TWI645313B - Fence system and fence configration method - Google Patents

Abstract

A fence setting method includes the following steps: generating a plurality of positioning points according to a map information stored in a server; receiving a corresponding positioning point by a first robot, and the first robot according to the corresponding positioning The point moves to a first position; and when the first robot moves to the first position, the first robot receives a light beam from a second robot or emits a light beam to the second robot, thereby positioning the first robot and the first robot The beam between the two robots forms a beam fence.

Description

Fence system and fence setting method

The invention relates to a fence system and a fence installation method, and more particularly to a fence system and a fence installation method using a robot.

In general, fences are often used for queuing and flow control in queuing situations with large numbers of people. For example, the arrangement of red lines and fence posts (also known as red dragons) is used as fences to arrange the moving lines of crowds. However, when there are a large number of people queuing, it often happens that there is a push and a line is cut off, or it is not known who is the last queuing person. In addition, when the number of people gradually decreases, the red dragons used for queuing will still occupy the space for queuing.

Therefore, how to make the crowd line up neatly to avoid the problem of queue cut-in, and how to improve the problem that the fence is difficult to collect the idle fence in real time are one of the problems to be solved at present.

One aspect of the present invention is a fence system, which includes a server and a plurality of robots. The server includes: a storage device and a First processor. The storage device is used for storing a map information. The first processor is configured to generate a plurality of anchor points based on the map information. These robots include a first robot and a second robot. The first robot includes: a first communication device, a second processor, a second processor, and a first beam transmitting and receiving device. The first communication device is used to receive the corresponding positioning points. The second processor is used to cause the first robot to move to a first position according to the corresponding positioning points. After the first robot moves to the first position, the first light beam transmitting and receiving device is used to receive a light beam from the second robot or to emit a light beam to the second robot, so as to locate the first robot and the second robot. The beams in between form a beam fence.

Another aspect of the present invention is a fence setting method. The fence setting method includes: generating a plurality of positioning points according to a map information stored in a server; receiving a corresponding positioning point by a first robot, and the first robot moving to the corresponding positioning point to A first position; and when the first robot moves to the first position, the first robot receives a light beam from a second robot or emits a light beam to the second robot, thereby positioning the first robot and the second robot The beams in between form a beam fence.

In summary, the technical solution of the present invention has obvious advantages and beneficial effects compared with the prior art. The fence system and the fence setting method according to the present invention can configure robots in accordance with crowd density and environmental space, thereby adjusting the queuing route and the fence area. In addition, in this case, the server is used to prompt the robot to prompt the queuing message, which can inform the queued or pushed queuers to follow the queuing order. In addition, the number and position of robots in this case can be dynamically adjusted, thereby avoiding the fence occupying unnecessary space when there are fewer people in the queue. In addition, The fence system and fence setting method described in this case can integrate robots, unmanned aerial vehicles, cloud servers, and wearable devices through a server to achieve the effect of dynamically setting up fences, and can provide queueing information to specific queuers.

100, 400, 500‧‧‧ fence system

TB‧‧‧Counter

50 ~ 57‧‧‧ camera lens

RA, RB, RC, RD‧‧‧ robot

40 ~ 43‧‧‧Beam Transceiver

W1 ~ W8‧‧‧Mobile device

Ln, Lm ‧‧‧ Beams

UR1 ~ UR5‧‧‧queuers

SR‧‧‧Server

10‧‧‧Storage device

13‧‧‧ processor

LK1, LK2, LU, LR‧‧‧ communication link

20‧‧‧Communication device

30‧‧‧ processor

50‧‧‧ camera lens

60 、 P1 ~ P4‧‧‧Positioning device

70‧‧‧ notification device

300‧‧‧ Fence Setting Method

310 ~ 330‧‧‧step

CAM1, CAM2‧‧‧ camera device

RIN1‧‧‧ Wearable Device

dt‧‧‧distance

PT‧‧‧Passport Information

Fig. 1 is a schematic diagram of a fence system according to an embodiment of the present case; Fig. 2 is a block diagram of a robot and a server according to an embodiment of the present case; and Fig. 3 is a block diagram of a robot and a server according to an embodiment of the present case; A flowchart of the method for setting up a fence; FIG. 4 is a schematic diagram of a fence system according to an embodiment of the case; FIG. 5 is a schematic diagram of a fence system according to an embodiment of the case; and FIG. 6 It is a schematic diagram of a fence system according to an embodiment of the present invention.

The following will clearly illustrate the spirit of the present disclosure with diagrams and detailed descriptions. Any person with ordinary knowledge in the technical field who understands the embodiments of the present disclosure can be changed and modified by the techniques taught in the present disclosure. It does not depart from the spirit and scope of this disclosure.

As used herein, "electrical connection" may refer to two or more components making direct physical or electrical contact with each other, or indirectly making physical or electrical contact with each other. Sexual contact, and "electrically connected" can also mean that two or more components operate or act on each other.

The terms "including", "including", "having", "containing" and the like used in this article are all open-ended terms, which means including but not limited to.

As used herein, "and / or" includes any and all combinations of the things described.

Regarding the terms used in this article, unless otherwise specified, each term usually has the ordinary meaning of being used in this field, the content disclosed here, and the special content. Certain terms used to describe this disclosure are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art on the description of this disclosure.

Please refer to FIGS. 1 to 2. FIG. 1 is a schematic diagram of the fence system 100 according to an embodiment of the present invention. FIG. 2 is a block diagram of a robot RA and a server SR according to an embodiment of the present invention. In this embodiment, the fence system 100 includes a server SR and a plurality of robots (such as robots RA, RB, RC, and RD). It should be noted that only two or more robots are needed to implement the present invention. Since the robots RA, RB, RC, and RD may have the same or similar structure, the robot RA will be described below as a representative in FIG. 2.

In an embodiment, referring to FIG. 2, the robot RA may establish a communication link LK1 with the server SR (for example, a remote server or a cloud server). The server SR includes a storage device 10 and a processor 13. The storage device 10 is electrically connected to the processor 13. The robot RA includes a communication device 20, a processor 30, a beam transmitting and receiving device 40, and a communication device 20 The light beam transmitting and receiving device 40 is separately connected to the processor 30. In an embodiment, the robot RA further includes at least one camera lens 50, a positioning device 60, and a notification device 70. The camera lens 50, the positioning device 60, and the notification device 70 are electrically connected to the processor 30, respectively.

In an embodiment, the server SR may be located in a cloud system, and the robot RA establishes a communication link LK1 with the server SR through the communication device 20.

In one embodiment, the storage device 10 is used to store various data, and may be implemented by a memory, a hard disk, a flash memory card, or the like. In one embodiment, the processors 13, 30 are used to perform various operations, each of which can be implemented by an integrated circuit such as a micro controller, a microprocessor, a digital signal processor, a special application It is implemented by an application specific integrated circuit (ASIC) or a logic circuit. In one embodiment, the communication device 20 may be implemented by a Bluetooth device, a Wi-Fi device, or other wireless / wired data transmission devices. In an embodiment, the light beam transmitting and receiving device 25 is used to emit a light beam, and can be implemented by an infrared transmitting and receiving device (the light beam emitted by the infrared light beam) or a laser transmitting and receiving device (the light beam emitted by the laser light beam).

In an embodiment, the camera lens 50 is, for example, a front lens of a robot RA. The camera lens 50 may be composed of at least one charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) sensor. Composed of. In addition, the robot RA may include multiple camera lenses (such as a camera lens). 50 ~ 51). In an embodiment, the positioning device 60 may be a device having iBeacon (beacon) technology, wherein a positioning device 40 (such as an iBeacon device) located in the robot RA may send or receive other iBeacon devices placed in the environment. The signal, and calculate the distance between these signal emitting points and the positioning device 40 through the processor 30 (for example, the processor 30 can calculate this distance based on the strength of the signal received by the positioning device 40), so as to infer that the robot RA is in the environment Position to achieve the positioning function. In one embodiment, the notification device 70 may be implemented by a display or a dial device.

In addition, in FIG. 1, the robots RA, RB, RC, and RD have the same or similar structure. For example, the camera lenses 50 and 51 in the robot RA are the same as the camera lenses 52 to 57 included in the robots RB, RC, and RD, respectively. The beam transmitting / receiving device 40 in the robot RA is the same as the beam transmitting / receiving devices 41 to 43 included in the robots RB, RC, and RD. The mobile devices (such as wheels) W1 and W2 in the robot RA and the robots RB, RC, and RD are identical. The included camera lenses W3 to W8 are the same. In addition, the robots RA, RB, RC, and RD each establish a communication link with the server SR.

Next, please refer to FIGS. 1 to 3 together. FIG. 3 is a flowchart of a fence setting method 300 according to an embodiment of the present invention.

In step 310, the processor 13 generates a plurality of anchor points according to a map information of the SR stored in the server. In an embodiment, the storage device 10 may store map information of the queue space in advance, wherein the map information may include obstacles (such as the counter TB shown in FIG. 1), and environmental spaces (such as the shape or size of the exhibition space). And / or pre-set crowd route information. The processor 13 can read the map information from the storage device 10 and generate the map information based on the map information. Multiple anchor points. These anchor points can be used to configure where the robots RA, RB, RC, and RD are placed.

In step 320, the robot RA receives the corresponding positioning points, and the robot RA moves to a first position according to the corresponding positioning points.

In an embodiment, the robot RA receives the corresponding positioning points, and the robot RA moves to a first position (the position of the robot RA shown in FIG. 1) according to the corresponding positioning points, and the robot RB receives the corresponding positioning points. These positioning points, and the robot RB moves to a second position according to the corresponding positioning points (such as the position of the robot RB shown in FIG. 2), the robot RC receives the corresponding positioning points, and the robot RC is based on The corresponding positioning points move to a third position (such as the position of the robot RC shown in FIG. 3), the robot RD receives the corresponding positioning points, and the robot RD moves to a first position according to the corresponding positioning points. Four positions (position of robot RD as shown in Fig. 1).

In step 330, after the robot RA moves to the first position, the robot RA receives a light beam from the robot RB or emits the light beam to the robot RB, thereby forming a light beam fence between the light beam located between the robot RA and the robot RB.

In an embodiment, as shown in FIG. 1, when the robot RA moves to the first position and the robot RB moves to the second position, the robot RA transmits a light beam Ln (which may be a laser beam) through the light beam transmitting and receiving device 40. (Or an infrared beam) to the beam transmitting / receiving device 41 of the robot RB, so that the beam Ln between the robot RA and the robot RB forms a beam fence, which is used to instruct the queuers UR1 ~ UR3 who enter the queue to line up along this beam fence. Team, don't go beyond this beam fence.

In an embodiment, when the robot RC moves to the third position and the robot RD moves to the fourth position, the robot RC receives a light beam Lm from the robot RD through the beam transmitting and receiving device 42 so that the The light beam Lm forms a beam fence, which is used to instruct the queuers UR4 ~ UR5 of the subsequent admission queue to line up along this beam fence when queuing, and do not exceed the beam fence.

In an embodiment, the light beam transmitting and receiving device 40 is used to determine whether the light beam Ln is blocked (for example, the light beam sent from the light beam transmitting and receiving device 41 is not received). When the light beam transmitting and receiving device 40 determines that the light beam Ln is blocked, the light beam is transmitted and received. The device 40 sends a blocking message to the processor 30, and the processor 30 causes the notification device 70 to prompt a queue message. For example, the notification device 70 includes a dialing function, which can play audio to inform the queuers that the positions of UR1 ~ UR3 should not exceed the light beam Ln. For another example, the notification device 70 includes a display function, and a message indicating that the queuers UR1 to UR3 should not stand beyond the light beam Ln can be displayed on the display.

In this way, the fence system 100 can detect the queuing situation of the queuers UR1 ~ UR5 through the robots RA, RB, RC, and RD, and when the queuers UR1 ~ UR5 cross the beam fence (such as the beam Ln or beam Lm), the corresponding At least one of the robots RA, RB, RC, and RD that has been blocked by the light beam provides queuing instructions for queuers UR1 to UR5. For example, when the queuing person UR2 blocks the light beam Ln due to pushing others, the robots RA and RB send out a sound to remind the light beam Ln that the queuing people UR1 to UR3 in the row do not cross the light beam Ln.

Next, please refer to FIG. 4, which is an implementation according to the present case. The schematic diagram of the fence system 400 shown in the example. The difference between the fence system 400 shown in FIG. 4 and the fence system 100 shown in FIG. 1 is that the fence system 400 further includes a plurality of camera devices CAM1 and CAM2 and a plurality of positioning devices P1 to P4.

In an embodiment, a plurality of camera devices CAM1 and CAM2 are used to capture a crowd status (including the number of people, the distribution position of the crowd, and / or the density of the crowd) of an indoor space, and transmit the crowd status to the server SR, the server The processor 13 in the SR generates multiple positioning points or adjusts the generated multiple positioning points according to the crowd status and map information. Then, the server SR instructs the robots RA, RB, RC, and RD to move to their corresponding positioning points. The position represented.

In one embodiment, when the server SR determines that one of the fluctuations in the crowd status is greater than a threshold (for example, when the crowd changes from 500 to less than 10 people), the server SR adjusts these positioning points to cause the robot RA, RB, RC, and RD are moved according to their corresponding adjusted positioning points. For example, due to a large decrease in crowd status, the server SR instructs the robots RC and RD to withdraw from the rest station, and instructs the robots RA and RB to go to the counter TB. Close to reduce the space occupied by the emission reduction team area.

In one embodiment, each of the robots RA, RB, RC, and RD further includes positioning devices 40, 41, 42, 43. Taking the robot RA as an example, the positioning device 40 is used to obtain a current position information of the robot RA (for example, the signal strength received by the positioning device 40 or the signal round-trip time of the signals sent by the positioning device 40 to the positioning devices P1 to P4), and The current position information is transmitted to the server SR through the communication device 20, and the processor 13 in the server SR is based on The current position information is used to calculate a current coordinate position of the robot RA in an indoor space. In an example, the positioning device 40 transmits the strength of each signal received from the positioning devices P1 to P4 to the server SR, and the server SR calculates between the robot RA and each positioning device P1 to P4 based on this information. To obtain the current coordinate position of the robot RA in an indoor space.

From the above, it can be known that by placing a plurality of camera devices CAM1 and CAM2 in the queuing space, the server SR can know the crowd status in a timely manner. In addition, the positioning device 40 in the robot RA and other positioning devices P1 to P4 placed in the queuing space allow the server SR to more accurately determine the position of the robot RA in the space, so as to control the movement of the robot RA to an appropriate position. position.

Please refer to FIG. 5, which is a schematic diagram of a fence system 500 according to an embodiment of the present invention. The fence system 500 shown in FIG. 5 further includes an unmanned aerial vehicle UAV. In one embodiment, the UAV and the server SR establish a communication link LU, and the server SR is located in the cloud system. In one embodiment, the queuer UR1 in the fence system 500 wears a wearable device RIN1 (for example, a smart bracelet or a smart watch).

In an embodiment, when the light beam transmitting and receiving device 40 determines that the light beam Ln is blocked (for example, the queuer UR1 is not lined up at the correct position, and the light beam Ln is blocked, so that the light beam transmitting and receiving device 41 cannot receive the light beam transmitting and receiving device 40 When the beam is emitted), the beam transmitting / receiving device 40 instructs the communication device 20 to transmit a blocking message to the processor 13 in the server SR through the processor 30 of the robot, and the processor 13 sends a queuing message to the wearer corresponding to the blocking message. Hold (Wearing device RIN1 worn by queuer UR1). Among them, the blocking message may include whether the beam between the robots (for example, between the robot RA and the robot RB) is blocked or the robot measures the time of light reflection to calculate the position where the beam is blocked, and the queued message may be borrowed The wearable device (for example, wearable device RIN1) uses vibration, displays a queue prompt message, or sends a prompt audio to prompt a queuer (such as queuer UR1) to follow the queue order. Among them, the camera lens (e.g. camera lens 50, 53) of the UAV, robot RA and / or robot RB can obtain the biological information of the queued person (e.g., queued person UR1) and the wearing device (e.g. Device RIN1), and returns biometric information and wear information to the server SR to bind or match the relationship between the queuer UR1 and the wearable device RIN1, and the queuer UR1 and the wearable device RIN1 The relationship between them is stored in the server SR. Therefore, when the beam between the robot RA and the robot RB is blocked, the robot RA and / or the robot RB can transmit the blocking message to the server SR, and then the server SR assigns the UAV to fly until the beam is blocked Position, capture the biological information (such as face information) of the queuer (such as UR1) who blocked the beam, and return the captured biological information to the server SR. At this time, the server SR based on this The biological information obtains the device information (for example, an IP address) of the corresponding wearable device RIN1, and thereby transmits the queuing message to the wearable device RIN1 corresponding to the queued person UR1.

In one embodiment, the queuing message can be displayed or sent out by the mobile device of the queuer (such as queuer UR1) to prompt the queuer to follow the queuing order.

In an embodiment, when the beam transmitting / receiving device 40 determines the beam Ln When it is blocked (for example, when the queuer UR1 is not lined up at the correct position and the light beam Ln is blocked, so that the beam transceiver 41 cannot receive the beam emitted from the beam transceiver 40), the beam transceiver 40 passes through the processor 30 instructs the communication device 20 to directly send the blocking message to the wearing device corresponding to the blocking message (such as the wearing device RIN1 worn by the queuer UR1). In this example, the communication device 20 does not need to send the blocking message to the server SR. .

In an embodiment, when the light beam transmitting and receiving device 40 determines that the light beam Ln is blocked (for example, when the queuing person UR1 is not lined up at the correct position, but when the light beam Ln is blocked), the light beam transmitting and receiving device 40 indicates a resistance through the processor 30. Interruption message, more specifically, the processor 30 instructs the communication device 20 to transmit the blocking message to the processor 13 in the server SR, and the processor 13 causes the UAV to fly to a position corresponding to the blocking message (for example, the robot RA and the The position between the robots RB), so that the unmanned aerial vehicle UAV collects biological information (such as face information) of a crimper (such as queuer UR1), and returns the biological information to the server SR. Then, the processor 13 queries the storage device 10 for the wearable device corresponding to the biological information (for example, the wearable device RIN1) in advance, thereby sending a queued message to a wearable device RIN1 corresponding to the biological information according to the biological information. Among them, the wearable device RIN1 worn by the queuer UR1 establishes a communication link LR with the server SR, the robot RA establishes a communication link LK1 with the server SR, and the robot RB establishes a communication link LK2 with the server SR.

In one embodiment, the biometric information may be obtained from the camera lenses (such as the camera lenses 50 and 53) of the UAV, the robot RA, and / or the robot RB.

In an embodiment, when the beam transmitting / receiving device 40 determines the beam Ln When blocked (for example, when the queuer UR1 is not in the correct position and the light beam Ln is blocked), the beam transceiver 40 instructs the communication device 20 to transmit a blocking message to the processor 13 in the server SR through the processor 30. The processor 13 causes the robot RA and the robot RB to try to move within the range of the distance dt to fine-tune the position so that the light beam Ln is not blocked by the queuer UR1. However, if the robot RA and the robot RB move within a distance of dt to fine-tune the position, the beam Ln cannot be blocked by the queued person UR1, and the processor 13 causes the UAV to fly to a position corresponding to the blocked message (for example, The position between the robot RA and the robot RB) enables the UAV to collect the biological information of a liner (such as the queuer UR1).

Please refer to FIG. 6, which is a schematic diagram of a fence system 600 according to an embodiment of the present invention. In an embodiment, the fence system 600 can be applied to the queuing situation of airport seats. Among them, the wearable device RIN1 worn by the queuer UR1 establishes a communication link LR with the server SR, and the robot RA establishes a connection with the server SR. The communication link LK1, the robot RB and the server SR establish a communication link LK2.

For example, when the queuing person UR1 is about to enter the queuing area of the aircraft position, the robot RB uses the camera lens 52 to capture biological information (such as face information) of the queuing person UR1, register and log in to a mobile device application. Program and / or passport information PT, and upload this information to the server SR located in the cloud system to store this information and its corresponding wearing device (for example, the corresponding relationship of the wearing device RIN1); then, the robot RB or The staff can respond to this information to issue a wearable device RIN1 to the queued person UR1 to wear.

Therefore, after the queuer UR1 enters the queuing area, when the queuer UR1 blocks the light beam Ln, the server SR can use the biometric information of the queuer UR1 captured by the camera lens 52, account information used to log in to the mobile device, and Or the passport information PT to learn from the server SR the wearable device (for example, wearable device RIN1) corresponding to such information, thereby transmitting the queued message to the wearable device RIN1 of the queuer UR1.

In summary, the fence system and the fence setting method according to the present invention can be configured with robots in accordance with crowd density and environmental space, thereby adjusting the queuing route and fence area. In addition, in this case, the server is used to prompt the robot to prompt the queuing message, which can inform the queued or pushed queuers to follow the queuing order. In addition, the number and position of robots in this case can be dynamically adjusted, thereby avoiding the fence occupying unnecessary space when there are fewer people in the queue. In addition, the fence system and the fence setting method described in this case can integrate robots, unmanned aerial vehicles, cloud servers, and wearable devices through a server to achieve the effect of dynamically setting up fences, and can provide queuing information to specific queuers.

Although the present invention has been disclosed as above by way of example, it is not intended to limit the present invention. Any person skilled in the art can make various modifications and retouches without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be determined by the scope of the attached patent application.

Claims (12)

A fence system includes: a server including: a storage device for storing a map information; and a first processor for generating a plurality of positioning points based on the map information; and a plurality of robots; wherein The robots include a first robot and a second robot, and the first robot includes: a first communication device for receiving the corresponding positioning points; and a second processor for urging the first robot. A robot moves to a first position according to the corresponding positioning points; and a first light beam transmitting and receiving device, the first light beam receiving and receiving device is used for receiving a signal from the second after the first robot moves to the first position A light beam of the robot is used to emit the light beam to the second robot, thereby forming the light beam fence between the first robot and the second robot. The fence system according to item 1 of the scope of patent application, wherein when the first beam transmitting and receiving device determines that the light beam is blocked, the first beam transmitting and receiving device instructs a blocking message through the second processor; wherein, When the first light beam transmitting and receiving device determines that the light beam is blocked, the first light beam transmitting and receiving device instructs a blocking message through the second processor, and the first communication device transmits the blocking message to a corresponding block message. A wearable device. The fence system according to item 1 of the scope of patent application, further comprising: an unmanned aerial vehicle; wherein when the first beam transmitting and receiving device determines that the light beam is blocked, the first beam transmitting and receiving device instructs through the second processor A blocking message, the first communication device sends the blocking message to the first processor in the server, and the first processor causes the unmanned aerial vehicle to fly to a position corresponding to the blocking message. The fence system according to item 1 of the scope of patent application, wherein the first processor sends a queued message to a wearable device corresponding to the biological information according to a biological information; wherein the biological information is provided by an unmanned aerial vehicle or the A camera lens of the first robot or the second robot is obtained. According to the fence system described in item 1 of the patent application scope, wherein the first robot further includes a positioning device for obtaining a current position information of the first robot, and the current position information passes through the first The communication device transmits to the server, and the first processor in the server calculates a current coordinate position of the first robot in an indoor space according to the current position information. The fence system described in item 1 of the scope of patent application, further includes: a plurality of camera devices for capturing a crowd status of an indoor space, and transmitting the crowd status to the server, and the first A processor generates the anchor points based on the crowd status and the map information. A fence setting method includes: generating a plurality of positioning points according to a map information stored in a server; receiving a corresponding plurality of positioning points by a first robot, and the first robot according to the corresponding positioning The point moves to a first position; and when the first robot moves to the first position, the first robot receives a light beam from a second robot or emits the light beam to the second robot, thereby making the location The beam between the first robot and the second robot forms a beam fence. The fence setting method described in item 7 of the scope of patent application, further includes: determining whether the light beam is blocked; and when determining that the light beam is blocked, transmitting a blocking message to one of the corresponding blocking messages. Device. The fence setting method described in item 7 of the scope of patent application, further includes: determining whether the light beam is blocked; wherein, when it is determined that the light beam is blocked, transmitting the blocking message to the server, the server prompts An unmanned aerial vehicle flies to the position where it should block the message. The fence setting method according to item 7 of the scope of patent application, wherein the server sends a queuing message to a wearable device corresponding to the biological information according to a biological information; wherein the biological information is provided by an unmanned aerial vehicle or the first To obtain a camera lens of a robot or the second robot. The fence setting method described in item 7 of the scope of patent application, further includes: obtaining a current position information of the first robot; and transmitting the current position information to the server; wherein the server uses the current position information to A current coordinate position of the first robot in an indoor space is calculated. The fence setting method described in item 7 of the scope of patent application, further includes: photographing a crowd status of an indoor space; and transmitting the crowd status to the server; wherein the server uses the crowd status and the map information to Generate these anchor points.