Nonrestrictive drive-type marking system and marking method thereof

A nonrestrictive drive-type working system comprising a movable nonrestrictive drive-type working device, the nonrestrictive drive-type working system comprising:

• a working unit configured to work on a working surface;
• a driving unit configured to allow at least a part of the nonrestrictive drive-type working device comprising the working unit to nonrestrictively move on the working surface;
• a position detecting unit configured to generate position information of at least a part of the nonrestrictive drive-type working device;
• and
• a control unit electrically connected to the working unit, the driving unit, and the position detecting unit, and configured to:
• calculate a current position of at least a part of the nonrestrictive drive-type working device including the working unit by comparing the position information with a map data corresponding to the working surface;
• compare the current position with a map data;
• move at least a part of the working unit when the current position does not match with the map data and a degree of mismatch thereof is within a preset range;
• move at least a part of the nonrestrictive drive-type working device when the current position does not match with the map data and the degree of mismatch thereof exceeds the preset range;
• and
• control the nonrestrictive drive-type working device when the current position matches with the map data to work on the working surface.