unit for preliminarily determining the position of a pet to be monitored, configured to determine whether the pet to be monitored is within a visible area monitored by the home camera, wherein the visible area includes a field of view that can be captured by the camera of the home camera after one rotation; an available camera determining unit, configured to mark the home camera as an available camera when the pet to be monitored is within the visual area of ​​the home camera; The available camera selection unit is used to control the deflection of at least one of the available cameras.

9. The intelligent pet tracking device according to claim 8, wherein: The available camera selection unit includes: The sorting unit is used to sort the available cameras from near to far according to the positions of the pet to be monitored and the available cameras, and to perform deflection control on one or more available cameras that are closest in the sorting.

10. The intelligent pet tracking device according to claim 9, wherein: The intelligent pet tracking device to be monitored also includes: An occlusion state judgment module is used to judge whether it is an occlusion state when no pet to be monitored is found in the field of view of the shooting; The determination of whether it is in an obstruction state includes: after a set time, driving the available camera to perform surround shooting again to determine whether it is in an obstruction state; when the pet to be monitored is detected, it is determined to be in an obstruction state and the obstruction is marked; when the pet to be monitored is still not found after multiple cycles of operations, it is determined that the pet to be monitored is not in the monitoring area.

11. The intelligent pet tracking device according to claim 9, wherein: The intelligent pet tracking device to be monitored also includes: The image processing module is used to display the images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display the images captured by other available cameras in a small area outside the large area of ​​the display screen.

12. The intelligent pet tracking device according to claim 7, wherein: The pet tracking module to be monitored includes: an initial alignment unit, configured to display images captured by one or more of the available cameras that are ranked first in a large area on the display screen, and to display images captured by other available cameras in small areas outside the large area of ​​the display screen; A camera tracking movement control unit is used to control the camera of the home camera to deflect in the direction where the pet to be monitored leaves the designated area when the pet to be monitored moves to a designated area outside the shooting range of the home camera, and the deflection angular velocity is configured to be a set multiple of the angular velocity of the pet to be monitored moving within the shooting range of the home camera, until the camera of the home camera is deflected to face the pet to be monitored.

13. An intelligent pet tracking system to be monitored, characterized in that: The device comprises at least one or more home cameras and an electronic device carried by the pet to be monitored, wherein the electronic device has a built-in beacon; Each of the home cameras is provided with an antenna array for sending a pulse signal to the beacon and for the home camera to receive a feedback signal from the beacon. The home camera has a camera that can rotate for shooting. The home camera is configured to implement the method for tracking the intelligent pet to be monitored as described in any one of claims 1-7.

14. The intelligent pet tracking system according to claim 13, wherein: The electronic device carried by the pet to be monitored is arranged in the pet collar.

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