A late update to this thread.
Tried the basic SRF005 code from the manual, and pointed the breadboarded gadget our 9 year old Toller.
She just gave me that 'What's he upto now ?' look, then went back to lying in front of the fire.
So, from my limited testing, it looks like I can measure the distance to a dog, and the dog is not bothered by the ultrasound.
It is unlikely that this information is of any great use, but I'm posting it just in case anybody else is contemplating building a dog distance detector.