JP2018021844A - Position detector, droplet discharge device, program, and method for positional detection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detector which can reduce errors of positions.SOLUTION: The position detector is for detecting the position in a moving surface based on an attitude and a moving amount, and includes: moving amount detection means for detecting the moving amount; attitude information acquisition means for acquiring information on the attitude of the position detector; and detection means position calculation means for calculating information on the position of the moving amount detection means, using the moving amount and the information on the attitude.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position detection device, a droplet discharge device, a program, and a position detection method.

  There is known a printer that forms an image by ejecting ink or the like at a timing when the sheet is conveyed and the sheet reaches an image forming position. On the other hand, with the spread of smart devices that are easy to carry, there is an increasing need for users to print easily when they are away from home. Therefore, printers (hereinafter referred to as HMP: Handy Mobile Printer) in which a user moves on the paper surface and ejects ink are being put into practical use. Since the HMP is not equipped with a paper transport system, it can be downsized.

  The HMP detects its own position on the paper surface and discharges ink for forming an image corresponding to the position. As a mechanism for detecting this position, an HMP in which two navigation sensors are arranged on the bottom surface is conventionally known (see, for example, Patent Document 1). The navigation sensor is a sensor that optically detects a minute edge of the paper surface and detects a movement amount for each cycle time.

  However, in the method of calculating the position using two navigation sensors, there is a problem that an error occurs in the position due to a shift in the assembly position of the navigation sensor. In other words, the HMP calculates the rotation angle from the difference in the amount of movement of each of the two navigation sensors, but if the actual assembly position is deviated from the ideal assembly position (design value), the calculated rotation is calculated. The angle is also different from the actual value, and an error occurs in the position of the HMP. This error is accumulated and gradually increases.

  If the absolute position on the paper can be detected, the position of the HMP can be corrected. However, in order to detect the absolute position, a highly accurate correction pattern is formed on the paper, and the HMP has a function for reading the pattern. Need to be.

  In view of the above problems, an object of the present invention is to provide a position detection device that can reduce position errors.

  The present invention is a position detection device that detects a position on a moving surface based on a posture and a movement amount, and a movement amount detection unit that detects the movement amount, and posture information that acquires information related to the posture of the position detection device. Acquisition means, and detection means position calculation means for calculating information relating to the position of the movement amount detection means using information relating to the movement amount and the posture.

  It is possible to provide a position detection device that can reduce position errors.

It is an example of the figure explaining the outline of the correction | amendment of the distance between two navigation sensors. It is an example of the figure which shows the image formation by HMP typically. It is an example of the hardware block diagram of HMP. It is an example of the figure explaining the structure of a control part. It is an example of the block diagram of an image reading part. It is a figure which shows the structural example of the hardware constitutions of a navigation sensor. It is a figure explaining the detection method of the movement amount by a navigation sensor. FIG. 3 is an example of a diagram illustrating nozzle positions in an IJ recording head. It is an example of the figure explaining the coordinate system of HMP, and the calculation method of a position. FIG. 3 is an example of a diagram illustrating how to determine the rotation angle of HMP generated during image formation. It is an example of the figure explaining calculation of the position of a nozzle. It is an example of a functional block diagram of HMP. It is an example of the flowchart figure explaining the operation | movement procedure of an image data output device and HMP. FIG. 10 is an example of a flowchart illustrating a procedure of distance correction processing performed before the start of image formation. FIG. 10 is an example of a flowchart illustrating a procedure of distance correction processing performed before the start of image formation. It is an example of the flowchart figure explaining the operation | movement procedure of an image data output device and HMP. It is an example of the schematic block diagram of a correction | amendment system. It is an example of a functional block diagram of a correction system. It is an example of the sequence diagram explaining the operation | movement procedure of a correction | amendment system.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

<Outline of mounting position correction>
FIG. 1 is an example of a diagram illustrating an outline of correction of the distance L between two navigation sensors. The HMP (handy mobile printer) 20 has at least two navigation sensors S ₀ and S ₁ arranged at a distance L on the bottom surface of the HMP 20. Further, the HMP 20 of the present embodiment has a gyro sensor 31. The gyro sensor 31 detects the rotation angle change amount dθ _gyro of the _{HMP 20} with higher accuracy than the rotation angle change amount dθ _navi based on the movement amounts detected by the two navigation sensors S ₀ and S ₁ .

Movement amounts ΔX ′ ₀ and ΔX ′ ₁ for each period are output from the two navigation sensors S ₀ and S ₁ to the control unit 25. Further, the control unit 25 the rotation angle change amount d [theta] _Gyro per cycle from the gyro sensor 31 is outputted. Conventionally, the control unit 25 calculates dθ _navi by an expression “f (ΔX ′ ₀ , ΔX ′ ₁ , L)” using the movement amounts ΔX ′ ₀ , ΔX ′ ₁ and the distance L as parameters. However, there is a possibility that the distance L is not exactly L due to an attachment error of the navigation sensors S ₀ and S ₁ . On the other hand, the rotation angle variation d [theta] _Gyro gyro sensor 31 detects the certain level of accuracy (navigation sensors or precision) is guaranteed.

Therefore, the control unit 25 calculates the distance L by substituting dθ _gyro into the above equation f for detecting dθ _navi . That is, the actual distance between the navigation sensors S ₀ and S ₁ is estimated from the movement amounts ΔX ′ ₀ , ΔX ′ ₁ and dθ _gyro instead of the distance L as a given design value.

Since the distance L after the navigation sensors S ₀ and S ₁ are attached hardly changes during image formation, the control unit 25 uses the distance L calculated in this way to calculate dθ _navi during image formation. calculate. In this way, since dθ _navi is calculated using a more accurate distance L, the position error of the navigation sensors S ₀ and S ₁ is reduced and the accuracy is improved. In addition, deterioration in image quality can be suppressed.

<Terminology>
The position detection device is a device that detects the position of the own device by a position detection method. The position may be a relative position with respect to an arbitrary starting point or an absolute position. In the present embodiment, the portion of the HMP 20 excluding the image forming function is referred to as a position detection device. Further, since the position detection device can detect the distance moved, it may be called a distance measuring device.

  The moving surface only needs to be a surface on which the HMP 20 can move, and includes a curved surface as well as a flat surface. Specific examples include the print medium 12, but the present invention is not limited to this.

  The calculation of the position means obtaining information related to the position by performing an operation on some data, and the detection of the position means obtaining information related to the position regardless of the process. However, both are the same in that information about the position can be obtained, and in the present embodiment, position calculation and position detection are not strictly distinguished.

  The information related to the posture of the position detection device refers to a rotation amount and a rotation angle change amount related to rotation among degrees of freedom of the rigid body. In the present embodiment, the rotation angle change amount dθ with respect to an axis perpendicular to the moving surface will be described as an example. Information about the posture may be acquired from either the inside of the position detection device or the outside of the position detection device.

  The information regarding the position of the movement amount detection unit is information for specifying the relative position of the two movement amount detection units. If one of the two movement amount detection means is fixed, the other position is determined. More specifically, it is the distance between the two movement amount detection means.

  In the present embodiment, image formation, recording, printing, printing, printing, modeling, etc. are all synonymous.

<Image formation by HMP20>
FIG. 2 is an example of a diagram schematically showing image formation by the HMP 20. For example, image data is transmitted to the HMP 20 from an image data output device 11 such as a smartphone or a PC (Personal Computer). The user holds the HMP 20 and scans it freehand so as not to lift up from the print medium 12 (for example, a standard paper or a notebook).

As will be described later, the HMP 20 detects the position with the navigation sensors S ₀ and S ₁ , and when the HMP 20 moves to the target discharge position, the ink of the color to be discharged is discharged at the target discharge position. Since the place where ink has already been ejected is masked (because it is not an ink ejection target), the user can form an image by scanning the HMP 20 on the print medium 12 in any direction.

It is preferable that the HMP 20 does not float from the print medium 12 because the navigation sensors S ₀ and S ₁ detect the amount of movement using reflected light from the print medium 12. When the HMP 20 is lifted from the print medium 12, the reflected light cannot be detected and the amount of movement cannot be detected. Even when the navigation sensors S ₀ and S ₁ protrude from the print medium 12, the reflected light may not be detected due to the thickness of the print medium 12, or the position may be shifted even if it can be detected. For this reason, it is preferable that the two navigation sensors S ₀ and S ₁ are scanned on the print medium 12.

<Configuration example>
FIG. 3 shows an example of a hardware configuration diagram of the HMP 20. The HMP 20 is an example of an image forming apparatus that forms an image on the print medium 12. Alternatively, it may be called a droplet discharge device, a printer, an image processing device, or the like. The entire operation of the HMP 20 is controlled by the control unit 25. The control unit 25 includes a communication IF 27, an IJ recording head drive circuit 23, an OPU 26, a ROM 28, a DRAM 29, a gyro sensor 31, and two navigation sensors S ₀ and S ₁ ( Reference numeral 30) is electrically connected. Further, since the HMP 20 is driven by electric power, it has a power source 22 and a power source circuit 21. The power generated by the power supply circuit 21 is communicated by the communication IF 27, the IJ recording head drive circuit 23, the OPU 26, the ROM 28, the DRAM 29, the IJ recording head 24, the control unit 25, the gyro sensor 31, and the two wirings indicated by the dotted line 22a It is supplied to the navigation sensors S ₀ and S ₁ .

  Among these, the position detection device refers to the SoC 50, the navigation sensor I / F 42, and the gyro sensor I / F 45.

  The power source 22 is mainly a battery. A solar cell, a commercial power source (AC power source), a fuel cell, or the like may be used. The power supply circuit 21 distributes the power supplied from the power supply 22 to each part of the HMP 20. Further, the voltage of the power supply 22 is stepped down or boosted to a voltage suitable for each part. In addition, when the power source 22 can be charged by a battery, the power source circuit 21 detects the connection of the AC power source and connects it to the battery charging circuit so that the power source 22 can be charged.

  The communication IF 27 receives image data from the image data output device 11 such as a smartphone or a PC (Personal Computer). The communication IF 27 is a communication device corresponding to a communication standard such as a wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), infrared, 3G (mobile phone), or LTE (Long Term Evolution). In addition to such wireless communication, a communication device that supports wired communication using a wired LAN, a USB cable, or the like may be used.

  The ROM 28 stores firmware that performs hardware control of the HMP 20, drive waveform data of the IJ recording head 24 (data that defines voltage changes for ejecting droplets), initial setting data of the HMP 20, and the like.

  The DRAM 29 is used for storing image data received by the communication IF 27 and storing firmware developed from the ROM 28. Therefore, it is used as a work memory when the CPU 33 executes the firmware.

The navigation sensors S ₀ and S ₁ are sensors that detect the movement amount of the HMP 20 every predetermined cycle time. Note that although there are two navigation sensors S ₀ and S ₁ and their functions are the same, even if there are differences, there is no problem in the description of the present embodiment. The navigation sensors S ₀ and S ₁ include a light source such as a light emitting diode (LED) or a laser and an image sensor that images the print medium 12. When the HMP 20 is scanned on the print medium 12, minute edges of the print medium 12 are detected one after another (imaged), and the amount of movement is obtained by analyzing the distance between the edges. In the present embodiment, two navigation sensors S ₀ and S ₁ are mounted on the bottom surface of the HMP 20. Note that multi-axis acceleration sensors may be used as the navigation sensors S ₀ and S ₁ , and the HMP 20 may detect the position of the HMP 20 using only the acceleration sensor.

  The gyro sensor 31 is a sensor that detects an angular velocity (an angular velocity of a yaw angle) when the HMP 20 rotates around an axis perpendicular to the print medium 12. The gyro sensor 31 may be capable of detecting a triaxial angular velocity. Thereby, it becomes easy to detect the floating of the HMP 20 from the print medium 12. When the angular velocity is multiplied by a cycle (minute time) for detecting the angular velocity, a rotation angle change amount dθ during this cycle is obtained.

  An OPU (Operation panel Unit) 26 has an LED for displaying the state of the HMP 20, a switch for the user to instruct the HMP 20 to form an image, and the like. However, the present invention is not limited to this, and may have a liquid crystal display and may further have a touch panel. Further, it may have a voice input function.

  The IJ recording head driving circuit 23 generates a driving waveform (voltage) for driving the IJ recording head 24 using the above driving waveform data. A drive waveform corresponding to the ink droplet size can be generated.

  The IJ recording head 24 is a head for ejecting ink. In the figure, four colors of CMYK ink can be ejected, but it may be a single color or ejecting five or more colors. A plurality of nozzles 61 for discharging ink arranged in a line (may be two or more lines) for each color are arranged. The ink ejection method may be a piezo method or a thermal method, or may be another method such as an electrostatic method.

  The IJ recording head 24 is a functional component that ejects and ejects liquid from the nozzle 61. The liquid to be ejected is not particularly limited as long as it has a viscosity and surface tension that can be ejected from the IJ recording head 24, but the viscosity becomes 30 mPa · s or less at room temperature, normal pressure, or by heating and cooling. It is preferable. More specifically, solvents such as water and organic solvents, colorants such as dyes and pigments, functional materials such as polymerizable compounds, resins, and surfactants, and biocompatible materials such as DNA, amino acids, proteins, and calcium. , Edible materials such as natural pigments, solutions, suspensions, emulsions, and the like. These include, for example, inkjet inks, surface treatment liquids, components of electronic devices and light emitting devices, and formation of electronic circuit resist patterns. It can be used in applications such as liquids for use, three-dimensional modeling material liquids, and the like.

The control unit 25 has a CPU 33 and controls the entire HMP 20. Based on the amount of movement detected by the navigation sensors S ₀ and S ₁ and the angular velocity detected by the gyro sensor 31, the control unit 25 positions each nozzle of the IJ recording head 24 and an image formed according to the position. Determination of whether or not a discharge nozzle will be described later is performed. Details of the control unit 25 will be described below.

  FIG. 4 is an example of a diagram illustrating the configuration of the control unit 25. The control unit 25 has a SoC 50 and an ASIC / FPGA 40. The SoC 50 and the ASIC / FPGA 40 communicate via buses 46 and 47. This means that the ASIC / FPGA 40 may be designed by any mounting technology, and may be configured by other mounting technology other than the ASIC / FPGA 40. Further, the SoC 50 and the ASIC / FPGA 40 may be configured as a single chip or substrate without using separate chips. Or you may mount with three or more chips | tips or a board | substrate.

  The SoC 50 has functions such as a CPU 33, a position calculation circuit 34, a memory CTL (controller) 35, and a ROM CTL (controller) 36 connected via a bus 47. In addition, the component which SoC50 has is not restricted to these.

  The ASIC / FPGA 40 includes an image reading unit 38, an interrupt controller 41, a navigation sensor I / F 42, a print / sensor timing generation unit 43, a gyro sensor I / F 45, and an IJ recording head connected via a bus 46. A control unit 44 is provided. In addition, the component which ASIC / FPGA40 has is not restricted to these.

  The CPU 33 executes firmware (program) or the like developed from the ROM 28 to the DRAM 29, and controls operations of the position calculation circuit 34, the memory CTL 35, and the ROM CTL 36 in the SoC 50. It also controls operations of the image reading unit 38, interrupt controller 41, navigation sensor I / F 42, print / sensor timing generation unit 43, gyro sensor I / F 45, IJ recording head control unit 44, etc. in the ASIC / FPGA 40. .

The position calculation circuit 34 calculates the position (coordinate information) of the HMP 20. Specifically, the position calculating circuit 34, two using at least one moving amount of the navigation sensors S _0, S _1, two navigation sensors S _0, based on the moving amount of S ₁ posture (rotation angle) Based on the above, the position of the HMP 20 is calculated. Strictly speaking, the position of the HMP 20 is the position of the nozzle 61, but if the positions of the navigation sensors S ₀ and S ₁ are known, the HMP 20 can calculate the position of the nozzle 61. Further, the position calculation circuit 34 calculates a target discharge position. The position calculation circuit 34 may be realized by the CPU 33 in software.

As will be described later, the positions of the navigation sensors S ₀ and S ₁ are calculated based on, for example, a predetermined origin (the initial position of the HMP 20 when image formation is started). The position calculation circuit 34 estimates the acceleration and the moving direction based on the difference between the past position and the newest position, and predicts the position at the next ink ejection timing, for example. In this way, it is possible to discharge ink while suppressing a delay with respect to scanning by the user.

  The memory CTL 35 is an interface with the DRAM 29, requests data from the DRAM 29, sends the acquired firmware to the CPU 33, and sends the acquired image data to the ASIC / FPGA 40.

  The ROM CTL 36 is an interface with the ROM 28, requests data from the ROM 28, and sends the acquired data to the CPU 33 and the ASIC / FPGA 40.

The CPU inputs the positions of the navigation sensors S ₀ and S ₁ calculated by the position calculation circuit 34 to the image reading unit 38. The image reading unit 38 calculates the position of each nozzle based on the relative positions of the navigation sensors S ₀ and S ₁ and the nozzle 61. Then, image data corresponding to the position of the nozzle is read from the DRAM, and the image data is arranged and transmitted in the arrangement order requested by the IJ recording head 24.

  The print / sensor timing generation unit 43 notifies the navigation sensor I / F when the navigation sensor I / F 42 reads information, and notifies the IJ recording head control unit 44 of the drive timing. In addition, the gyro sensor I / F 45 notifies the gyro sensor I / F 45 of timing for reading information. Note that the period of timing for reading information is longer than the period of ink ejection timing.

  The IJ recording head control unit 44 ejects ink based on the image data at the timing notified by the printing / sensor timing generation unit 43. The IJ recording head drive circuit 23 generates a drive waveform (voltage) using the drive waveform data corresponding to the control signal as described above. The IJ recording head control unit 44 determines whether or not the ejection nozzle is available, and determines that ink is ejected if there is a target ejection position where ink should be ejected, and that ejection is not performed if there is no target ejection position.

Navigation sensor I / F 42 communicates with the navigation sensors _S 0, _{S 1,} the moving amount ΔX' as information from the navigation sensors _S 0, _{S 1,} receives ΔY' the (these will be described later), the value Store in register. The information from the navigation sensors S ₀ and S ₁ also has a status notification function (including sensor reliability information to be described later) indicating whether or not the reflected light is read well.

  The gyro sensor I / F 45 acquires the angular velocity detected by the gyro sensor 31 at the timing generated by the print / sensor timing generation unit 43 and stores the value in the register.

The interrupt controller 41 detects that the navigation sensor I / F 42 has completed communication with the navigation sensors S ₀ and S _1, and outputs an interrupt signal for notifying the SoC 50 of the completion. In response to this interruption, the CPU 33 acquires ΔX ′ and ΔY ′ stored in the register by the navigation sensor I / F 42. Similarly, for the gyro sensor 31, the interrupt controller 41 detects that the gyro sensor I / F 45 has completed communication with the gyro sensor 31 and outputs an interrupt signal for notifying the SoC 50 of the completion.

FIG. 5 shows an example of a configuration diagram of the image reading unit 38. The image reading unit 38 includes a CPU I / F 381, a nozzle position generation unit 382, an address generation unit 383, an output I / F 384, a data storage unit 385, and a table management unit 386. The CPU I / F 381 is a circuit that serves as an interface with the CPU 33. The CPU I / F 381 accepts various settings such as the resolution of the image in the width direction and the resolution of the image in the vertical direction from the CPU 33. Also, the ejection timing is acquired from the IJ recording head control unit 44, and the positions of the navigation sensors S ₀ and S _{1 at} the ejection timing are received from the CPU 33.

The nozzle position generation unit 382 generates the position of each nozzle from the positions of the navigation sensors S ₀ and S ₁ . Each time the positions of the navigation sensors S ₀ and S ₁ are received, positions corresponding to the number of nozzles are generated and output to the address generator 383. Further, the nozzle position generation unit 382 outputs a valid / invalid flag for each nozzle in accordance with the print mode, the number of ejection nozzles, and the like.

  The address generation unit 383 generates a memory address where the data is stored based on the position of each nozzle obtained by the nozzle position generation unit 382. The data storage unit 385 stores the image data acquired from the memory CTL 35. Further, data to be written to the DRAM 29 is temporarily accumulated.

  The table management unit 386 associates the address generated by the address generation unit 383 with the data stored in the data storage unit 385. The table management unit 386 outputs data associated with the address generated by the address generation unit 383 to the address generation unit 383.

  The output I / F 384 converts the image data acquired from the table management unit 386 into a format requested by the IJ recording head control unit 44. Also, the image data is buffered, and the image data is output to the IJ recording head control unit 44 as required.

<About navigation sensors>
FIG. 6 is a diagram illustrating a configuration example of the hardware configuration of the navigation sensor. The navigation sensors S ₀ and S ₁ have the same structure. The navigation sensors S ₀ and S ₁ include a host I / F 301, an image processor 302, an LED driver 303, two lenses 304 and 306, and an image array 305. The LED driver 303 is an integrated LED and control circuit, and emits LED light according to a command from the image processor 302. The image array 305 receives the reflected light of the LED light from the print medium 12 through the lens 304. The two lenses 304 and 306 are installed so as to be optically focused on the surface of the print medium 12.

  The image array 305 includes a photodiode having sensitivity to the wavelength of the LED light, and generates image data from the received LED light. The image processor 302 obtains the image data, and calculates the movement distance (ΔX ′, ΔY ′) of the navigation sensor from the image data. The image processor 302 outputs the calculated moving distance to the control unit 25 via the host I / F 301.

  A light emitting diode (LED) used as a light source is useful when a printing medium 12 having a rough surface, such as paper, is used. This is because, when the surface is rough, a shadow is generated, so that the movement distance in the X-axis direction and the Y-axis direction can be accurately calculated using the shadow as a characteristic part. On the other hand, a semiconductor laser (LD) that generates laser light can be used as a light source for the printing medium 12 having a smooth surface or a transparent surface. This is because a feature portion can be created by forming a striped pattern or the like on the print medium 12 with a semiconductor laser, and the movement distance can be accurately calculated based on the feature portion.

Next, the operation of the navigation sensors S ₀ and S ₁ will be described with reference to FIG. FIG. 7 is a diagram for explaining a method of detecting the movement amount by the navigation sensors S ₀ and S ₁ . The light emitted from the LED driver 303 is applied to the surface of the print medium 12 through the lens 306. The surface of the print medium 12 has minute irregularities of various shapes as shown in FIG. For this reason, various shapes of shadows are generated.

  The image processor 302 receives the reflected light through the lens 304 and the image array 305 at every predetermined sampling timing, and acquires the image data 310. The image processor 302 forms the image data 310 generated as shown in FIG. 7B in a matrix with a prescribed resolution unit. That is, the image data 310 is divided into a plurality of rectangular areas. Then, the image processor 302 compares the image data 310 obtained at the previous sampling timing with the image data 310 obtained at the current sampling timing to detect the number of rectangular regions to which the image data 310 has moved, It is calculated as the moving distance. Assume that the HMP 20 moves in the ΔX direction illustrated in FIG. When the image data 310 at t = 0 and t = 1 is compared, the shape at the right end matches the shape at the center. Therefore, since the shape has moved in the −X direction, it can be seen that the HMP 20 has moved by one square in the X direction. The same applies to times t = 1 and t = 2.

<Regarding the nozzle position in the IJ recording head>
Next, the nozzle position and the like in the IJ recording head 24 will be described with reference to FIG. FIG. 8A is an example of a plan view of the HMP 20. FIG. 8B is an example illustrating only the IJ recording head 24. The surface shown is the surface facing the print medium 12.

The HMP 20 of the present embodiment has two navigation sensors S ₀ and S ₁ . The length between the two navigation sensors S ₀ and S ₁ is a distance L. The longer the distance L, the better. This is because the minimum rotation angle change amount dθ that can be detected decreases as the distance L increases, and the position error of the HMP 20 decreases.

The distances from the navigation sensors S ₀ , S ₁ to the IJ recording head 24 are distances a and b, respectively. The distance a and the distance b may be equal to each other or may be zero (in this case, they are in contact with the navigation sensors S ₀ and S ₁ and the IJ recording head 24). Accordingly, the positions of the navigation sensors S ₀ and S ₁ shown in the figure are examples. For example, since the distance or distance L between the IJ recording head 24 and the navigation sensors S ₀ and S ₁ is short, the size of the bottom surface of the HMP 20 can be easily reduced.

  As shown in FIG. 8B, the distance from the end of the IJ recording head 24 to the first nozzle 61 is a distance d, and the distance between adjacent nozzles is a distance e. The values a to e are stored in advance in the ROM 28 or the like.

If the position calculation circuit 34 or the like calculates the position of the navigation sensor S ₀ , the position calculation circuit 34 can calculate the position of the nozzle 61 using the distance a (distance b), the distance d, and the distance e.

<About the position of the HMP 20 in the print medium 12>
FIG. 9 is an example of a diagram illustrating the coordinate system of the HMP 20 and a method for calculating the position. In this embodiment, the horizontal direction to the print medium 12 is set as the X axis, and the vertical direction is set as the Y axis. Origin is the position of the navigation sensors S ₀ when the image forming is started. These coordinates will be referred to as print medium coordinates. In contrast, a navigation sensor S ₀ is the coordinate axis (X'-axis, Y'-axis) in FIG. 9 and outputs the movement amount. That is, the movement amount is output with the arrangement direction of the nozzles 61 as the Y ′ axis and the direction orthogonal to the Y ′ axis as the X ′ axis.

As shown in FIG. 9A, the case where the HMP 20 is rotated clockwise θ with respect to the print medium 12 will be described as an example. It is difficult for the user to scan the HMP 20 without tilting the print medium coordinates at all, and it is considered that a non-zero θ is generated. If there is no rotation, X = X ′ and Y = Y ′. However, when the HMP 20 rotates with respect to the print medium 12 by the rotation angle θ, the output of the navigation sensor S ₀ and the actual position of the HMP 20 on the print medium 12 do not match. The rotation angle θ is positive in the clockwise direction, X and X ′ are positive in the right direction, and Y and Y ′ are positive in the upward direction.

FIG. 9A is an example for explaining the X coordinate of the HMP 20. Figure 9 (a) the amount of movement navigation sensors S ₀ when HMP20 rotation angle θ is moved while the same rotation angle θ only in the X direction is detected ΔX', ΔY' and X, which indicates the correspondence Y . Since the relative positions of the two navigation sensors S ₀ and S ₁ are fixed, the outputs (movement amounts) of the two navigation sensors S ₀ and S ₁ are the same. X coordinate of the navigation sensors _{S 0} is X1 + X2, X1 + X2 is DerutaX', determined from ΔY' and rotational angle theta.

FIG. 9B shows the correspondence between the movement amounts ΔX ′, ΔY ′ and X, Y detected by the navigation sensor S ₀ when the HMP 20 with the rotation angle θ moves in the Y direction with the same rotation angle θ. . Y coordinates of the navigation sensors _{S 0} is the Y1 + Y2, Y1 + Y2 is -DerutaX', determined from ΔY' and rotational angle theta.

Therefore, when the HMP 20 moves in the X direction and the Y direction with the rotation angle θ, ΔX ′ and ΔY ′ output from the navigation sensor S ₀ can be converted into X and Y of the print medium coordinates as follows.
X = ΔX′cos θ + ΔY′sin θ (1)
Y = −ΔX′sin θ + ΔY′cos θ (2)
<< Detection of rotation angle change amount dθ >>
A calculation method of the rotation angle change amount dθ using the movement amount output from the navigation sensors S ₀ and S ₁ will be described with reference to FIG. FIG. 10 is an example of a diagram illustrating how to obtain the rotation angle change amount (change amount of rotation angle) dθ of the HMP 20 that occurs during image formation. The rotation angle change amount dθ is calculated using the movement amount ΔX ′ detected by the two navigation sensors S ₀ and S ₁ (ΔY ′ may be used). The movement amount ΔX ′ ₀ detected by the navigation sensor S _{0 on} the upper side of the print medium 12 and the movement amount detected by the navigation sensor S ₁ are ΔX ′ ₁ . In FIG. 10, the rotation angle already obtained is θ.

When the HMP 20 rotates dθ while moving in parallel, the movement amounts ΔX ′ ₀ and ΔX ′ ₁ do not match. However, since both outputs are movement amounts in the direction perpendicular to the straight line connecting the two navigation sensors S ₀ and S ₁ , the difference between the movement amounts ΔX ′ ₀ and ΔX ′ ₁ is obtained as “ΔX ′ ₀ −ΔX ′ ₁ ”. be able to. This difference is a value generated by the HMP 20 rotating dθ. Further, since “ΔX ′ ₀ −ΔX ′ ₁ ”, L, and dθ have the relationship shown in FIG. 10, dθ can be expressed as follows.
dθ = arcsin {(ΔX ′ ₀ −ΔX ′ ₁ ) / L} (3)
The position calculation circuit 34 can calculate the rotation angle θ by integrating the rotation angle change amount dθ. As shown in equations (1) and (2), the HMP 20 can detect the position using the rotation angle θ. As can be seen from the equation (3), it is preferable to increase the distance L in order to detect a smaller dθ. Although design values are given as the L, the mounting error of the navigation sensors S _0, S ₁ is generated during production, if the actual spacing of the navigation sensors S ₀ and S ₁ is not a design value (distance L) There is. When L is different from the design value, the rotation angle change amount dθ is different. Therefore, in the present embodiment, the distance L in Expression (3) is corrected using the gyro sensor 31.

<Nozzle position>
FIG. 11A is an example for explaining the calculation of the nozzle position. If the position of one navigation sensor is known and the rotation angle θ is known, the nozzle position generator 382 can calculate the position of each nozzle 61. A description will be given by taking the nozzle 61-1 in FIG. Distance navigation sensors _{S 0} and IJ recording head 24 a, the distance from the end of the IJ recording head 24 to the nozzle 61-1 is d. The rotation angle with respect to the axis perpendicular to the print medium 12 is θ. From these, the coordinates (X, Y) of the nozzle 61-1 can be obtained.

X = X0- (a + d) × sinθ
Y = Y0- (a + d) × cosθ
FIG. 11B is a diagram illustrating the position of the nozzle 61 that is not on the straight line connecting the two navigation sensors S ₀ and S ₁ . When the IJ recording head 24 has multi-color nozzles 61 for color printing, the nozzle rows Y and C may not be on the straight line connecting the two navigation sensors S ₀ and S ₁ .

  If the distance between the nozzle row Y and the nozzle row C is f, the coordinates of the nozzle 61-1c of the nozzle row C in FIG. 11B can be obtained as follows.

X = X0- (a + d) × sinθ + f × cosθ
Y = Y0- (a + d) × cosθ-f × sinθ
<About functions of HMP20>
FIG. 12 shows an example of a functional block diagram of the HMP 20. The HMP 20 includes a correction processing unit 51, a sensor value acquisition unit 52, and a distance calculation unit 53. These are functions or means obtained by the CPU 33 shown in FIG. 4 developing firmware (program) stored in the ROM 28 in the DRAM 29 and executing it.

The correction processing unit 51 performs control related to processing for correcting the distance L between the navigation sensors S ₀ and S ₁ . That is, the timing for correcting the distance L is detected, and it is determined whether or not the distance L is corrected. In addition, the correction processing unit 51 sets the distance Lnew55 in a register or a nonvolatile memory in which the position calculation circuit 34 reads the distance L. Thereby, the position calculation circuit 34 can calculate the rotation angle change amount dθ _navi by substituting the distance Lnew55 into the equation (3).

The sensor value acquisition unit 52 acquires the angular velocity detected by the gyro sensor 31 used for correction and the movement amounts ΔX ′ ₀ and ΔX ′ ₁ detected by the navigation sensors S ₀ and S ₁ . The angular velocity and the movement amount may be referred to as a sensor value.

Distance calculating unit 53 is moving amount DerutaX' ₀ of the gyro sensor 31 is substituted into the rotation angle variation d [theta] _Gyro calculated from the angular velocity detecting the left, navigation sensors S _0, S ₁ is detected on the right-hand side of Equation (3), The distance L is calculated by substituting ΔX ′ ₁ . In order to distinguish the calculated distance L from the design value distance L, it is referred to as a distance Lnew55.

<Operation procedure>
FIG. 13 is an example of a flowchart for explaining the operation procedure of the image data output unit 11 and the HMP 20. First, the user presses the power button of the image data output device 11 (U101). The image data output unit 11 accepts it, and is activated when power is supplied from a battery or the like.

The user selects whether or not to correct the distance L between the navigation sensors S ₀ and S ₁ before printing (U102). That is, whether or not correction is performed is set in the OPU 26.

When the user selects to perform correction, the user scans the HMP 20 on the print medium 12 for correction (U103). Since the printing has not started yet, the initial positions of the navigation sensors S ₀ and S ₁ (nozzles 61) have not been determined. Therefore, even if the HMP 20 is scanned, the position information of the nozzles 61 is not affected.

  When the correction of the distance L is completed, the user selects an image to be output by the image data output unit 11 (U104). The image data output unit 11 accepts image selection. Document data of software such as a word processor application may be selected as an image, or image data such as JPEG may be selected. If necessary, the printer driver may change data other than image data into an image.

  The user performs an operation of printing the selected image with the HMP 20 (U105). The HMP 20 accepts a print job execution request. Image data is transmitted to the HMP 20 in response to a print job request.

  The user holds the HMP 20 and determines an initial position on the print medium 12 (for example, a notebook) (U106).

  Then, the user presses the print start button of the HMP 20 (U107). The HMP 20 accepts pressing of the print start button.

  The user freely scans the HMP 20 to slide on the print medium 12 (U108).

  Subsequently, the operation of the HMP 20 will be described. The following operation is performed by the CPU 33 executing the firmware.

  The HMP 20 is also activated when the power is turned on. The CPU 33 of the HMP 20 initializes the hardware elements shown in FIGS. 3 and 4 built in the HMP 20 (S101). For example, a register of the navigation sensor I / F 42 is initialized, or a timing value is set in the print / sensor timing generation unit 43. Communication between the HMP 20 and the image data output unit 11 is established.

  The CPU 33 of the HMP 20 determines whether or not the initialization is completed, and if not completed, repeats this determination (S102).

  When the initialization is completed (Yes in S102), the CPU 33 of the HMP 20 notifies the user that printing is possible by, for example, LED lighting of the OPU 26 (S103). As a result, the user grasps the printable state and requests execution of the print job as described above.

  Next, the OPU 26 causes the user to select whether or not to correct the distance L and displays a user interface for accepting the selection result. On the other hand, the user sets whether or not to correct as in step U102. The correction processing unit 51 determines whether the user's selection is to be corrected (S104).

If the user determines that the corrected _(Yes in _S 1 04), the above-described correction processing unit 51 executes a correction process (S105). The correction process in step S105 will be described with reference to FIG.

A process after the correction process is completed will be described.
In response to a print job execution request, the communication IF 27 of the HMP 20 accepts input of image data from the image data output unit 11, and notifies the user that the image has been input by blinking the LED of the OPU 26 (S106).

When the user determines the initial position of the HMP 20 on the print medium 12 and presses the print start button, the OPU 26 of the HMP 20 accepts this operation, and the CPU 33 causes the navigation sensor I / F 42 to read the position (S107). Thus, the navigation sensor I / F 42 is storing communicating with navigation sensors _S 0, _{S 1,} etc. navigation sensors _S 0, obtains the movement _{amount S 1} is detected register (S1001). The CPU 33 reads the movement amount from the navigation sensor I / F 42.

  Even if the movement amount acquired immediately after the user presses the print start button is zero but not zero, the CPU 33 stores the initial position of the coordinates (0, 0) in the DRAM 29 or the register of the CPU 33, for example (S108). .

When the initial position is acquired, the print / sensor timing generation unit 43 starts generating the timing (S109). The print / sensor timing generation unit 43 instructs the navigation sensor I / F 42 to determine the timing when the movement amount acquisition timing of the navigation sensors S ₀ and S ₁ set in the initialization is reached. At the time of image formation, the angular velocity of the gyro sensor 31 is not necessary, but the angular velocity of the gyro sensor 31 may be acquired.

  The CPU 33 of the HMP 20 determines whether it is time to acquire the movement amount (S110). This determination is made by a notification from the interrupt controller 41, but may be determined by the CPU 33 counting the same timing as that of the print / sensor timing generation unit 43.

When it is time to acquire the movement amount, the CPU 33 of the HMP 20 acquires the movement amounts of the two navigation sensors S ₀ and S ₁ from the navigation sensor I / F 42 (S111).

  Next, the position calculation circuit 34 calculates the current position from the position (X, Y) calculated in the previous sampling period and the movement amount (ΔX ′, ΔY ′) acquired in the current sampling period, and stores the current position. 59 (S112).

  Next, the position calculation circuit 34 calculates the current position of each nozzle 61 using the current position of the navigation sensor determined in step S110 (S113).

  Next, the CPU 33 causes the image reading unit 38 to read an image. Based on the calculated position of each nozzle 61, the image reading unit 38 reads the image data of the peripheral image of each nozzle 61 from the DRAM 29 (S114).

  Next, the IJ recording head control unit 44 compares the position coordinates of each image element constituting the peripheral image with the position coordinates of each nozzle 61 (S115). The position calculation circuit 34 calculates the acceleration of the nozzle 61 using the past position and the current position of the nozzle 61. Accordingly, the position calculation circuit 34 calculates the position of the nozzle 61 for each ink discharge period of the IJ recording head 24 that is shorter than the period in which the navigation sensor I / F 42 acquires the movement amount. The IJ recording head control unit 44 determines whether or not the position coordinates of the image element are included within a predetermined range from the position of the nozzle 61 calculated by the position calculation circuit 34 (S116: determination of ejection nozzle availability).

  If the discharge condition is not satisfied (No in S116), the process returns to step S110. When the ejection condition is satisfied, the IJ recording head control unit 44 outputs image element data for each nozzle 61 to the IJ recording head drive circuit 23 (S117). As a result, ink is ejected onto the print medium 12.

  Next, the CPU 33 determines whether all image data has been output (S118). When not outputting, the process from step S110 to S118 is repeated.

  When all the image data has been output, the CPU 33 turns on the LED of the OPU 26, for example, and notifies the user that printing has ended (S119).

  If the user determines that the image data is not required to be output even if it is not output, the user may press the print completion button, and the OPU 26 may accept it and end printing. The user can turn off the power after the printing is completed, or the power may be automatically turned off when the printing is finished.

<< Distance L Correction Process >>
FIG. 14 is an example of a flowchart for explaining the procedure of the correction process of the distance L performed before the start of image formation.

The correction processing unit 51 of the HMP 20 determines whether or not the correction start timing is present (S10). As described above, not only the user input (switch operation, touch panel operation) to the OPU 26 but also the correction process may be performed after the power is turned on, the movement amount from the navigation sensors S ₀ and S ₁ , or the gyro sensor 31. When the angular velocity is input from the above, it may be determined that the timing is reached.

When the determination in step S10 is Yes, the correction processing unit 51 of the HMP 20 waits until it detects the rotation of the HMP 20 (S20). The correction processing unit 51 determines whether or not the rotation angle change amount dθ _navi detected from the movement amounts of the navigation sensors S ₀ and S ₁ or the rotation angle change amount dθ gyro detected from the angular velocity of the gyro sensor 31 is greater than or _equal to a threshold value. judge. This is because the corrected distance Lnew55 may include an error unless the HMP 20 rotates significantly.

When determination of step S20 is Yes, the sensor value acquisition part 52 acquires a sensor value required for correction | amendment of the distance L (S30). For example, the sensor values after the movement when the movement of the HMP 20 is stopped (the movement amount of the navigation sensors S ₀ and S ₁ and the angular velocity of the gyro sensor 31) are acquired. You may use the sensor value obtained when the movement with rotation stops. Moreover, you may use the sensor value obtained after the fixed period. As described above, since the sensor value acquisition timing is determined, the sensor value acquisition unit 52 waits until the sensor value can be acquired.

If the sensor value can be acquired, the distance calculation unit 53 calculates the distance Lnew between the navigation sensors S ₀ and S ₁ (S40). First, the angular velocity obtained from the gyro sensor 31 is integrated to calculate the rotation angle change amount dθ _gyro , dθ _gyro is substituted into the left side of the equation (3), and the navigation sensor S ₀ or S is _inserted into the right side of the equation (3). _A distance Lnew55, which is a correction value for the distance L between the navigation sensors S ₀ and S ₁ , is calculated by substituting the movement amounts ΔX ′ ₀ and ΔX ′ ₁ of ₁ .

  Next, the correction processing unit 51 updates the distance L used by the position calculation circuit 34 to the distance Lnew55 (S50).

The correction processing unit 51 calculates the rotation angle change amount dθ _navi by applying the movement amounts ΔX ′ ₀ and ΔX ′ ₁ of the navigation sensors S ₀ and S ₁ to Equation (3), and dθ _gyro and dθ _navi. If there is only a difference in the error level of the gyro sensor 31 (if there is only a difference below the threshold), the distance L need not be updated. Thereby, the distance L can be updated only when it is better to update the distance L.

Thus, HMP20 of this embodiment by using a navigation sensor _S 0, the gyro sensor 31 good precision than _{S 1,} can correct an error of the distance L caused by mounting of navigation sensors _S 0, _{S 1.} Therefore, the accuracy of the position of the HMP 20 can be improved and the image quality can be improved.

  In the present embodiment, the distance Lnew55 between the plurality of navigation sensors is obtained from the angular velocity obtained a plurality of times by the gyro sensor 31, and the HMP 20 in which the accuracy of the distance Lnew55 is improved will be described. The hardware configuration diagram and functional block diagram may be the same as those in the first embodiment.

  FIG. 15 is an example of a flowchart for explaining the procedure of the distance L correction process performed before the start of image formation in this embodiment. Note that FIG. 15 mainly describes differences from FIG.

  When the correction process starts, in step S5, the correction processing unit 51 determines the number of times to acquire a sensor value for correction (S5). For example, the user sets from the OPU 26. Alternatively, a fixed value may be set in advance as the number of times, or the distance Lnew 55 may be repeated until it converges to a certain range.

  The next steps S10 to S40 and S50 are the same as those in FIG.

  After calculating the distance Lnew55, the correction processing unit 51 determines whether or not the distance Lnew55 has been calculated by the number of times determined in step S5 (S42).

  When the determination in step S42 is Yes, the correction processing unit 51 determines a distance Lnew55 to be used for updating from the obtained plurality of distances Lnew55 (S44). The correction processing unit 51 performs statistical processing on the plurality of distances Lnew55 to determine the distance Lnew55 used for updating. An average value of a plurality of distances Lnew55 may be calculated, or a median value or a mode value may be used.

  Further, the distance Lnew55 calculated in the previous correction process may be used to determine the new distance Lnew55. The correction processing unit 51 stores the distance Lnew 55 calculated last, preferably in a nonvolatile memory (for example, ROM 28). For example, the distance Lnew 55 is determined to have the least change from the previous distance Lnew55. Further, when the difference from the distance Lnew55 is equal to or greater than the threshold value, the update of the distance Lnew55 may be stopped. Since the distance L does not change significantly, it can be determined whether or not the calculated distance Lnew55 is valid by comparing with the distance Lnew55 calculated in the previous correction process.

  Therefore, according to this embodiment, since the distance Lnew55 is calculated a plurality of times, the accuracy of the distance Lnew55 can be improved.

  In the present embodiment, the HMP 20 that executes correction processing during image formation using the start of image formation as a trigger for correction processing instead of before the start of image formation will be described.

  According to such a configuration, since image formation and correction processing can be executed in parallel, the time required for correction processing can be concealed in the time required for image formation. The hardware configuration diagram and functional block diagram may be the same as those in the first embodiment.

  FIG. 16 is an example of a flowchart for explaining the operation procedure of the image data output unit 11 and the HMP 20. FIG. 16 mainly describes differences from FIG.

  First, scanning for the correction process in step U103 in FIG. 13 is not necessary. In addition, the correction process is executed not after step S105 but following step S111.

  In step S111-2, it is determined whether or not correction processing is performed. This process is the same as step S104 in FIG.

  In step S111-3, the sensor value acquisition unit 52 acquires the angular velocity of the gyro sensor 31 for correction processing (S111-3).

Then, the distance calculation unit 53, a moving amount of the navigation sensors _S 0, _{S 1,} from the angular velocity of the gyro sensor 31, and calculates the distance Lnew55 (S111-4). Further, the correction processing unit 51 updates the distance L referred to by the position calculation circuit 34 with the distance Lnew55. Thus, the distance Lnew55 is calculated by the moving amount of the navigation sensors S _0, S ₁ the user generated by scanning the HMP20 for imaging.

Therefore, the position calculation circuit 34 can calculate the positions of the navigation sensors S ₀ and S _{1 with} the corrected distance Lnew55 between the navigation sensors S ₀ and S ₁ (S112). The subsequent processing may be the same as in FIG.

In FIG. 16, the correction process is executed when it is time to acquire the movement amounts of the navigation sensors S ₀ and S ₁ , but the correction process may be executed only once after the start of image formation.

  In this way, since the correction process is executed during image formation, it is possible to make it difficult for the user to be aware of the time required for the correction process.

On the other hand, if there is a large difference between the distance L between the navigation sensors S ₀ and S ₁ and the actual distance at the start of image formation, the image output from the start of image formation to the time when correction processing is performed has an image quality. May decrease. For this reason, the present embodiment is used when forming an image such as a blank image or a solid image of the same color (an error in the position of the navigation sensors S ₀ and S ₁ hardly affects the image quality) immediately after the start of image formation. It is desirable that What kind of image data is present around the initial position of the HMP 20 when image formation is started is determined by a luminance gradient obtained by analyzing pixel values of the image data.

  In the present embodiment, a correction system 100 in which a correction device that communicates with the HMP 20 instead of the HMP 20 calculates the distance Lnew55 and transmits the distance Lnew55 to the HMP20 will be described.

  FIG. 17 shows an example of a schematic configuration diagram of the correction system 100. The correction system 100 includes a correction device 70, a rotation unit 72, a rotation amount sensor 73, and a communication IF 74. The rotating unit 72 swings horizontally on a plane around the correction device 70 under the control of the correction device 70. The rotating part 72 is an actuator having a motor and a cam mechanism and repeatedly swinging the rod 71 within a certain range. That is, the HMP 20 is given a motion that can detect the rotation component.

  The rotation amount sensor 73 detects the rotation angle change amount of the rotation unit 72. For example, any sensor that can detect the amount of change in the rotation angle generated in the HMP 20 such as a gyro sensor 31 or a rotary encoder may be used.

  The communication IF 74 communicates with the HMP 20 and is used for transmitting and receiving a trigger for starting correction processing, and for transmitting the rotation angle change amount of the rotating unit 72 to the HMP 20. For example, communication is performed using a communication standard such as Bluetooth (registered trademark), wireless LAN, or NFC.

  Therefore, even if the HMP 20 does not have the gyro sensor 31 by the correction system 100, the HMP 20 can acquire the rotation angle change amount from the correction device 70 and calculate the distance Lnew55.

  The configuration in FIG. 17 is a configuration for explanation, and is integrated with a recording head maintenance device (maintaining the state of the IJ recording head 24) prepared separately from the HMP 20, a charging stand, and the like. Also good. Further, the correction system 100 may have any shape as long as it has the above function. For example, the HMP 20 may be rotated on the turntable.

  FIG. 18 is an example of a functional block diagram of the correction system 100. The correction device 70 has the configuration of an information processing device such as a microcomputer. For example, it has functions such as a CPU, a RAM, a ROM, each interface, a communication IF, and an input / output device serving as an interface with a user.

  The correction device 70 includes a communication unit 81, a rotation control unit 82, and a rotation angle detection unit 83. The communication unit 81 is realized by the CPU executing a program or the communication I / F 74 or the like. The rotation control unit 82 is realized by the CPU executing a program or controlling the rotation unit 72. The rotation angle detection unit 83 is realized by the CPU executing a program or controlling the rotation amount sensor 73.

  Further, the HMP 20 has a communication unit 56 in addition to the configuration of FIG. The communication unit 56 is realized by the communication IF 27 or the like. The communication unit 56 communicates with the communication unit 81 of the correction device 70.

FIG. 19 is an example of a sequence diagram for explaining an operation procedure of the correction system 100. The user attaches the HMP 20 to the rotating unit 72 and performs an operation for starting the correction process.
S1: As an example, the correction processing unit 51 of the HMP 20 transmits a correction processing start to the correction device 70 via the communication unit 56 when detecting the timing for performing the correction processing.
S2: The communication unit 81 of the correction device 70 receives the notification of the correction process start, and the rotation control unit 82 rotates the rotation unit 72.
S3: Thereby, the navigation sensors S ₀ and S ₁ of the HMP 20 detect the movement amount.
S4: Further, the rotation angle detection unit 83 of the correction device 70 detects the rotation angle change amount dθturn of the rotation unit 72.
S5: The communication unit 81 of the correction device 70 transmits the rotation angle change amount dθturn to the HMP 20.
S6: The communication unit 56 of the HMP 20 receives the rotation angle change amount dθturn, and the correction processing unit 51 sends it to the distance calculation unit 53. Thus, in the same manner as in Example 1-3, the distance calculation unit 53 can calculate the distance Lnew55 using rotation angle variation dθturn a moving amount of the navigation sensors S _0, S _1. Further, the correction processing unit 51 can update the distance L.

  Therefore, according to the present embodiment, the distance L can be corrected even if the HMP 20 does not have the gyro sensor 31. If the correction device 70 is integrated with a maintenance device or a charging stand, the user can update the distance L by storing the HMP 20.

<Other application examples>
The best mode for carrying out the present invention has been described above with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the scope of the present invention. And substitutions can be added.

  For example, in the present embodiment, it has been described that there are two navigation sensors. However, in the case where there are three or more navigation sensors, the leaflets whose navigation sensor positions are calculated based on the distance between these navigation sensors are similarly applied. it can.

  In this embodiment, the rotation angle change amount is detected by the gyro sensor. However, any sensor may be used as long as the rotation angle change amount can be detected.

  The constituent elements of the SoC 50 and the ASIC / FPGA 40 described above may be included in any of them depending on the CPU performance, the circuit scale of the ASIC / FPGA 40, and the like.

  In the present embodiment, it has been described that an image is formed by ejecting ink. However, an image may be formed by irradiation with visible light, ultraviolet light, infrared light, laser, or the like. In this case, for example, a print medium 12 that reacts to heat or light is used. Further, a transparent liquid may be discharged. In this case, visible information is obtained when light in a specific wavelength region is irradiated. Further, metal paste, resin, or the like may be discharged.

  The navigation sensor 30 is an example of a movement amount detection unit, the sensor value acquisition unit 52 is an example of a posture information acquisition unit, the distance calculation unit 53 is an example of a detection unit position calculation unit, and the correction processing unit 51 is The position calculation circuit 34 is an example of a position calculation unit, and the IJ recording head controller 44 is an example of a droplet discharge unit.

DESCRIPTION OF SYMBOLS 11 Image data output device 30 Navigation sensor 31 Gyro sensor 51 Correction processing part 52 Sensor value acquisition part 53 Distance calculation part 70 Correction apparatus 100 Correction system

Japanese Patent No. 5033247

Claims (10)

A position detection device that detects a position on a moving surface based on a movement amount and a posture,
A movement amount detecting means for detecting the movement amount;
Attitude information acquisition means for acquiring information relating to the attitude of the position detection device;
Detecting means position calculating means for calculating information relating to the position of the moving amount detecting means using information relating to the movement amount and the posture;
A position detecting device. Having at least two movement amount detection means;
Position calculating means for calculating the position of the position detection device using the movement amount detected by the two movement amount detection means and the distance between the two movement amount detection means;
The detection means position calculation means calculates the distance as information on the position,
The position detection apparatus according to claim 1, further comprising a correction unit that corrects a distance between the two movement amount detection units by the distance calculated by the detection unit position calculation unit. According to the position of the position detection device, it has a droplet discharge means for discharging a droplet for forming an image at the position,
The position detection device according to claim 2, wherein the correction unit corrects the position of the movement amount detection unit before the droplet discharge unit starts to discharge a droplet for forming an image. According to the position of the position detection device, it has a droplet discharge means for discharging a droplet for forming an image at the position,
The detecting means position calculating means detects the position detected by the movement amount detecting means for calculating the position of the position detecting device after the droplet discharging means starts discharging a droplet for forming an image. Using the amount of movement, calculate information about the position,
The position detection apparatus according to claim 2, wherein the correction unit corrects the position of the movement amount detection unit based on information about the position calculated by the detection unit position calculation unit. The movement amount detection means detects a plurality of movement amounts, and the posture information acquisition means detects information about the plurality of postures,
The detection means position calculation means calculates information about the position of the movement amount detection means a plurality of times using information about the movement amount and the posture,
5. The position detection device according to claim 2, wherein the correction unit corrects the position of the movement amount detection unit with information about the position obtained by performing statistical processing on a plurality of pieces of information about the position. . The correction means stores information on the position used for correction,
The position of the movement amount detection unit is corrected with information on the position that has the smallest difference from the stored information on the position among the plurality of pieces of information on the position calculated by the detection unit position calculation unit. Item 6. The position detection device according to Item 5. The correction unit calculates information on the posture using the movement amount detected by the two movement amount detection units and the distance between the two movement amount detection units, respectively.
The correction unit does not correct the position of the movement amount detection unit when a difference between the posture information acquired by the posture information acquisition unit and the calculated information about the posture is equal to or smaller than a threshold value. Item 7. The position detection device according to any one of Items 2 to 6. The position detection device according to any one of claims 1 to 7,
Droplet discharge means for discharging droplets for forming an image at the position according to the position of the position detection device;
A droplet discharge device having An information processing device that detects a position on a moving surface based on a posture and a movement amount,
A movement amount detecting means for detecting the movement amount;
Attitude information acquisition means for acquiring information related to the attitude of the information processing apparatus;
Detecting means position calculating means for calculating information relating to the position of the moving amount detecting means using the information relating to the movement amount and the posture;
Program to function as. A position detection method in which a position detection device detects a position on a moving surface based on an attitude and a movement amount,
A movement amount detecting means for detecting the movement amount;
Posture information acquisition means for acquiring information related to the posture of the position detection device;
A detecting unit position calculating unit calculating information on the position of the moving amount detecting unit using the information on the moving amount and the posture;
A position detection method comprising: