TWI749656B - System for establishing positioning map and method thereof - Google Patents

Abstract

A system for establishing positioning map and a method thereof are provided. The method includes: obtaining an area map of a target area; setting a plurality of collection points and a collection path; configuring a Wi-Fi fingerprint collection device to obtain the area map, the collection points and the collection path; configuring an environmental sensing module to perform environmental sensing on located environment to obtain environmental information; performing a positioning procedure to determine a location of the Wi-Fi fingerprint collection device in the target area based on the environmental information and the area map to generate positioning information; executing a navigation procedure to move the Wi-Fi fingerprint collection device along the collection path; determining whether the Wi-Fi fingerprint collection device passes through one of the collection points; and executing a collection procedure to store the collected Wi-Fi fingerprint data and corresponding positioning information to create positioning map data.

Description

Positioning map data establishment system and establishment method

Related applications

The present invention claims the priority of U.S. Provisional Application No. 62/982073 (filing date: February 27, 2020), the complete content of which is incorporated into this invention patent specification for reference.

The present invention relates to a positioning map data establishment system and method, in particular to a Wi-Fi fingerprint-based positioning map data establishment system and method.

With the expansion of mobile computing nodes and the advancement of wireless technology, the demand for accurate indoor positioning and related services has become more and more popular. Reliable and accurate indoor positioning can support a wide range of applications.

However, the current indoor positioning system has many problems. For example, these systems are often imprecise, too complex to implement, and/or too expensive. Although the indoor positioning system based on Wi-Fi and Received Signal Strength Index (RSSI) signals has high accuracy, it takes a lot of time and money to establish positioning map data, and also requires a lot of maintenance. The cost of updating.

Therefore, providing a positioning map data establishment system and method that can save a lot of time and money to overcome the above-mentioned shortcomings has become one of the important issues to be solved by this business.

The technical problem to be solved by the present invention is to provide a Wi-Fi fingerprint-based positioning map data establishment system and method for the shortcomings of the prior art, which can greatly save construction and maintenance costs.

In order to solve the above-mentioned technical problems, one of the technical solutions adopted by the present invention is to provide a method for establishing location map data, which includes the following steps: obtaining an area map of a target area; setting multiple collection points in the area map and A collection path; a Wi-Fi fingerprint collection device is configured to obtain the area map, the collection points, and the collection path, wherein the Wi-Fi fingerprint collection device includes a plurality of wireless transceiver modules, a processing module, and an environmental sense A measuring module, a storage module and a mobile module, and the processing module is electrically connected to the wireless transceiver modules, the ranging module, the storage module and the mobile module. The location map data creation method further includes setting the Wi-Fi fingerprint collection device in the target area; configuring the processing module to control the environment sensing module to perform environment sensing on the environment to obtain an environment information; The processing module executes a positioning procedure to determine the location of the Wi-Fi fingerprint acquisition device in the target area based on the environmental information and the area map, thereby generating positioning information; configuring the processing module to execute a navigation procedure, To control the mobile module to make the Wi-Fi fingerprint collection device move along the collection path; configure the processing module to determine whether the Wi-Fi fingerprint collection device passes one of the collection points according to the positioning information In response to the processing module determining that the Wi-Fi fingerprint acquisition device passes through one of the acquisition points, configuring the processing module to execute a acquisition program, which includes: controlling the wireless transceiver modules to execute a Wi-Fi Fingerprint collection program to collect the current Wi-Fi fingerprint data of the collection point; and store the collected Wi-Fi fingerprint data and the corresponding positioning information of the collection point in the storage module as a collection point Information; and in response to the Wi-Fi fingerprint collection device completely passing through the collection path, the processing module is configured to create a location map based on the collection point information stored by the storage module.

In some embodiments, obtaining the area map of the target area includes the user drawing and creating the area map according to a plan view of the target area, or executing a Simultaneous Localization and Mapping (SLAM) algorithm To build a map of the area.

In some embodiments, the environment sensing module includes an LiDAR and at least one Ultra-wideband (UWB) module, and the environment sensing includes: configuring the LiDAR to perform distance measurement on the environment to obtain The environment information; and the configuration of the at least one UWB module to measure the distances from a plurality of base stations located in the environment to assist in determining the location of the Wi-Fi fingerprint collection device in the target area.

In some embodiments, the positioning procedure is an Adaptive Monte Carlo Localization (AMCL) algorithm, and can be used to integrate multiple positioning information.

In some embodiments, the Wi-Fi fingerprint acquisition device further includes a depth image capture module, which is electrically connected to the processing module, and the location map data creation method further includes: configuring the processing module to perform a defense The collision procedure is used to control the depth image capture module to perform image capture and depth detection of the environment, and in response to the minimum distance between the Wi-Fi fingerprint capture device and the environment is less than a predetermined distance, control the mobile module Group stop moving; and configure the processing module to execute a fall prevention program to capture images of the environment through the depth image capture module to determine whether the road in front of the Wi-Fi fingerprint capture device is low, to determine Control the mobile module to stop moving in advance.

In some embodiments, the step of setting the collection points and the collection path in the area map further includes: providing the area map with a user interface electrically connected to the processing device; and capturing a map through the user interface The user sets a plurality of target halfway points in the area map; and configures the processing device to execute a path planning program according to the target halfway points to generate the collection points and the collection path.

In some embodiments, the path planning procedure further includes configuring the processing device to dynamically adjust the collection path dynamically based on the environmental information, the positioning information, and the area map.

In some embodiments, the wireless transceiving modules include a mobile device, the mobile device includes a processing unit, a storage unit and a transceiving unit electrically connected to the processing unit, and the Wi-Fi fingerprint collection program further It includes: obtaining the positioning information; and storing the currently collected Wi-Fi fingerprint data of the collection point, the positioning information and a corresponding collection time in the storage module.

In some embodiments, the method for establishing location map data further includes: configuring a cloud server to communicate with the processing device, wherein the cloud server has a server processing unit and a cloud database; and configuring the processing device to create The positioning map is uploaded to the cloud server.

In some embodiments, the method for creating location map data further includes: configuring the servo processing unit to execute a data import program to read the location map data and perform a data integrity check procedure; and configuring the servo processing unit to check The subsequent location map data is stored in the cloud database.

One of the beneficial effects of the present invention is that the Wi-Fi fingerprint-based positioning map data establishment system and establishment method provided by the present invention can not only save the tedious planning work on the collection point and the collection path, but also by configuring Wi-Fi The fingerprint collection device automatically executes the collection process, in addition to eliminating the traditional manual data acquisition work, it can also save maintenance costs that need to be updated frequently as the environment changes.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings about the present invention. However, the provided drawings are only for reference and description, and are not used to limit the present invention.

The following is a specific specific embodiment to illustrate the implementation of the "positioning map data establishment system and establishment method" disclosed in the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be based on different viewpoints and applications, and various modifications and changes can be made without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to actual size, and are stated in advance. The following embodiments will further describe the related technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

FIG. 1 is a block diagram of a system for establishing location map data according to an embodiment of the present invention. Referring to FIG. 1, an embodiment of the present invention provides a positioning map data establishment system 1, which includes a Wi-Fi fingerprint collection device 10. The Wi-Fi fingerprint collection device 10 includes a processing module 100, a plurality of wireless transceiver modules 101 electrically connected to the processing module 100, an environment sensing module 102, a storage module 103 and a mobile module 104.

The processing module 100 may include any suitable processor-driven computing device, including but not limited to a desktop computing device, a laptop computing device, a server, a smart phone, a tablet computer, and so on. The processing module 100 can be an integrated circuit such as a Programmable Logic Controller Circuit, a Micro-processor Circuit, or a Micro-control Circuit, or an integrated circuit including the aforementioned integrated circuit. Electronic devices such as tablet computers, mobile phones, notebook computers or desktop computers, but not limited to this. The aforementioned processing module 100 may have, for example, a Robot Operating System (ROS).

The wireless transceiver module 101 can be configured to transmit and receive signals, for example, it can be a mobile device such as a tablet computer and a mobile phone, or can be a wireless network card with an interface such as USB and PCIe. In detail, the wireless transceiver module 101 is mainly used to detect the number of Wi-Fi access points and use the RSSI value, bandwidth, channel position, and fine timing data based on the 802.11mc specification of these Wi-Fi access points. Measure (Fine Time Measurement, FTM) ranging values, etc. to generate Wi-Fi fingerprints. However, not all embodiments are limited to RSSI fingerprint technology, and other Wi-Fi location technologies can also be used to simultaneously mix data from various wireless power sources, such as combined Wi-Fi, radio frequency identification (RFID) or Wireless Bluetooth transmission of data. In some embodiments, the wireless transceiver module 101 may be, for example, a mobile device, which includes a processing unit (for example, a processor), a storage unit (for example, flash memory) and a transceiver unit (for example, a flash memory) electrically connected to the processing unit ( For example, a Wi-Fi module supporting 2.4G/5G frequency band).

In addition, the environment sensing module 102 can be used to sense the environment in which it is located, and the environment sensing module 102 can include LiDAR and at least one Ultra-wideband (UWB) module. LiDAR can be used to scan the environment. , For distance measurement of the surrounding environment and provide environmental information, at least one UWB module can be used for environmental positioning assistance.

The storage module 103 may be, for example, a memory system, which may include non-volatile memory (such as flash memory) and system memory (such as DRAM) for storing the area map MAP of the target area, and more of the area map MAP. A collection point P and a collection path PP. In detail, the target area may be an indoor place or building that is scheduled to be located, the area map MAP may include one or more maps of each floor of the place or building, and multiple collection points P may be scattered on the area map For multiple coordinates in the MAP, the collection path PP is the path through the collection points P.

Refer to FIG. 2, which is a schematic diagram of a Wi-Fi fingerprint collection device according to an embodiment of the present invention. As shown in the figure, the mobile module 104 may include, for example, a motor, a tire, and a carrier, where the carrier may be used to carry the aforementioned processing module 100, wireless transceiver module 101, environment sensing module 102, and storage module 103. The motor and tires can be configured to be driven by the processing module 100 to move the Wi-Fi fingerprint collection device 10. Among them, a plurality of wireless transceiver modules 101 can be installed on the Wi-Fi fingerprint collection device 10 at different heights, and simultaneously collect Wi-Fi fingerprint data of different heights. Multiple wireless transceiver modules 101 can each include multiple antenna units, and are configured on the premise that their field types do not conflict, so as to avoid interference between multiple antennas as much as possible. At the same time, multiple wireless transceiver modules 101 can support various methods Collect Wi-Fi fingerprint data, such as supporting the aforementioned mobile devices, or wireless network cards with USB, PCIe and other interfaces.

In certain embodiments, the mobile module 104 can be controlled by the ROS of the processing module 100. In some embodiments, the Wi-Fi fingerprint acquisition device 10 may further include a depth image capturing module 105, such as a depth camera, which is electrically connected to the processing module 100. By adopting this configuration, when the Wi-Fi fingerprint capture device 10 is moving, the processing module 100 can execute an anti-collision procedure to control the depth image capture module 105 to perform image capture and depth detection of the environment. , And in response to the minimum distance between the Wi-Fi fingerprint acquisition device 10 and the environment where it is less than a predetermined distance, the movement module 104 is controlled to stop moving to avoid collisions; and the processing module 100 can also execute an anti-fall procedure. The depth image capturing module 105 detects whether the road in front of the Wi-Fi fingerprint acquisition device 10 is low, and controls the mobile module 104 to stop moving in advance to avoid entering the environment with large height difference such as stairs.

Please refer to FIG. 3, which is a flowchart of a method for establishing location map information according to an embodiment of the present invention. As shown in the figure, the embodiment of the present invention provides a method for establishing location map data, which is applicable to the above-mentioned location map data creation system, but is not limited to this, and includes the following steps:

Step S100: Obtain an area map of the target area. In some embodiments, the method of obtaining the area map MAP may include the user drawing and creating the area map MAP according to a plan view of the target area, or executing a Simultaneous Localization and Mapping (SLAM) algorithm. Create a regional map MAP. For example, the environment can be scanned by Lidar and provided with environmental feature data. The provided environmental feature data can be combined with the Gmapping algorithm in the ROS of the processing module 100 to achieve simultaneous positioning and map construction (Simultaneous Localization and Mapping). , SLAM) algorithms, and can include supervised (supervised) or unsupervised (un-supervised) SLAM algorithms. Furthermore, the generated area map MAP can be further manually corrected to ensure its authenticity.

Step S101: Set multiple collection points P and collection paths PP in the area map MAP.

Refer to Figures 4 and 5. Figure 4 is a flowchart of a collection point and collection path setting process according to an embodiment of the present invention, and Figure 5 is a schematic diagram of a collection point and collection path according to an embodiment of the present invention. As shown in the figure, the setting process can include the following steps:

Step S200: Provide an area map MAP through the user interface 106. In this step, the user interface 106 can be electrically connected to the processing module 100 as shown in FIG. It is a remote graphical interface (such as VNC, Teamviewer, etc.), or calls ROS related commands (such as Roslaunch) and graphical programs (such as RViz) through the local network. Taking the target area as a building with multiple floors as an example, the user interface 106 may provide multiple floor maps MAP1 to MAPn as shown in FIG. 5, and each floor information FL is marked.

Step S201: Retrieve multiple target midway points set by the user in the area map MAP through the user interface 106. As shown in the figure, the user can plan multiple target halfway points in the area where Wi-Fi fingerprint collection is required.

Step S202: The configuration processing device 100 executes a path planning program according to the target halfway points to generate the collection points P and the collection path PP. For example, the path planning program can automatically generate a collection path, plan the collection points on the collection path, and use a set specific distance as the interval between the collection points.

Then, the method for establishing location map data continues to perform step S102: Configure the Wi-Fi fingerprint collection device 10 to obtain the area map MAP, the collection points P, and the collection path PP.

Step S103: Set the Wi-Fi fingerprint collection device 10 in the target area.

Step S104: The configuration processing module 100 controls the environment sensing module 102 to perform environmental sensing on the environment to obtain environmental information. For example, the environmental sensing module 102 (such as LiDAR 102-1 and one or more UWB modules 102-2) can scan the environmental information ENI as shown in FIG. 5. For example, the environmental information ENI may include Wi-Fi The distance between the fingerprint collection device 10 and the surrounding wall, the shape of the wall, and so on. In detail, in addition to LiDAR, there are also more than one UWB modules used to assist in environmental positioning. Among them, UWB uses the measurement of the distance to a small number of base stations (Anchors) in the environment to estimate the Wi-Fi fingerprint collection device 10 in the environment. The location in the target area.

Step S105: The processing module 100 is configured to execute a positioning procedure to determine the location of the Wi-Fi fingerprint collection device 10 in the target area based on the environmental information and the area map MAP, thereby generating positioning information. In this step, the positioning procedure can be, for example, an Adaptive Monte Carlo Localization (AMCL) algorithm, which collects and integrates the various environmental information obtained above to perform indoor environment positioning and navigation. The location information can be used as reference material for subsequent marking of Wi-Fi fingerprints. For example, the environmental information ENI, such as the distance of the surrounding wall and the shape of the wall obtained in the previous step, can be compared with the area map MAP to confirm the location of the Wi-Fi fingerprint collection device 10.

Step S106: The configuration processing module 100 executes a navigation program to control the movement module 104 so that the Wi-Fi fingerprint collection device 10 moves along the collection path PP. During the collection process, the path planning program can further dynamically adjust the collection path PP based on environmental information, positioning information, and regional map MAP. For example, if an unexpected situation occurs on the way and the current collection point P cannot be reached, it will automatically be postponed to the next collection point P, and the skipped collection point P will be moved to the end of the queue.

Step S107: The configuration processing module 100 determines whether the Wi-Fi fingerprint collection device 10 passes one of the collection points P according to the positioning information.

In response to the processing module 100 determining that the Wi-Fi fingerprint collection device 10 passes through one of the collection points P, step S108 is entered: the processing module 10 is configured to execute the collection procedure.

Here, further reference may be made to FIG. 6, which is a flowchart of a collection procedure according to an embodiment of the present invention. As shown in the figure, the collection procedure further includes the following steps:

Step S300: Control the wireless transceiver module 101 to execute the Wi-Fi fingerprint collection program to collect the current Wi-Fi fingerprint data of the collection point P.

In detail, Wi-Fi fingerprint data can associate a location in the actual environment with a certain "fingerprint", and a location corresponds to a unique fingerprint. The fingerprint can be single-dimensional or multi-dimensional. For example, when the wireless transceiver module 101 is receiving or transmitting information, the fingerprint can be one or more characteristics of the information or signal (the most common is signal strength).

Wi-fi fingerprint data can be of multiple types, and any feature with unique location can be used as a Wi-fi fingerprint data. For example, the multipath structure data related to the Wi-Fi signal space at a certain location, the number of detected access points or base stations, whether certain access points (AP) or base stations can be detected, and detectable The received signal strength (RSS) of each access point, the round-trip time or delay of the signal when communicating via Wi-Fi (such as CSI information, or FTM ranging value based on the 802.11mc specification, etc.), these It can be used as a piece of Wi-Fi fingerprint data, or the above features can be combined as Wi-Fi fingerprint data.

Step S301: Store the collected Wi-Fi fingerprint data and the location information of the corresponding collection point P in the storage module 103 as the collection point information. In detail, the wireless transceiver module 101 can receive signals from multiple access points on the corresponding collection point P, and use the RSS from the multiple access points to form an RSS vector as a fingerprint associated with the positioning information , Which is the Wi-Fi fingerprint of the present invention.

In some embodiments, the wireless transceiver module 101 (such as a mobile device) can obtain the location information, and store the collected Wi-Fi fingerprint data, location information, and corresponding collection time of the current collection point in the mobile device The storage unit can be used as an offline backup.

Returning to the flow of the method for establishing location map data, proceed to step S109: In response to the Wi-Fi fingerprint collection device 10 completely passing through the collection path PP, the configuration processing module 100 creates location map data based on the collection point information stored in the storage module 103 .

As shown in FIG. 1, the positioning map data creation system 1 may further include a cloud server 12 configured to communicate with the processing device 100, wherein the cloud server 12 has a server processing unit 120 and a cloud database 122. In the process of establishing the positioning map data, or after the establishment is completed, the processing device 100 may upload the established positioning map data to the cloud server 12.

The server processing unit 120 can be used to execute a data import program to read the location map data and perform a data integrity check process, and store the checked location map data in the cloud database 122. In detail, the original collected data (that is, the location map data) can be diversified and stored in the cloud database 122 according to the collection date. By executing the data import program, the original collected data can be read in and the data integrity is executed. Check, and then add the non-relational database of the building and floor according to the specific file format, and the information of this import operation will also be recorded in the cloud database 122.

[Beneficial effects of the embodiment]

One of the beneficial effects of the present invention is that the Wi-Fi fingerprint-based positioning map data establishment system and establishment method provided by the present invention can not only save the tedious planning work on the collection point and the collection path, but also by configuring Wi-Fi The fingerprint collection device automatically executes the collection process, in addition to eliminating the traditional manual data acquisition work, it can also save maintenance costs that need to be updated frequently as the environment changes.

The content disclosed above is only a preferred and feasible embodiment of the present invention, and does not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the description and schematic content of the present invention are included in the application of the present invention. Within the scope of the patent.

1: Location map data establishment system 10: Wi-Fi fingerprint collection device 100: Processing module 101: Wireless transceiver module 102: Environmental Sensing Module 103: Storage Module 104: mobile module 105: Depth image capture module 106: User Interface 12: Cloud server 120: Servo processing unit 122: Cloud database MAP: area map P: Collection point PP: Collection path MAP1, MAPn: Floor map FL: Floor Information ENI: Environmental Information 102-1: Lidar 102-2: UWB module

Fig. 1 is a block diagram of a positioning map data establishment system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a Wi-Fi fingerprint collection device according to an embodiment of the present invention.

Fig. 3 is a flowchart of a method for establishing location map data according to an embodiment of the present invention.

Fig. 4 is a flowchart of a collection point and collection path setting process according to an embodiment of the present invention.

Fig. 5 is a schematic diagram of collection points and collection paths according to an embodiment of the present invention.

Fig. 6 is a flowchart of a collection procedure according to an embodiment of the present invention.

1: Location map data establishment system

10: Wi-Fi fingerprint collection device

100: Processing module

101: Wireless transceiver module

102: Environmental Sensing Module

103: Storage Module

104: mobile module

105: Depth image capture module

106: User Interface

12: Cloud server

120: Servo processing unit

122: Cloud database

MAP: area map

P: Collection point

PP: Collection path

Claims (17)

A method for establishing location map data includes the following steps: obtaining an area map of a target area; setting a plurality of collection points and a collection path in the area map; configuring a Wi-Fi fingerprint collection device to obtain the area map, the Some collection points and the collection path, wherein the Wi-Fi fingerprint collection device includes a plurality of wireless transceiver modules, a processing module, an environmental sensing module, a storage module and a mobile module, and the processing module The group is electrically connected to the wireless transceiver modules, the ranging module, the storage module, and the mobile module; sets the Wi-Fi fingerprint collection device in the target area; configures the processing module to control the environment The sensing module performs environmental sensing on the environment to obtain environmental information, wherein the environmental sensing module includes a LiDAR and at least one Ultra-wideband (UWB) module, and the environmental sensing includes: Configure the LiDAR to perform distance measurement on the environment to obtain the environment information; and configure the at least one UWB module to measure the distances to multiple base stations located in the environment to assist in determining whether the Wi-Fi fingerprint collection device is in The location in the target area; configure the processing module to execute a positioning procedure to determine the location of the Wi-Fi fingerprint collection device in the target area based on the environmental information and the area map, thereby generating positioning information; configure the The processing module executes a navigation program to control the mobile module so that the Wi-Fi fingerprint acquisition device moves along the acquisition path; configure the processing module to determine whether the Wi-Fi fingerprint acquisition device passes according to the positioning information One of the collection points; in response to the processing module determining that the Wi-Fi fingerprint collection device passes one of the collection points, configuring the processing module to execute a collection procedure, which includes: Control the wireless transceiver modules to execute a Wi-Fi fingerprint collection program to collect the current Wi-Fi fingerprint data of the collection point; and the collected Wi-Fi fingerprint data and the corresponding location of the collection point Information is stored in the storage module as a collection point information; and in response to the Wi-Fi fingerprint collection device completely passing through the collection path, the processing module is configured to create a collection point information based on the collection point information stored in the storage module Location map information. The method for establishing location map data according to claim 1, wherein obtaining the area map of the target area includes the user drawing and creating the area map according to a plan view of the target area, or performing a simultaneous positioning and map construction (Simultaneous Localization and Mapping, SLAM) algorithm to build the area map. The method for establishing a positioning map as described in claim 1, wherein the positioning procedure is an Adaptive Monte Carlo Localization (AMCL) algorithm. The method for establishing location map data according to claim 1, wherein the Wi-Fi fingerprint acquisition device further includes a depth image capturing module electrically connected to the processing module, and the method for creating location map data further includes: Configure the processing module to execute an anti-collision program to control the depth image capture module to perform image capture and depth detection of the environment, and respond to the minimum distance between the Wi-Fi fingerprint capture device and the environment to be less than one When the predetermined distance is set, the mobile module is controlled to stop moving; and the processing module is configured to execute an anti-falling procedure to capture images of the environment through the depth image capture module to determine and detect the Wi-Fi fingerprint capture device Whether the road ahead is low, to decide to control the movement module to stop moving in advance. The method for establishing location map data according to claim 1, wherein the area map is set The steps of the collection points and the collection path further include: providing the area map with a user interface that is electrically connected to the processing device; and capturing a user set in the area map through the user interface. Target halfway points; and configure the processing device to execute a path planning program according to the target halfway points to generate the collection points and the collection path. The method for establishing location map data according to claim 5, wherein the path planning procedure further includes configuring the processing device to dynamically adjust the collection path dynamically based on the environmental information, the location information, and the area map. The method for establishing location map data according to claim 1, wherein the wireless transceiver modules include a mobile device, the mobile device includes a processing unit, a storage unit and a transceiver unit electrically connected to the processing unit, and The Wi-Fi fingerprint collection procedure further includes: obtaining the location information; and storing the currently collected Wi-Fi fingerprint data of the collection point, the location information, and a corresponding collection time in the storage module. The method for establishing location map data as described in claim 1, further comprising: configuring a cloud server to communicate with the processing device, wherein the cloud server has a server processing unit and a cloud database; and configuring the processing device to communicate with the processing device Upload the created location map to the cloud server. The method for establishing location map data according to claim 8, further comprising: configuring the servo processing unit to execute a data import program to read the location map data and perform a data integrity check procedure; and configuring the server processing unit Store the checked location map data in the cloud database. A positioning map data establishment system, which includes: A Wi-Fi fingerprint acquisition device, which includes: a processing module; a plurality of wireless transceiver modules, electrically connected to the processing module, configured to send and receive signals; an environment sensing module, electrically connected to the processing module Group, configured to perform environmental sensing of the environment; a storage module, electrically connected to the processing module, for storing an area map of a target area, multiple collection points in the area map, and a collection path ; And a mobile module, electrically connected to the processing module, configured to be driven by the processing module to move the Wi-Fi fingerprint acquisition device, wherein when the Wi-Fi fingerprint acquisition device is set in the target area In the middle, the processing module is configured to control the environmental sensing module to perform environmental sensing on the environment in order to obtain environmental information, wherein the environmental sensing module includes an LiDAR and at least one ultra-wideband (Ultra- wideband, UWB) module, and the environment sensing system includes: configuring the LiDAR to perform distance measurement on the environment to obtain the environment information; and configuring the at least one UWB module to measure and measure multiple locations in the environment The distance between the base stations is used to assist in determining the location of the Wi-Fi fingerprint collection device in the target area; wherein the processing module is further configured to perform a positioning procedure to determine the Wi-Fi based on the environmental information and the area map. The location of the Fi fingerprint acquisition device in the target area to generate a positioning information; wherein the processing module is further configured to execute a navigation program to drive and control the mobile module so that the Wi-Fi fingerprint acquisition device moves along The collection path moves, and the processing module is configured to determine the Wi-Fi fingerprint based on the positioning information Whether the collection device passes one of the collection points; wherein, in response to the processing module determining that the Wi-Fi fingerprint collection device passes one of the collection points, the processing module is configured to execute a collection procedure , Which includes: controlling the wireless transceiver modules to execute a Wi-Fi fingerprint collection program to collect the current Wi-Fi fingerprint data of the collection point; and combining the collected Wi-Fi fingerprint data and the corresponding collection The location information of the point is stored in the storage module as a collection point information; and wherein, in response to the Wi-Fi fingerprint collection device completely passing through the collection path, the processing module is configured to be stored according to the storage module Of the collected point information to establish a positioning map. The location map data creation system according to claim 10, wherein the area map of the target area is drawn and created by a user according to a plan view of the target area, or the processing module is configured to perform a synchronized positioning and map Construct a (Simultaneous Localization and Mapping, SLAM) algorithm to build a map of the area. The location map data creation system according to claim 10, wherein the Wi-Fi fingerprint acquisition device further includes a depth image acquisition module electrically connected to the processing module, and the processing module is further configured to execute a Anti-collision program to control the depth image capture module to perform image capture and depth detection of the environment, and to control the movement when the minimum distance between the Wi-Fi fingerprint capture device and the environment is less than a predetermined distance The module stops moving, and the processing module is further configured to perform a fall prevention procedure to capture images of the environment through the depth image capture module to determine whether the road in front of the Wi-Fi fingerprint capture device is low , In order to decide to control the movement module to stop moving in advance. The positioning map data creation system described in claim 10 further includes a user interface, Electrically connected to the processing module, configured to provide a map of the area, and retrieve multiple target halfway points set by the user in the area map; and the processing device is configured to execute a path planning based on the target halfway points Program to generate the collection points and the collection path. The location map data creation system according to claim 13, wherein the path planning procedure further includes configuring the processing device to dynamically adjust the collection path dynamically based on the environmental information, the location information, and the area map. The positioning map data establishment system according to claim 10, wherein the wireless transceiver modules include a mobile device, the mobile device includes a processing unit, a storage unit and a transceiver unit electrically connected to the processing unit, and The Wi-Fi fingerprint collection procedure further includes: obtaining the location information; and storing the currently collected Wi-Fi fingerprint data of the collection point, the location information, and a corresponding collection time in the storage module. The positioning map data establishment system of claim 10 further includes a cloud server configured to communicate with the processing device, wherein the cloud server has a server processing unit and a cloud database, wherein the processing device will The created location map is uploaded to the cloud server. The location map data creation system according to claim 16, wherein the server processing unit is configured to execute a data import program to read the location map data and perform a data integrity check process, and the checked data The location map data is stored in the cloud database.

Images