Abstract: A method for controlling a laser pointer projection of a pet companion robot device to interact with a pet includes the steps of: determining a focal length 1 of the camera; determining a height difference ?y between the at least one laser pointer steering motors of the laser pointer and the camera; determining a horizontal viewing angle ? of the camera, a corresponding horizontal viewing range is (??/2, ?/2); determining a vertical viewing angle ? of the camera, a corresponding vertical viewing range is (??/2, ?/2); determining whether the touch screen of the wireless remote-control device is touched; when the touch screen of the wireless remote-control device is touched, determining the corresponding coordinates (i, j); calculating an angular difference ?? between the camera and the at least one laser pointer steering motors; and calculating a horizontal steering motor rotation angle ?x; calculating a vertical steering motor rotation angle ?y.

Abstract: A method for depth of field tracking and controlling of a pet companion robot device to interact with a pet includes the steps of: locating a target pet within a field of view of the camera; drawing a minimum target rectangle around the target pet, with sides of the minimum target rectangle parallel with the corresponding sides of the field of view of the camera; locating a center point P of the minimum target rectangle. When P is located in quadrangles I and II, adjusting the pet companion robot device to the right to make P overlap with the vertical center line of the field of view of the camera; and when P is located in quadrangles III and IV, adjusting the pet companion robot device to the left to make P overlap with the vertical center line of the field of view of the camera.