# US 11,441,900 B2 · Movable marking system, controlling method for movable marking apparatus, and computer readable recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,900 B2 - Document ID: US11441900B2 - Status: Granted - Kind: B2 - Application number: 17/009,464 - Filed: 2020-09-01 - Published: 2020-12-24 - Granted: 2022-09-13 - Earliest claimed: 2017-05-19 - Assignees: Landor Architecture, Inc. - Applicants: Landor Architecture, Inc. - Inventors: Han Seok Nam; Dongjun Lee - Web page: https://patentgrep.com/patent/US11441900B2 ## CPC - G01C 15/06: Surveyors' staffs; Movable markers - G01C 15/006: {Detectors therefor} - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract Provided are a movable marking system, a method of controlling a movable marking apparatus, and a computer-readable recording medium. The movable marking system is a movable marking system that includes a movable marking apparatus, and includes: a data receiving unit for receiving marking data regarding a working surface; a marking unit for performing a marking operation on the working surface in response to the marking data; a sensing unit for scanning space targeted for scanning; and a scan condition setting unit for setting a movement path of the movable marking apparatus corresponding to the marking data, setting a scan position for scanning the space targeted for scanning by taking into account reference map data corresponding to the space targeted for scanning, and setting a scan angle of the sensing unit at the scan position. ## Claims ### Claim 1 A movable working system comprising a movable working apparatus, the movable working system comprising: a driving unit, which supplies power to the movable working apparatus and moves the movable working apparatus; a sensing unit, which senses a space; a sensing condition setting unit, which sets a movement path along which the movable working apparatus moves; and a position detecting unit, which detects a position of the movable working apparatus by comparing sensing data obtained through the sensing unit with a map data, wherein the map data is generated from a drawing corresponding to the space or from a former sensing process, and wherein the sensing unit includes a camera sensor to capture an image of a floor surface when the floor surface is in the space, wherein the image includes a state and texture of the floor surface, and wherein the movement path is set or corrected in accordance with the state and texture of the floor surface. ### Claim 2 (depends on 1) The movable working system of claim 1, further comprising a map generating unit, which generates the map data from sensing data obtained through the sensing unit. ### Claim 3 (depends on 1) The movable working system of claim 1, further comprising a position correcting unit, which corrects the position of the movable working apparatus by comparing the position of the movable working apparatus detected in the position detecting unit with the movement path. ### Claim 4 (depends on 3) The movable working system of claim 3, wherein, when the position of the movable working apparatus is off the movement path by a predetermined range or more, the position correcting unit corrects the position of the movable working apparatus so as to correspond to the movement path. ### Claim 5 (depends on 1) The movable working system of claim 1, wherein the movable working system further comprises: a working unit, which performs a working operation; and a control unit, which controls at least one of the movable working apparatus or a position of the working unit, wherein, when the position of the movable working apparatus detected in the position detecting unit is off the movement path by a predetermined range or more, the control unit adjusts the position of the movable working apparatus in response to the movement path, and when the position of the movable working apparatus is off the movement path by less than the predetermined range, the control unit adjusts the position of the working unit in response to the movement path. ### Claim 6 (depends on 5) The movable working system of claim 5, wherein the movement path of the movable working apparatus is set in response to a working data. ### Claim 7 (depends on 5) The movable working system of claim 5, wherein the position detecting unit determines the position of the working unit by comparing a working data with data corresponding to an operation result of the marking unit, and the position detecting unit determines the position of the movable working apparatus by taking into account a distance between the movable working apparatus and the working unit. ### Claim 8 (depends on 1) The movable marking system of claim 1, wherein a sensing position is on the movement path. ### Claim 9 (depends on 1) The movable working system of claim 1, wherein the position detecting unit receives a position signal from a transceiver in an arbitrary position and determines the position of the movable working apparatus from the position signal. ### Claim 10 A method of controlling a movable working apparatus comprising a rotatable sensor and a driving apparatus, the method comprising: receiving information regarding a space; setting a movement path of the movable working apparatus; capturing an image of a floor surface when the floor surface is the space and correcting the movement path based on the state and texture of the floor surface in the captured image; setting a scan position for sensing the space for sensing; and determining a position of the movable marking apparatus by comparing sensing data obtained through the sensor with a map data, wherein the map data is generated from a drawing corresponding to the space or from a former sensing process. ### Claim 11 (depends on 10) The method of claim 10, further comprising comparing the position of the movable working apparatus with the movement path and correcting the position of the movable working apparatus, wherein the correcting of the position of the movable working apparatus comprises correcting, when the position of the movable working apparatus determined in the determining of the position is off the movement path by a predetermined range or more, the position of the movable working apparatus so as to correspond to the movement path. ### Claim 12 (depends on 10) The method of claim 10, further comprising receiving working data regarding a working surface comprised in the space, and the setting of the movement path comprises setting the movement path of the movable marking apparatus in response to the working data. ### Claim 13 (depends on 10) The method of claim 10, further comprising: obtaining sensing data of the space by rotating the sensor; and generating the map data of the space from the sensing data. ### Claim 14 (depends on 10) The method of claim 10, wherein a sensing position is on the movement path. ### Claim 15 (depends on 10) A non-transitory computer-readable recording medium having recorded thereon a program for performing the method of claim 10.