CN107372168A - A kind of pet accessory system based on positional information - Google Patents
A kind of pet accessory system based on positional information Download PDFInfo
- Publication number
- CN107372168A CN107372168A CN201710620474.XA CN201710620474A CN107372168A CN 107372168 A CN107372168 A CN 107372168A CN 201710620474 A CN201710620474 A CN 201710620474A CN 107372168 A CN107372168 A CN 107372168A
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- China
- Prior art keywords
- pet
- module
- locating module
- indoor
- arm processor
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K11/00—Marking of animals
- A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
- A01K11/008—Automatic identification systems for animals, e.g. electronic devices, transponders for animals incorporating GPS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The present invention relates to a kind of pet accessory system based on positional information, including pet object wearing device, server and APP clients；The pet object wearing device is worn on pet, it includes being accurately positioned out pet and is in the outdoor positioning part of outdoor real-time geographical locations, is accurately positioned out that pet is in the indoor positioning part of indoor real-time geographical locations and the floor in indoor specific height determines high part, and the geographical location information navigated to is sent to by the APP clients by the server, pet raises master and carries out feeding management to pet by the geographical location information that the APP clients receive.The beneficial effects of the invention are as follows：The system is used for pet health and the safety management of personal family, equally applicable when there is more pets in family, and can also be applied to pet management organization, is effectively protected pet safe and prevents pet from losing.
Description
Technical field
The present invention relates to raising pets field, and in particular to a kind of pet accessory system based on positional information.
Background technology
With the development of human society, the relation of the mankind and animal is more and more intimate, companion of the pet as the mankind, in people
Life in play more and more important role, be one of source of health of people life and happiness.And along with pet
Increase, pet safe and anti-lost problem also getting worse, how to be effectively protected pet safe and prevent pet from losing, be current
The emphasis of pet safe Study on Problems.
Location aid device on the market, designed for old man and children mostly, be seldom provided with being accurately positioned and
Exclusively for the device of pet design.And in the prior art, pet positioning often only has satellite fix, and satellite fix is in the numerous leaf of branch
The signals such as the woods, built-up city and the interior of cyclopentadienyl occur that positioning is inaccurate even without legal in the case of being blocked
The situation of position, which results in pet positioning to interrupt, and can not find the position of pet, and pet locator only has single list
To positioning, it is impossible to it is determined that height, lacks pet management function.
The content of the invention
In summary, to overcome prior art to exist the defects of, it is auxiliary that the present invention provides a kind of pet based on positional information
Auxiliary system, using multi-sensor fusion technology, solve the problems, such as pet position inaccurate, ambient adaptability difference, and increase more
More practical function, can more preferable managing pets, suitable for various environment, good interaction is established between people and pet.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of pet accessory system based on positional information,
Including pet object wearing device, server and APP clients；The pet object wearing device is worn on pet, and it is included accurately
Pet is oriented to be in the outdoor positioning part of outdoor real-time geographical locations, be accurately positioned out pet and be in indoor real-time geographic position
The indoor positioning part put and floor in indoor specific height determine high part, and will be navigated to by the server
Geographical location information is sent to the APP clients, and pet raises the main geographical location information received by the APP clients
Feeding management is carried out to pet.
The beneficial effects of the invention are as follows：The system is used for pet health and the safety management of personal family, when having in family
It is equally applicable during more pets, and pet management organization is can also be applied to, it is effectively protected pet safe and prevents pet from losing
Lose.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement：
Further, the pet object wearing device also includes arm processor module and communication module；
The outdoor positioning part is bimodulus locating module, including d GPS locating module and Big Dipper locating module, the GPS
Locating module and the Big Dipper locating module are used to obtain visible aeronautical satellite quantity, aeronautical satellite observed quantity and corresponding ephemeris；
The arm processor module, on the one hand its observed by the d GPS locating module and the Big Dipper locating module
Number of satellite, selection is accurately positioned out the real-time geographic that pet is in outdoor using d GPS locating module and Big Dipper locating module
Position or selection determine high part using the indoor positioning part and the floor；On the other hand, the arm processor module
Using corresponding ephemeris computation satellite position and the d GPS locating module and the moonscope amount of the Big Dipper locating module are corrected,
And pet is calculated in outdoor geographical position by satellite position and revised moonscope gauge；
The indoor positioning part includes gyroscope, accelerometer and magnetometer；The gyroscope is used to gather pet
Angular data is rotated, the accelerometer is used for the acceleration information for gathering pet, and the magnetometer is used to gather indoor earth magnetism letter
Breath；The arm processor module calculates pet in indoor rough location by rotating angular data and acceleration information, and
Obtained rough location is merged to obtain the accurate location of pet indoors with the indoor Geomagnetism Information matching collected；
The floor, which determines high part, includes accelerometer and barometer；The accelerometer is used to obtain pet position
Gravity acceleration value, the barometer is used to obtain the atmospheric pressure value of pet position, and the arm processor module passes through weight
Power acceleration magnitude and atmospheric pressure value calculate the height above sea level of a pet position respectively, then two height above sea level weightings are flat
Calculate and be fused into an altitude data, and the altitude data after fusion is corresponding with the floor pre-deposited extra large
Degree of lifting is contrasted, and finally obtains story height；
The communication module, it is used to that the real-time positioning geography information of pet will to be sent the arm processor module
To the server, the positioning geography information received is sent to the APP clients by the server again.
It is using the above-mentioned further beneficial effect of scheme：Pet is realized in outdoor and indoor real-time positioning, and
When pet be in it is indoor when, moreover it is possible to be accurately positioned out the floor residing for it, so as to raise master fast and accurately find corresponding pet.
Further, when the number of satellite that the d GPS locating module and the Big Dipper locating module observe is equal to or more than
During the positioning signal of predetermined number satellite, the arm processor module selection is accurate using d GPS locating module and Big Dipper locating module
Really orient the real-time geographical locations that pet is in outdoor；When the d GPS locating module and the Big Dipper locating module observe
Number of satellite be less than predetermined number satellite positioning signal when, the arm processor module first selects the indoor positioning portion
Point it is accurately positioned out the real-time geographical locations that pet is in indoor, floor described in reselection determines high part and orient pet to be in room
The floor of interior specific height.
It is using the above-mentioned further beneficial effect of scheme：System is accurately judged to pet and is in outdoor or indoor, and
And high part is determined using corresponding outdoor positioning part or indoor positioning part and floor.
Further, the object wearing device is also included to the outdoor positioning part, the indoor positioning part, the floor
Determine the power module that high part, the arm processor module and the communication module provide electric energy.
Further, the rotation angular data for the pet that the arm processor module is collected by the gyroscope and described
The acceleration information for the pet that accelerometer collects obtains the daily motion state of pet, and is analyzed and doted on by motion state
The health status or mood states of thing, are finally sent to institute by the health status of pet or mood states by server again
State APP client feedbacks feeding master.
It is using the above-mentioned further beneficial effect of scheme：It is easy to raise the main counter-measure taken in time to pet, ensures
The body or mental health of pet.
Further, the object wearing device can inquire the Quick Response Code that pet raises main contact details after being provided with scanning, and
The APP clients can change the contact details inquired.
Further, the contact details include but is not limited to raise main name, telephone number and better address.
It is using the above-mentioned further beneficial effect of scheme：When pet is lost, it is easy to other people to relate to feeding master in time.
Further, the APP clients according to real-time positioning of the pet object wearing device to pet can unrestricted choice dote on
The fence region of thing, when pet leaves fence region, the APP clients instant alarming notice raises master.
It is using the above-mentioned further beneficial effect of scheme：Pet is monitored in certain area.
Further, the object wearing device is provided with the bluetooth module for sending a signal to the APP clients, the APP visitors
Family end determines to raise the main distance with pet according to the signal intensity of the bluetooth module received；When the distance for raising main and pet
During more than setting value, the APP clients instant alarming notice raises master.
It is using the above-mentioned further beneficial effect of scheme：Closely pet is monitored.
Further, the object wearing device, which is provided with, is used to gather pet surrounding environment voice messaging or receives the APP
The voice messaging collected is sent to the APP by the voice module of the voice messaging sent of client, the voice module
The voice messaging received from the APP clients is sent to pet by client.
It is using the above-mentioned further beneficial effect of scheme：So as to raise the main environment being better understood by residing for pet or to
Pet is propagandaed directed to communicate.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the structure chart of object wearing device；
Fig. 3 is the flow chart of location mechanism of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of pet accessory system based on positional information, including pet object wearing device, server and APP
Client；The pet object wearing device is worn on pet, and it, which includes being accurately positioned out pet, is in outdoor real-time geographic position
The outdoor positioning part put, it is accurately positioned out pet and is in the indoor positioning part of indoor real-time geographical locations and in interior
The floor of specific height determines high part, and the geographical location information navigated to is sent into the APP visitors by the server
Family end, pet raise master and carry out feeding management to pet by the geographical location information that the APP clients receive.
As shown in Fig. 2 the outdoor positioning part is d GPS locating module and Big Dipper locating module, the indoor positioning portion
Dividing includes gyroscope, accelerometer and magnetometer, and the floor, which determines high part, includes gravitational accelerometer and barometer.It is described to dote on
Thing object wearing device also includes arm processor module, communication module and to the outdoor positioning part, the indoor positioning portion
Point, the floor determine high part, the arm processor module and the communication module offer electric energy power module.
Make introductions all round below outdoor positioning part, indoor positioning part, floor determines high part and by above-mentioned three parts
To the location mechanism (as shown in Figure 3) of pet：
The outdoor positioning part is bimodulus locating module, including d GPS locating module and Big Dipper locating module, the GPS
Locating module and the Big Dipper locating module are used to obtain visible aeronautical satellite quantity, aeronautical satellite observed quantity and corresponding ephemeris；
The arm processor module, on the one hand its observed by the d GPS locating module and the Big Dipper locating module
Number of satellite, selection is accurately positioned out the real-time geographic that pet is in outdoor using d GPS locating module and Big Dipper locating module
Position or selection determine high part using the indoor positioning part and the floor.It is specific as follows：When the d GPS locating module
When being equal to or more than the positioning signal of predetermined number satellite with the number of satellite that the Big Dipper locating module observes, the ARM
Processor module selection is accurately positioned out pet in outdoor real-time geographic position using d GPS locating module and Big Dipper locating module
Put；When the number of satellite that the d GPS locating module and the Big Dipper locating module observe is less than the positioning of predetermined number satellite
During signal, the arm processor module first selects the indoor positioning part to be accurately positioned out pet and is in interior in real time
Position is managed, floor described in reselection determines high part and orients the floor that pet is in indoor specific height.On the other hand, it is described
Arm processor module is using corresponding ephemeris computation satellite position and corrects the d GPS locating module and the Big Dipper locating module
Moonscope amount, and the geographical position that pet is in outdoor is calculated by satellite position and revised moonscope gauge.
The indoor positioning part includes gyroscope, accelerometer and magnetometer；The gyroscope is used to gather pet
Angular data is rotated, the accelerometer is used for the acceleration information for gathering pet, and the magnetometer is used to gather indoor earth magnetism letter
Breath；The arm processor module calculates pet in indoor rough location by rotating angular data and acceleration information, and
Obtained rough location is merged to obtain the accurate location of pet indoors with the indoor Geomagnetism Information matching collected.
The floor, which determines high part, includes gravitational accelerometer and barometer；The gravitational accelerometer is used to obtain pet
The gravity acceleration value of position, the barometer are used to obtain the atmospheric pressure value of pet position, the arm processor mould
Block calculates the height above sea level of a pet position by gravity acceleration value and atmospheric pressure value respectively, then by two height above sea levels
Degree weighted average calculation is fused into an altitude data, and by the altitude data after fusion and the floor pre-deposited
Corresponding height above sea level is contrasted, and finally obtains story height.
The communication module, it is used to that the real-time positioning geography information of pet will to be sent the arm processor module
To the server, the positioning geography information received is sent to the APP clients by the server again.
On the basis of the above-mentioned positioning to pet, the motion detection function to pet, electricity can be realized by APP clients
Sub- fence function, accompanying function and voice transmission capabilities：
(1) motion detection function
The rotation angular data for the pet that the arm processor module is collected by the gyroscope and the accelerometer
The acceleration information of the pet collected obtains the daily motion state of pet, and the health of pet is analyzed by motion state
Situation or mood states, the health status of pet or mood states are finally sent to the APP visitors by server again
Feed back feeding master in family end.Motion monitoring function can monitor pet motions state, for example, it is static, be careful or hurry up, and can be simple
The calorie that pet consumes every hour or every day is calculated, the health of pet is simply monitored.In addition, the fortune by pet
Dynamic state can simply judge the mood states of pet, and when pet is chronically at depressed or excited state, APP clients can be set
It is set to prompting and raises master, raising master can takes corresponding measure to pacify pet in time.
(2) fence function
The APP clients according to real-time positioning of the pet object wearing device to pet can unrestricted choice pet electronics
Fence area, when pet leaves fence region, the APP clients instant alarming notice raises master.
(3) accompanying function
The object wearing device, which is provided with, sends a signal to the bluetooth modules of the APP clients, the APP clients according to
The signal intensity of the bluetooth module received determines to raise the main distance with pet；When the distance for raising main and pet is more than setting
During value, the APP clients instant alarming notice raises master.Pet accompanying function is similar with fence function, only pet
Accompanying function is applied to dynamic small range region.When raising main selection pet accompanying function, pet object wearing device opens blue module
Tooth is connected with APP clients, and bluetooth module determines to raise the main relative distance with pet according to bluetooth signal intensity, can be further
Positioning precision is improved, bluetooth module transmission range is limited, within generally 10 meters, raises the main circle that 3 to 5 meters of radiuses may be selected
Domain.
(4) voice transmission capabilities
The object wearing device, which is provided with, to be used to gather pet surrounding environment voice messaging or receives the APP clients
The voice messaging collected is sent to the APP by the voice acquisition module of the voice messaging sent, the voice acquisition module
The voice messaging received is thought that pet sends by client.In order to which people and pet better information interact, the system design
Voice transmission capabilities.In general, feeding master can gather the voice messaging around pet object wearing device, so as to be better understood by doting on
Environment residing for thing.Can be to pet remote transmission phonetic order in addition, raising master, such as allow pet to go home, some intelligence are higher
Or trained pet, can also respond and raise main phonetic order.
The object wearing device can inquire the Quick Response Code that pet raises main contact details, and the APP after being provided with scanning
Client can change the contact details inquired.The contact details include but is not limited to raise main name, telephone number and in detail
Thin address.As pet is accidentally lost, anyone, which can scan Quick Response Code and inquires pet, raises main relevant information, and joins in time
It is to be led to feeding.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of pet accessory system based on positional information, it is characterised in that including pet object wearing device, server and APP
Client；The pet object wearing device is worn on pet, and it, which includes being accurately positioned out pet, is in outdoor real-time geographic position
The outdoor positioning part put, it is accurately positioned out pet and is in the indoor positioning part of indoor real-time geographical locations and in interior
The floor of specific height determines high part, and the geographical location information navigated to is sent into the APP visitors by the server
Family end, pet raise master and carry out feeding management to pet by the geographical location information that the APP clients receive.
2. the pet accessory system according to claim 1 based on positional information, it is characterised in that the pet wearing dress
Putting also includes arm processor module and communication module；
The outdoor positioning part is bimodulus locating module, including d GPS locating module and Big Dipper locating module, the GPS location
Module and the Big Dipper locating module are used to obtain visible aeronautical satellite quantity, aeronautical satellite observed quantity and corresponding ephemeris；
The arm processor module, on the one hand its defended by what the d GPS locating module and the Big Dipper locating module observed
Star number amount, selection are accurately positioned out pet in outdoor real-time geographical locations using d GPS locating module and Big Dipper locating module
Or selection determines high part using the indoor positioning part and the floor；On the other hand, the arm processor module utilizes
Corresponding ephemeris computation satellite position and the amendment d GPS locating module and the moonscope amount of the Big Dipper locating module, and lead to
Cross satellite position and revised moonscope gauge calculates the geographical position that pet is in outdoor；
The indoor positioning part includes gyroscope, accelerometer and magnetometer；The gyroscope is used for the rotation for gathering pet
Angular data, the accelerometer are used for the acceleration information for gathering pet, and the magnetometer is used to gather indoor Geomagnetism Information；Institute
State arm processor module and calculate pet in indoor rough location by rotating angular data and acceleration information, and will
To rough location with collect indoor Geomagnetism Information matching merge to obtain the accurate location of pet indoors；
The floor, which determines high part, includes accelerometer and barometer；The accelerometer is used to obtain the weight of pet position
Power acceleration magnitude, the barometer are used to obtain the atmospheric pressure value of pet position, and the arm processor module is added by gravity
Velocity amplitude and atmospheric pressure value calculate the height above sea level of a pet position respectively, then by two height above sea level weighted average meters
Calculation is fused into an altitude data, and by the height above sea level corresponding with the floor pre-deposited of the altitude data after fusion
Degree is contrasted, and finally obtains story height；
The communication module, it is used to the arm processor module will be sent to institute to the real-time positioning geography information of pet
Server is stated, the positioning geography information received is sent to the APP clients by the server again.
3. the pet accessory system according to claim 2 based on positional information, it is characterised in that when the GPS location
It is described when the number of satellite that module and the Big Dipper locating module observe is equal to or more than the positioning signal of predetermined number satellite
The selection of arm processor module is accurately positioned out pet using d GPS locating module and Big Dipper locating module and is in outdoor in real time
Manage position；When the number of satellite that the d GPS locating module and the Big Dipper locating module observe is less than predetermined number satellite
During positioning signal, the arm processor module selects the indoor positioning part to be accurately positioned out pet and is in the real-time of interior
Geographical position, floor described in reselection determine high part and orient the story height that pet is in indoor.
4. the pet accessory system according to claim 2 based on positional information, it is characterised in that the object wearing device is also
Including to the outdoor positioning part, the indoor positioning part, the floor determine high part, the arm processor module with
And the communication module provides the power module of electric energy.
5. the pet accessory system according to claim 2 based on positional information, it is characterised in that the arm processor
The acceleration for the pet that the rotation angular data for the pet that module is collected by the gyroscope and the accelerometer collect
Data obtain the daily motion state of pet, and the health status or mood states of pet are analyzed by motion state, most
The health status of pet or mood states are sent to APP client feedbacks feeding master by server again afterwards.
6. the pet accessory system according to claim 1 based on positional information, it is characterised in that on the object wearing device
Provided with the Quick Response Code that the main contact details of pet feeding can be inquired after scanning, and the APP clients can change the connection inquired
It is information.
7. the pet accessory system according to claim 6 based on positional information, it is characterised in that the contact details bag
Include but be not limited to raise main name, telephone number and better address.
8. the pet accessory system according to claim 1 based on positional information, it is characterised in that the APP clients
According to real-time positioning of the pet object wearing device to pet can unrestricted choice pet fence region, when pet leaves electricity
During sub- fence area, the APP clients instant alarming notice raises master.
9. the pet accessory system according to claim 1 based on positional information, it is characterised in that on the object wearing device
Provided with the bluetooth module for sending a signal to the APP clients, the APP clients are according to the bluetooth module received
Signal intensity determines to raise the main distance with pet；When the distance for raising main and pet is more than setting value, the APP clients are instant
Alert notice raises master.
10. the pet accessory system based on positional information according to any one of claim 1 to 9, it is characterised in that described
Object wearing device, which is provided with, to be used to gather pet surrounding environment voice messaging or receives the voice sent the letter of the APP clients
The voice messaging collected is sent to the APP clients or will be from the APP by the voice module of breath, the voice module
The voice messaging that client receives is sent to pet.
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| CN201710620474.XA CN107372168A (en) | 2017-07-26 | 2017-07-26 | A kind of pet accessory system based on positional information |
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| CN201710620474.XA CN107372168A (en) | 2017-07-26 | 2017-07-26 | A kind of pet accessory system based on positional information |
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| CN108445521A (en) * | 2018-03-09 | 2018-08-24 | 武汉派蒂科技有限责任公司 | A kind of pet positioning device and method |
| CN108683992A (en) * | 2018-05-11 | 2018-10-19 | 南昌航空大学 | A kind of old man Internet-based, children anti-wander-away platform and anti-method of wandering away |
| CN109040975A (en) * | 2018-08-30 | 2018-12-18 | 四川爱联科技有限公司 | Pet tracking and interactive system |
| CN110611882A (en) * | 2019-09-02 | 2019-12-24 | 深圳数位传媒科技有限公司 | Positioning method and device for monitoring, storage medium and computer equipment |
| CN111757262A (en) * | 2019-07-31 | 2020-10-09 | 广东小天才科技有限公司 | Positioning reminding method and system based on electronic fence and wearable device |
| CN112153554A (en) * | 2019-06-27 | 2020-12-29 | 京东方科技集团股份有限公司 | Positioning device and system |
| CN112288057A (en) * | 2020-11-04 | 2021-01-29 | 广州粤创富科技有限公司 | Multi-mode pet real-time positioning method, equipment and storage medium |
| CN113303241A (en) * | 2021-05-31 | 2021-08-27 | 安徽理工大学 | Pet dog loss state judging and recalling system based on GPRS network |
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| CN111757262A (en) * | 2019-07-31 | 2020-10-09 | 广东小天才科技有限公司 | Positioning reminding method and system based on electronic fence and wearable device |
| CN111757262B (en) * | 2019-07-31 | 2022-08-26 | 广东小天才科技有限公司 | Positioning reminding method and system based on electronic fence and wearable device |
| CN110611882A (en) * | 2019-09-02 | 2019-12-24 | 深圳数位传媒科技有限公司 | Positioning method and device for monitoring, storage medium and computer equipment |
| CN110611882B (en) * | 2019-09-02 | 2021-04-23 | 深圳数位传媒科技有限公司 | Positioning method and device for monitoring, storage medium and computer equipment |
| CN112288057A (en) * | 2020-11-04 | 2021-01-29 | 广州粤创富科技有限公司 | Multi-mode pet real-time positioning method, equipment and storage medium |
| CN113303241A (en) * | 2021-05-31 | 2021-08-27 | 安徽理工大学 | Pet dog loss state judging and recalling system based on GPRS network |
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