JP2001260329A - Apparatus and method for printing three-dimensional object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus and a method for printing a three-dimensional object which enable execution of printing of high quality for the three- dimensional object. SOLUTION: The three-dimensional object printing apparatus 100 is equipped with a shape measuring part 2 measuring a surface shape of a printing object 7, an ink discharge part 1 discharging ink to the printing object and a scanning part 3 making the ink discharge part 1 scan the printing object 7 relatively. The operation of the ink discharge part 1 and that of the scanning part 3 are controlled in conformity with the information on the slant of the surface of the object 7 contained in the data on the three-dimensional shape of the object acquired by using the shape measuring part 2. Since printing is executed in conformity with the information obtained by the measurement of the slant of the surface of the printing object, execution of printing processing of high quality is enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a printing technique for printing on a three-dimensional object.

[0002]

2. Description of the Related Art There is a printing apparatus for printing a three-dimensional object as a printing target. In this method, a three-dimensional object having various three-dimensional shapes (such as an uneven surface) is printed on the surface. The surface shape of the three-dimensional object is rich in undulation, and for example, there are forms having various characteristics such as a slope having various inclinations, a curved surface, an uneven surface, and an edge portion.

[0003]

Here, in the case of a printing apparatus that performs printing on a flat printing object (such as printing paper), the surface shape of the printing object is constant (flat). There is no need to consider the surface shape. However, when printing on a three-dimensional object, appropriate printing cannot be performed without considering the three-dimensional shape of the three-dimensional object.

For example, when printing on a slope having a steep inclination with respect to a predetermined reference plane (for example, a horizontal plane),
If ink is ejected onto the surface of a three-dimensional object at the same ejection interval as when printing on a surface parallel to the reference surface while scanning in a plane parallel to the reference surface, there is a problem that the resolution on the surface deteriorates. I do.

[0005] Further, a flat printing object (such as printing paper)
In the case of a printing apparatus that prints on a three-dimensional object, there is often no problem even if the position of the printing paper is slightly shifted, but when printing on a three-dimensional object, the position of the printing target is shifted. In many cases, appropriate printing is not achieved. For example, when two surfaces are separated by a ridge line adjacent to each other and different colors are applied to each other, if the color positions are shifted, there is a problem that the print quality is significantly deteriorated because the color positions are very conspicuous.

As described above, when printing a three-dimensional object,
It is required to perform high-quality printing in consideration of the three-dimensional shape.

In view of the above problems, an object of the present invention is to provide a three-dimensional object printing apparatus and a three-dimensional object printing method capable of performing high-quality printing on the three-dimensional object to be printed as described above. And

[0008]

According to one aspect of the present invention, there is provided a three-dimensional object printing apparatus for printing on a three-dimensional object to be printed. A shape measuring unit for measuring a surface shape of the object, an ink discharging unit for discharging ink toward the printing target, a scanning unit for relatively scanning the ink discharging unit with respect to the printing target, and Control means for controlling the measurement means, the ink ejection means, and the scanning means, wherein the control means includes a printing object included in the three-dimensional shape data of the printing object acquired by using the shape measurement means. According to the operation content determining means for determining the operation content of the ink discharging means and the operation content of the scanning means in accordance with the information on the inclination of the surface of the object, and the operation content determined by the operation determining means. Te, and having a print operation control means for performing a printing operation by controlling the operations of the scanning means of said ink discharge means.

According to a second aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the operation content determining means includes:
A stepwise relative movement interval of the ink ejection unit with respect to the printing object in the sub-scanning direction is determined according to information on a tilt of the surface of the printing object.

According to a third aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the ink discharging means has a plurality of nozzles for discharging ink, and the operation content determining means has the plurality of nozzles. Selecting the nozzle whose distance to the printing object is equal to or less than a predetermined value from among the nozzles, and determining the operation content of the ink discharging means so as to discharge the ink from the selected nozzle. Features.

According to a fourth aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the control means should print the three-dimensional shape data obtained by the measurement and the surface of the printing object. It is characterized in that data for pasting to the printing object is created based on the image data.

According to a fifth aspect of the present invention, in the three-dimensional object printing apparatus according to the fourth aspect, the shape measuring means measures the edge portion of the printing object with particularly high accuracy. .

According to a sixth aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the shape measuring means determines a distance from the printing object surface in a direction perpendicular to a measurement reference plane to the measurement reference plane. A displacement sensor for measuring at a predetermined point in a plane, and by causing the displacement sensor to scan the printing target together with the ink discharging unit by the scanning unit, a tertiary territory in a printing target region of the printing target It is characterized by obtaining original shape data.

According to a seventh aspect of the present invention, in the three-dimensional object printing apparatus according to the sixth aspect, the measurement reference plane is a plane perpendicular to an ink ejection direction of the ink ejection means, and The means comprises two parallel to the measurement reference plane.
It can scan in one direction.

According to an eighth aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the operation of discharging the ink to the printing target by the ink discharging means is performed by changing the surface shape of the printing target to a flat surface. The process is performed for each of the plurality of approximated divided regions.

According to a ninth aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the operation of measuring the three-dimensional shape data of the printing target by the shape measuring means is performed by using the surface shape of the printing target. Is performed for each of a plurality of divided areas obtained by approximating.

According to a tenth aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the control unit performs a measurement operation by the shape measuring unit over an entire print target area of the print target. The determination operation by the operation content determination unit and the printing operation by the printing operation control unit are sequentially performed.

According to an eleventh aspect of the present invention, in the three-dimensional object printing apparatus according to the first aspect, the control means determines a print target area of the print target based on three-dimensional model data given in advance. The surface shape of the printing object is divided into a plurality of divided areas that are plane-approximated, and for each of the divided areas,
It is characterized in that the measuring operation by the shape measuring means, the deciding operation by the operation content deciding means, and the printing operation by the printing operation control means are controlled to be sequentially performed.

According to a twelfth aspect of the present invention, in the three-dimensional object printing apparatus according to the eleventh aspect, the control unit prints a predetermined one of the plurality of divided regions by the printing operation control unit. The control is performed so that the operation and the measurement operation by the shape measuring means on the divided area adjacent to the predetermined divided area are performed simultaneously.

According to a thirteenth aspect of the present invention, there is provided a three-dimensional object printing method for performing printing on a three-dimensional object to be printed, the method comprising: measuring a surface shape of the object to be printed;
A step of determining the content of the ink ejection operation of the ink ejection means and the content of the scanning operation of the scanning means according to the information on the inclination of the surface of the printing object included in the three-dimensional shape data of the printing object obtained by the measurement. And performing a printing operation by controlling the operation of the ink discharging unit and the operation of the scanning unit according to the determined content of the ink discharging operation and the content of the scanning operation. .

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS <A. First Embodiment><A1. Configuration of Printing Apparatus><OverallConfiguration> FIG. 1 shows a three-dimensional object printing apparatus 100 (hereinafter, also simply referred to as a printing apparatus) according to a first embodiment of the present invention.
FIG. The printing apparatus 100 is a three-dimensional object printing apparatus that prints on a three-dimensional object to be printed. Hereinafter, the configuration of the printing apparatus 100 will be described with reference to FIG. Here, three axes (X axis, Y axis, Z axis) orthogonal to each other are defined as shown in FIG.

The printing apparatus 100 includes an ink ejection section 1,
A shape measuring unit 2, a scanning unit 3, a control unit 5, and an external input / output unit 6 are provided (see FIG. 3). Hereinafter, each of these units will be described.

<Scanning Unit> The scanning unit 3 moves the ink discharge unit 1 relative to the printing target 7.
Specifically, the scanning unit 3 has scanning units in the respective axial directions of an X-direction scanning unit 31, a Y-direction scanning unit 32, a Z-direction scanning unit 33, and an R-direction scanning unit 34.

In the printing apparatus 100, a Y-direction scanning unit 32 is built in a table 41, and the Y-direction scanning unit 3
The R-direction scanning unit 34 attached to the output unit 2 is moved directly in the Y direction. The print target 7 is fixed to a turntable 341 which is an output unit of the R-direction scanning unit 34. As an example of the print target 7, a pyramid-shaped three-dimensional object is illustrated here. As a method of fixing the print target 7 to the turntable 341, an appropriate method may be adopted as appropriate according to the shape, but a method of fixing the print target 7 by sandwiching both ends like a vise, or a method of non-printing A method of holding the portion with a spring press, or a method of sticking with an adhesive tape or the like when the contact surface of the turntable 341 of the print target 7 is relatively large as in this example.
The printing object 7 is fixed on the turntable 341 by these holding mechanisms, and is scanned in the R direction by the R direction scanning unit 34.
That is, it is rotated around the Z axis.

The printing apparatus 100 includes two stands 42 extending vertically with respect to a table 41 arranged horizontally with respect to the floor. One of these two stands 42 is attached to the table 41 as shown in FIG.
I support. The X-direction scanning unit 31 outputs Z
The Z-direction scanning unit 33 is held.
Is moved linearly in the X direction. Output shaft 33 of Z-direction scanning unit 33
1, an ink ejection unit 1 and a shape measuring unit 2 are integrally attached as a print head unit H, and a Z-direction scanning unit 3 is provided.
3 is moved directly in the Z direction.

As described above, the printing apparatus 100 includes the X-direction scanning unit 31, the Y-direction scanning unit 32, the Z-direction scanning unit 33, and the R-direction scanning unit 34 in the respective directions (X direction, Y direction, Z direction, R direction).
Direction), and the ink ejecting unit 1 and the shape measuring unit 2 are moved relative to the printing object 7 in a three-dimensional space by a combination of the operations of the scanning units in these directions. It becomes possible to do. Further, a cover 43 indicated by a broken line is installed on the outer peripheral portion of the printing apparatus 100, and by covering the printing apparatus at the time of printing, it is possible to prevent the ink from scattering to the outside and the contact between the person and the drive unit. I have.

<Ink Discharge Unit> FIG.
3 is attached to the output shaft 331 of the print head H (H
1) is viewed obliquely from below. In the print head section H, an ink discharge section 1 and a shape measuring section 2 are integrally arranged. Hereinafter, these will be described in order with reference to FIG.

As shown in FIG. 2, the ink discharge section 1 has an ink discharge head section 11 and an ink storage section 12.

The ink discharge head unit 11 is C (cyan)
C ink ejection head unit 111 for ejecting ink, M ink ejection head unit 11 for ejecting M (magenta) ink
2. Y ink ejection head unit 113 for ejecting Y (yellow) ink, and K for ejecting K (black) ink
An ink ejection head unit 114 is provided. Further, the ink discharge heads 111, 112, 113, and 114 for each of the four colors (CMYK) are respectively C
(Cyan) ink ejection nozzles 111N, M (magenta)
A plurality of ink ejection nozzles 112N, a plurality of Y (yellow) ink ejection nozzles 113N, and a plurality of K (black) ink ejection nozzles 114N are provided.
YK) is ejected. Here, these nozzles are illustrated as being arranged in a line for each color. Further, it is assumed that the ink jet nozzles 111N to 214N use an ink jet type.

On the other hand, the ink storage unit 12 includes a C ink storage unit 121, an M ink storage unit 122, and a Y ink storage unit 1.
23, and a K ink storage unit 124 (see FIG. 3). In addition, these ink storage units 121, 1 for each color
Although not shown in FIGS. 1 and 2, the reference numerals 22, 123, and 124 are built in the ink storage unit 12.

Each of the ink discharge nozzles 111N to 114N
Is an ink storage unit 121 for each color that stores ink for each color.
To 124, ink is supplied to the print target 7 selectively. Thus, printing (coloring) on the surface of the printing target 7 is performed.

The types of the above-mentioned inks are not limited to the above-mentioned ones, and are appropriately combined depending on the colors and properties of the inks necessary for coloring the surface of the printing object 7.
In the case of performing color printing, it is sufficient to provide a plurality of types of color ink ejection heads corresponding to required colors and a plurality of color ink storage tanks for storing respective color inks. For example, a combination of any one or more of the above C, M, Y, and K colors may be used, or R (red), G
(Green) and B (blue). In addition, inks in which these mixed colors, glitter pigments, or the like are mixed may be used, and the types of inks to be prepared may be increased or decreased as necessary, or the order of arrangement may be changed. In addition, when performing single color printing (when the ink is a single color), it is sufficient that at least one of the ink discharge nozzles and the ink storage tank is provided.

Each of the ink discharge nozzles 111N-11N
Each of the 4Ns is provided as a so-called multi-nozzle in FIG.
In particular, it is advantageous to make the head smaller, since it is advantageous to make the head closer to a printing object having a large inclination or unevenness, so that the number of nozzles may be reduced or a single nozzle may be used. However, when the number of nozzles is reduced (or when a single nozzle is used), compared to the case where a multi-nozzle composed of a larger number of nozzles is used,
Printing time increases. Therefore, when the surface undulation of the print target 7 is small, a configuration using a multi-nozzle (particularly, a configuration using a multi-nozzle composed of a large number of nozzles) is given priority to shortening the printing time. Is preferred.

The ink discharge nozzles 111N, 1
12N, 113N, and 114N are assumed to be of the ink jet type, but may be of the spray gun type depending on the required image properties. Alternatively, use an inkjet nozzle for narrow places or places where high-definition images are required, and use a spray gun for applying ink over a wide area in a short time or where moderate blurring is required. In order to be able to selectively use the nozzle of the method, it has both a discharge nozzle that performs discharge by the inkjet method and a discharge nozzle that performs discharge by the spray gun method,
You may comprise so that discharge by an inkjet system and discharge by a spray gun system can be performed selectively.

Further, in FIG. 1 and FIG. 2, the ink discharge head section 11 including these ink discharge nozzles and the ink storage section 12 are all provided integrally in the print head section H, but they need not necessarily be integrated. Further, it is desirable to arrange the ink discharge nozzles as close to each other as possible so that the size of the head can be reduced, so that the ink discharge head unit 11 can be easily brought close to the printing target, and it is desirable. However, the ink storage unit 12 is separated for each color. It may be installed.
Further, when it is desired to increase the ink capacity of the ink storage unit or to reduce the entire mounting portion of the output shaft 331,
For example, each of the ink storage units may be installed on the main body side of the Z-direction scanning unit 33, and a flow path may be provided between the ink ejection nozzles and separately installed.

<Shape Measuring Unit> Next, the shape measuring unit 2 will be described. Here, a case where the shape measuring unit 2 is configured by an optical displacement sensor 2A will be described. The optical displacement sensor of the shape measuring section 2 includes a light projecting section 21 and a light receiving section 2.
And a line sensor (CCD, PSD (light position detecting element, etc.)) that irradiates a laser beam downward from the light projecting unit 21 in the Z-axis direction and diffusely reflects the light on the surface of the printing object 7.
The light can be received by a light receiving unit 22 having a lens and a lens, and the distance can be obtained by a triangulation method.

Here, a predetermined plane (for example, plane Z = 0) parallel to the XY plane is used as a measurement reference plane, and each point (X,
The distance in the Z direction in Y) is to be measured. That is, the displacement sensor 2A measures the distance from the surface of the printing object 7 in the direction (Z direction) perpendicular to the measurement reference plane at a plurality of points (X, Y) in the measurement reference plane, thereby performing printing. It is assumed that the surface shape of the object 7 is measured. The measurement reference plane is a plane perpendicular to the ink ejection direction (Z direction) of the ink ejection unit 1,
The scanning unit 3 can scan in two directions (X direction and Y direction) parallel to the measurement reference plane.

The shape measuring section 2 is arranged integrally with the ink discharge section 1 in the print head section H, and is simultaneously scanned by the scanning section 3. Therefore, a separate drive mechanism is not required, which is efficient.
Further, as described later, in the same scanning operation by the scanning unit 3, by operating the ink ejection unit 1 and the shape measuring unit 2 at the same time, it is possible to realize more efficient measuring operation and printing operation.

Although the case where the shape measuring section 2 is constituted by a reflection type optical sensor has been described here, the present invention is not limited to this. Other optical sensors, contact sensors, ultrasonic sensors, etc. Etc. may be used. However, since the distance information detected by these sensors is obtained by averaging it within the area of the distance measurement target area (for example, the area of the spot of the irradiation laser beam in the case of an optical sensor), the area of the distance measurement target area is large. As it becomes, the obtained three-dimensional shape data becomes as if it had been subjected to a low-pass filter. Therefore, in order to more accurately detect the edge portion and the minute uneven shape, it is preferable that the sensor be capable of measuring a distance within a small area (for example, an area approximately equal to the area of the ink landing dot diameter).

<Control Unit> Next, the control unit 5 will be described with reference to FIG.
This will be described with reference to the configuration diagram of FIG. Although not shown in FIG. 1, the control unit 5 is separately provided inside or outside the main body of the printing apparatus 100.

The controller 5 includes an ink ejection controller 511, an ink ejection control driver 512, a shape measurement controller 521, a shape measurement controller 522, a scanning controller 531, a scanning controller 532,
CPU 54, semiconductor memory such as ROM and RAM (hereinafter also simply referred to as “memory”) 55, and auxiliary storage unit 5
6 (hard disk drive) and the like.

Memory 55 and / or auxiliary storage unit 56
Includes control of the ink ejection timing of each color of the ink ejection unit 1, control of the measurement operation of the shape measurement unit 2, and scanning
Creates three-dimensional shape data from distance information obtained by the shape measuring unit 2 in addition to a software program (hereinafter, also simply referred to as a "program") for controlling the operation of each of the operating units 1, 2, and 3 such as scanning control. And a program for associating image data with the data, a program for planning a printing procedure based on the data, and the like, and correcting a geometrical position between each ink ejection nozzle and the shape measuring unit 2. Necessary data such as a table, a scanning speed correction table, and an ink ejection timing correction table are stored.

The CPU 54 executes a program that stores procedures and the like corresponding to different image forming procedures to be described later, and sequentially performs processing based on the data in the memory 55, whereby each controller 511, 521,
A control signal is output to 531. Each controller 51
1, 521 and 531 process control signals, respectively, and output signals for actually driving the respective operating units of the ink ejection unit 1, the shape measuring unit 2 and the scanning unit 3 to the respective drivers 512, 522 and 522.
532. The drivers 512, 522, and 532 drive the operation units 1 to 3 accordingly.

Signals are sent from the operation units 1 to 3 to the controllers 511, 521 and 531 via the drivers 512, 522 and 532 as necessary. Based on this signal, the CPU 54
Feeds back a new control signal to each controller or saves it as data.

The signals from the operation units 1 to 3 are, for example, signals for notifying the trouble of the nozzles and the remaining amount of ink in the ink ejection unit 1 and the shape transmitted from the light receiving unit in the shape measurement unit 2. It is distance information (or two-dimensional or three-dimensional shape data of the surface of the printing object 7) from a reference position (for example, the center position of the end face of the sensor) in the measuring unit 2 to a laser irradiation position on the surface of the printing object 7. The section 3 is position information from a position sensor (not shown) provided for each direction.

FIG. 4 is a functional block diagram of the printing apparatus 100. The control unit 5 performs the functions of the operation content determination unit 5A and the printing operation control unit 5B by executing the corresponding program in the CPU 54. The operation content determining unit 5A determines the operation content of the ink ejection unit 1 and the operation content of the scanning unit 3 according to the information on the inclination of the surface of the print target included in the three-dimensional shape data acquired using the shape measurement unit 2. The print operation control unit 5B controls the operation of the ink ejection unit 1 and the operation of the scanning unit 3 according to the operation content determined by the operation content determination unit 5A. It has a function of performing a printing operation.

<External input / output unit>
Is provided separately inside and / or outside the main body as a part of the main body of the printing apparatus shown in FIG. 1, and has a function as an interface with an operator of the printing apparatus. In other words, it has a display unit (output unit) such as a monitor and a lamp, and an input unit such as a keyboard, teaching pendant, and emergency stop button. It can input a signal to start or stop printing, display contents when trouble occurs, It is used for operations such as emergency stop at that time and for rewriting the contents of the memory 55. These signals are transmitted to the external input / output unit 6, the CPU 54, the memory 55,
It is transmitted and received through an internal bus or the like that connects the controllers 511, 521, and 531 to each other.

<A2. Operation in Printing Apparatus> By the above mechanism, the scanning section 3 scans the shape measuring section 2, the shape measuring section 2 measures the surface shape of the printing object 7, and the three-dimensional shape obtained based on the measurement result. Based on the data,
The ink ejecting unit 1 ejects ink while the scanning unit 3 relatively scans the printing range of the printing target 7 from the ink landing position in the Z-axis direction to the printing range of the printing target 7, thereby printing the printing target. A desired image is formed on the surface 7 (that is, printing is performed). These controls are performed by the control unit 5 described above.

The operation of the printing apparatus 100 according to the first embodiment will be described below with reference to the flowchart of FIG.

First, when the operation is started in response to the operation start command (step S100), the printing apparatus 100 controls the scanning units 31, 32, 33, and 34 in each direction by the control unit 5.
To return to the mechanical origin (step S1).
11). For example, the position at which the scanning unit 3 is moved to the far left and upper side in FIG. 1 can be set as the origin position.

Next, the three-dimensional shape data of the printing object is obtained by using the shape measuring unit 2 described above. Therefore, the shape measuring unit 2 provided in the print head unit H is moved in a predetermined direction in the main scanning direction (here, the X direction) (for example, from left (-X) to right (+ X) in FIG. 1). The scanning operation is performed over a distance (more than the printable range in the X direction). Here, the main scanning direction means a direction in which the print head unit H continuously moves. Simultaneously with this scanning operation, the shape measuring unit 2 measures a distance (distance in the Z direction) from the shape measuring unit 2 to the laser irradiation position on the surface of the printing object 7 (step S112).

The measurement operation (distance measurement operation) of the Z-direction distance at each measurement spot (laser irradiation position) may be performed at a predetermined time interval, or the distance measurement interval on the surface of the printing object 7 is almost equal. You may go so that it may become equal. Further, it may be performed at irregular intervals. Where X
The position detection result of the X direction position detector (linear encoder) 311 (FIG. 1) provided in the direction scanning unit 31 and the Y direction position detector (linear encoder) 321 (FIG. 1) provided in the Y direction scanning unit 32 Since the two-dimensional coordinate position (X, Y) of each measurement spot can be obtained based on the position detection result of the above, even if the measurement operation is performed at any cycle, the printing object is output from the shape measurement unit 2. It is possible to associate a measured value relating to the distance (Z direction distance) to the laser irradiation position on the seven surfaces with the two-dimensional coordinate position (X, Y) of the measurement spot. This makes it possible to measure the surface shape of the printing target 7 and obtain three-dimensional shape data of the printing target 7.

In the Z direction, when the range of the shape measuring unit 2 in the Z direction is sufficiently large, scanning may be performed at a constant height. On the other hand, the range of the shape measuring unit 2 in the Z direction may be limited. When the distance is small, the main scanning may be performed while controlling in the Z direction based on the distance detection value so that the distance from the surface of the printing target 7 does not exceed the distance measurement range. In this case, both the current position detection value from the Z-direction position detector (not shown) incorporated in the Z-direction scanning unit 33 and the distance detection value from the shape measurement unit 2 are used to detect the surface of the printing target 7. What is necessary is just to obtain positional information.

When the distance measurement operation for one line is completed in this way, it is determined whether or not the distance measurement has been completed for the entire distance measurement target range (allowable size of the printing object in the XY directions or more) (step). S113). If all the distance measuring operations have been completed, the process proceeds to the next step S121. If all the distance measuring operations have not been completed, the process returns to step S112 again to perform the distance measuring operation for the next line.

When the distance measuring operation of the next line is performed, the distance measuring start position of the next line, that is, the position at the time of starting the distance measuring of the previous line in the main scanning direction (X direction).
Further, in the sub-scanning direction (direction orthogonal to the main scanning direction) (here, Y direction), it moves to a position advanced in the + Y direction (forward direction) by a predetermined distance (step S114), and scans again in the main scanning direction. To start. By repeating such an operation, it is possible to perform a distance measurement operation for a predetermined distance measurement range. Then, the detected value and other data obtained by the distance measuring operation are stored in the memory 55.

After completing the entire distance measurement work for the shape measurement target range as described above, the obtained data is processed to create three-dimensional shape data of the print target 7 in a predetermined format (step S121). .

Next, print image data is obtained (step S122). This print image data is transmitted to the external input / output unit 6.
(Scanner or the like).
Alternatively, the data is obtained by the operator selecting and determining from a plurality of types of data previously stored in the memory 55 or the like via the external input / output unit 6, or the data stored only in one type is taken in without choice. And others.

Then, matching between the three-dimensional shape data obtained by the measurement and the image data (print image data) to be printed on the surface of the printing object, that is, the printing image is printed on the surface of the printing object 7 in the three-dimensional shape data. An operation of positioning and pasting the data is performed (step S123).
As a result, data to be attached to the print target is created. This work is manually input while looking at the output unit (monitor or the like) of the external input / output unit 6, or is automatically performed according to a predetermined set value. Here, based on the three-dimensional shape data obtained by the measurement and the image data to be printed on the surface of the print target, data for pasting to the print target is created. It is possible to perform high-quality printing processing by improving the positional accuracy.

Thereafter, scan control data and ink discharge control data are created (step S124). That is, the scanning path is determined, and data for scanning control such as the position, speed, and acceleration of each direction scanning unit 31, 32, 33, 34 in each time unit is created, and at which timing Data such as which ink ejection nozzle ejects ink is created. The creation of such data (that is, the determination of the operation content) is performed by the above-described operation content determination unit 5A.

Here, as shown in FIG.
The case where the shape is a pyramid type will be described. FIG. 6 is a top view of the printing target 7 viewed from the −Z side, and FIG. 7 is a side view of the printing target 7 viewed from the −Y side. In FIGS. 6 and 7, black dots are exaggerated and thinned ink landing positions, and arrows represent nozzle paths when ink is ejected toward those points. It is.

Assuming that the angle between the normal vector of each inclined surface portion of the printing object 7 and the Z axis is θ, the main scanning direction (X direction) and the sub scanning direction (Y direction) of the surface A1 in FIG. Assuming that both the ink landing position intervals are 1, the surface A2 and the surface A4 have a cos θ of 1 in the main scanning direction, the sub scanning direction has a cos θ, and the surfaces A3 and A5 have a cos θ of 1 in the main scanning direction and 1 in the sub scanning direction. Land ink at intervals. In other words, the difference in print quality depending on the direction can be reduced by landing the ink such that the resolution is always substantially the same on all surfaces as viewed from the normal direction.

More specifically, as shown in FIGS. 8 and 9, the ink ejection operation in the main scanning direction and the sub scanning direction can be performed.

First, the ink ejection operation (ejection pattern control) in the sub-scanning direction (Y direction) will be described.

FIGS. 8A and 8B are diagrams showing the principle for making the dot distribution uniform in the sub-scanning direction Y. FIG. 8A shows a case where printing is performed on a horizontal plane in the sub-scanning direction Y.
(B) shows a case where printing is performed on an inclined surface having an inclination angle θ in the sub-scanning direction Y. Here, the inclination angle θ is
Measurement reference plane (here, XY plane) of the surface of the printing object 7
Is an angle representing the inclination with respect to.

As shown in FIG. 8 (a), when printing on a horizontal plane of the printing object 7, in order to make the dot distribution dense in the sub-scanning direction Y, the moving distance in the sub-scanning direction Y Is set as the interval d as in the conventional case. As a result, in the horizontal plane portion, the dot interval due to the ink that has landed on the print target 7 is d, and a high-definition print result is obtained.

On the other hand, as shown in FIG. 8B, when printing is performed on the inclined surface of the print object 7, the sub-scanning is performed in order to make the dot distribution in the sub-scanning direction Y dense on the inclined surface. The moving distance in the direction Y is a distance d × co corresponding to the inclination angle θ.
Set as sθ. Then, by starting the printing operation in the main scanning direction X, the dot interval in the sub-scanning direction Y becomes d on the inclined surface, and matches the dot interval d when printing on a horizontal plane portion. As a result, a high-definition printing result can be obtained even on an inclined surface.

That is, in the printing apparatus 100, the moving interval in the sub-scanning direction Y can be changed, and when the print head H is moved stepwise in the sub-scanning direction Y,
The movement interval is changed according to the inclination in the sub-scanning direction Y. Specifically, if the inclination angle in the sub-scanning direction Y is θ, the print head unit H in the sub-scanning direction Y
Is set as d × cos θ,
Regardless of the shape of the surface of the printing target 7, the dot distribution interval in the sub-scanning direction Y is d, and a uniform dot distribution state is obtained.

Here, the stepwise relative movement interval of the ink ejection section 1 with respect to the printing object 7 in the sub-scanning direction is determined according to the information on the inclination of the surface of the printing object 7. By taking into account the position information where the dots are actually arranged, it is possible to more accurately perform a printing process in which a uniform dot distribution state is ensured.

Next, control of the ejection pattern in the main scanning direction X will be described. In the main scanning direction X, the print head unit H is configured to perform a continuous movement instead of a stepwise movement. Therefore, as a method for making the dot distribution uniform in the main scanning direction X, There is a method of changing the ink ejection time interval (that is, the driving frequency of the ejection nozzle) according to the inclination of the surface while maintaining the speed at which the continuous movement is performed.

FIGS. 9A and 9B are diagrams showing a method of changing the ink discharge time interval (drive frequency of the discharge nozzles) according to the inclination. FIG. 9A shows the case where printing is performed on a horizontal plane in the main scanning direction X. (B) shows a case where printing is performed on an inclined surface having an inclination angle θ in the main scanning direction X.

In this operation example, the discharge nozzles are adjusted in accordance with the inclined surface in the main scanning direction X while maintaining the moving speed V when the print head H continuously moves along the main scanning direction X. It is configured to change the ejection timing of the ink from the printer, that is, the drive frequency.

That is, the continuous moving speed in the main scanning direction X, that is, the main scanning speed is kept constant at V. When ink is ejected on a horizontal plane in the main scanning direction X, As shown in FIG. 9A, while the drive frequency of the ejection nozzle in the print head unit H is set to f, when ink is ejected on an inclined surface having an inclination angle θ in the main scanning direction X, FIG. As shown in b), the print head H
Drive frequency of the discharge nozzle at f according to the inclination angle θ
/ Cos θ. The dot interval on the inclined surface in (b) also becomes d, which matches the dot interval d formed on the horizontal plane, so that a uniform dot distribution can be realized.

In the above description, the method of changing the ink ejection time interval according to the inclined surface in the main scanning direction X has been exemplified. However, there is also a method of changing the moving speed of the print head. That is, as shown in FIG. 10, after fixing the ink ejection frequency f to a constant value, the main scanning speed may be changed to be V × cos θ according to the inclination angle θ. Also in this case, the dot interval on the inclined surface becomes a constant value d regardless of the inclination angle θ, and a uniform dot distribution can be realized.

As described above, in the main scanning direction X, the print head unit H is configured to perform not the stepwise movement but the continuous movement, so that the dot distribution is uniform in the main scanning direction X. If either one of the above two operation examples is adopted to achieve the above, the dot interval in the main scanning direction X can be kept uniform regardless of the presence or absence of the inclination.

In the above, the high-quality printing operation for keeping the resolution on the slope constant has been described. However, a separate operation for performing the high-quality printing operation will be described.

First, an operation for simultaneously controlling the Z direction of the ink discharge head unit 11 during printing will be described. This addresses problems such as ink landing position shifts and so-called satellites that occur due to the structure of the ink discharging nozzles when the distance between the ink discharging nozzle and the ink landing position (for example, the distance in the Z direction) increases. Things. Such a problem can be solved by performing scanning control in the height direction so that the ink discharge nozzles are not always separated from the ink landing position by a predetermined distance or more. Therefore, each direction scanning unit 3 moves the ink ejection head unit 11 in a plane perpendicular to the normal vector of each plane, that is, in a plane parallel to each plane.
Scan control data of 1, 32, 33, 34 may be created.

Further, in order to solve the same problem, an ink ejection head unit 1 having a multi-nozzle structure is used during a printing operation.
1, a discharge nozzle to be used for a printing operation is selectively determined from a plurality of discharge nozzles based on a distance between each discharge nozzle and a print target, and a printing operation is performed using the determined discharge nozzle. You may. According to this, the error of the landing position of the dot generated on the printing target 7 is suppressed within an allowable range, and it is possible to suppress the deterioration of the image quality of the print content on the printing target 7.

Hereinafter, this operation will be specifically described with reference to FIG. 11 (sub-scanning direction) and FIG. 12 (main scanning direction).

First, the ejection control in the sub-scanning direction Y will be specifically described.

FIG. 11 is a diagram showing ejection control in the sub-scanning direction Y. In FIG. 11, a solid line indicates an ink ejection path for an ejection nozzle for which ink ejection is permitted, and a broken line indicates an ink ejection path for an ejection nozzle for which ink ejection is prohibited.

In the process of moving the print head H along the sub-scanning direction Y, the print head H and the print object 7
In order to avoid interference with the print head H, the minimum clearance (gap) between the print head unit H and the printing target 7 is maintained at a predetermined value R0. The minimum clearance is a minimum interval between a portion of the print head H facing the print target 7 and a surface portion of the print target 7. In order to maintain the minimum clearance at the predetermined value R0, the Z-direction scanning unit 33 is driven according to the scanning position of the print head unit H, and the height position of the print head unit H along the Z direction is adjusted. Is performed.

FIG. 11 (a) shows a case where the flat portion of the print object 7 is printed. In the state where the minimum clearance between the print head H and the print object 7 is maintained at R0, FIG.
When the distance H between each ejection nozzle and the printing target 7 is obtained, the relationship of H ≦ H0 is satisfied for all the ejection nozzles. Therefore, in this case, ink is ejected from all the ejection nozzles, and efficient printing is performed.

Next, FIG. 11B shows a case where a steep slope of the print target 7 is printed. In the state where the minimum clearance between the print head H and the print target 7 is maintained at R0, When the distance H between each ejection nozzle and the printing target 7 is calculated, H ≦ H is satisfied for the ejection nozzle located on the upper slope side.
0, but the relationship of H> H0 holds for the ejection nozzles located on the lower side of the slope. Therefore, in this case, the ejection of ink from the ejection nozzles located on the lower side of the slope is prohibited, and the printing operation is performed using only the ejection nozzles located on the upper side of the slope.

Next, FIG. 11 (c) shows a case where the top of the print object 7 is printed, with the minimum clearance between the print head H and the print object 7 being maintained at R0. When the distance H between each ejection nozzle and the print target 7 is calculated, H ≦ H is satisfied for the ejection nozzle corresponding to the vicinity of the top.
However, the relationship H> H0 is satisfied for some of the ejection nozzles located on the steep slope. Therefore, in this case, ink ejection from some of the ejection nozzles is prohibited, and the printing operation is performed using only the ejection nozzles corresponding to the vicinity of the top.

Next, FIG. 11 (d) shows a case where a gentle slope of the print object 7 is printed, with the minimum clearance between the print head H and the print object 7 being maintained at R0. When the distance H between each ejection nozzle and the printing object 7 is calculated, H ≦ H is satisfied for the ejection nozzle located on the upper side of the slope.
0, but the relationship of H> H0 holds for the ejection nozzles located on the lower side of the slope. Therefore, in this case, the ejection of ink from the ejection nozzles located on the lower side of the slope is prohibited, and the printing operation is performed using only the ejection nozzles located on the upper side of the slope. Further, compared to the case of a steep slope, the number of ejection nozzles for which ink ejection is prohibited is reduced in the case of a gentle slope, so that efficient printing is performed.

As described above, when performing the printing operation while moving the print head section H in the sub-scanning direction Y, the distance H is determined according to the position of each discharge nozzle, and the distance H is defined by the allowable distance H0. By selecting only the discharge nozzles within the range to be printed and performing printing using only the selected nozzles, the ink is positioned at a position within the allowable error range with respect to the target position on the print target 7. , That is, it is possible to suppress a decrease in the image quality of the print content. The selection of the ejection nozzle is performed using information on the inclination of the surface of the printing target included in the three-dimensional shape data.

Next, the ejection control in the main scanning direction X will be specifically described.

FIG. 12 is a diagram showing ejection control in the main scanning direction X. Also in FIG. 12, the ejection path of the ink for which the ink ejection is permitted is shown by a solid line, and the ejection path of the ink for which the ink ejection is prohibited is shown by a broken line.

Also, in the process of moving the print head section H along the main scanning direction X, the print head section H and the print object 7 are prevented from interfering with each other. Is maintained at a predetermined value R0. Therefore, also in this case, the Z-direction scanning unit 33 is driven as necessary, and the height position of the print head unit H in the Z direction is adjusted.

FIG. 12 (a) shows a case where the flat portion of the printing object 7 is printed. In the state where the minimum clearance between the print head H and the printing object 7 is maintained at R0, FIG.
When the distance H between each ejection nozzle and the printing target 7 is obtained, the relationship of H ≦ H0 is satisfied for all the ejection nozzles. Therefore, in this case, ink is ejected from all the ejection nozzles, and efficient printing is performed.

Next, FIG. 12 (b) shows a case where a gentle slope of the printing object 7 is printed, with the minimum clearance between the print head H and the printing object 7 being maintained at R0. When the distance H between each ejection nozzle and the printing target 7 is obtained, the relationship of H ≦ H0 is satisfied for all the ejection nozzles. Therefore, in this case, ink is ejected from all the ejection nozzles, and efficient printing is performed.

Next, FIG. 12C shows a case where the top of the print target 7 is printed, with the minimum clearance between the print head H and the print target 7 being maintained at R0. When the distance H between each ejection nozzle and the printing object 7 is obtained, the relationship of H ≦ H0 is satisfied for all the ejection nozzles in this case as well. Therefore, also in this case, ink is ejected from all the ejection nozzles, and efficient printing is performed.

Next, FIG. 12D shows a case where a steeply inclined surface of the print target 7 is printed. In a state where the minimum clearance between the print head H and the print target 7 is maintained at R0, When the distance H between each ejection nozzle and the printing target 7 is calculated, H ≦ H is satisfied for the ejection nozzle located on the upper slope side.
0, but the relationship of H> H0 holds for the ejection nozzles located on the lower side of the slope. Therefore, in this case, the ejection of ink from the ejection nozzles located on the lower side of the slope is prohibited, and the printing operation is performed using only the ejection nozzles located on the upper side of the slope.

As described above, at the time of the printing operation, based on the distance between each ejection nozzle of the ejection head having the multi-nozzle configuration and the printing target, the ejection nozzle used for the printing operation is selectively selected from the plurality of ejection nozzles. And the printing operation can be performed using the determined ejection nozzle.
The selection of the ejection nozzle is performed using information on the inclination of the surface of the printing target included in the three-dimensional shape data.

As described above, when the object to be printed has a three-dimensional shape, the distance is measured in advance not only in the main scanning direction but also in the sub-scanning direction to obtain three-dimensional position information. The region is divided so that the normal vector of the surface becomes the same (or almost the same) (in other words, the surface has the same degree of inclination), and for each region (in other words, the region having the same degree of inclination) It is preferable to plan a scanning control procedure and an ink ejection procedure.

In the example of FIG. 6 or FIG. 7, printing starts from the position of P1, which is the origin position, and the surfaces A1, A2, A
Memory 55 so as to sequentially perform printing (ink ejection operation and scanning operation) in five divided areas of A3, A4, and A5.
The CPU 54 creates control data based on the data. Here, the data of the scanning speed or the ink ejection timing and the data of the feed interval in the sub-scanning direction are set separately for each divided area. Such a setting operation is performed by the operation content determining unit 5A described above.

However, here, in consideration of the continuity of each print area, the ink ejection operation on the surfaces A2 and A4 and the surfaces A3 and A5 is performed in a series of scanning operations having one unity. I do. That is, (1)
The ink discharging operation is performed in the order of the surface A1, (2) surface A2, A4, and (3) surface A3, A5.

Hereinafter, the description will be continued with reference to the flowchart of FIG. 5 again. In step S131, printing is started based on the data created in step S124. Therefore, the ink ejection head unit 11 is
Is moved to the position of the point P1 (step S131).
Next, along with the control of the X-direction scanning unit 31, the Z-direction scanning unit 33 is also controlled so as to keep the interval in the Z direction at a predetermined distance,
One line of scanning is performed in the main scanning direction. In synchronization with this, each ink ejection nozzle 111N, 112N, 113
N, 114N, based on the above data, ink is ejected to the area to be printed first (step S13).
2). If it is not determined in step S133 that all printing has been completed, the ink ejection head unit 11 moves to the next printing start position (step S13).
4) The printing of the next main scanning line is started again.

Such a printing operation is performed in each of the divided areas A1 to A1.
According to each ink ejection operation and scanning operation determined for each A5, the order as described above, that is, (1) A1,
(2) A2, A4, (3) A3, A5 are performed on each of the divided areas in this order.

When it is determined in step S133 that all printing has been completed, this printing operation ends (step S199).

As described above, according to the printing apparatus 100 of this embodiment, the surface shape of the printing target 7 is measured, and the three-dimensional shape data of the printing target 7 is obtained based on the measurement result. The operation content of the ink ejection unit 1 and the operation content of the scanning unit 3 are determined according to the information on the inclination of the surface of the printing target 7 included in the acquired three-dimensional shape data, and the scanning unit is determined according to the operation content. The printing operation is performed by controlling the operation of the ink ejecting unit 1 and the operation of the ink discharging unit 1. Since printing is performed in accordance with information obtained by measuring the inclination of the surface of the printing target 7, high-quality printing processing can be performed.

In the above description, the print target area of the print target 7 having a simple pyramid shape is divided into the plurality of divided areas A1 to A5. However, the print target has a complicated surface shape. However, the surface shape may be divided into a plurality of divided regions whose plane shapes are approximated in a plane. In other words, based on the three-dimensional shape data, the print target surface of the print target 7 may be approximated by n (where n is an arbitrary integer) planes (polygon planes). Even when the surface of the printing target 7 has smooth irregularities or the like, by processing the data, the surface shape can be expressed as an aggregate of a plurality of polygon planes. In each of these polygon planes, an area in which the normal vector at each position of the printing object 7 is within a predetermined allowable range (that is, an area in which the inclination is substantially equal) is defined as the same divided area (polygon plane). The area is formed by dividing an area where the normal vector at each position exceeds a predetermined allowable error range (that is, an area having a different inclination) as a different area (polygon plane).

<B. Second Embodiment> In the above-described first embodiment, the description has been made assuming that the three-dimensional shape data of the three-dimensional object as the printing target is completely unknown. However, in the second embodiment, the printing target is described. A case will be described in which three-dimensional shape model data representing the three-dimensional shape is known in advance. Here, the three-dimensional shape model data prepared in advance is only required to be able to grasp the outline of the three-dimensional object, and does not need to be detailed.

In the second embodiment, when printing is performed on a three-dimensional printing object, the printing target area of the printing object 7 is changed based on three-dimensional model data given in advance. Is divided into a plurality of divided areas A1 to A5 obtained by planar approximation of the surface shape, and the three-dimensional shape is measured in detail by the shape measuring unit 2 for each of the divided areas. The contents of the operation are determined by the control unit 5, and the printing operation is performed. Here, since each operation (measurement operation, determination operation, and printing operation) is performed for each sectioned area, the amount of data to be handled collectively can be reduced. Therefore, it is particularly useful when the capacity of the memory 55 is small and data in all areas cannot be handled at once as in the first embodiment.

The printing apparatus according to the second embodiment has a physically similar configuration to the printing apparatus according to the first embodiment, although its operation is different. Hereinafter, the operation will be mainly described.

FIG. 13 is a flowchart showing the operation in the second embodiment.

First, in step S200 in FIG. 13, the printing object 7 is fixed at a preset position and direction on the turntable 341, and then the printing operation is started.

Next, the memory 55 or the auxiliary storage unit 5
By opening the corresponding file (the file in which the three-dimensional shape data relating to the printing target is described) stored in the storage device 6 or the like, the three-dimensional model data relating to the printing target is obtained (step S211). Further, print image data is obtained (step S212). This acquisition operation is the same operation as step S122 (FIG. 5).

Here, based on the three-dimensional model data, the surface shape of the print object 7 is divided into n (where n is an arbitrary integer) divided areas (polygons) for the print object area of the print object 7. Plane). Then, a ranging order (and a printing order) is set for each of the divided areas (step S213). Here, a case will be described in which distance measurement processing and printing processing are performed in this order on each of the surfaces A1, A2, A3, A4, and A5 in FIG.

First, the case where the segmented area of the plane A1 is set as the target segmented area will be described. In this case, as shown in FIG. 14, the following operations are performed on the divided area of the surface A1.

In step S221, the shape measuring unit 2 is moved to the distance measurement start position (the point P1 for the plane A1) by driving the direction scanning units 31, 32, 33, and. The ranging of the target ranging area is started from the position P1, and the three-dimensional shape data is obtained by the ranging operation on the plane A1 (steps S222 to S224). This measuring operation is the same as in the first embodiment.

Next, the data obtained by this measurement operation is processed to create three-dimensional shape data in the distance measurement area of the printing object 7 in a predetermined format (step S231).

In step S232, matching is performed between the actual three-dimensional shape data obtained in this process (steps S221 to S224 and S231) and the three-dimensional shape model data (step S211).

More specifically, it is possible to select the content of the matching operation according to the level of reliability of the three-dimensional model data.

For example, when the reliability of the three-dimensional model data is low (including the case where the three-dimensional model data is the outline data of the printing object 7), the measurement result is used instead of the three-dimensional shape model data. The three-dimensional shape data created as described above can be used as reference data for performing the printing operation of the divided area.

On the other hand, when the reliability of the three-dimensional model data is high, the amount of deviation between the three-dimensional shape data (measured value) obtained from the measurement result and the three-dimensional model data (theoretical value) is calculated. In addition, a matching operation of data relating to the position and orientation of the print target 7 can be performed.
That is, after calculating the shift amount by associating the coordinates of the three-dimensional shape model with the actual position obtained by the three-dimensional shape data acquisition, the shift amount is considered based on the three-dimensional model data (theoretical value). Data may be rewritten. According to this, when the print target 7 is placed on the turntable 341 with a deviation from a desired position by a predetermined angle, the deviation is corrected to correct three-dimensional shape data. It becomes possible. With this adjustment, higher-precision printing becomes possible. Alternatively, conversely, the scanning unit 3 (particularly, the R-direction scanning unit 3
4 may be operated to finely adjust the actual position of the print target 7 so as to match the three-dimensional model data. Thereafter, as with step S123, matching with print image data is also performed.

After performing the matching operation (step S232) as described above, the scanning control data and the ink discharge control data are created in the same manner as in the first embodiment (step S233). However, this data creation is performed only in the divided area (here, the surface A1) in which the distance measurement has been performed among all the print target areas. Based on the created data, the ink ejection head unit 11 is moved to the printing start position (step S241), and together with the control of the X-direction scanning unit 31, the Z-direction scanning unit 33 also keeps the Z-direction interval at a predetermined distance. Under the control, scanning for one line is performed in the main scanning direction. In synchronization with this, each ink ejection nozzle 1
Based on the above data, ink is ejected from 11N, 112N, 113N, and 114N to an area to be printed first (step S242). It is determined whether or not printing of all of the predetermined area has been completed (step S243). If it is determined that printing has not been completed, the ink discharge head unit 11 is moved to the printing start position of the next line (step S243). S244), printing of the next main scanning line is started again. This printing operation is repeated until it is determined in step S243 that printing of all of the predetermined area has been completed. As a result, the plane A1 that is the first target section area
The printing operation can be ended for.

Then, in step S251 (FIG. 13), it is determined whether or not printing of the entire print target area has been completed. Here, since the printing of the other divided areas still remains, the next divided area A2 determined in step S213
Is changed so that is set as the target segmented area (step S
252), and returns to S221 to start control.

By repeating such operations, the same measuring operation and printing operation are performed for the sectioned area A3 and thereafter. Note that an area without print data (an area where no print is performed) may be skipped.

If it is determined in step S299 that printing has been completed for all the divided areas, the operation ends.

<C. Third Embodiment> Next, a third embodiment will be described. In the third embodiment, when the unevenness of the surface is small in the sub-scanning direction and printing can be continuously performed on a plurality of divided areas adjacent to each other in the sub-scanning direction (the printing order of each printing surface is discrete). Not continuous in one direction). For example, this is useful when performing printing on a print object 7c having a triangular roof shape as shown in FIG. This printing object 7c has two slopes F with no change in inclination in the sub-scanning direction (Y direction).
1, F2. Here, for simplicity, one of the two slopes F1 and F2 is determined as a print target area, and the one slope F1 is defined as a plurality of rectangles having a predetermined length in the sub-scanning direction. The operation described below is performed by dividing into shape division regions (R1, R2, R3,...). Hereinafter, description will be made based on the flowcharts of FIGS. 15 and 16.

First, a printing operation is started (step S300).
Steps S200 to S213 are the same as steps S200 to S213 in the second embodiment. However, in step S313, the measurement order of each divided area is set so as to be continuous in the sub-scanning direction (Y direction). Here, the segmented regions R1,
The measurement order is set in the order of R2, R3,. In addition, the printing order for each sectioned area is set to the same order as the measurement order.

Thereafter, similarly to the second embodiment, the directional scanning units 31, 32, 33, and 34 are moved to the distance measurement start position (step S321), and distance information is obtained (steps S322 to S324). A distance measurement operation (measurement operation) for the first target distance measurement region R1 is performed. Then, three-dimensional shape data is created based on the obtained measurement results (step S331). Here, FIG. 18A shows a state in which the main scanning in the main scanning direction is performed to perform the distance measuring operation by the shape measuring unit 2 on the divided region R1.
Then, matching with the data is performed to reflect the actual shape on the model, and matching with the print image data is also performed (step S332). At this time, if necessary, the actual print target 7 is placed at the three-dimensional coordinate position of the three-dimensional shape model.
Make fine adjustments so that the directions match. Further, scan control data and ink discharge control data are created (step S333). This data creation is performed for the sectioned area R1 within the distance-measured area and the next print target.
Then, in step S341, the ink ejection head unit 11 is moved to the printing start position for the divided region R1 based on the creation data. Up to this point, the operation is the same as in the second embodiment.

Here, as shown in FIG. 1, the distance measuring position of the shape measuring unit 2 is a position separated by a predetermined distance in front of the ink landing position in the sub-scanning direction (Y direction). FIG. 19 is a conceptual diagram for explaining such a state. As shown in FIG. 19, the ink landing position Q1 of the ink ejected by the ink ejection head 11
Distance D between the object and the distance measuring position Q2 by the shape measuring unit 2
Is determined by the positional relationship between the ink ejection unit 1 and the shape measurement unit 2 (displacement sensor) in the print head unit H. By utilizing such a positional relationship, in a subsequent step (step S342), both the printing operation and the distance measurement operation (measurement operation) are performed simultaneously during the same scan, so that the unprinted area in front of the print target area is not printed. Area (section area R2, R3, ...)
Can be efficiently performed. Further, here, for simplicity, as shown in FIG. 19, the ink discharge head unit 11 has a single nozzle configuration, and the width W of the divided region R1 in the sub-scanning direction is different from the distance measurement position and the ink landing position. The case where the distance is equal to the position in the sub-scanning direction D will be exemplified. In this case, when the shape measuring unit 2 moves to the point where the measuring operation of the segmented region R1 is completed and the measuring operation of the next segmented region R2 is to be started, the ink ejecting unit 1 determines whether the measuring operation or the like has been completed. The point at which printing of the region R2 is to be started is reached (see FIG. 19).

Next, a printing operation or the like is performed on the divided area R1. Therefore, a state in which the distance between the print head H and the surface of the printing object 7 in the Z direction is maintained at a predetermined distance (for example, a state in which the above-described minimum clearance is maintained at R0)
After the Z-direction scanning unit 33 is controlled so as to satisfy the following condition, scanning of one line is performed in the main scanning direction (X direction) by the control of the X-direction scanning unit 31. In synchronization with this, the ink discharge nozzles 111N, 112N, 113N, 114N for the respective colors are synchronized.
Then, based on the above data, ink is first ejected to the segmented region R1 to be printed. Further, in synchronization with this scanning operation, an ink discharging operation is performed, and
The measuring operation for the next sectioned region R2 by the shape measuring unit 2 is performed (step S342). This measurement operation is performed based on the ink landing position in the printing operation for the divided region R1.
This is performed for a position separated by a predetermined distance D in the sub-scanning direction. The separation distance D is a distance determined by the arrangement in the print head unit H as described above. The obtained distance measurement data is sequentially stored in the memory 55 of the control unit 5. FIG.
FIG. 8B is a schematic diagram showing such an operation, in which a printing operation is performed on the divided region R1 and a measurement operation is performed on the next divided region R2. I have.

Then, a predetermined area (here, the divided area R
It is determined whether the printing of 1) is completed (step S3).
43) If not completed, the above-described scanning operation in the main scanning direction is repeated. In that case, the ink discharge head unit 11 moves to the next printing start position (step S344), and starts the printing operation and the measurement operation of the next main scanning line again.

On the other hand, in the judgment of step S343,
If it is determined that the printing process of the region R1 has been completed, it is further determined whether or not printing of all the divided regions included in the entire print target region has been completed (step S35).
1). Here, since there is still a section area to be printed, the process proceeds to step S352, and the next section area R2 is set as a print target in the order determined in step S313. At the same time, the next divided region R3 is set as a measurement target.

Next, returning to step S331 again,
After creating the three-dimensional shape data of the section area R2 to be printed next set in step S352, the printing operation and the like are performed in the same manner as described above. FIG. 18C is a schematic diagram illustrating such an operation, in which a printing operation is performed on the divided region R2 and a measurement operation is performed on the next divided region R3. ing.

Thereafter, the same operation is continuously repeated, and the measurement operation and the printing operation are sequentially performed on each area. If it is determined in step S351 that all printing has been completed in this process, the control and operation are terminated (step S399).

As described above, when printing is performed on a printing object which is a three-dimensional object, a printing operation is performed on a predetermined one of a plurality of divided areas, and a divided area adjacent to the predetermined one is selected. Are performed simultaneously with the measurement operation of the above, the printing operation and the measurement operation can be performed efficiently.

In the data division in step S313 (that is, setting of the divided areas), the width W of each divided area in the sub-scanning direction is determined by the distance measurement position by the shape measuring unit 2 and the ink landing by the ink discharging unit 1. It is preferable to divide the print target area and set the divided area so as to be equal to or less than the distance D in the sub-scanning direction from the position (see FIG. 19). In the above, the surface F1 having the same inclination in the Y direction to be printed is divided into the plurality of divided regions R.
, R2, R3,..., And the width W in the sub-scanning direction of each divided area satisfies the above condition, that is, the distance measurement position by the shape measurement unit 2 and the ink landing position by the ink ejection unit 1. Is equal to the distance D in the sub-scanning direction (W =
D) Although the case is illustrated, even when W <D,
A section area to be printed (for example, section area R
At the point of time when the printing related to 1) is completed, the printing is made to reach a position preceding the printing area (for example, the sectioned area R2) next to the distance measurement position by the shape measuring unit 2 and at least one preceding sectioned area (for example, the sectioned area R2). ) Can be completed. As described above, in step S313, when it is determined in step S343 that the printing of the current print target segmented area has been completed, the distance measurement work of one or more unprinted areas is always completed. As described above, it is preferable to plan a printing path in advance. In this case, since the measurement operation for the next divided area to be printed has been completed at the end of the printing operation of the predetermined divided area, the process continuously proceeds to step S331 to perform the same operation based on the measurement result. It is possible to continue operations such as creating three-dimensional shape data of the region.

Further, in the case of a multi-nozzle as shown in FIG. 20, among the plurality of nozzles N1 to N4 of the nozzle row of the ink discharge head unit 11, the nozzle N2 on the side of the shape measuring unit 2 from which ink is to be discharged is selected. Regarding the separation distance D between the landing position Q1 of the ejected ink and the distance measurement position Q2 by the shape measuring unit 2, the following relationship may be considered. In FIG. 20, it is assumed that the ejection of the nozzle N1 closest to the shape measurement unit 2 among the plurality of nozzles in the nozzle row is prohibited due to the circumstances described with reference to FIG. 11 and the like.

In the case of such a multi-nozzle, the printing operation over the width (w1 × m) of the divided region R1 can be performed by the scanning operation over the width w1 involving the multi-stage (multiple) movements in the sub-scanning direction. In the sub-scanning direction, the distance (w1 × (m−1)) is delayed in the sub-scanning direction (entering a segmented area serving as a print target area) as compared with the case where a print operation is performed with one nozzle on the print target. The printing operation can be started. Here, m represents the number of nozzles per line in the sub-scanning direction in which the ink ejection operation is performed. For example, when ink is ejected from three nozzles N2, N3, and N4, m = 3. Therefore, when ink is ejected by m nozzles, the distance (instead of the distance W described above) to the ink landing position Q1 of the ink ejected by the ink ejection head unit 11 that is closest to the shape measuring unit 2 is used. It is sufficient that the distance measurement position Q2 by the shape measuring unit 2 exists at a position earlier than (W−w1 × (m−1)). That is, it is preferable to set the value of W so that the distance D is equal to or greater than the distance (W-w1 × (m-1)). In other words, the width W of the divided area in the sub-scanning direction is the value (D + w1 ×
(M-1)) It is preferable to set as follows. Note that W is usually w1 × m, and (W−
(w1 × (m-1)) becomes w1. Also, in consideration of the case where all the nozzles are used, m is the maximum number of nozzles.

In the case of this multi-nozzle, not only a scanning operation for simultaneously performing the printing operation and the measuring operation but also a scanning operation for performing only the measuring operation is required. Width in the sub-scanning direction (w1 × m)
In the scanning operation over the width w1, the measurement operation and the printing operation can be performed simultaneously and in parallel, which is efficient.

In the above description, for simplicity, only the slope F1 is set as a print target area. However, when the other slope F2 is also set as a print target area, this slope F2 is used as a print target area. A plurality of rectangular section regions (R11, R1) having a predetermined length in the sub-scanning direction
2, R13,...) And perform the same processing.

<D. Others><Remeasurement> In the first embodiment and the like,
The three-dimensional shape data is created by performing one measurement operation for each position of the print target 7, but the present invention is not limited to this. By doing so, the print object 7
May be measured to obtain three-dimensional shape data.

FIG. 21 is a flowchart showing the operation according to such a modification. FIG. 21 is a diagram illustrating only the changed portion in the flowchart of FIG.
Steps S121, S122, S123, S124
Represents the same operation as in FIG. Then, as shown in FIG. 21, between step S121 and step S122,
An operation for performing an operation different from the case of FIG. 5 (step S40)
1, S402, S403) are shown.

That is, three-dimensional shape data is created based on the measurement result of the first measurement operation (step S12).
After 1), an edge region is extracted based on the three-dimensional shape data (step S401), and a measurement operation is performed again on the extracted edge region (step S40).
2). Thereafter, the three-dimensional shape data is re-created based on the re-measurement result (step S403), and subsequent operations can be performed based on the re-created three-dimensional shape data.

This re-measurement operation (step S402)
Thus, more detailed data can be obtained.
It is preferable that the re-measurement operation performs higher-precision measurement than the first measurement operation. Such high-precision measurement operation can be realized by performing main scanning at a lower speed in the main scanning direction, and / or performing scanning with a smaller moving interval in the sub-scanning direction.

According to this, since the three-dimensional shape data in the edge area can be obtained more accurately, the print image data obtained in step S122 can be accurately allocated to a desired position of the print object 7. become. Further, since the printing operation (steps S131 to S134) is performed based on the accurate three-dimensional shape data, a desired image can be printed at an accurate position on the printing target 7.

In particular, when the pattern, texture, color, etc. in the print image change in the edge area, the quality of the printing process is significantly reduced if there is a printing shift in the edge area. In such a case, by applying the above-described re-measurement operation, it is possible to suppress a printing shift in the edge region and perform a high-quality printing process.

The area to be re-measured (that is, an area requiring a more detailed three-dimensional shape) includes, as well as the above-described joints of the surfaces such as edges (ridges), the boundary lines and end points of the print target area. , And other areas including feature points can be selected.

In the second and third embodiments, since the three-dimensional shape data (three-dimensional model data) has already been obtained before the start of the measurement operation, the three-dimensional shape data (three-dimensional model data) is obtained. The above-mentioned edge region is extracted based on the model data), and steps S221 to S224 are performed.
In the distance measurement operation shown in FIG. 14, the edge area is subjected to main scanning at a lower scanning speed or movement in the sub-scanning direction at smaller intervals, as compared with other areas. It is possible to obtain more detailed shape data. In this case, the measurement operation for obtaining higher-definition (detailed) data requires a longer time, but the region where the measurement operation for obtaining such detailed data is performed is determined by a specific region such as an edge region. By limiting to the area, the time increase for the measurement can be minimized.

<Shape Measuring Unit 2 and the Like> In each of the above embodiments, the displacement sensor of the shape measuring unit 2 is used as a part of the print head H, and the output shaft 331 of the Z-direction scanning unit 33 is used.
, But is not limited to this. For example, when the distance range detectable by the shape measuring unit 2 is sufficiently wide and the displacement sensor is a long-distance detection type, the displacement sensor 2B of the shape measuring unit 2 is connected to the Z-direction scanning unit 33 as shown in FIG.
The printing method of the present invention is feasible even if it is attached to the side surface of the housing and does not operate in the Z direction.

Further, in the above embodiment, the displacement sensor of the shape measuring unit 2 is configured to detect the position (point) at which the spot light is projected.
Although the case where the sensor detects the distance between the object surface and the sensor in the above is shown, the present invention is not limited to this, and a displacement sensor capable of obtaining distance information at a plurality of places at the same time may be used.

For example, a two-dimensional scanning type mechanism having a mechanism (such as a rotating polygon mirror) for scanning the spot light emitted from the light projecting section 21 onto the printing object 7 in the X-axis direction (inside the sensor). An optical sensor (hereinafter, also referred to as “first-type two-dimensional displacement sensor”) can be used as the shape measuring unit 2. In the two-dimensional displacement sensor of the first method, position information (X coordinate value) at each measurement position in the scanning direction (X-axis direction) irradiated with the spot light and the Z-axis direction obtained by the above-described method are used. By detecting the distance information together with the distance information, it is possible to obtain two-dimensional position information on the XZ plane including a straight line in the X-axis direction scanned by the spot light.

Alternatively, the laser beam emitted from the light projecting section 21 is used as slit light, and the area sensor (C
A displacement sensor (hereinafter, referred to as a “second type 2 method”) that obtains two-dimensional position information on the XZ plane from diffusely reflected light from the surface of the printing object 7 using a light sectioning method is provided. It is also possible to use a “dimensional displacement sensor”. In the two-dimensional displacement sensor of the second type, two-dimensional position information on the XZ plane can be obtained based on the principle of triangulation.

When the two-dimensional displacement sensor of the first or second type is used, it is not necessary to scan the shape measuring unit 2 in the X direction for the measuring operation within the measurable range. It is possible to shorten the measurement time. Even when measuring a region beyond the measurable range of the displacement sensor in the X direction, the operation of moving the displacement sensor to a predetermined measurement position is intermittently repeated several times to obtain two-dimensional position information on the XZ plane. It is possible to obtain Therefore, there is no need to continuously scan the shape measuring unit 2 in the X direction.

Further, when a long-distance type two-dimensional displacement sensor having a wide measurable range in the Z direction is used as the displacement sensor of the shape measuring section 2, the displacement sensor itself is used in the X direction. The printing target 7 and the print head unit H do not need to be scanned, and the printing target 7 is driven in the Y direction as in the printing apparatus 100 described above.
2 has a configuration for performing a relative movement operation with respect to FIG.
3, the displacement sensor 2 is attached to a non-movable part such as the cover 43.
C may be installed. In this case, the same measurement operation can be performed.

Also, the shape measuring unit 2 using the two-dimensional displacement sensor of the first or second type may be installed in a direction rotated by 90 degrees around the Z axis with respect to the position shown in FIG. 1 or FIG. Good. In this case, it is possible to obtain two-dimensional position information on the YZ plane without performing scanning in the Y direction.

Further, by developing the two-dimensional displacement sensor of the second type described above, the slit light emitted from the light projecting section 21 is changed in the direction (ex.Y direction) perpendicular to the cutting plane (ex.XZ plane). If the mechanism is capable of scanning in (1), the information on the position in the scanning direction (Y coordinate value) and the detected two-dimensional position information (on the XZ plane) can be used to detect the surface of the printing object 7 by the sensor alone. It is possible to obtain a three-dimensional shape (for example, a non-contact three-dimensional shape input device VIV manufactured by Minolta Co., Ltd.)
ID700 etc.). In this case, if the displacement sensor of the shape measuring unit 2 has a sufficiently wide detectable range in the Z direction and can detect a distance from a sufficiently distant position, the displacement sensor is fixed at a position as shown in FIG. The three-dimensional shape of the surface of the printing object 7 can be detected without operating the scanning unit 3. Further, the sensor for measuring the three-dimensional shape is not limited to the above-mentioned sensor, but may be another sensor. For example, a sensor that measures a three-dimensional shape by a technique such as a stereo method, a moiré method, or an interference method may be used.

In each of the above-described embodiments, a measuring operation is performed by using a displacement sensor that obtains distance information for a point on the surface of the printing object 7 as the shape measuring unit 2 and scanning the displacement sensor. However, when the above-described two-dimensional displacement sensor or a sensor capable of measuring a three-dimensional shape is used, the flowcharts of FIGS. 5, 14, and 16 are slightly different.

For example, when a two-dimensional displacement sensor for measuring the distance in the XZ plane is used, steps S112, S222, S222
In 322, the scanning operation in the main scanning direction is unnecessary, and the measurement operation on the XZ plane can be performed with the scanning operation stopped at a predetermined position. The same applies to the measurement operation in step S342.

In the case where a two-dimensional displacement sensor for measuring the distance in the YZ plane is used, all information in the Y direction can be obtained by a single distance measuring operation. Therefore, in the first embodiment (FIG. 5), Steps S113 and S114 become unnecessary. Even if multiple measurements are required to obtain all the information in the Y direction (such as when the measurement length in the Y direction is short or the measurement pitch is wide and interpolation is required), one measurement is required. The number of movements in steps S114, S224, and S324 of each of the first, second, and third embodiments can be reduced as compared with the case where one point is measured by the distance operation. In addition, the distance measurement in step S342 can be performed at a plurality of locations in one main scan, and thus may be performed only when necessary in steps S342 to S344.

In the case where a sensor capable of measuring a three-dimensional shape capable of measuring the shape of the entire distance measurement target area by one measurement without scanning the sensor itself is used as the shape measuring section 2, the first embodiment In the mode (FIG. 5), step S11
Steps S2, S113, and S114 are replaced with one three-dimensional shape measurement operation. Also, even when the shape measurement of the entire distance measurement target area requires multiple measurements (when the range that can be measured is small), compared to the case where one point is measured by one distance measurement operation, Step S of each of the first, second and third embodiments
The number of operations in steps 112, S114, steps S222, S224, steps S322, and S324 can be reduced. The same applies to the distance measurement in step S342.

Further, in the second and third embodiments, the printing object 7 is first fixed at a predetermined position and direction on the turntable 341, and then printing is started. It is possible to cope with a case in which 7 is attached to a position (and / or direction) different from the intended position (and / or direction).

That is, first, the distance measuring operation is started from the mechanical origin, the distance is measured for an area large enough to obtain the characteristics of the printing object, and three-dimensional shape data of the area is created and stored. By performing matching with the data of the existing three-dimensional shape model, the position and direction where the print target 7 is currently placed can be grasped. Then, based on the position detection result, the printing object 7 is controlled by the control of the scanning unit 3.
May be changed, or the distance measurement start position may be changed. Alternatively, the data may be rewritten by adjusting the coordinates of the three-dimensional model to the actual position. These steps are performed, for example, in step S21 in the second embodiment.
After the step 1, in the third embodiment, it can be additionally executed after the step S311.

Further, in each of the above embodiments, the scanning section 3 has three degrees of freedom of linear motion and one degree of rotation.
A general-purpose printing apparatus can be configured as a configuration having at least three degrees of freedom of linear motion and at least three degrees of rotation.
Alternatively, conversely, the degree of freedom may be reduced and the use may be limited.

[0159]

As described above, claims 1 to 1 are described.
According to the invention described in Item 3, the ink ejection is performed in accordance with the information on the inclination of the surface of the printing target included in the three-dimensional shape data of the printing target obtained by measuring the surface shape of the printing target. The printing operation is performed by deciding the operation contents of the means and the operation contents of the scanning means, and controlling the operation of the scanning means and the operation of the ink discharge means according to the operation contents. Since printing is performed in accordance with information obtained by measuring the inclination of the surface of the printing target, high-quality printing processing can be performed.

In particular, according to the second aspect of the present invention, a stepwise relative movement interval of the ink ejection means with respect to the printing target in the sub-scanning direction is determined according to the information regarding the inclination of the surface of the printing target. Therefore, when printing on a three-dimensional printing target, the dot distribution of ink in the sub-scanning direction can be made uniform.

Further, according to the third aspect of the present invention, a nozzle whose distance to the printing object is smaller than a predetermined value is selected from a plurality of nozzles, and ink is ejected from the selected nozzle. Therefore, the ink can be landed on a position within an allowable error range with respect to the target position on the printing object.

Further, according to the fourth aspect of the present invention,
Based on the three-dimensional shape data obtained by the measurement and the image data to be printed on the surface of the printing object, data for pasting to the printing object is created, so that the position of the created data can be accurately determined. It is possible to perform high-quality printing processing with improved performance.

According to the fifth aspect of the present invention, data for attaching to an object to be printed is created on the basis of particularly accurate measurement results for an edge portion. It is possible to perform high-quality printing processing while suppressing the above.

Further, according to the tenth aspect, it is possible to print on the surface of a three-dimensional object whose three-dimensional shape is unknown.

According to the eleventh aspect of the present invention,
When printing is performed on a three-dimensional object to be printed, the measurement operation and the determination operation are performed for each of the divided areas, so that the amount of data to be handled collectively can be reduced.

According to the twelfth aspect of the present invention, when printing is performed on a printing object which is a three-dimensional object, printing is performed by the printing operation control means on a predetermined one of a plurality of divided areas. Since the operation and the measuring operation by the shape measuring means for the divided area adjacent to the predetermined divided area are performed simultaneously, the printing operation and the measuring operation can be performed efficiently.

[Brief description of the drawings]

FIG. 1 is a three-dimensional object printing apparatus 1 according to a first embodiment of the present invention.
It is a perspective view which shows the structure of 00.

FIG. 2 is a diagram of the print head section H (H1) as viewed obliquely from below.

FIG. 3 is a schematic diagram illustrating a configuration of a printing apparatus 100.

FIG. 4 is a functional block diagram of the printing apparatus 100.

FIG. 5 is a flowchart illustrating an operation of the three-dimensional object printing apparatus according to the first embodiment.

FIG. 6 is a top view of the printing target 7 viewed from the −Z side.

FIG. 7 is a side view of the printing object viewed from the −Y side.

FIG. 8 is a diagram showing a principle for making the dot distribution uniform in the sub-scanning direction Y.

FIG. 9 is a diagram illustrating a method of realizing a uniform dot distribution by changing an ink ejection time interval (ejection nozzle driving frequency) according to a gradient.

FIG. 10 is a diagram illustrating a method of realizing a uniform dot distribution by changing a main scanning speed according to an inclination angle θ.

FIG. 11 is a diagram illustrating ink ejection control (sub-scanning direction) with limitation of ejection nozzles.

FIG. 12 is a diagram illustrating ink ejection control (main scanning direction) with limitation of ejection nozzles.

FIG. 13 is a flowchart illustrating an operation of the three-dimensional object printing apparatus according to the second embodiment.

FIG. 14 is a flowchart related to the operation of a part of FIG. 13;

FIG. 15 is a flowchart illustrating an operation of the three-dimensional object printing apparatus according to the third embodiment.

FIG. 16 is a flowchart related to the operation of a part of FIG. 15;

FIG. 17 is a perspective view showing a print object 7c having a triangular roof shape.

FIG. 18 is a conceptual diagram showing an operation in the third embodiment.

FIG. 19 is a conceptual diagram illustrating a relationship between a ranging position Q2 and an ink landing position Q1.

FIG. 20 shows a distance measurement position Q2 in the case of a multi-nozzle.
FIG. 3 is a conceptual diagram showing a relationship between the ink landing position Q1.

FIG. 21 is a flowchart illustrating an operation of a three-dimensional object printing apparatus according to a modification.

FIG. 22 is a diagram illustrating a modification example regarding the mounting position of the displacement sensor.

FIG. 23 is a diagram showing another modified example regarding the mounting position of the displacement sensor.

[Explanation of symbols]

REFERENCE SIGNS LIST 100 Three-dimensional object printing device 1 Ink ejection unit 11 Ink ejection head unit 111, 112, 113, 114 Ink ejection head unit for each color 111N, 112N, 113N, 114N Ink ejection nozzle for each color 12 Ink storage unit 2 Shape measurement unit 2A, 2B , 2C Displacement sensor 3 Scanning unit 5 Control unit 7, 7c Printed object A1 to A5, R1 to R3, R11 to R13 Division area H Print head unit N1, N2 nozzle Q1 Ink landing position Q2 Distance measurement position d Dot interval

 ────────────────────────────────────────────────── ─── Continued from the front page (72) Inventor Naoki Kubo 2-3-13 Azuchicho, Chuo-ku, Osaka-shi, Osaka F-term in Osaka International Building Minolta Co., Ltd. (reference) 2C056 EA01 EA06 EB13 EB29 EB37 EB46 EC06 EC07 EC11 EC12 EC31 EC34 EC35 EC37 EC42 EC71 EC74 FA10 FB10 HA12 HA58 HA60 KD06

Claims (13)

[Claims] 1. A three-dimensional object printing apparatus for performing printing on a three-dimensional object to be printed, a shape measuring means for measuring a surface shape of the object to be printed, and an ink for directing ink toward the object to be printed. An ink discharging unit that discharges, a scanning unit that relatively scans the ink discharging unit with respect to the printing target, and a control unit that controls the shape measuring unit, the ink discharging unit, and the scanning unit. The control unit includes: an operation content of the ink ejection unit; and an operation content of the ink ejection unit, in accordance with information on a tilt of a surface of the print target included in the three-dimensional shape data of the print target obtained using the shape measurement unit. An operation content determining unit for determining an operation content of the scanning unit; and controlling an operation of the ink ejection unit and an operation of the scanning unit according to the operation content determined by the operation determining unit. Three-dimensional object printing apparatus characterized by having a print operation control means for performing print operation by Rukoto. 2. The three-dimensional object printing apparatus according to claim 1, wherein the operation content determining unit determines the printing target of the ink ejection unit in a sub-scanning direction in accordance with information on a tilt of a surface of the printing target. A three-dimensional object printing apparatus for determining a stepwise relative movement interval for an object. 3. The three-dimensional object printing apparatus according to claim 1, wherein the ink ejection unit has a plurality of nozzles for ejecting ink, and the operation content determination unit includes the nozzle to be printed among the plurality of nozzles. A three-dimensional object printing apparatus, wherein a nozzle whose distance to the object is equal to or less than a predetermined value is selected, and an operation content of an ink discharge unit is determined so as to discharge ink from the selected nozzle. . 4. The three-dimensional object printing apparatus according to claim 1, wherein the control unit is configured to perform a three-dimensional printing based on three-dimensional shape data obtained by the measurement and image data to be printed on a surface of the printing target. A three-dimensional object printing apparatus for creating data to be attached to the printing target. 5. The three-dimensional object printing apparatus according to claim 4, wherein the shape measurement unit measures the edge part of the print target with particularly high accuracy. 6. The three-dimensional object printing apparatus according to claim 1, wherein the shape measuring means sets a distance from the printing target surface in a direction perpendicular to a measurement reference plane at a predetermined point in the measurement reference plane. Having a displacement sensor for measuring, and scanning the displacement sensor with the ink ejection unit with respect to the printing target by the scanning unit to obtain three-dimensional shape data in a printing target region of the printing target. Characteristic three-dimensional object printing device. 7. The three-dimensional object printing apparatus according to claim 6, wherein the measurement reference plane is a plane perpendicular to a direction in which ink is ejected by the ink ejection unit, and wherein the scanning unit includes the measurement reference plane. A three-dimensional object printing apparatus capable of scanning in two directions parallel to the three-dimensional object. 8. The three-dimensional object printing apparatus according to claim 1, wherein the operation of discharging the ink to the printing target by the ink discharging unit is performed on a plurality of divided areas in which the surface shape of the printing target is approximated in a plane. A three-dimensional object printing apparatus characterized by being performed for each of them. 9. The three-dimensional object printing apparatus according to claim 1, wherein the operation of measuring the three-dimensional shape data of the printing target by the shape measuring unit includes a plurality of sections in which the surface shape of the printing target is approximated in a plane. A three-dimensional object printing apparatus characterized by being performed for each area. 10. The three-dimensional object printing apparatus according to claim 1, wherein the control unit performs a measurement operation by the shape measurement unit and a determination by the operation content determination unit over an entire print target region of the print target. A three-dimensional object printing apparatus characterized by sequentially performing an operation and a printing operation by the printing operation control means. 11. The three-dimensional object printing apparatus according to claim 1, wherein the control unit changes a print target region of the print target based on three-dimensional model data given in advance to change a surface shape of the print target. It is divided into a plurality of divided areas that are plane-approximate, and control is performed such that the measuring operation by the shape measuring means, the deciding operation by the operation content deciding means, and the printing operation by the printing operation control means are sequentially performed for each of the divided areas. A three-dimensional object printing apparatus. 12. The three-dimensional object printing apparatus according to claim 11, wherein the control unit performs a printing operation by the printing operation control unit on a predetermined division area of the plurality of division areas and the predetermined division. A three-dimensional object printing apparatus which controls so as to simultaneously perform the measurement operation by the shape measuring means on a divided area adjacent to the area. 13. A three-dimensional object printing method for performing printing on a three-dimensional object to be printed, comprising: a step of measuring a surface shape of the object to be printed; A step of determining the content of the ink ejection operation of the ink ejection means and the content of the scanning operation of the scanning means in accordance with the information on the inclination of the surface of the printing target included in the original shape data; and A step of performing a printing operation by controlling the operation of the ink ejection unit and the operation of the scanning unit according to the content of the scanning operation,
A method of printing a three-dimensional object, comprising: