Groove forming device

Abstract

Provided is a groove forming device (101) for forming a groove (V1) in the surface of a paving strip (50). This device comprises: a moving body (21) having at least two wheels (2A, 2B) and capable of moving and rotating on the surface of the paving strip; a cutter (4) installed on the bottom surface of the moving body (21); a rotation control unit (122) that controls the rotation of each of the wheels (2A, 2B); and a cutter control unit (13) that causes the cutter (4) to slide in a radial direction relative to the rotation of the moving body (21).

Description

groove forming device

[0001] The present disclosure relates to a trench forming device for forming a trench in a road surface for laying cables.

[0002] When laying cables such as optical cables outdoors, overhead wiring using utility poles, underground wiring using conduits, etc. Patent Document 1 discloses a technique for laying cables more inexpensively, in which a resilient laying belt made of rubber, resin, or the like is placed on the outdoor road surface, a groove is formed by cutting the laying belt with a cutter, and the cable is laid in this groove.

[0003] Patent No. 7364035

[0004] However, the technology disclosed in the aforementioned Patent Document 1 discloses the formation of straight grooves in a construction strip, but does not disclose the formation of curved grooves. When forming curved grooves in a construction strip, it is difficult to form a smooth curved groove by manual work. Furthermore, the work of operating a cutter to form a groove requires a lot of effort and there is a risk of injury.

[0005] The present disclosure has been made in consideration of the above circumstances, and an object thereof is to provide a groove forming device that can form curved grooves with a simple operation.

[0006] One aspect of the groove forming device disclosed herein is a groove forming device that forms a groove on a laying surface, and includes a movable body having at least two wheels and capable of moving and rotating on the laying surface, a cutter installed on the bottom surface of the movable body, a rotation control unit that controls the rotation of each wheel, and a cutter control unit that slides the cutter radially as the movable body rotates.

[0007] According to the present disclosure, it is possible to form curved grooves with a simple operation.

[0008] FIG. 1 is an explanatory diagram showing the formation of a trench for laying a cable in a laying belt using a trench forming device according to an embodiment. FIG. 2 is a block diagram showing the configuration of the trench forming device according to the first embodiment. FIG. 3 is a side view showing the trench forming device according to the first embodiment and its peripheral area. FIG. 4 is a bottom view of the trench forming device according to the first embodiment. FIG. 5A is an explanatory diagram showing a state in which the center of gravity of a mobile body is located closer to the cutter than the center line of the two wheels. FIG. 5B is an explanatory diagram showing a state in which the center of gravity of a mobile body is located on the center line of the two wheels. FIG. 6 is an explanatory diagram showing a fixed shaft installed on a mobile body. FIG. 7 is a block diagram showing the configuration of a trench forming device according to a second embodiment. FIG. 8 is a side view showing the trench forming device according to the second embodiment and its peripheral area. FIG. 9 is a block diagram showing the configuration of a trench forming device according to a third embodiment. FIG. 10A is a side view showing the trench forming device according to the third embodiment and its peripheral area. FIG. 10B is an explanatory diagram showing how an inclination occurs in a mobile body when the mobile body is not equipped with a horizontal sensor. FIG. 11 is a block diagram showing the configuration of a trench forming device according to a fourth embodiment. Fig. 12 is a side view showing a groove forming device according to a fourth embodiment and its peripheral parts, Fig. 13 is a side view showing a groove forming device according to a fifth embodiment and its peripheral parts, and Fig. 14 is a block diagram showing the hardware configuration of this embodiment.

[0009] Hereinafter, an embodiment will be described with reference to the drawings. Fig. 1 is an explanatory diagram showing the formation of a trench V1 for laying a cable 61 in a laying belt 50 using a trench forming device according to the embodiment. The trench forming device according to the embodiment forms a curved trench V1 in the laying belt 50. The cable 61 is buried in the formed trench V1. By using the trench forming device, the trench V1 can be formed in a smooth arc shape.

[0010] [Description of First Embodiment] Fig. 2 is a block diagram showing the configuration of a groove forming device 101 according to the first embodiment. Fig. 3 is a side view showing the groove forming device 101 and its peripheral parts according to the first embodiment, and Fig. 4 is a bottom view of the groove forming device 101.

[0011] As shown in Figures 3 and 4, the trench forming device 101 according to this embodiment includes a disk-shaped mobile body 21 with a radius R, a control device 1 mounted on the mobile body 21, two wheels 2A and 2B and a cutter 4 mounted on the bottom surface of the mobile body 21, and a fixed shaft 6 mounted in the center of the bottom surface. The trench forming device 101 moves on a paving strip 50 installed on the road surface. Note that, although an example in which the mobile body 21 includes two wheels 2A and 2B is described in this embodiment, the number of wheels is not limited to two and may be three or more. Hereinafter, the X direction shown in Figure 3 is defined as the front-to-rear direction, the Y direction perpendicular to the paper surface is defined as the left-to-right direction, and the Z direction is defined as the up-to-down direction.

[0012] The moving body 21 can be moved forward and backward on the laying belt 50 by rotating the two wheels 2A, 2B in the same direction. The moving body 21 can be rotated by rotating the two wheels 2A, 2B in opposite directions. The moving body 21 has at least two wheels 2A, 2B and can move and rotate on the laying surface (the surface of the laying belt 50).

[0013] That is, by making the rotation directions indicated by the arrow Y2 (see FIG. 3) of the wheels 2A, 2B the same, the movable body 21 can travel in the forward and backward direction, and by making the rotation directions indicated by the arrow Y2 opposite to each other, the movable body 21 can rotate. Furthermore, the two wheels 2A, 2B are provided with lifting mechanisms (not shown), which can lift and lower the wheels 2A, 2B in the up and down direction (the direction of the arrow Y3 in FIG. 3).

[0014] When the tip of the cutter 4 comes into contact with the surface of the laying web 50, the weight of the moving body 21 applies stress to the laying web 50. That is, as shown in FIG. 5A , the center of gravity G1 of the moving body 21 is located closer to the cutter 4 than the center line CL of the wheels 2A and 2B. Therefore, the tip of the cutter 4 comes into contact with the surface of the laying web 50 with a constant stress. When the moving body 21 rotates (see arrow Y1 in FIG. 3 ), the cutter 4 moves along an arc and cuts the laying web 50. This makes it possible to form an arc-shaped groove in the laying web 50. For example, by moving the moving body 21 back and forth multiple times within a certain angular range (e.g., a 90-degree range), it is possible to form an arc-shaped (1 / 4 circle) groove in the laying web 50.

[0015] The cutter 4 is provided with a slide mechanism (not shown) that slides it in the direction of arrow Y4 in Fig. 4. The slide mechanism makes it possible to change the distance from a fixed shaft 6 (details of which will be described later) that serves as the center of rotation to the cutter 4. By changing the distance from the fixed shaft 6 to the cutter 4 (i.e., the distance in the radial direction of rotation), it is possible to change the radius of curvature of the groove formed by the cutter 4. Specifically, the radius of curvature can be reduced by shortening the distance between the cutter 4 and the fixed shaft 6, and the radius of curvature can be increased by increasing the distance.

[0016] As shown in Figures 4 and 6, the fixed shaft 6 is installed in the center of the bottom surface of the disk-shaped movable body 21. That is, the fixed shaft 6 is installed at the rotation center of the movable body 21 and extends toward the surface (laying surface) of the laying belt 50. The fixed shaft 6 is connected to a retraction mechanism (not shown) and can be moved up and down by the retraction mechanism. Specifically, the retraction mechanism can be switched between a retracted state in which the fixed shaft 6 is moved upward to be housed within the movable body 21, and a protruding state in which the fixed shaft 6 is moved downward to protrude downward from the bottom surface of the movable body 21.

[0017] The fixed shaft 6 is normally in a contracted state, and is in a protruding state when a groove is formed. By making the fixed shaft 6 in a protruding state, the lower end of the fixed shaft 6 comes into contact with the laying belt 50, which prevents the center of rotation from shifting when the moving body 21 is rotated, and stabilizes the center of rotation.

[0018] 2, the control device 1 includes a communication unit 11, a wheel control unit 12, a cutter control unit 13, and a fixed axis control unit 14. The wheel control unit 12 includes a movement control unit 121, a rotation control unit 122, and an elevation control unit 123.

[0019] The communication unit 11 receives various command signals transmitted from the remote controller 200. The command signals include a movement command that instructs the moving body 21 to move and a rotation command that instructs it to rotate. The command signals include a lift command that instructs the two wheels 2A and 2B to move up and down. The command signals include a slide command that instructs the cutter 4 to slide. The control signals include a retraction command that instructs the fixed shaft 6 to retract and protrude.

[0020] When the movement command is input, the movement control unit 121 rotates the wheels 2A and 2B in the same direction to move the moving body 21 in the forward and backward directions.

[0021] When the rotation command is input, the rotation control unit 122 controls the rotation of the wheels 2A and 2B. Specifically, the rotation control unit 122 rotates the wheels 2A and 2B in opposite directions to each other, thereby rotating the moving body 21.

[0022] When the above-described lift command is input, the lift control unit 123 lifts or lowers the two wheels 2A and 2B. Specifically, the height of the moving body 21 is adjusted by displacing the two wheels 2A and 2B in the direction of the arrow Y3 shown in FIG.

[0023] When the slide command is input, the cutter control unit 13 slides the cutter 4 to a desired position in the radial direction of the rotation of the movable body 21. That is, the cutter 4 is moved in the direction of arrow Y4 shown in FIG. 4. By changing the position of the cutter 4, the radius of curvature of the groove to be formed can be set as desired. That is, the cutter control unit 13 slides the cutter 4 in the radial direction of the rotation of the movable body 21.

[0024] When the above-mentioned retraction / retraction command is input, the fixed axis control unit 14 controls the contraction and protrusion of the fixed axis 6. That is, the fixed axis control unit 14 controls the elevation of the fixed axis 6. Specifically, the fixed axis control unit 14 moves the fixed axis 6 in the direction of arrow Y5 shown in Figure 6. By protruding the fixed axis 6 downward and bringing it into contact with the laying belt 50, the central axis can be stabilized when rotating the mobile body 21.

[0025] Next, the operation of the groove forming device 101 according to the first embodiment will be described. First, when a user operates the remote control 200 shown in Fig. 2 to input a movement operation for moving the moving body 21, a movement command corresponding to this movement operation is input to the movement control unit 121. The movement control unit 121 controls the driving of the wheels 2A and 2B to move the moving body 21 to the desired cutting position.

[0026] When the user inputs a sliding operation of the cutter 4 according to the radius of curvature of the groove V1 to be formed, a sliding command instructing the sliding movement of the cutter 4 is input to the cutter control unit 13. The cutter control unit 13 slides the cutter 4 so that the radial position of the cutter 4 is a position according to the radius of curvature. Specifically, by sliding the cutter 4 in the direction of arrow Y4 in Figure 4, the cutter 4 is positioned to match the radius of curvature of the groove to be formed.

[0027] When the user inputs an operation to make the moving body 21 horizontal, a lift command to adjust the height of the wheels 2A, 2B to an appropriate height is input to the lift control unit 123. The lift control unit 123 raises and lowers the two wheels 2A, 2B to the height according to the lift command (see arrow Y3 in FIG. 3). As a result, the moving body 21 can be maintained in a horizontal state.

[0028] When the user inputs an operation to instruct the mobile body 21 to form a trench, a projecting / retracting command to move the fixed shaft 6 in the vertical direction is input to the fixed shaft control unit 14. Based on the projecting / retracting command, the fixed shaft control unit 14 projects the fixed shaft 6 downward, and brings the tip of the fixed shaft 6 into contact with the surface of the laying belt 50.

[0029] Furthermore, when an operation to execute groove formation is input, a rotation command is input to the rotation control unit 122. The rotation control unit 122 drives the wheels 2A and 2B to rotate the movable body 21. Specifically, by rotating the two wheels 2A and 2B in opposite directions, the movable body 21 is rotated around the fixed shaft 6 within a predetermined angular range. For example, to form a groove V1 having a 90-degree arc-shaped curve, the movable body 21 is rotated by 90 degrees. Furthermore, by rotating the movable body 21 back and forth within a 90-degree range until the groove V1 reaches the desired depth, cutting is performed multiple times in the same location with the cutter 4, and the groove V1 reaches the desired depth.

[0030] Thus, the groove forming device 101 of the first embodiment is a groove forming device 101 that forms a groove on the surface (laying surface) of the laying belt 50, and is equipped with a mobile body 21 that has at least two wheels and is capable of moving and rotating on the laying belt, a cutter 4 installed on the bottom surface of the mobile body 21, a rotation control unit 122 that controls the rotation of each wheel 2A, 2B, and a cutter control unit 13 that slides the cutter 4 radially as the mobile body 21 rotates.

[0031] The groove forming device 101 according to the first embodiment can form a smoothly curved groove V1 by rotating the movable body 21 around the fixed shaft 6 and performing cutting with the cutter 4. Furthermore, by rotating the movable body 21 back and forth, the same location can be cut multiple times with the cutter 4, making it possible to form a groove V1 of a desired depth with high precision.

[0032] In the groove forming device 101 according to the first embodiment, the radius of curvature when forming the curved groove V1 can be set arbitrarily by setting the radial position of the cutter 4.

[0033] In the trench forming device 101 according to the first embodiment, when the movable body 21 rotates, the fixed shaft 6 protrudes downward and comes into contact with the surface of the laying belt 50. This makes it possible to rotate the movable body 21 stably.

[0034] The groove forming device 101 according to the first embodiment includes a lifting control unit 123 that raises and lowers the two wheels 2A and 2B in the vertical direction, and can raise and lower each of the wheels 2A and 2B. Therefore, even if the moving body 21 tilts, the moving body 21 can be kept horizontal by raising and lowering each of the wheels 2A and 2B to adjust their respective heights.

[0035] As shown in Figure 5A, the center of gravity G1 of the moving body 21 is located closer to the cutter 4 than the center line CL of the wheels 2A, 2B. In other words, the center of gravity G1 of the moving body 21 is located closer to the cutter 4 than the center of rotation. Therefore, the weight of the moving body 21 is applied to the cutter 4, and the cutter 4 moves multiple times along an arc-shaped path while pressing against the laying belt 50 with a constant stress. As a result, the cutter 4 can cut the laying belt 50 and form an arc-shaped groove V1.

[0036] On the other hand, if the center of gravity G2 of the moving body 21 is located on the center line CL or to the right of the center line CL (opposite the cutter 4) as shown in Figure 5B, strong stress from the cutter 4 is not applied to the laying belt 50, making it difficult to cut the surface of the laying belt 50. In this embodiment, the center of gravity G1 of the moving body 21 is located on the cutter 4 side with respect to the center line CL, making it possible to easily cut the surface of the laying belt 50 and form a groove V1.

[0037] [Description of Second Embodiment] Next, a second embodiment will be described. Fig. 7 is a block diagram showing the configuration of a groove forming device 102 according to the second embodiment. Fig. 8 is a side view showing the groove forming device 102 according to the second embodiment and its surrounding area.

[0038] 7 and 8, a groove forming device 102 according to the second embodiment differs from the groove forming device 101 shown in the first embodiment in that it is provided with a resistance force sensor 5 and a feedback unit 5A (denoted as "FB" in FIG. 7). Since the other configurations are the same as those of the first embodiment, the same reference numerals are used and a description of the configuration will be omitted.

[0039] The resistance sensor 5 detects the resistance applied to the movable body 21 when the movable body 21 is rotated and the cutter 4 is cutting the laying web 50. The greater the resistance when the cutter 4 cuts the surface of the laying web 50, the greater the resistance applied when the movable body rotates. The feedback unit 5A feeds back the resistance data detected by the resistance sensor 5 to the rotation control unit 122.

[0040] When the resistance force acting on the moving body 21 is greater than a predetermined threshold, the rotation control unit 122 performs control to reduce the torque when rotating the moving body 21. In other words, when the moving body 21 is rotated to cut the laying belt 50 with the cutter 4, if the load acting on the cutter 4 becomes large, it may not be possible to cut the laying belt 50 smoothly.

[0041] In the second embodiment, when the resistance force detected by the resistance force sensor 5 increases and is determined to be greater than a predetermined threshold value, the rotational torque by the rotation control unit 122 is reduced to prevent a large load from being applied to the cutter 4.

[0042] That is, the groove forming device 102 according to the second embodiment is equipped with a resistance sensor 5 that detects the rotational resistance of the moving body 21 when cutting is being performed by the cutter 4. The movement control unit 121 controls the drive of each wheel 2A, 2B so that the rotational resistance is equal to or less than a predetermined threshold. As a result, it is possible to form a smoothly curved groove V1. Furthermore, it is possible to avoid problems such as damage to the cutter 4 due to a large cutting resistance being applied to the cutter 4.

[0043] [Description of Third Embodiment] Next, a third embodiment will be described. Fig. 9 is a block diagram showing the configuration of a groove forming device 103 according to the third embodiment. Fig. 10A is a side view showing the groove forming device 103 according to the third embodiment and its surrounding area.

[0044] 9 and 10A, a groove forming device 103 according to the third embodiment differs from the groove forming device 101 shown in the first embodiment (FIG. 2) in that it is equipped with a horizontal sensor 3 and a feedback unit 3A (denoted as "FB" in the drawings). Other configurations are the same as those of the first embodiment, so the same reference numerals are used and a description of the configuration will be omitted.

[0045] The horizontal sensor 3 detects the tilt angle of the moving body 21 relative to the horizontal state. The feedback unit 3A outputs data on the tilt angle detected by the horizontal sensor 3 to the lift control unit 123. When cutting with the cutter 4, the length by which the cutter 4 enters the trench V1 varies depending on the depth of the trench V1. That is, in the initial state when cutting the trench V1 begins, as shown in FIG. 10B, the tip of the cutter 4 is in contact with the surface of the laying web 50, so this part of the moving body 21 is lifted upward. That is, the moving body 21 is in an inclined state. If the laying web 50 is cut in this state, the cutter 4 will not be in contact with the surface of the laying web 50 in a direction perpendicular to the surface, and therefore a vertically cut trench V1 cannot be formed.

[0046] In the third embodiment, the horizontal sensor 3 detects the inclination angle of the movable body 21, and based on this inclination angle, the lifting and lowering of the wheels 2A, 2B is controlled so that the movable body 21 is horizontal. The lifting and lowering control unit 123 controls the lifting and lowering of the wheels 2A, 2B based on the inclination angle of the movable body 21 so that the movable body 21 is horizontal. That is, the trench forming device 103 according to the third embodiment is equipped with the horizontal sensor 3 that detects the horizontality of the movable body 21, and the lifting and lowering control unit 123 controls the lifting and lowering of the wheels 2A, 2B so that the movable body 21 is horizontal. Therefore, the trench V1 can be cut by the cutter 4 while the movable body 21 is always kept horizontal, making it possible to form a curved trench V1 cut vertically into the laying strip 50.

[0047] [Description of Fourth Embodiment] Next, a fourth embodiment will be described. Fig. 11 is a block diagram showing the configuration of a groove forming device 104 according to the fourth embodiment. Fig. 12 is a side view showing the groove forming device 104 according to the fourth embodiment and its surrounding area.

[0048] 11 and 12, a groove forming device 104 according to the fourth embodiment differs from the groove forming device 101 shown in the first embodiment (FIG. 2) in that it is provided with a position sensor 7 and a feedback unit 7A (denoted as "FB" in the drawings). Other configurations are the same as those of the first embodiment, so the same reference numerals are used and a description of the configuration will be omitted.

[0049] The position sensor 7 is, for example, a CCD camera, and is installed so that its imaging surface faces downward (toward the surface of the laying belt 50). In cases where markings indicating the cutting areas are applied to the surface of the laying belt 50 by inking or the like, the position sensor 7 captures an image of the markings and detects the marking positions.

[0050] The feedback unit 7A outputs data on the marking position detected by the position sensor 7 to the movement control unit 121. The movement control unit 121 controls the movement of the movable body 21 so that the cutting area by the cutter 4 coincides with the marking position. That is, the groove forming device 104 according to the fourth embodiment is equipped with a movement control unit 121 that controls the movement of the movable body 21 and a position sensor 7 that detects the cutting position on the surface (laying surface) of the laying web 50, and the movement control unit 121 and rotation control unit 122 control the movement and rotation of the movable body 21 so that the cutter 4 coincides with the cutting position. Therefore, if a marking indicating the cutting area is applied to the surface of the laying web 50, it is possible to easily align the cutting area by the cutter 4 with this marking position. This makes it possible to reliably form a groove V1 in the desired cutting area.

[0051] [Description of Fifth Embodiment] Next, a fifth embodiment will be described. Fig. 13 is a side view showing a groove forming device 105 according to the fifth embodiment and its surrounding area. As shown in Fig. 13, the groove forming device 105 according to the fifth embodiment includes a plurality of legs 41 (three in the figure), a mounting base 43 supported by each leg 41, and a moving body 21. Each leg 41 is erected on the surface of a laying belt 50 and fixes the mounting base 43 at a predetermined height from the laying belt 50.

[0052] The mobile unit 21 is placed on the upper surface of the mounting base 43. The mounting base 43 is installed, for example, at a height of about 0.3 to 1 m from the surface of the road strip 50. Therefore, even if a curb 42 is present on the road surface on which the road strip 50 is to be installed, the mobile unit 21 can be mounted at a position higher than the curb 42 without interfering with the curb 42.

[0053] The movable body 21 according to the fifth embodiment differs from the first embodiment in that a support rod 31 is attached, but other configurations are the same as the movable body 21 shown in the first embodiment. The support rod 31 extending downward is attached to the bottom surface of the movable body 21, and the cutter 4 is mounted on the lower end of the support rod 31. The length of the support rod 31 is approximately the same as the distance from the bottom surface of the movable body 21 to the surface of the laying web 50. The support rod 31 extends and fixes the cutter 4 to the surface of the laying web 50.

[0054] As in the first embodiment described above, the movable body 21 can be rotated in the direction of arrow Y1 by rotating the two wheels 2A, 2B in opposite directions. That is, the rotation control unit 122 controls the rotation of each of the wheels 2A, 2B on the mounting table 43. The cutter 4 mounted on the tip of the support rod 31 comes into contact with the surface of the laying belt 50 and cuts the surface of the laying belt 50 to form a groove V1.

[0055] As described above, the trench forming device 105 according to the fifth embodiment can also form a smoothly curved trench V1 in the laying belt 50, as in the first embodiment described above. Furthermore, by setting the radial position of the cutter 4, the radius of curvature when forming the curved trench V1 can be set as desired. Furthermore, by rotating the movable body 21 back and forth, the cutter 4 can cut the same location multiple times, making it possible to form a trench V1 of the desired depth with high precision.

[0056] Furthermore, the trench forming device 105 according to the fifth embodiment can form a trench V1 in the laying strip 50 while avoiding obstacles such as curbs 42 in the vicinity.

[0057] The control device 1 of the present embodiment described above may be, for example, a general-purpose computer system including a CPU (Central Processing Unit, processor) 901, a memory 902, a storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive), a communication device 904, an input device 905, and an output device 906, as shown in Fig. 14. The memory 902 and the storage 903 are storage devices. In this computer system, the CPU 901 executes a predetermined program loaded on the memory 902, thereby realizing each function of the control device 1.

[0058] The control device 1 may be implemented by one computer or by multiple computers, or may be a virtual machine implemented on a computer.

[0059] The program for the control device 1 can be stored in a computer-readable recording medium such as a HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), or DVD (Digital Versatile Disc), or can be distributed via a network. The computer-readable recording medium is, for example, a non-transitory recording medium.

[0060] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the present disclosure.

[0061] DESCRIPTION OF SYMBOLS 1 Control device 2A, 2B Wheel 3 Horizontal sensor 4 Cutter 5 Resistance sensor 6 Fixed shaft 7 Position sensor 11 Communication unit 12 Wheel control unit 13 Cutter control unit 14 Fixed shaft control unit 21 Moving body 31 Support rod 41 Leg 43 Mounting base 50 Laying belt 101, 102, 103, 104, 105 Groove forming device 121 Movement control unit 122 Rotation control unit 123 Lifting control unit V1 Groove

Claims

1. A groove forming device for forming grooves on a laying surface, comprising: a mobile body having at least two wheels and capable of moving and rotating on the laying surface; a cutter installed on the bottom surface of the mobile body; a rotation control unit for controlling the rotation of each wheel; and a cutter control unit for sliding the cutter in the radial direction as the mobile body rotates.

2. The groove forming device according to claim 1, further comprising a lift control unit that controls the lifting and lowering of each wheel.

3. A groove forming device according to claim 2, further comprising a horizontal sensor for detecting the horizontality of the moving body, wherein the lifting control unit controls the lifting and lowering of each wheel so that the moving body is kept horizontal.

4. A groove forming device as described in claim 1, further comprising: a fixed shaft installed at the center of rotation of the movable body and extending toward the laying surface; and a fixed shaft control unit that controls the elevation of the fixed shaft.

5. The groove forming device according to claim 1, wherein the center of gravity of the moving body is located on the cutter side with respect to the center of rotation.

6. The groove forming device according to claim 1, further comprising a resistance sensor that detects the rotational resistance of the moving body when cutting is being performed by the cutter, and the rotation control unit controls the drive of each wheel so that the rotational resistance is below a predetermined threshold value.

7. A groove forming device as described in claim 1, further comprising a movement control unit that controls the movement of the movable body, and a position sensor that detects the cutting position on the laying surface, wherein the movement control unit and rotation control unit control the movement and rotation of the movable body so that the cutter coincides with the cutting position.

8. A groove forming device as described in claim 1, further comprising: a mounting base on which the movable body is placed; a plurality of legs erected on the laying surface and fixing the mounting base at a predetermined height from the laying surface; and a support rod extending and fixing the cutter to the laying surface, wherein the rotation control unit controls the rotation of each wheel on the mounting base.

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