Pet companion robot devices, systems and methods

A method for controlling a laser pointer projection of a pet companion robot device, for interacting with a pet, equipped with a camera, a laser pointer, a horizontal laser pointer steering motor and a vertical laser pointer steering motor, a control unit and a wireless remote-control device with a touch screen, the method comprising:

• determining a focal length 1 of the camera;
• determining a height difference Δy between the horizontal and vertical laser pointer steering motors of the laser pointer and the camera;
• determining a horizontal viewing angle α of the camera, wherein a corresponding horizontal viewing range is (−α/2, α/2);
• determining a vertical viewing angle β of the camera, wherein a corresponding vertical viewing range is (−β/2, β/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 Δθ between the camera and the at least one laser pointer steering motors:
• Δθ
• ≈
• β
• /
• 2
• -
• arctan
• (
• l
• ×
• tan
• ⁡
• (
• β
• 2
• )
• -
• Δ
• ⁢
• y
• l
• )
• calculating a horizontal steering motor rotation angle θx:
• θ
• x
• =
• -
• α
• /
• 2
• +
• α
• 16
• ×
• j
• +
• α
• 32
• ;
• calculating a vertical steering motor rotation angle θy:
• θ
• y
• =
• -
• β
• /
• 2
• +
• β
• 9
• ×
• i
• +
• β
• 18
• +
• Δ
• ⁢
• θ
• .