Pet training system

Abstract

The application discloses a pet training system and relates to the technical field of Internet of Things.In the application, a pet training system is constructed by a pet collar, a relay gateway, a cloud server and a user terminal device, and a bidirectional communication link between the pet collar, the relay gateway, the cloud server and the user terminal device is constructed, pet information collected by the pet collar and device information of the pet collar are carried to the user terminal device through a first communication link in the bidirectional communication link, and training information of the user terminal device is carried to the pet collar through a second communication link in the bidirectional communication link.Thus, remote, real-time and bidirectional interaction between a pet owner and a pet is realized, and the pet owner can actively intervene in and train the pet behavior.

Description

Technical Field

[0001] This application relates to the field of Internet of Things (IoT) technology, and more particularly to a pet training system. Background Technology

[0002] Existing pet tracking devices, such as GPS collars and Bluetooth anti-loss devices, mainly address the problem of finding and locating pets. They have limited functionality and lack remote, real-time, and two-way interaction methods between pet owners and pets, making it impossible to proactively intervene in and train pet behavior.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Utility Model Content

[0004] The main purpose of this application is to provide a pet training system that aims to solve the technical problem of being unable to actively intervene in and train pet behavior due to the inability to interact with pets remotely, in real time, and in both directions.

[0005] To achieve the above objectives, this application proposes a pet training system, which includes:

[0006] Pet collars, repeater gateways, cloud servers, and user terminal equipment;

[0007] A bidirectional communication link exists between the pet collar, the relay gateway, the cloud server, and the user terminal device. The bidirectional communication link includes a first communication link and a second communication link. The first communication link passes sequentially through the pet collar, the relay gateway, the cloud server, and the user terminal device. The second communication link passes sequentially through the user terminal device, the cloud server, the relay gateway, and the pet collar. The first communication link carries pet information collected by the pet collar and device information of the pet collar. The second communication link carries training information from the user terminal device.

[0008] In one embodiment, the pet collar includes a microphone and an accelerometer, as well as a communication chip for communicating with the relay gateway;

[0009] The pet information collected by the pet collar includes ambient sound information collected by the microphone and pet movement information collected by the accelerometer, as well as relative position information between the pet and the relay gateway determined by the communication connection.

[0010] In one embodiment, the communication chip that communicates with the relay gateway is a Bluetooth Low Energy chip, and the communication connection is a Bluetooth Low Energy connection.

[0011] In one embodiment, the Bluetooth Low Energy chip integrates a dynamic adjustment module for dynamically adjusting the broadcast interval of the Bluetooth Low Energy signal based on the pet's movement information collected by the accelerometer.

[0012] In one embodiment, the pet collar further includes a speaker for broadcasting training information from the user terminal device.

[0013] In one embodiment, the pet collar further includes a vibration device that emits vibrations corresponding to the training information of the user terminal device.

[0014] In one embodiment, the pet collar further includes a microcurrent device that emits a microcurrent corresponding to the training information of the user terminal device.

[0015] In one embodiment, the relay gateway includes a positioning module for collecting the gateway location information of the relay gateway;

[0016] The pet information collected by the pet collar also includes the gateway location information of the relay gateway.

[0017] In one embodiment, the relay gateway is the user terminal device; the pet training system includes:

[0018] The pet collar, the user terminal device, and the cloud server;

[0019] There is a bidirectional communication link between the pet collar, the user terminal device, and the cloud server. The bidirectional communication link includes a third communication link and a fourth communication link. The third communication link passes through the pet collar, the user terminal device, and the cloud server in sequence. The fourth communication link passes through the cloud server, the user terminal device, and the pet collar in sequence. The third communication link carries pet information collected by the pet collar and device information of the pet collar. The fourth communication link carries training information provided by the cloud server.

[0020] In one embodiment, the pet training system includes:

[0021] The pet collar and the user terminal device;

[0022] There is a bidirectional communication link between the pet collar and the user terminal device. The bidirectional communication link includes a fifth communication link and a sixth communication link. The fifth communication link passes through the pet collar and the user terminal device in sequence, and the sixth communication link passes through the user terminal device and the pet collar in sequence. The fifth communication link carries pet information collected by the pet collar and device information of the pet collar, and the sixth communication link carries training information given by the user terminal device.

[0023] One or more technical solutions proposed in this application have at least the following technical effects:

[0024] This application constructs a pet training system consisting of a pet collar, a relay gateway, a cloud server, and a user terminal device. A bidirectional communication link is established between the pet collar, relay gateway, cloud server, and user terminal device. The first communication link in this bidirectional communication system carries pet information collected by the pet collar and the collar's device information to the user terminal device. The second communication link carries training information from the user terminal device to the pet collar. This enables remote, real-time, bidirectional interaction between pet owners and their pets, allowing pet owners to proactively intervene in and train their pets' behavior. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a first structural schematic diagram of the first embodiment of the pet training system provided by this utility model;

[0027] Figure 2 A first schematic diagram of a pet collar according to an embodiment of the pet training system provided by this utility model;

[0028] Figure 3 A second schematic diagram of a pet collar according to an embodiment of the pet training system provided by this utility model;

[0029] Figure 4 This is a second structural diagram of a second embodiment of the pet training system provided by this utility model;

[0030] Figure 5 This is a third structural diagram of the third embodiment of the pet training system provided by this utility model.

[0031] Explanation of icon numbers:

[0032] 10. Pet collar; 20. Relay gateway; 30. Cloud server; 40. User terminal equipment; M. Microphone; J. Accelerometer; Y. Speaker; Z. Vibration device; W. Microcurrent device.

[0033] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] This utility model proposes a pet training system.

[0038] Please see Figure 1 In the first embodiment of this utility model, the pet training system includes:

[0039] 10 pet collars, 20 relay gateways, 30 cloud servers, and 40 user terminal devices;

[0040] There is a bidirectional communication link between the pet collar 10, the relay gateway 20, the cloud server 30, and the user terminal device 40. The bidirectional communication link includes a first communication link and a second communication link. The first communication link passes through the pet collar 10, the relay gateway 20, the cloud server 30, and the user terminal device 40 in sequence. The second communication link passes through the user terminal device 40, the cloud server 30, the relay gateway 20, and the pet collar 10 in sequence. The first communication link carries pet information collected by the pet collar 10 and the device information of the pet collar 10. The second communication link carries training information from the user terminal device 40.

[0041] The pet collar 10, as a smart pet device, can be adapted to be worn on pets, such as on their necks or limbs. Furthermore, in this embodiment, there is no limitation on the wearing location of the pet collar 10, nor on the number of pet collars 10 worn; one or more pet collars 10 can be worn on the pet. This allows for better realization of the functions of the sensors on the pet collar 10 and optimizes their effectiveness. For example, a pet collar 10 equipped with a microphone M and a speaker Y can be worn around the pet's neck, while a pet collar 10 equipped with a vibration device Z and a microcurrent device W can be worn on the pet's limbs. Moreover, in this embodiment, there is no limitation on the type of pet; it can be a cat, dog, rabbit, etc.

[0042] The relay gateway 20 can be a fixed device deployed in pet activity scenarios such as homes / yards, such as a WiFi / BLE gateway or a BLE-enabled smart home hub. It has the following functions: by scanning surrounding BLE signals, it can obtain radio positioning information such as RSS I and AoA; it can then calculate the location of the pet collar 10 using algorithms such as triangulation and fingerprint positioning; it can upload pet information collected by the pet collar 10, such as location information and device information of the pet collar 10, to the cloud server 30 via WiFi / Ethernet; and it can also receive instructions from the cloud server 30 and forward them to the corresponding pet collar 10.

[0043] The cloud server 30 receives and stores pet information collected by the pet collar 10 and the device information of the pet collar 10, forwarded from the relay gateway 20. It possesses the following core operational logic: electronic fence management, boundary crossing alarm determination, historical trajectory storage and analysis, user account management, device management (such as binding the pet collar 10 to the relay gateway 20), command routing (forwarding commands from the user terminal device 40 to the corresponding relay gateway 20), and providing APIs for the terminal applications of the user terminal device 40 to invoke. In one embodiment, the pet information may include not only the pet information collected by the pet collar 10 and the device information of the pet collar 10, but also the device information of the relay gateway 20 and the cloud server 30.

[0044] The user terminal device 40 can install a terminal application APP, including iOS or Android applications. The user terminal device 40 can display a map interface to show the pet's location in real time from the pet information collected by the pet collar 10. It can display a remote training panel to provide preset or custom sound command buttons such as "Quiet," "Home," and "Good Dog," which can be sent to the pet collar 10 for playback with a single click. It can configure electronic fence settings, specifically drawing safe zones on a map and setting entry / exit alarms and related actions. These actions can include automatically playing a warning sound and pushing a notification to the terminal application APP, or automatically triggering training or reminders based on the pet's location information (such as whether it has exceeded the electronic fence). It can also play back historical tracks, monitor the device status of the pet collar 10 such as battery level and online status, manage alarms such as boundary crossing and low battery alarms, and perform personalized settings such as sound library management, training mode settings, and sensitivity adjustments. Pet owners can train their pets based on the pet information collected by the pet collar 10 carried by the first communication link and the device information of the pet collar 10 to generate training information. Alternatively, they can train their pets directly without the aforementioned first communication link or the pet information collected by the pet collar 10 carried by the aforementioned first communication link and the device information of the pet collar 10. In this case, training information can also be generated.

[0045] In this embodiment, a pet training system is constructed, consisting of a pet collar 10, a relay gateway 20, a cloud server 30, and a user terminal device 40. A bidirectional communication link is established between the pet collar 10, the relay gateway 20, the cloud server 30, and the user terminal device 40. The first communication link in this bidirectional communication link carries pet information collected by the pet collar 10 and the device information of the pet collar 10 to the user terminal device 40. The second communication link in this bidirectional communication link carries training information from the user terminal device 40 to the pet collar 10. This enables remote, real-time, bidirectional interaction between the pet owner and the pet, allowing the pet owner to proactively intervene in and train the pet's behavior.

[0046] In one embodiment, the pet collar 10 includes a microphone M and an accelerometer J, as well as a communication chip for communicating with a relay gateway 20;

[0047] The pet information collected by the pet collar 10 includes ambient sound information collected by the microphone M and pet movement information collected by the accelerometer J, as well as relative position information between the pet and the relay gateway 20 determined through a communication connection.

[0048] Please see Figure 2In this embodiment, the shape and form of the pet collar 10 are not limited; it can be a collar or a tag. Different sensors, or multiple sensors of the same type, can be installed on the pet collar 10. Sensors that can be installed on the pet collar 10 include, but are not limited to, a microphone M, an accelerometer J, a speaker Y, a vibration device Z, a microcurrent device W, a camera, and a temperature sensor. The accelerometer J can be used to implement functions such as motion detection, step counting, fall detection, and power saving when stationary.

[0049] Please see Figure 3 The pet collar 10 collects environmental sound information and pet movement information through the microphone M and accelerometer J, respectively, and incorporates the environmental sound information and pet movement information as components of the pet information.

[0050] In addition, the Pet Collar 10 is a lightweight, low-power smart pet device that can be powered by a built-in battery such as a button cell battery or a small lithium battery and communicate via an antenna.

[0051] In one embodiment, the communication chip that communicates with the relay gateway 20 is a Bluetooth Low Energy chip, and the communication connection is a Bluetooth Low Energy connection.

[0052] Currently, traditional pet tracking devices have limitations in positioning. For example, GPS collars have high power consumption, poor indoor positioning performance, and high cost; while anti-loss devices based on traditional Bluetooth beacons can only provide short-range alerts and cannot provide precise location or remote monitoring.

[0053] In this embodiment, a near-field positioning capability with better accuracy (especially indoors), lower cost, and lower power consumption than GPS is provided within a limited range such as a home / yard using Bluetooth Low Energy (BLE) connection.

[0054] In one embodiment, the Bluetooth Low Energy chip integrates a dynamic adjustment module for dynamically adjusting the broadcast interval of the Bluetooth Low Energy signal based on pet movement information collected by the accelerometer J.

[0055] In this embodiment, a dynamic power management strategy based on pet movement information is used to dynamically adjust the broadcast interval of the low-power Bluetooth signal, maximizing battery life while ensuring positioning availability. For example, when the pet is detected to be stationary, the broadcast interval can be increased to save power, which can significantly extend the battery life of the pet collar 10 and reduce the maintenance frequency.

[0056] In one embodiment, the pet collar 10 also includes a speaker Y, through which training information from the user terminal device 40 is broadcast.

[0057] Please see Figure 3The pet collar 10 also includes a speaker Y, which broadcasts training information from the user terminal device 40. That is, after receiving BLE instructions from the relay gateway 20 through the connection or broadcast channel, the pet collar 10 decodes and plays remote sound commands from the user terminal device 40 or the cloud server 30, such as "sit," "no," "come back," specific whistles, white noise, owner recordings, etc.

[0058] In one embodiment, the pet collar 10 further includes a vibration device Z, which emits vibrations corresponding to the training information of the user terminal device 40.

[0059] Please see Figure 3 The pet collar 10 also includes a vibration device Z, which emits vibrations corresponding to the training information from the user terminal device 40. That is, in addition to voice commands adapted to the speaker Y, it can also be other forms of commands, such as commands adapted to other sensors added to the pet collar 10. In this embodiment, the pet collar 10 also includes a vibration device Z, which can also emit vibrations corresponding to the training information from the user terminal device 40, i.e., remote training commands from the user terminal device 40 or the cloud server 30.

[0060] In one embodiment, the pet collar 10 further includes a microcurrent device W, which emits a microcurrent corresponding to the training information of the user terminal device 40.

[0061] Please see Figure 3 The pet collar 10 also includes a microcurrent device W, which emits a microcurrent corresponding to the training information from the user terminal device 40. In other words, the microcurrent device W can also emit a microcurrent corresponding to the training information from the user terminal device 40, i.e., a remote training command from the user terminal device 40 or the cloud server 30.

[0062] In one embodiment, the relay gateway 20 includes a positioning module for collecting gateway location information of the relay gateway 20;

[0063] The pet information collected by the pet collar 10 also includes the gateway location information of the relay gateway 20.

[0064] The location information for the pet collar 10 includes two parts: the gateway location information of the relay gateway 20, and the relative location information between the pet collar 10 and the relay gateway 20. These two parts together determine the accurate location of the pet collar 10. The gateway location information of the relay gateway 20 can be its own GPS coordinates detected by the relay gateway 20. Thus, precise location information for the pet collar 10 is provided.

[0065] Please seeFigure 4 In the second embodiment of this utility model, the relay gateway 20 is a user terminal device 40; the pet training system includes:

[0066] 10 pet collars, 40 user terminal devices, and 30 cloud servers;

[0067] There is a two-way communication link between the pet collar 10, the user terminal device 40, and the cloud server 30. The two-way communication link includes a third communication link and a fourth communication link. The third communication link passes through the pet collar 10, the user terminal device 40, and the cloud server 30 in sequence. The fourth communication link passes through the cloud server 30, the user terminal device 40, and the pet collar 10 in sequence. The third communication link carries the pet information collected by the pet collar 10 and the device information of the pet collar 10. The fourth communication link carries the training information given by the cloud server 30.

[0068] For the relay gateway 20, in addition to being a fixed device deployed in pet activity scenarios such as homes / yards, such as a WiFi / BLE gateway or a smart home hub that supports BLE, the user terminal device 40 can also be used as a mobile gateway.

[0069] In addition, fixed gateways and mobile gateways can be used in combination. For example, when at home, a fixed gateway can be used to achieve whole-house coverage of the pet collar 10; when walking the dog or temporarily looking for it, the user terminal device 40 can be used to directly connect to the pet collar 10.

[0070] At this point, the pet information and the device information of the pet collar 10 provided to the cloud server 30 can be processed by the AI ​​of the cloud server 30. For example, it can automatically provide training information based on the pet information and device information, or the cloud server 30 can forward the pet information and device information to other user terminal devices besides the user terminal device 40 acting as a mobile gateway, where training information can be provided based on the pet information and device information. In one embodiment, the training information may include training information obtained by combining the training information provided by the AI ​​of the cloud server 30 and the training information provided by other user terminal devices. In another embodiment, the cloud server 30 can also provide adjustment suggestions for the training information provided by other user terminal devices on the second communication link.

[0071] In this embodiment, by using the user terminal device 40 as a mobile gateway, the flexibility of the pet training system is enhanced, which can adapt to different training scenarios such as indoor and outdoor training needs, and ensure the functional availability in different training scenarios.

[0072] Please see Figure 5 In the third embodiment of this utility model, the pet training system includes:

[0073] Pet collar 10 and user terminal device 40;

[0074] There is a two-way communication link between the pet collar 10 and the user terminal device 40. The two-way communication link includes a fifth communication link and a sixth communication link. The fifth communication link passes through the pet collar 10 and the user terminal device 40 in sequence, and the sixth communication link passes through the user terminal device 40 and the pet collar 10 in sequence. The fifth communication link carries the pet information collected by the pet collar 10 and the device information of the pet collar 10, and the sixth communication link carries the training information given by the user terminal device 40.

[0075] When the pet owner is near the pet collar 10 (within Bluetooth coverage), the user terminal device 40 directly scans the BLE signal (containing a unique ID) periodically broadcast by the pet collar 10 for positioning. The user terminal device 40 can display the distance and direction of the pet collar 10 relative to it and can directly send commands to the pet collar 10 via the BLE connection. At this time, the terminal application on the user terminal device 40 can synchronize the location information (GPS coordinates + BLE relative position) and command records to the cloud server 30.

[0076] In this embodiment, the direct connection between the pet collar 10 and the user terminal device 40 enables pet training to be conducted even in outdoor settings, improving the success rate and adaptability of training.

[0077] This application proposes a pet training system. In one application scenario, this system is a pet location and behavior management system that combines Bluetooth Low Energy (BLE) positioning technology, wireless communication technology, and acoustic training technology. While achieving efficient location tracking, it empowers pet owners with the ability to remotely and instantly intervene in their pets' behavior, improving pet management efficiency and safety.

[0078] In the context of remote training, if a pet owner notices inappropriate behavior from their pet, they can open the terminal application on the user terminal device 40, click the pet icon on the map interface or enter the training panel, and select the "Quiet" command. The terminal application sends this command to the cloud server 30. The cloud server 30 routes and forwards the command based on the address of the relay gateway 20 currently connected to the pet collar 10. The relay gateway 20 receives the command and sends it to the pet collar 10 via BLE. The pet collar 10 receives and decodes the command, driving the speaker Y to play a "Quiet" prompt tone.

[0079] Corresponding to automatic boundary crossing training: When a pet wearing a pet collar 10 approaches or crosses the electronic fence boundary, the relay gateway 20 continuously scans the signal of the pet collar 10 and calculates its position, reporting the position to the cloud server 30. After the fence engine of the cloud server 30 determines that a boundary crossing event has occurred, the cloud server 30 triggers an alarm rule (including the "send warning tone" action). The cloud server 30 sends a command to the relay gateway 20 bound to the pet collar 10 to play a specific warning tone. The relay gateway 20 forwards the command to the pet collar 10 via BLE, and the pet collar 10 plays a warning tone (such as "come back" or a high-frequency whistle). At the same time, the terminal application of the user terminal device 40 receives a boundary crossing push notification.

[0080] Corresponding to near-field positioning and direct training on user terminal device 40: When a pet owner is looking for their pet in a park, they open the terminal application on user terminal device 40 and enable BLE scanning. After detecting the signal from pet collar 10, the terminal application on user terminal device 40 displays the signal strength (RSSI) and approximate direction (e.g., indicated by a signal bar or arrow), and continuously updates the indication as the pet approaches. When real-time training is needed, clicking the command button on the terminal application on user terminal device 40 will directly send instructions to pet collar 10 to play sounds via the established BLE connection (or broadcast method).

[0081] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A pet training system, characterized in that, The pet training system includes: Pet collars, repeater gateways, cloud servers, and user terminal equipment; A bidirectional communication link exists between the pet collar, the relay gateway, the cloud server, and the user terminal device. The bidirectional communication link includes a first communication link and a second communication link. The first communication link passes sequentially through the pet collar, the relay gateway, the cloud server, and the user terminal device. The second communication link passes sequentially through the user terminal device, the cloud server, the relay gateway, and the pet collar. The first communication link carries pet information collected by the pet collar and device information of the pet collar. The second communication link carries training information from the user terminal device.

2. The pet training system as described in claim 1, characterized in that, The pet collar includes a microphone and an accelerometer, as well as a communication chip for communicating with the relay gateway; The pet information collected by the pet collar includes ambient sound information collected by the microphone and pet movement information collected by the accelerometer, as well as relative position information between the pet and the relay gateway determined by the communication connection.

3. The pet training system as described in claim 2, characterized in that, The communication chip that communicates with the relay gateway is a Bluetooth Low Energy chip, and the communication connection is a Bluetooth Low Energy connection.

4. The pet training system as described in claim 3, characterized in that, The low-power Bluetooth chip integrates a dynamic adjustment module, which is used to dynamically adjust the broadcast interval of the low-power Bluetooth signal based on the pet's movement information collected by the accelerometer.

5. The pet training system as described in claim 2, characterized in that, The pet collar also includes a speaker, through which training information from the user terminal device is broadcast.

6. The pet training system as described in claim 2, characterized in that, The pet collar also includes a vibration device that emits vibrations corresponding to the training information from the user terminal device.

7. The pet training system as described in claim 2, characterized in that, The pet collar also includes a microcurrent device, through which a microcurrent corresponding to the training information of the user terminal device is emitted.

8. The pet training system as described in claim 2, characterized in that, The relay gateway includes a positioning module for collecting the gateway location information of the relay gateway; The pet information collected by the pet collar also includes the gateway location information of the relay gateway.

9. The pet training system as described in claim 1, characterized in that, The relay gateway is the user terminal device; The pet training system includes: The pet collar, the user terminal device, and the cloud server; There is a bidirectional communication link between the pet collar, the user terminal device, and the cloud server. The bidirectional communication link includes a third communication link and a fourth communication link. The third communication link passes through the pet collar, the user terminal device, and the cloud server in sequence. The fourth communication link passes through the cloud server, the user terminal device, and the pet collar in sequence. The third communication link carries pet information collected by the pet collar and device information of the pet collar. The fourth communication link carries training information provided by the cloud server.

10. The pet training system as described in claim 1, characterized in that, The pet training system includes: The pet collar and the user terminal device; There is a bidirectional communication link between the pet collar and the user terminal device. The bidirectional communication link includes a fifth communication link and a sixth communication link. The fifth communication link passes through the pet collar and the user terminal device in sequence, and the sixth communication link passes through the user terminal device and the pet collar in sequence. The fifth communication link carries pet information collected by the pet collar and device information of the pet collar, and the sixth communication link carries training information given by the user terminal device.

Images