Patent Publication Number: US-2019196492-A1

Title: Automated Construction Scribing Devices and Methods of Use

Description:
RELATED APPLICATION 
     This Non-Provisional Patent Application is a continuation of U.S. patent application Ser. No. 14/673,665, filed Mar. 30, 2015, which is hereby incorporated by reference herein in its entirety including all references cited therein. 
    
    
     FIELD OF THE INVENTION 
     The present technology pertains to construction planning, and more specifically, but not by limitation, to devices and systems that can be used to automatically transfer two-dimensional construction models or other instructions onto surfaces or other substrates such as floors. 
     SUMMARY 
     According to some embodiments, the present technology is directed to a device, comprising: (a) a chassis configured to translate along a floor; (b) an optical prism mounted to the chassis that reflects signals from a base station; (c) a marking assembly mounted to the chassis, the marking assembly comprising at least a marking device that marks the floor; and (d) a controller configured to: (i) receive construction instructions comprising floor markings defined by floor coordinates; (ii) translate the chassis along the floor in alignment with the floor coordinates; and (iii) transfer the floor markings to the floor during translation using the marking assembly. 
     According to some embodiments, the present technology is directed to a system, comprising: (a) a base station transmitting signals to a construction marking device; and (b) a construction marking device, comprising: (i) a chassis configured to translate along a floor; (ii) an optical prism mounted to the chassis that reflects signals from a base station; (iii) a marking assembly mounted to the chassis, the marking assembly comprising at least a marking device that marks the floor; and (iv) a controller configured to: (1) receive construction instructions comprising floor markings defined by floor coordinates; (2) translate the chassis along the floor in alignment with the floor coordinates using distance measurement signals received from the base station; and (3) transfer the floor markings to the floor during translation using the marking assembly. 
     According to some embodiments, the present technology is directed to a device, comprising: (a) a chassis configured to translate along a floor; (b) a motion sensing assembly that senses movement or direction of movement of the device; (c) a marking assembly mounted to the chassis, the marking assembly comprising at least a marking device that marks the floor; and (d) a controller configured to: (i) receive construction instructions comprising floor markings defined by floor coordinates; (ii) translate the chassis along the floor in alignment with the floor coordinates using a current location of the device, motion input from the motion sensing assembly, and the floor coordinates; and (iii) transfer the floor markings to the floor during translation using the marking assembly. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, where like reference numerals refer to identical or functionally similar elements throughout the separate views, together with the detailed description below, are incorporated in and form part of the specification, and serve to further illustrate embodiments of concepts that include the claimed disclosure, and explain various principles and advantages of those embodiments. 
       The methods and systems disclosed herein have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. 
         FIG. 1  is a perspective view of an example device of the present technology. 
         FIG. 2  is another perspective view of the device of  FIG. 1  with a print carriage in a leftmost position. 
         FIG. 3  is another perspective view of the device of  FIG. 1  with a print carriage in a rightmost position. 
         FIG. 4  is another perspective view of the device of  FIG. 1  with a print carriage in a neutral position, similar to  FIG. 1 . 
         FIG. 5  is a schematic diagram of an example controller for use with the device of  FIG. 1 . 
         FIG. 6  illustrates example construction instructions that include a two-dimensional CAD drawing. 
         FIG. 7  illustrates an example floor coordinate table that is obtained by conversion of the two-dimensional CAD drawing into Cartesian coordinates. 
         FIG. 8  is a schematic diagram of the device traversing a marking path defined by floor coordinates, as well as physical markings applied along the marking path. 
         FIG. 9  is a perspective view of an example system that comprises the device of  FIG. 1  as well as a base station. 
         FIGS. 10-13  collectively illustrate another example device that comprises a longitudinally extending print chassis assembly. 
         FIG. 14  is an example computing device that can be used to implement embodiments of the present technology. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure is now described more fully with reference to the accompanying drawings, in which example embodiments of the present disclosure are shown. The present disclosure may, however, be embodied in many different forms and should not be construed as necessarily being limited to the example embodiments set forth herein. Rather, these example embodiments are provided so that the disclosure is thorough and complete, and fully conveys the concepts of the present disclosure to those skilled in the art. Also, features described with respect to certain example embodiments may be combined in and/or with various other example embodiments. Different aspects and/or elements of example embodiments, as disclosed herein, may be combined in a similar manner. Further, at least some example embodiments may individually and/or collectively be components of a larger system, wherein other procedures may take precedence over and/or otherwise modify their application. Additionally, a number of steps may be required before, after, and/or concurrently with example embodiments, as disclosed herein. Note that any and/or all methods and/or processes, at least as disclosed herein, can be at least partially performed via at least one entity, at least as described herein, in any manner, irrespective of the at least one entity having any relationship to the subject matter of the present disclosure. 
     Generally, the present technology relates to devices and systems that transfer digital construction instructions onto a substrate such as a floor, wall, or other the like. Construction instructions can comprise, for example, two dimensional computer automated design (CAD) models, textual instructions, and aesthetic designs such as tile patterns and mosaic patterns—just to name a few. 
     An example device is configured to transfer the construction instructions to the substrate by physically marking the substrate. The example device can use location and motion sensing to translate itself along the substrate, such as a floor along a marking path defined from the CAD model. 
     In one embodiment, the device is provided with a control system that is configured to translate the device along the substrate in a direction of translation that corresponds with floor coordinates included in the construction instructions. To be sure, the floor coordinates include, in some embodiments, Cartesian coordinates that define where floor markings should be located. In one example, the floor markings and their corresponding floor coordinates include placement lines where sole plates of floors are positioned on the floor (in accordance with a CAD model). 
     The device is generally configured to communicate with a base station, such as a total station, which measures a distance between the device and the base station and outputs a current location back to the device. In some embodiments, the controller is configured to calculate the current location rather than the base station. 
     In some embodiments, the device comprises a translating rail platform and a prism or reflector that mounts to the translating rail platform. The prism is used to reflect signals back to the base station. The prism translates on the rail platform so that the prism can reflect signals at different positions along the path of the rail platform. This feature can be used to fine tune the current location of the device as will be described in greater detail infra. 
     The controller can compare the current location to the floor coordinates to determine if the device should be transferring a marking at that location or not. 
     The controller can also ensure that the marking assembly is correctly transferring floor markings by matching the current location of the device with the floor coordinates. Thus, the controller is continuously or substantially continuously receiving updates to its current location. 
     Using the current location information and the floor coordinates, the controller can selectively adjust the direction of translation of the device relative to the floor to steer the device along the floor coordinates. In some embodiments, a marking implement or device can also be moved to align with the floor coordinates. The movement of the marking implement can be in combination with or independent of the device itself (such as a chassis or frame). 
     In some embodiments, the device is configured with motion sensing devices such as gyroscopes, inertial measurement units (IMUs), accelerometers, and so forth, that are used to fine tune the current location and/or direction of translation of the device to ensure that the markings are transferred to the floor with high accuracy. 
     In some embodiments, the device includes a marking assembly that physically transfers the floor markings to the floor. Movement of the marking assembly can be independently controlled by the controller relative to the chassis to allow for accurate floor marking transference to the floor despite inconsistent positioning of the chassis relative to the floor coordinates. Thus, small deviations in chassis position relative to the floor coordinates can be compensated for by selective independent adjustment of the position of a marking device associated marking assembly. 
     Systems can comprise combinations of construction marking devices and base stations. These and other advantages of the present technology will be described in greater detail below with reference to the collective drawings. 
     Turning now to  FIG. 1 , an example device  100  is illustrated. The device  100  generally comprises a chassis  102 , a rail platform  104 , a controller  108 , and a marking assembly  110 . The device  100  can comprise additional or fewer components so long as such embodiments are consistent with the claimed technology. 
     In some embodiments, the chassis  102  provides a frame upon which other components of the device can be mounted. In one embodiment, the chassis  102  comprises four omni-directional wheels  112 A-D, two of which (wheel  112 A and wheel  112 B) are illustrated in  FIG. 1 . Each of the wheels can be independently controlled by the controller  108  to translate in any direction along a floor  114 . Selective and combined actuation of the wheels by the controller  108  allows the device  100  to translate in any direction including, forward, reverse, lateral (left and right), as well as diagonal. 
     As will be described in greater detail infra, the device  100  is caused to translate along a direction of translation D by the controller  108 . For example, the controller  108  can communicate with actuators associated with the wheels to cause the wheels to rotate in a particular manner. To be sure, the direction of translation is equivalent to a direction in which the device  100  is moving. 
     The controller  108  causes the device  100  to move in the direction of translation D by ensuring that the current location of the device  100  corresponds to the floor coordinates. In  FIG. 1 , the direction of translation D is aligned with a centerline C of the device  100 . Again, the direction of translation D can change depending upon the direction of movement of the device  100  such that lateral movement of the device  100  changes the direction of translation D to be perpendicular to the centerline C. Diagonal movement of the device  100  changes the direction of translation D to be a vector between purely lateral and purely longitudinal movement of the device  100 . 
     The controller  108  is mounted to the chassis  102  and positioned (at least partially) below the rail platform  104 . Power sources such as batteries can be disposed within the chassis  102 . 
     Also mounted on the chassis  102  are one or more wireless antennas  116  that are part of the controller  108 . A transceiver  118  is also mounted to the rail platform  104 . 
     A motion sensing unit  120  is also mounted to the chassis  102  and can be used to fine tune movement of the device  100 . Motion input generated by the motion sensing unit  120  can also be used to control movement of the marking assembly  110 , independently (or in combination with) movement of the chassis  102 . 
     An optical prism  122 , which is also a component of the controller  108 , is mounted to the rail platform  104 . In some embodiments, the device  100  also comprises a warning indicator  124  that is mounted on the chassis  102 , and in some embodiments on the rail platform  104 . 
     In some embodiments, the rail platform  104  comprises a support plate  126  that is mounted to the chassis  102 . The support plate  126  is provided with a pair of guide rails  128  and  130 , which slidingly receive an upper plate  132  upon which the optical prism  122  is installed. The upper plate  132  translates along the rail platform  104  between an extended position  134 A and a retracted position  134 B (shown in phantom line). 
     The rail platform  104  includes, for example, a pulley system  136  that selectively moves the upper plate  132  between the extended and retracted positions. As will be discussed below, the upper plate  132  can transition between the extended and retracted positions during location sensing operations. 
     In some embodiments, the rail platform is configured to translate the optical prism along a rail axis RA between the retracted position and the extended position. To be sure, the optical prism  122  is mounted to the rail platform  104  and translates with movement of the rail platform  104 , and specifically the upper plate  132 . 
     The controller  108  effectuates the sliding movement of the rail platform  104  along the rail axis RA. 
     Turning now to  FIGS. 1-4 , the marking assembly  110  comprises a print rail  138  and a print rail carriage  140  mounted to the print rail  138  in such a way that the print rail carriage  140  can translate linearly along the print rail  138 . In some embodiments, the print rail is mounted to the chassis on a print rail plane RP that is perpendicular to a chassis plane PC that is substantially parallel with the floor or substrate upon which the device  100  is operating. 
     In some embodiments, the print rail carriage  140  is configured to translate laterally along the print rail plane RP from a leftmost position ( FIG. 2 ) to a rightmost position ( FIG. 3 ), and a neutral position ( FIG. 4 ). 
     In some embodiments, the marking assembly  110  comprises a print head  142  mounted to the print rail carriage  140 . As illustrated in  FIG. 1 , the print rail carriage  140  can comprise more than one print head  142 . Each print head can include a unique color of ink. In another embodiment, each of the print heads includes the same color of ink. 
     The print head  142  can include graphite, chalk, powder, paint, an ink cartridge, a laser ink cartridge, an ink jet cartridge, or any other marking delivery device such as a laser or other etching device. The print head  142  is controlled by the controller  108  to dispense markings (or etchings) onto the floor, in accordance with the floor markings. For example, the floor markings could include a line having a particular thickness. The floor markings could include a solid line, dots, dashes, dash patterns, or other symbols. The floor markings are part of the construction instructions that are provided to the device  100 . Thus, the device  100  is configured not only to determine if a mark is necessary at a given location in accordance with the floor coordinates, but also to determine what marking is appropriate at the given location. 
     Again, the marking assembly  110  can be actuated independently (or in combination) with the movement of the chassis  102 , as needed. 
     Turning now to  FIG. 5 , which is a schematic diagram of the controller  108 . The controller  108  comprises a processor  144  and memory  146 . The memory  146  comprises executable instructions that when executed by the processor  144  allows the processor  144  to control various components of the device  100 . 
     For example, the processor  144  can control the rail platform  104 , the marking assembly  110 , the wheels  112 A-D, the wireless antennas  116 , and the transceiver  118 . 
     According to some embodiments, the processor  144  is configured to receive construction instructions from a computing device  148 . For example, construction instructions can include a two dimensional CAD drawing that comprises a framing layout for a building. 
     Construction instructions are received from the computing device  148  by the processor  144  using the wireless antennas  116 . In some embodiments, the processor  144  uses the wireless antennas  116  to connect to a network  150 , such as a WiFi network. Other example networks include, but are not limited to a local intranet, a PAN (Personal Area Network), a LAN (Local Area Network), a WAN (Wide Area Network), a MAN (Metropolitan Area Network), a virtual private network (VPN), a storage area network (SAN), a frame relay connection, an Advanced Intelligent Network (AIN) connection, a synchronous optical network (SONET) connection, a digital T1, T3, E1 or E3 line, Digital Data Service (DDS) connection, DSL (Digital Subscriber Line) connection, an Ethernet connection, an ISDN (Integrated Services Digital Network) line, a dial-up port such as a V.90, V.34 or V.34bis analog modem connection, a cable modem, an ATM (Asynchronous Transfer Mode) connection, or an FDDI (Fiber Distributed Data Interface) or CDDI (Copper Distributed Data Interface) connection. Furthermore, communications may also include links to any of a variety of wireless networks, including WAP (Wireless Application Protocol), GPRS (General Packet Radio Service), GSM (Global System for Mobile Communication), CDMA (Code Division Multiple Access) or TDMA (Time Division Multiple Access), cellular phone networks, GPS (Global Positioning System), CDPD (cellular digital packet data), RIM (Research in Motion, Limited) duplex paging network, Bluetooth radio, or an IEEE 802.11-based radio frequency network. 
     In some embodiments, the device  100  and the computing device  148  communicate with one another over the network  150  so that the processor  144  receives the construction instructions. Again, the construction instructions comprise the floor markings defined by floor coordinates. An example set of floor markings and coordinates are illustrated in  FIGS. 6 and 7 . In this example, a two dimensional CAD model  600  is utilized as illustrated in  FIG. 6 . The CAD model  600  includes the floor markings  602  that require transferring to the floor  114 . The CAD model  600  is converted to flooring coordinates  700  that are provided in a table format as in  FIG. 7 . 
     The flooring coordinates  700  include the exact locations where physical markings should and should not be made on the floor  114  by the device  100 . 
     Table 1 below illustrates an example arc test. The arc test includes settings for the device  100  at a plurality of waypoints. At each of these waypoints, X and Y start positions are determined. Also, a forward or reverse direction of travel is selected. In this embodiment, the device can include two scribing instruments or pens. The test instructions delineate whether the pens are on or off, per each waypoint. Also, a distance between the pin heads can be selected. To be sure, not only can the chassis of the device translate, but the pen heads can also move independently or in combination with the chassis. For example, if the chassis is stable, the pen heads can be moved relative to one another as the device translated to transfer an arc design onto the substrate. 
     
       
         
           
               
               
               
               
               
               
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                   
                   
                 Forward/ 
                 Penhead 1 
                 Distance Between 
                 Penhead 2 
                   
                   
               
               
                   
                 X Start 
                 Y Start 
                 Reverse 
                 on/off 
                 Pen Heads 
                 on/off 
                 X Arc 
                 Y Arc 
               
               
                   
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
               
               
               
               
               
            
               
                 Waypoint 1 
                 1009.35184 
                 5010.32667 
                 0 
                 1 
                 0.5 
                 1 
                 1004 
                 5006.08 
               
               
                 Waypoint 2 
                 999.3992 
                 5011.91023 
                 1 
                 1 
                 0.5 
                 1 
               
               
                 Waypoint 3 
                 999.71697 
                 5013.96073 
                 1 
                 1 
                 0.5 
                 1 
                 1006 
                 5018.19 
               
               
                 Waypoint 4 
                 1009.68303 
                 5012.36736 
                 1 
                 1 
                 0.5 
                 1 
               
               
                 Waypoint 5 
                 999.71697 
                 5013.96073 
                 1 
                 1 
                 0.5 
                 1 
               
               
                   
               
            
           
         
       
     
     Once the CAD model is received into memory  146 , the processor  144  begins to align itself with the floor coordinates included in the CAD model. In some embodiments, the CAD model is converted to floor coordinates and floor marking instructions. 
     Turning now to  FIGS. 1 and 7-9  collectively, to align the device  100  with the floor coordinates, the processor  144  receives current location information from a base station  200 . The base station  200  is configured to output signals that are reflected by the optical prism  122  on the device  100 . The base station  200  receives these reflected signals and determines a distance and/or location of the device  100  relative to the base station  200 . The base station  200  can be positioned in a particular location on the floor at a position relative to the floor coordinates. The base station  200  determines the current location for the device  100  and provides the current location to the processor  144 . In some embodiments, the base station  200  can couple with the controller  108  over the network  150  or alternatively (or in addition to), the base station  200  can communicate with the controller  108  over a wireless connection established through the transceiver  118  (i.e., a radio). 
     To be sure, in some embodiments, the device  100  may communicate with a plurality of base stations positioned around the floor, such as when the floor area is large. 
     As mentioned previously, the device  100  can update its current location continuously or in accordance with a schedule. The more often the current location is updated, the more accurately the controller  108  can keep the device  100  in alignment with the flooring coordinates. 
     The processor  144  uses the current location information and the flooring coordinates to align itself for marking of the floor. 
     As illustrated in  FIGS. 5 and 8  collectively, in some embodiments, the flooring coordinates define a marking path MP that corresponds to each point on the floor where a marking is required. That is, each point along the marking path MP will receive a marking in order to transfer the floor markings onto the floor  114 . 
     In one embodiment, the processor  144  aligns a centerline C of the chassis  102  with the marking path MP, which in turn aligns the marking device with the marking path MP (assuming the marking device is aligned with the centerline C). 
     The processor  144  aligns the chassis  102  with the marking path MP by selectively controlling the operation of wheels  112 A-D through individual actuators  160  associated with each of the wheels  112 A-D. 
     In another embodiment, a current location of the marking device (such as the print head  142 ) is aligned with the marking path MP by selectively and laterally translating the print head  142  across the print rail  138  using the print rail carriage  140 . Thus, the centerline C of the chassis  102  need not be aligned with the marking path MP, but only the marking device (print head  142 ). 
     Thus, even when the chassis  102  is slightly misaligned with the marking path MP, the processor  144  can independently and laterally adjust the placement of the print head  142  to ensure that the print head  142  is aligned with the marking path MP. Minor defects in the floor or slight errors in wheel operation can cause the chassis  102  to deviate from the marking path MP. These deviations can be overcome with the independent movement of the print head  142 . 
     The processor  144  can control the movement of the print head  142  using actuator  162 , which can comprise an electric motor that translates the print rail carriage  140 . 
     According to some embodiments, the motion sensing unit  120  provides the processor  144  with near real time motion and/or directional-based feedback that allows the processor  144  to determine that a slight misalignment with the marking path MP has occurred. To compensate for the misalignment, the processor  144  actuates lateral movement of the print head  142  to compensate such that the markings created by the print head  142  are in alignment with the marking path MP. For example, the motion sensing unit  120  may sense that the chassis is moving slightly to the left or right. If the marking path MP is straight, the processor  144  determines that the chassis  102  is drifting out of alignment and causes the actuators associated with the print rail carriage  140  to align the print head  142  with the marking path MP by translating the print rail carriage  140  a compensating distance. The required distance is proportional to (or at least related to) the degree of misalignment between the chassis  102  and the marking path MP. 
     Deviations in chassis alignment can be rectified by the processor  144  actuating the wheels  112 A-D to bring the chassis  102  in alignment with the marking path MP as current location information is updated. 
     The construction instructions can comprise transition points along the marking path MP, such as transition points TP 1  and TP 2 . A transition point can comprise a location at which the marking path MP deviates from a linear section LS 1  to a second linear section LS 2  (or any other section) at an angle. For example, LS 1  transitions to LS 2  at a 90-degree angle, which is common with an interior wall corner. When a current location of the device  100  corresponds to a transition point, the device  100  will stop movement and execute a transition sequence. 
     In some embodiments, a transition sequence includes the processor  144  moving the optical prism  122  to a first position (which could be the extended or retracted position) along the rail platform  104 . The current location of the device  100  is obtained from the base station. Next, the processor  144  translates the optical prism  122  to a second position, which is located a distance away from the first position, along the rail platform  104 . The second position could be the extended or retracted position, or any position therebetween. 
     The current location of the device  100  is obtained from the base station. These two current location measurements are used to realign the device  100  and reorient the chassis  102  in alignment with the second linear section LS 2  of the marking path MP. 
     The transition sequence can be used to reorient the chassis  102  along any portion of the marking path MP where an angle is encountered. 
     In some embodiments, the processor  144  can cooperatively use the translation of the chassis  102  along a direction of translation with lateral movement of the print head  142  to produce an arcuate marking. For example, in arcuate section AS, the chassis  102  is translated in a linear direction of translation D, while the print head  142  is gradually moved linearly to the rightmost position and back to centerline C to produce a semi-circle marking. 
     To be sure, any arcuate and/or angular marking can be applied to the floor using a combination of chassis  102  translation and print head  142  translation by the processor  144 . Again, the chassis can translate longitudinally, laterally, and/or diagonally as a combination of both lateral and longitudinal movement, as allowed by the omni-directional movement of the wheels  112 A-D. 
     Again, the marking path MP is defined by the floor markings included in the construction instructions. By example, the marking path MP can include sections such as blank section B where no physical markings are placed by the device  100 . These blank sections could include, for example, a space for an interior door or other opening. The sections LS 1 , LS 2 , and AS correspond, in one embodiment, to an outer periphery of a frame wall that will be installed. 
     The processor  144  can cause the print head  142  to scribe instructions onto the substrate, such as instructions IS that informs framing crews to “Frame Door Here”. Other words, drawings, designs and combinations thereof can be printed onto the substrate by the device. 
     The processor  144  can cause the print head  142  to actuate and transfer floor markings to the floor  114  using, for example, a driver, such as a printer driver that is installed into memory  146 . The driver is usable by the processor  144  to control the print head  142  to print floor markings FM along the marking path MP in accordance with the floor coordinates. 
     Referring now to  FIGS. 10-13 , another example device  300  is illustrated. The device  300  is constructed similarly to the device  100  of  FIGS. 1-9 , with the exception that the device  300  includes a longitudinally extendable print carriage assembly  302 . 
     The carriage assembly  302  is configured to operate to laterally translate a print carriage  304  and any associated print heads  306 . The processor of the device  300  is configured to control a motor  308  (or other actuator) to move the print carriage  304  laterally. A leftmost position is illustrated in  FIG. 10 . A rightmost position is illustrated in  FIG. 12 . A neutral position is illustrated in  FIG. 12 . 
     The motor  308  can cause the print carriage  304  to translate along a track  310 . The print carriage  304  is coupled to the track  310  using two track brackets  312  and  314 . 
     As illustrated in  FIG. 13 , in some embodiments, the carriage assembly  302  comprises a pair of armatures  316  and  318  that are disposed on opposing sides of the chassis  320 . In some embodiments, the armatures (only armature  316  being illustrated) slidingly engage with tracks  322  and  324  on the chassis  320 . 
     The armatures can extend and retract using actuators, such as motor  326 . 
     Advantageously, the controller of the device  300 , which is similar to the controller  108  of  FIG. 2 , is configured to selective translate (extend and retract) the print carriage  304  as needed. For example, if the device  300  is stuck in a particular location and cannot move forward or backwards, the controller can extend or retract the print carriage  304  as necessary to allow the print head  306  to reach a desired area and transfer floor markings. 
     To be sure, while the present disclosure, in some embodiments uses terminology such as floor, ground, substrate, and so forth, the devices of the present technology can be utilized on any horizontal surface. 
       FIG. 14  is a diagrammatic representation of an example machine in the form of a computer system  1 , within which a set of instructions for causing the machine to perform any one or more of the methodologies discussed herein may be executed. In various example embodiments, the machine operates as a standalone device or may be connected (e.g., networked) to other machines. In a networked deployment, the machine may operate in the capacity of a server or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine may be a robotic construction marking device, a base station, a personal computer (PC), a tablet PC, a set-top box (STB), a personal digital assistant (PDA), a cellular telephone, a portable music player (e.g., a portable hard drive audio device such as an Moving Picture Experts Group Audio Layer 3 (MP3) player), a web appliance, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single machine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. 
     The example computer system  1  includes a processor or multiple processors  5  (e.g., a central processing unit (CPU), a graphics processing unit (GPU), or both), and a main memory  10  and static memory  15 , which communicate with each other via a bus  20 . The computer system  1  may further include a video display  35  (e.g., a liquid crystal display (LCD)). The computer system  1  may also include an alpha-numeric input device(s)  30  (e.g., a keyboard), a cursor control device (e.g., a mouse), a voice recognition or biometric verification unit (not shown), a drive unit  37  (also referred to as disk drive unit), a signal generation device  40  (e.g., a speaker), and a network interface device  45 . The computer system  1  may further include a data encryption module (not shown) to encrypt data. 
     The disk drive unit  37  includes a computer or machine-readable medium  50  on which is stored one or more sets of instructions and data structures (e.g., instructions  55 ) embodying or utilizing any one or more of the methodologies or functions described herein. The instructions  55  may also reside, completely or at least partially, within the main memory  10  and/or within the processors  5  during execution thereof by the computer system  1 . The main memory  10  and the processors  5  may also constitute machine-readable media. 
     The instructions  55  may further be transmitted or received over a network via the network interface device  45  utilizing any one of a number of well-known transfer protocols (e.g., Hyper Text Transfer Protocol (HTTP)). While the machine-readable medium  50  is shown in an example embodiment to be a single medium, the term “computer-readable medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database and/or associated caches and servers) that store the one or more sets of instructions. The term “computer-readable medium” shall also be taken to include any medium that is capable of storing, encoding, or carrying a set of instructions for execution by the machine and that causes the machine to perform any one or more of the methodologies of the present application, or that is capable of storing, encoding, or carrying data structures utilized by or associated with such a set of instructions. The term “computer-readable medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals. Such media may also include, without limitation, hard disks, floppy disks, flash memory cards, digital video disks, random access memory (RAM), read only memory (ROM), and the like. The example embodiments described herein may be implemented in an operating environment comprising software installed on a computer, in hardware, or in a combination of software and hardware. 
     Not all components of the computer system  1  are required and thus portions of the computer system  1  can be removed if not needed, such as I/O devices. 
     One skilled in the art will recognize that the Internet service may be configured to provide Internet access to one or more computing devices that are coupled to the Internet service, and that the computing devices may include one or more processors, buses, memory devices, display devices, input/output devices, and the like. Furthermore, those skilled in the art may appreciate that the Internet service may be coupled to one or more databases, repositories, servers, and the like, which may be utilized in order to implement any of the embodiments of the disclosure as described herein. 
     The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present technology has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the present technology in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the present technology. Exemplary embodiments were chosen and described in order to best explain the principles of the present technology and its practical application, and to enable others of ordinary skill in the art to understand the present technology for various embodiments with various modifications as are suited to the particular use contemplated. 
     Aspects of the present technology are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present technology. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present technology. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. 
     In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular embodiments, procedures, techniques, etc. in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. 
     Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” or “according to one embodiment” (or other phrases having similar import) at various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Furthermore, depending on the context of discussion herein, a singular term may include its plural forms and a plural term may include its singular form. Similarly, a hyphenated term (e.g., “on-demand”) may be occasionally interchangeably used with its non-hyphenated version (e.g., “on demand”), a capitalized entry (e.g., “Software”) may be interchangeably used with its non-capitalized version (e.g., “software”), a plural term may be indicated with or without an apostrophe (e.g., PE&#39;s or PEs), and an italicized term (e.g., “N+1”) may be interchangeably used with its non-italicized version (e.g., “N+1”). Such occasional interchangeable uses shall not be considered inconsistent with each other. 
     Also, some embodiments may be described in terms of “means for” performing a task or set of tasks. It will be understood that a “means for” may be expressed herein in terms of a structure, such as a processor, a memory, an I/O device such as a camera, or combinations thereof. Alternatively, the “means for” may include an algorithm that is descriptive of a function or method step, while in yet other embodiments the “means for” is expressed in terms of a mathematical formula, prose, or as a flow chart or signal diagram. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/ or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     It is noted at the outset that the terms “coupled,” “connected”, “connecting,” “electrically connected,” etc., are used interchangeably herein to generally refer to the condition of being electrically/electronically connected. Similarly, a first entity is considered to be in “communication” with a second entity (or entities) when the first entity electrically sends and/or receives (whether through wireline or wireless means) information signals (whether containing data information or non-data/control information) to the second entity regardless of the type (analog or digital) of those signals. It is further noted that various figures (including component diagrams) shown and discussed herein are for illustrative purpose only, and are not drawn to scale. 
     If any disclosures are incorporated herein by reference and such incorporated disclosures conflict in part and/or in whole with the present disclosure, then to the extent of conflict, and/or broader disclosure, and/or broader definition of terms, the present disclosure controls. If such incorporated disclosures conflict in part and/or in whole with one another, then to the extent of conflict, the later-dated disclosure controls. 
     The terminology used herein can imply direct or indirect, full or partial, temporary or permanent, immediate or delayed, synchronous or asynchronous, action or inaction. For example, when an element is referred to as being “on,” “connected” or “coupled” to another element, then the element can be directly on, connected or coupled to the other element and/or intervening elements may be present, including indirect and/or direct variants. In contrast, when an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present. 
     Although the terms first, second, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not necessarily be limited by such terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present disclosure. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be necessarily limiting of the disclosure. As used herein, the singular forms “a,” “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “includes” and/or “comprising,” “including” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     Example embodiments of the present disclosure are described herein with reference to illustrations of idealized embodiments (and intermediate structures) of the present disclosure. As such, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, are to be expected. Thus, the example embodiments of the present disclosure should not be construed as necessarily limited to the particular shapes of regions illustrated herein, but are to include deviations in shapes that result, for example, from manufacturing. 
     Any and/or all elements, as disclosed herein, can be formed from a same, structurally continuous piece, such as being unitary, and/or be separately manufactured and/or connected, such as being an assembly and/or modules. Any and/or all elements, as disclosed herein, can be manufactured via any manufacturing processes, whether additive manufacturing, subtractive manufacturing and/or other any other types of manufacturing. For example, some manufacturing processes include three dimensional (3D) printing, laser cutting, computer numerical control (CNC) routing, milling, pressing, stamping, vacuum forming, hydroforming, injection molding, lithography and/or others. 
     Any and/or all elements, as disclosed herein, can include, whether partially and/ or fully, a solid, including a metal, a mineral, a ceramic, an amorphous solid, such as glass, a glass ceramic, an organic solid, such as wood and/or a polymer, such as rubber, a composite material, a semiconductor, a nano-material, a biomaterial and/or any combinations thereof. Any and/or all elements, as disclosed herein, can include, whether partially and/or fully, a coating, including an informational coating, such as ink, an adhesive coating, a melt-adhesive coating, such as vacuum seal and/or heat seal, a release coating, such as tape liner, a low surface energy coating, an optical coating, such as for tint, color, hue, saturation, tone, shade, transparency, translucency, non-transparency, luminescence, anti-reflection and/or holographic, a photo-sensitive coating, an electronic and/or thermal property coating, such as for passivity, insulation, resistance or conduction, a magnetic coating, a water-resistant and/or waterproof coating, a scent coating and/or any combinations thereof. 
     Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and should not be interpreted in an idealized and/or overly formal sense unless expressly so defined herein. 
     Furthermore, relative terms such as “below,” “lower,” “above,” and “upper” may be used herein to describe one element&#39;s relationship to another element as illustrated in the accompanying drawings. Such relative terms are intended to encompass different orientations of illustrated technologies in addition to the orientation depicted in the accompanying drawings. For example, if a device in the accompanying drawings is turned over, then the elements described as being on the “lower” side of other elements would then be oriented on “upper” sides of the other elements. Similarly, if the device in one of the figures is turned over, elements described as “below” or “beneath” other elements would then be oriented “above” the other elements. Therefore, the example terms “below” and “lower” can, therefore, encompass both an orientation of above and below. 
     While various embodiments have been described above, it should be understood that they have been presented by way of example only, and not limitation. The descriptions are not intended to limit the scope of the invention to the particular forms set forth herein. To the contrary, the present descriptions are intended to cover such alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims and otherwise appreciated by one of ordinary skill in the art. Thus, the breadth and scope of a preferred embodiment should not be limited by any of the above-described exemplary embodiments.