JP2966239B2 - Movable object stop position control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable object stop position control device for improving the accuracy of a movable object stop position such as an ink sheet, a sheet, or a sheet holding device in a printer device.

[0002]

2. Description of the Related Art FIG. 17 is a block diagram showing a conventional movable object stop position control device similar to that disclosed in Japanese Utility Model Laid-Open No. 4-67066 and Japanese Patent Application Laid-Open No. 61-130065. In the figure, reference numeral 1 denotes a movable object in the printer device, for example, an ink sheet, a sheet, a sheet holding device, or the like. Reference numeral 2 denotes a position detector attached to the movable object 1. Reference numeral 3 denotes a detector for detecting the position detector 2. The light emitted from a built-in light emitting diode is emitted to the movable object 1;
The presence or absence of the reflected light from is detected by a built-in phototransistor. 4 is a detection signal output from the detector 3, 5 is a control unit that receives the detection signal 4 and has a sequence for controlling the movable object 1, and 6 is a driving unit that drives the movable object 1 according to an output signal of the control unit 5. Department.

Next, the operation of the conventional position detecting device will be described with reference to FIG. First, the movable unit 1 is moved by operating the driving unit 6 by the control unit 5 (step S1).
00). Next, the detection signal 4 from the detector 3 is input to the control unit 5 (Step S101). Here, when the position detector 2 is not in the immediate vicinity of the detector 3, the control unit 5 continues to operate the driving unit 6.

When the drive unit 6 continues to operate and the position detector 2 comes close to the detector 3, a detection signal 4 for detecting the position detector 2 is input from the detector 3 to the control unit 5. The movable unit 1 is moved by the driving unit 6, and the control unit 5 recognizes the end of the position detector 2. Subsequently, after continuing to operate the driving unit 6 so that an arbitrary position of the position detector 2, for example, the center and the center of the detector 3 are aligned on the same straight line, the control unit 5 stops the driving unit 6. Here, even after the detector 3 detects the position detector 2, the movable object 1 is moved, for example, for Td (Steps S102 and S103).

Further, referring to the operation waveforms shown in FIGS. 19 and 20, FIG. 19 shows the case where the sensitivity of the detector 3 is high, and FIG. 20 shows the case where the sensitivity of the detector 3 is low. 19 and 20, the horizontal axis indicates the time before and after the detection of the position detector 2, and it is assumed that the time and the moving distance are proportional to each other since the movable object 1 is moving at a constant speed. The vertical axis indicates the internal signal of the detector 3, the detection signal 4 binarized by an arbitrary threshold value inside the detector by the output signal of the detector 3, and the drive from the control unit 5 in order from the top of the figure. 7 shows a drive signal to the unit 6.

Here, the internal signal of the detector 3 when the position detector 2 is not detected is, for example, a value close to 0 V (hereinafter referred to as L level), and conversely, the detection when the position detector 2 is detected. The internal signal of the device 3 is, for example, a value close to 5 V (hereinafter referred to as H level). Similarly, the detection signal 4 output from the detector 3 is set to L when the position detector 2 is not recognized.
The level for recognizing the level and position detector 2 is set to H level. It is assumed that the driving unit 6 does not operate when the driving signal of the control unit 5 is at the L level, and operates when the driving signal of the control unit 5 is at the H level. Although the L level and the H level are determined, in the embodiment, any value and any level can be considered. Here, an example for explanation is given.

A case where the sensitivity of the detector 3 is high will be described with reference to FIG. When the sensitivity of the detector 3 is high, the rise of the internal signal of the detector 3 is fast, and the detection time is longer than when the sensitivity is medium. In addition, the position detector 2
From a position far away from the center of the
Is detected. This can be explained because, for example, since the amount of light detected by the detector 3 is large, the irradiation range of the detection light is wide and the position detector 2 far from the detector 3 is detected.

In FIG. 19, the position detector 2 is a detector 3
, The internal signal of the detector 3 changes from L level to H level. This change becomes steep because the sensitivity of the detector 3 is large. When this internal signal exceeds a predetermined value,
The detection signal 4 changes from L level to H level. The control unit 5 recognizes this change. However, at this time, the position detector 2 is still far from the center of the detector 3.
This is because the sensitivity of the detector 3 is large,
This is because if the end portion of the sensor 3 slightly touches the detection area of the detector 3, the change in the internal detection signal of the detector 3 is sharp.

Then, the control section 5 operates the driving section 6 for an arbitrary time, for example, a time Td, then changes the driving signal from H level to L level and stops the driving section 6. This T
d is the time required for the center of the position detector 2 to reach the center of the detector 3 when the sensitivity of the detector 3 is large, for example. Therefore, when the sensitivity of the detector 3 is large, FIG.
As shown by 9, the drive signal of the control unit 5 becomes L level at the mark center position of the position detector 2 on the time axis, and the center of the position detector 2 and the center of the detector 3 coincide with each other, Stops.

Next, a case where the sensitivity of the detector 3 is small will be described with reference to FIG. The time Td in this case is the same as the one set so that the center of the position detector 2 and the center of the detector 3 coincide when the sensitivity of the detector 3 is high. If the sensitivity of the detector 3 is low, the position detector 2
Even if is close to the detector 3, the sensitivity of the detector 3 is low, so that the internal signal rises more slowly than in FIG. The output of the detector 3 changes after the position detector 2 approaches the detector 3 as compared with the case where the sensitivity is higher than the position detector 2. This can be explained because, for example, since the amount of light detected by the detector 3 is small, the irradiation range of the detection light is narrow and a position detector close to the detector is detected.

The variation in the sensitivity of the detector 3 is considered for the following reasons. In the case of an optical detector, it is due to variations in the spot diameter of the light beam, due to variations in the directivity of the beam of the detector, due to a decrease in the amount of light due to dust adhering to the detector, and characteristics in manufacturing the detector. And the like due to variations in

For the above reason, the rise of the internal signal of the detector 3 becomes gentle, so that the internal signal becomes the H level later than the case where the sensitivity of the detector 3 is large in FIG. become. Next, the control unit 5 operates the driving unit 6 for an arbitrary time (for example, Td) and then stops the movable object 1.

However, when the sensitivity of the detector 3 is low, the rising of the internal signal is gentle, so that the detection signal becomes H even if the movable object 1 moves to the same position as compared with the case where the sensitivity of the detector 3 is high. The position detector 2 has to approach the detector 3 due to the delay of the level. As a result, the stop position of the movable object 1 is delayed as compared with the case where the sensitivity of the detector 3 is high. That is, FIG.
In FIG. 20, the timing at which the detection signal goes to H level is delayed, and therefore, the timing at which the drive signal goes to L level is also delayed by the time Tx. Therefore, the center between the position detector 2 and the detector 3 is shifted from the mark center position of the position detector 2 as shown in FIG. 20, and does not coincide with each other as in the case where the sensitivity of the detector 3 is large.

When the ink sheet is wound, the diameter of the roll gradually increases as in the case of an ink sheet winding roll, and the moving speed of the ink sheet at the start and end of winding is constant even if the number of rotations of the roll is constant. Will be different. Therefore, the stop position varies depending on the amount of winding of the ink sheet.

[0015]

Since the conventional position detecting device is configured as described above, the sensitivity of the detector 3 is reduced, the characteristic of the detector 3 is reduced, the secular change, and the sensitivity is reduced due to dirt such as dust. If the output characteristics of the detector 3 fluctuate due to fluctuations in sensitivity due to the operating environment, the stop position fluctuates due to fluctuations in the sensitivity of the detector 3, and
Accordingly, there has been a problem that the stopping accuracy of the position detecting device is reduced. In addition, there is a problem that the stop position accuracy is reduced due to the fluctuation of the moving speed due to the winding amount of the ink sheet.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and it is an object of the present invention to accurately maintain a fixed stop position of a movable object irrespective of variations in the characteristics of a detector or fluctuations in sensitivity due to dust or the like. It is an object of the present invention to obtain a movable object stop position control device capable of performing the following.

[0017]

According to a first aspect of the present invention, there is provided a movable object stop position control device for detecting a position detector attached to a movable object moving in a predetermined moving direction by a driving unit. And a control unit having a sequence for controlling the driving unit based on a detection signal of the detector, wherein the movable object stops position control device for controlling the movable object to stop at a predetermined position. A first and a second position detector are sequentially provided along the moving direction as position detectors attached to the control unit, and a storage unit for storing a calculation result by the control unit is provided. Calculates the amount of movement from the detection of the second position detector to the stop based on the on-time during which the detection signal of the first position detector is output, and writes the calculated amount in the storage unit. Second by vessel When the position detector is detected, the movement amount is read from the storage unit, and after the detection signal of the second position detector is output, the control signal for stopping the movable object after moving the movement amount is output to the drive unit. And a control sequence to be sent to the unit.

According to a second aspect of the present invention, there is provided a stop position control device for a movable object, wherein the detector detects a position detector attached to the movable object moving in a predetermined moving direction by a driving unit, and the detection of the detector. A control unit having a sequence for controlling the driving unit based on the signal, in a movable object stop position control device that controls the movable object to stop at a predetermined position, as a position detector attached to the movable object, A plurality of position detectors are sequentially provided along the moving direction, and a storage unit for storing a calculation result by the control unit is provided, and the control unit includes a position detector detected first after the initialization control sequence. Is the first position detector, and the position detectors detected thereafter are regarded as the second position detectors. Based on the on-time during which the detector outputs the detection signal of the first position detector, The above The amount of movement from the detection of the position detector to the stop is calculated and written into the storage unit, and the amount of movement is read from the storage unit when the second position detector is detected by the detector. A control sequence for transmitting a control signal for stopping the movable object after moving the moving amount after the detection signal of the second position detector is outputted to the driving unit is provided.

According to a third aspect of the present invention, there is provided a movable object stop position control device, comprising: a detector for detecting a position detector attached to a movable object moved in a predetermined moving direction by a driving unit; A control unit having a sequence for controlling the driving unit based on the signal, in a movable object stop position control device that controls the movable object to stop at a predetermined position, as a position detector attached to the movable object, A plurality of position detectors are sequentially provided along the moving direction, and a storage unit for storing a calculation result by the control unit is provided, and the control unit causes the drive unit to rotate forward to detect a position by the detector. By sequentially controlling the movable object until the detection of the movable element is completed, the detected position detector is used as a first position detector during the ON time when the detection signal of the first position detector is output from the detector. Then, the position detector detected after the detection of the first position detector is regarded as the second position detector, and the amount of movement from the detection of the second position detector to the stop is calculated and the storage unit is determined. After the completion of the detection of the first position detector, the drive unit is rotated in reverse to feed the movable object in the reverse direction, and the movable object is moved to a position before the detection of the first position detector. Then, the drive unit is rotated forward again to control the movable object in a forward direction, so that when the detector detects the second position detector, the movement amount is read from the storage unit. A control sequence for transmitting a control signal for stopping the movable object after moving the moving amount after the detection signal of the second position detector is outputted to the driving unit is provided.

According to a fourth aspect of the present invention, there is provided a stop position control device for a movable object, wherein the detector detects a position detector attached to the movable object which is moved in a predetermined moving direction by a driving unit, and the detection of the detector. A control unit having a sequence for controlling the driving unit based on the signal, in a movable object stop position control device that controls the movable object to stop at a predetermined position, as a position detector attached to the movable object, The first and second position detectors are sequentially provided along the moving direction, and the length of the second position detector in the detection direction is set to be equal to or longer than the length of the first position detector in the detection direction. A storage unit that stores a calculation result by the unit, and the control unit stores the second position detector based on an on-time during which a detection signal of the first position detector is output by the detector. At least from detection to stop A movement amount equal to or less than the length in the detection direction of the second position detector is calculated and written in the storage unit, and the movement amount is read from the storage unit when the second position detector is detected by the detector. A control signal for sending a control signal to stop the movable object after the detection signal of the second position detector is output and then stopping the movable object after the movement amount has been output to the drive unit. Stop position control device.

Further, according to a fifth aspect of the present invention, there is provided a stop position control device for a movable object, wherein the detector detects a position detector attached to the movable object moving in a predetermined moving direction by a driving unit, and the detection of the detector. A control unit having a sequence for controlling the driving unit based on the signal, in a movable object stop position control device for controlling the movable object to stop at a predetermined position,
First and second position detectors are sequentially provided along the moving direction as position detectors attached to the movable object, and the distance between the first position detector and the second plurality of position detectors is set to a first position detector. In addition to the length in the detection direction of the position detector, a storage unit for storing the calculation result by the control unit is provided, and the control unit receives the detection signal of the first position detector by the detector. When the amount of movement from the detection of the second position detector to the stop based on the output ON time is calculated and written to the storage unit, and the second position detector is detected by the detector. A control signal for sending a control signal for stopping the movable object after moving the moving amount after the detection signal of the second position detector is output from the storage unit and outputting a detection signal of the second position detector to the driving unit. Characterized by having

[0022]

In the moving object stop position control device according to the first aspect of the present invention, the position detector attached to the movable object includes:
First and second position detectors are sequentially provided along the movement direction,
The control unit calculates the amount of movement from the detection of the second position detector to the stop based on the ON time during which the detection signal of the first position detector attached to the movable object is output from the detector. When the second position detector is detected by the detector, the movement amount is read out from the storage unit, and the detection signal of the second position detector is output. After the movement, the control signal for stopping the movable object is sent to the driving unit, so that the stop of the movable object is adjusted in accordance with the sensitivity of the detector, and the stop position of the movable object is adjusted regardless of the sensitivity of the detector. Control to make it constant is performed.

In the moving object stop position control device according to the second aspect, the position detector attached to the moving object may be
A plurality of position detectors are sequentially provided along the movement direction, and the control unit sets the first position detector detected first after the initialization control sequence as the first position detector, and sets the position detectors detected thereafter as the first position detector. The movement amount from the detection of the second position detector to the stop is calculated based on the on-time during which the detection signal of the first position detector is output from the detector as a second position detector. And when the detector detects the second position detector, reads the movement amount from the storage unit and outputs a detection signal of the second position detector, and then outputs the movement amount. After being moved, a control signal for stopping the movable object is sent to the driving unit, so that the first and second position detectors can be provided in accordance with the sensitivity of the detector without being provided one by one. Adjust animal cessation for detector sensitivity Engaging without performing control of the stop position of the movable object is constant.

According to a third aspect of the present invention, there is provided a stop position control device for a movable object.
A plurality of position detectors are sequentially provided along the moving direction, and the control unit rotates the driving unit in the normal direction and sequentially controls the movable object until the detection of the position detector by the detector is completed, thereby detecting the detected position. The position detector detected after the detection of the first position detector based on the ON time during which the detection signal of the first position detector is output from the detector as a first position detector. After the detection of the first position detector, the initialization operation sequence for calculating the amount of movement from the detection of the second position detector to the stop and writing it to the storage unit is operated, and the detection of the first position detector is completed. After the driving unit is rotated in the reverse direction to feed the movable object in the reverse direction and return the movable object to the position before the detection of the first position detector, the driving unit is rotated forward again to move the movable object. The above detection can be performed by controlling When the second position detector is detected, the moving amount is read from the storage unit, and after the detection signal of the second position detector is output, the moving amount is moved, and then the movable object is stopped. By operating a control sequence for sending a control signal to the drive unit,
Even if there is only one position detector, by controlling the movable object to reverse, the stop of the movable object is adjusted in accordance with the sensitivity of the detector, and the stop position of the movable object is controlled irrespective of the sensitivity of the detector. I do.

According to a fourth aspect of the present invention, in the stop position control device for a movable object, the position detector attached to the movable object may include:
First and second position detectors are sequentially provided along the movement direction,
The length of the second position detector in the detection direction is set to be equal to or greater than the length of the first position detector in the detection direction, and the control unit outputs the detection signal of the first position detector from the detector. The amount of movement of at least the length in the detection direction of the second position detector from the detection of the second position detector to the stop based on the time is calculated and written in the storage unit. Control for reading the movement amount from the storage unit when the second position detector is detected, moving the movement amount after the detection signal of the second position detector is output, and then stopping the movable object By transmitting the signal to the driving unit, it is possible to prevent a problem that the first position detector is erroneously detected as the second position detector, and to ensure that the second position detector can be used even if the sensitivity of the detector decreases.
And the stop of the movable object is adjusted according to the sensitivity of the detector to control the stop position of the movable object to be constant regardless of the sensitivity of the detector.

In the apparatus for controlling the stop position of a movable object according to a fifth aspect, first and second position detectors are sequentially provided along the moving direction as position detectors attached to the movable object. The distance between the position detector and the second plurality of position detectors is equal to or longer than the length of the first position detector in the detection direction, and the control unit outputs the detection signal of the first position detector from the detector. The amount of movement from the detection of the second position detector to the stop based on the ON time is calculated and written to a storage unit. When the detector detects the second position detector, By reading the movement amount from the storage unit and moving the movement amount after the detection signal of the second position detector is output, the control signal for stopping the movable object is sent to the driving unit, thereby obtaining the first signal. And the second position detector to 1
Prevents the erroneous detection of the two first position detectors and adjusts the stop of the movable object in accordance with the sensitivity of the detector to control the stop position of the movable object constant regardless of the sensitivity of the detector I do.

[0027]

【Example】

Embodiment 1 FIG. FIG. 1 is a block diagram showing a movable object stop position control device according to a first embodiment of the present invention. In the figure,
The same reference numerals as those in the conventional example shown in FIG. 17 denote the same parts, and 1 denotes a movable object in the printer device, for example, a movable object such as an ink sheet, paper, or a paper holding device. Reference numeral 3 denotes a detector that detects a position detector attached to the movable unit 1,
The movable object 1 is irradiated with light emitted from a built-in light emitting diode, and at this time, the presence or absence of reflected light from a position detector is detected by a built-in phototransistor. 4 is a detection signal output from the detector 3, 5 is a control unit having a sequence for controlling the movable object 1 by inputting the detection signal 4, and 6 is a driving unit that drives the movable object 1 according to an output signal of the control unit 5. Department.

Also, as new codes, 7 and 8 are shown in FIG.
As shown in the figure, first and second position detectors 9 attached to the movable object 1 at predetermined intervals along the moving direction of the movable unit 1 in sequence, and a storage unit 9 for storing a calculation result of the control unit 5 , 10 is a signal for writing data corresponding to the first position detector 7 from the control unit 5 to the storage unit 9, and 11 is a signal from the storage unit 9 to the control unit 5.
4 is a read signal of data corresponding to the first position detector 7 to the first position detector 7.

FIG. 2 shows an example of the arrangement of the first position detector 7 and the second position detector 8.
For example, a three-color ink sheet is moved along the illustrated moving direction. In the drawing, yellow, red, and blue indicate the colors of the ink, and a second position detector 8 is provided at the end position of each color to control stopping at the end of each color, while the first position detector 7 is It is provided forward in the movement direction.

Next, the operation of the movable object stop position control apparatus having the above-described configuration will be described. The positioning operation by the control unit 5 operates according to the flowchart shown in FIG. First, the movable object 1 is moved by operating the drive unit 6 (forward rotation operation) by the control unit 5. Along with the movement, the detection signal 4 from the detector 3 is input to the control unit 5. The control unit 5 continues to move the movable object 1, and
The position detector 7 passes the detection range of the detector 3. At this time, the control unit 5 measures the time during which the first position detector 7 is detected, that is, the ON time Tw of the detection signal 4 (steps S10 to S12).

Here, the ON time Tw of the detection signal 4 for detecting the first position detector 7 is determined by the length of the first position detector 7 in the direction crossing the detector 3 and the first position detection time. It is proportional to the sum of the rising characteristic and the falling characteristic of the signal when the child 7 is detected. The rise characteristic and the fall characteristic have a correlation with the sensitivity of the detector 3. Accordingly, the characteristic of the detector 3 is proportional to the on-time Tw, and the on-time Tw becomes longer when the sensitivity of the detector 3 is high, and the on-time Tw becomes short when the sensitivity of the detector 3 is low. .

When the detection of the first position detector 7 is stopped, the control unit 5 performs the following calculation from the ON time Tw of the detection signal 4 of the first position detector 7. That is, based on the ON time Tw of the detection signal 4, the movement time from when the detector 3 detects the end of the second position detector 8 to when it stops is calculated. This moving time is defined as Ts. For example, for Ts, an operation of Ts = Tw / 2 (1) is performed (steps S13 and S14).

This means that when the detection widths of the first position detector 7 and the second position detector 8 in the moving direction are equal, the movable object 1 is stopped at the center of the detection width of the second position detector 8. It is an operation. That is, the detection width is obtained by the first position detector 7, and the movable object 1 is stopped at the center of the second position detector 8 by stopping at a position half the detection width of the second position detector 8. What you want to do.

Next, the controller 5 calculates the calculated moving time Ts.
Is written to the storage unit 9 by the write signal 10 of data corresponding to the first position detector 7. If the second position detector 8 is not in the immediate vicinity of the detector 3, the control unit 5
Keep working. When the drive unit 6 continues to operate and the movable object 1 moves and the second position detector 8 comes close to the detector 3 soon, the detection signal 4 that has detected the second position detector 8 from the detector 3 is output. Is input to the control unit 5. The control unit 5 recognizes the end of the second position detector 8.

Here, the control unit 5 reads the movement time Ts calculated from the storage unit 9 by the read signal 11 of the data corresponding to the first position detector 7. After the movement time Ts, the control unit 5 stops the driving unit 6 to stop the movement of the movable object 1. As a result, the control unit 5 operates the driving unit 6 so that an arbitrary position of the second position detector 8, for example, the center of the second position detector 8 and the center of the detector 3 are aligned on the same straight line. After the continuation, the positioning is completed by stopping the driving unit 6 (steps S15 to S17).

Next, the above-described operation will be described with reference to the sensitivity characteristics of the detector 3 shown in FIGS. FIG. 4 shows the detector 3
5 shows the case where the sensitivity of the detector 3 is small, respectively. In FIG. 5, the horizontal axis shows the time before and after the detection of the position detectors 7 and 8, and the movable object 1 is moved at a constant speed. Since it is moving, the time and the moving distance are assumed to be proportional. The vertical axis indicates the internal signal of the detector 3, the detection signal 4 binarized by an arbitrary threshold value inside the detector by the output signal of the detector 3, and the drive from the control unit 5 in order from the top of the figure. 7 shows a drive signal to the unit 6.

First, a case where the sensitivity of the detector 3 is high is shown in FIG.
This will be described with reference to FIG. In FIG. 4, when the first position detector 7 approaches the detector 3, the internal signal of the detector 3 changes from L level to H level. This change becomes steep because the sensitivity of the detector 3 is large. When this internal signal exceeds a predetermined value, the detection signal 4 changes from L level to H level. The control unit 5 recognizes this change. The driving section 6 continues to send the movable section 1, and then the detection signal 4 changes from H level to L level. The control unit 5 also recognizes this change.

Detection signal 4 when detector 3 has high sensitivity
Is H (on) at the H level. Both the rise and fall are sharp changes, and the position detector 7
Is detected from a distance, the on-time Tw (b
ig) is long. Here, the control unit 5 sets the ON time Tw (big)
, The moving time Ts (big) of the movable object 1 from when the second detector 8 is detected by the detector 3 to when it stops is Ts (big) = Tw (big) in the same manner as in the above-mentioned equation (1). /2...(2)

Next, when the second position detector 8 approaches the detector 3, the internal signal of the detector 3 changes from L level to H level again. The control unit 5 recognizes this change. The control unit 5 determines the travel time Ts calculated from the on-time Tw (big).
During (big), the drive unit 6 is operated and then stopped. In this case, since the on-time Tw (big) is long, the moving time Ts (b)
ig) is also longer. Therefore, the internal signal is changed to the H level and driven for a sufficient time, and the movable object 1 stops with the center of the second position detector 8 and the center of the detector 3 being aligned.

Next, the case where the sensitivity of the detector 3 is low is shown in FIG.
This will be described with reference to FIG. When the sensitivity of the detector 3 is low, even if the first position detector 7 approaches the detector 3, the internal signal rises more gradually than when the sensitivity of the detector 3 is low. The reason is as already explained.

Since the rise of the internal signal of the detector 3 becomes gentle, the internal signal becomes H level later than the case where the sensitivity of the detector 3 is low, and the detection signal 4 becomes H level. The driving section 6 continues to feed the movable section 1. When the internal signal changes from the H level to the L level, the detection signal 4 also changes from the H level to the L level, and the control unit 5 measures the time during which the detection signal 4 has been at the H level.

Here, the measured ON time is defined as Tw (smal
l). Since the rise and fall of the internal signal of the detector 3 are gentle, the on-time Tw (small) of the detection signal 4 when the sensitivity of the detector 3 is low is equal to the detection signal 4 when the sensitivity of the detector 3 is high. Is shorter than the on-time Tw (big) of. In this case, the time from movement to stop is T
Assuming that s (small), Ts (small) = Tw (small) / 2 (3) from equation (1).

Next, when the second position detector 8 is detected,
The control unit 5 operates the drive unit 6 during the movement time Ts (small) calculated from the on-time Tw (small), and then stops. Since the upper temperature time Tw (small) is short, the traveling time Ts (s
mall), but the rise of the detection signal is delayed because the sensitivity of the detector 3 is low. Therefore, the movable object 1 stops at the center of the second position detector 8 as in the case where the sensitivity of the detector 3 is high.

As shown in FIG. 4 and FIG. 5, even when the rising characteristic and the falling characteristic of the internal signal and the width of the on-time during which the detection signal 4 becomes H level differ depending on the sensitivity of the detector 3, the detection signal 4 Based on this, the stop of the drive unit 6 can be controlled regardless of the sensitivity of the detector 3. For example, in the calculation in this case, the center of the detection signal 4 is obtained by the calculation, and the calculation is stopped at the mark center of the position detector 8.

As described above, in the movable object stop position control device according to the first embodiment, the movable object stop position control device determines the first position detector 7 based on the ON time of the detection signal 4 sent from the detector 3. Since the time from when the second position detector 8 is detected to when the drive unit 6 is stopped is calculated, accurate stop positioning can be performed without being affected by the sensitivity of the detector 3. Further, when the movable object 1 is an ink sheet, it is possible to prevent the stop position from being changed due to a change in the moving speed of the movable object 1 due to a change in the diameter of the take-up roll.

Embodiment 2 FIG. Next, FIG. 6 is a block diagram illustrating a movable object stop position control device according to a second embodiment. In the figure, the same reference numerals as those in the first embodiment shown in FIG. 1 indicate the same parts. Reference numeral 1 denotes a movable object in the printer device, such as an ink sheet, paper, or a paper holding device. Reference numeral 3 denotes a detector for detecting a position detector attached to the movable portion 1. The detector 3 irradiates the movable object 1 with light emitted from a built-in light-emitting diode, and a built-in phototransistor detects whether or not there is reflected light from the position detector. To detect. Reference numeral 4 denotes a detection signal output from the detector 3, and reference numeral 5
And 6 is a drive unit that drives the movable object 1 in accordance with an output signal of the control unit 5.

As shown in FIG. 7, reference numerals 7 and 8 denote first and second position detectors attached to the movable object 1 along the moving direction of the movable unit 1 sequentially, and 9 denotes a control unit 5. Is a signal for writing data corresponding to the first position detector 7 from the control unit 5 to the storage unit 9, and 11 is a first position from the storage unit 9 to the control unit 5. This is a data read signal corresponding to the detector 7.

FIG. 7 shows an example of the arrangement of the first position detector 7 and the second position detector 8 according to the second embodiment. Here, a three-color ink sheet is taken as an example, Along the line, yellow, red, and blue are sequentially repeated. In FIG. 7, a movable object 1 is an ink sheet, which moves in the illustrated moving direction. A first position detector 7 and a second position detector 8 are provided on the upper side of yellow (below blue) corresponding to the forward position in the movement direction for yellow cueing. The second position detector 8
Are provided above red and blue (below yellow and red), respectively.

Next, an operation of the movable object stop position control device having the above-described configuration will be described. The control unit 5 performs control according to a main routine shown in FIG. In one printing, first, a paper feeding operation is performed (step S20).
Next, a subroutine of first alignment, which will be described in detail later with reference to FIG. 9, is executed to perform a yellow cueing operation (step S21). After the first alignment, yellow printing is performed (step S22).

After the yellow printing has been performed in this manner, a subroutine called second alignment, which will be described later in detail with reference to FIG. 10, is executed to perform a red cueing operation (step S23). After the second alignment, red printing is performed (step S24). Hereinafter, blue is printed in the same manner as red in the second alignment subroutine after cueing of the color is performed (steps S25 and S2).
6). After the printing of the three colors on the ink sheet 1 has been performed in this way, the discharge control is performed and the process ends (step S2).
7). In this description, the case of three colors will be described.
The same processing is repeatedly performed for colors and more.

Next, the first positioning operation by the control unit 5 will be described with reference to the flowchart shown in FIG. First, as in the first embodiment, the time during which the control unit 5 operates the drive unit 6 and then the detector 3 detects the first position detector 7, that is, the ON time of the detection signal 4, is measured. Based on the ON time, the second position detector 8 is detected, and the moving time until the movable object stops is calculated (steps S30 to S34).

Then, the control unit 5 writes the calculated movement time into the storage unit 9 by a write signal 10 of data corresponding to the first position detector 7. The drive unit 6 continues to move the movable object 1 and then detects the second position detector 8.
Here, the control unit 5 reads out the calculated moving time from the storage unit 9 by the readout signal 11 of data corresponding to the first position detector, and based on this data, the movable object 1
To stop the drive unit 6 (steps S35 to S3).
9). In this manner, the yellow cueing operation described above is performed, and after the first alignment, yellow printing is performed.

Next, a description will be given of a second alignment operation with reference to a flowchart shown in FIG. 10 in order to perform red printing. First, the driving unit 6 is rotated forward to move the movable object 1. Only the second position detector 8 is used for the second position adjustment, that is, the second and third position detections. Therefore, it waits until the second position detector 8 is detected, and if detected, reads out the calculated movement time from the storage unit 9 by the read signal 11 of data corresponding to the first position detector 7, and Stops the driving unit 6 after moving the movable object 1 based on this data (steps S40 to S40).
S44). In this way, the above-described red cueing operation is performed, and after the second alignment, red printing is performed.

Similarly, for the blue color, the second
When the position detector 8 is detected, the movement time calculated above is read from the storage unit 9 by the read signal 11 of data corresponding to the first position detector 7, and the control unit 5 reads the movable object 1 based on the data. Is moved, and then the driving unit 6 is stopped to perform a blue cueing operation. After the second alignment, blue printing is performed.

As described above, in the second embodiment, the storage unit 9
By storing the moving time from when the second position detector 8 is detected by the data read signal 11 corresponding to the first position detector 7 to when the movement is stopped,
The first position detector and the second position detector are not necessarily one-to-one.
Therefore, the same effect as that of the first embodiment can be obtained without providing the second position detector.

That is, according to the second embodiment, the control unit 5 determines that the first position detector detected after the initialization control sequence is the first position detector, and the position detector detected thereafter is the first position detector. As the second position detector, a second position detector is set based on the ON time of the detection signal for detecting the first position detector.
The movement time from when the position detector is detected to when the stop control is performed is stored in the storage unit in advance, and when the second position detector is detected, the movement time is read from the storage unit and the stop control is performed. By providing a control sequence, the first
The effect similar to that of the first embodiment can be obtained without necessarily providing the position detector and the second position detector in a one-to-one correspondence.

Embodiment 3 FIG. Next, FIG. 11 is a view for explaining a position detector according to the third embodiment, FIG. 12 is a view showing an initialization operation sequence for positioning in the third embodiment, and FIG. 13 is a sequence showing a positioning operation in the third embodiment. FIG. In FIG. 11, one type of position detector 2 is provided along the moving direction of the movable object 1 as the position detector as in the conventional example. Here, a case of three color ink sheets will be described. The configuration is the same as that of the second embodiment shown in FIG. 6, but the control sequence by the control unit 5 is different.

Next, an operation according to the third embodiment will be described. For example, when the power of the printer body is turned on, the alignment initialization operation shown in FIG. 12 is performed. In this alignment initialization operation, first, the drive unit 6 is turned on to perform a forward rotation operation to move the movable object 1 (step S50). The time until the position detector 2 is detected and the detection of the position detector 2 is completed, that is, the ON time of the detection signal 4 detecting the position detector 2 is measured (Steps S51 and S52).

The control unit 5 calculates the movement time until the stop based on the ON time, and the sequence of writing the calculation result in the storage unit 9 is the same as in the second embodiment (step S53).
To S55). Next, the driving unit 6 is reversed to rewind the movable object 1. At this time, the position detector 2 is detected, and then the driving unit 6 is rotated backward until it is no longer detected, and then stopped (steps S56 to S59). The above initialization operation is performed.

The positioning operation performed after the above-described initialization operation will be described with reference to the flowchart shown in FIG. In FIG. 13, the drive unit 6 is rotated forward to wait until the position detector 2 is detected (steps S60 and S6).
1). When the position detector 2 is detected, the calculation result, that is, the movement time is read from the storage unit 9 by the read signal 11 of the data corresponding to the position detector 2. The control unit 5 moves and stops the movable object 1 based on the data (Steps S62 to S64).

As described above, in the third embodiment, the on-time of the detection signal 4 for detecting the position detector 2 by moving the movable object 1 in the forward direction is measured by the initialization operation. By calculating the movement time up to the stop based on the calculation result, writing the calculation result in the storage unit 9, and then rotating the driving unit 6 backward to feed the movable object 1 in the reverse direction, rewinding it, returning it to the initial position and stopping it. After the initialization operation, the normal alignment operation is performed based on the moving time after the initialization operation. Therefore, even when the number of position detectors is one, the first embodiment is different from the first embodiment. A similar effect is achieved.

Embodiment 4 FIG. In the first to third embodiments described above,
Although the movable object 1 has been described as an example of the ink sheet of the printer device, the movable object 1 may be a paper holding device of the printer device shown in FIG. Play.

In FIG. 14, reference numeral 10 denotes a paper holding clamper which moves in the illustrated moving direction.
Of the movable object 1. The light reflection type sensor 30 corresponds to the detector 3 of the first embodiment, and the first position detector 7 and the second position detector 8 correspond to the detector 3 of the first embodiment.

In the printer device, for example, when feeding paper, the clamper device 10 is stopped, the clamper is opened, paper is supplied, and the clamper is closed. At this time, in order to reliably clamp the sheet, the stop position accuracy of the clamper device 10 is required to be, for example, 1 mm or less. If the stop position accuracy of the paper holding device is not good, it causes a paper feed failure, a paper discharge failure, a color shift of a printed image, and the like, and impairs the reliability of the printer. In addition, when the paper is ejected, the clamper device is slightly tilted due to the size and hardness of the paper, and the stop position becomes unstable depending on the paper. However, by applying the above-described embodiment to the paper holding device of the printer device, Inconvenience can be eliminated.

Embodiment 5 FIG. Further, as shown in FIG. 15, the same effect as in the first embodiment can be obtained even if the first position detector 7 and the second position detector 8 are provided on the printing paper used in the printer as the movable object 1. . In this case, the position detector is a detectable object such as a printed mark, and the same applies to a case where light is absorbed and not reflected.

Embodiment 6 FIG. Next, FIG. 16 is a diagram illustrating the relationship between the first position detector 7 and the second position detector 8 according to the sixth embodiment. In FIG. 16, the first position detector 7
The length L1 of the second position detector 8 in the direction crossing the detector 3 is equal to the length L1 of the second position detector 8 or the length L2 is longer than the length L1. An example will be described.

If the length L2 is shorter than the length L1 when the sensitivity of the detector 3 is reduced, the second position detector 8 cannot be detected by the detector 3 and the next first position detector 8 cannot be detected. It is necessary to prevent the disadvantage that the position detector 7 is erroneously detected as the second position detector 8 and to reliably detect the second position detector 8 even if the sensitivity of the detector 3 is reduced. It is.

In particular, when the lengths L1 and L2 are equal,
Since the detection characteristics of the first position detector 7 and the detection characteristics of the second position detector 8 become equal, the second position detection is performed at １ ／ of the ON time of the detection signal of the first position detector 7. When the child 8 is stopped, it can be stopped at the center of the second position detector 8. Therefore, the control operation is simplified, and the device can be obtained at low cost. Also, by determining the length of the position detector in advance, unnecessary detection can be prevented, and noise at the time of detection can be prevented.

As shown in FIG. 16, when the distance between the first position detector 7 and the second position detector 8 is D,
The length L1 of the first position detector 7 in the direction crossing the detector 3
In this embodiment, the distance D and the distance D are equal or the distance D is longer than the length L1.

This is necessary for reliably detecting the rear end of the first position detector 7 even if the sensitivity of the detector 3 is reduced. If the interval D is short, the first position detector 7 and the second position detector 8 are prevented from being erroneously detected as one first position detector.

Further, in each of the above embodiments, the printer device has been described, but other devices may be used.
Although the positioning of the ink sheet has been described, similar effects can be obtained with other movable objects, such as a sheet and a sheet holding device.

Also, in each of the above embodiments, the detection of the moving amount of the movable object is detected by time for the constant speed movement.
The movement amount may be detected by means other than the time, and in that case, it is needless to say that the movement may not be at a constant speed.
Further, the speed from the detection of the first position detector to the detection of the second position detector to the stop may be a constant speed, and there is no problem even if the speed differs for each first position detector. .
The operation shown by the expression (1) is an example, and may be another coefficient, may have another constant term, and may be any other operation expression.

As described above, according to each of the above-described embodiments, the accuracy of the stop positioning of the movable object 1 due to the fluctuation of the output of the detector 3 can be improved, and the stop position control device can be obtained at low cost.

Further, it is possible to improve the stop position accuracy in the case where the moving speed of the movable object changes as in the winding of the ink sheet roll, and the stop position control device can be obtained at low cost.

Further, it is possible to suppress an increase in the number of position detectors,
Alternatively, the accuracy of stop positioning can be improved without any increase, and the movable object can be obtained at low cost because the number of position detectors does not increase.

By maintaining the lengths of the first position detector 7 and the second position detector 8 in the above relationship, erroneous detection due to noise or the like is prevented, and the detection accuracy is improved.

Further, by using time management for detecting the moving amount, the moving amount detecting device can be omitted, and an inexpensive stop position control device can be obtained.

[0078]

As described above, according to the first aspect of the present invention, the first and second position detectors are sequentially provided along the moving direction as the position detector attached to the movable object, and the control unit controls the first and second position detectors. And calculating the amount of movement from the detection of the second position detector to the stop based on the on-time during which the detection signal of the first position detector attached to the movable object is output from the detector. When the detector detects the second position detector, the movement amount is read from the storage unit, and after the detection signal of the second position detector is output, the movement amount is moved. Since the control signal for stopping the movable object is sent to the drive unit, the stop of the movable object is adjusted in accordance with the sensitivity of the detector so that the stop position of the movable object is fixed regardless of the sensitivity of the detector. This has the effect of being able to control.

According to the movable object stop position control device of the present invention, a plurality of position detectors are sequentially provided along the moving direction as position detectors attached to the movable object, and the control unit initializes the position detectors. The position detector detected first after the control sequence is regarded as the first position detector, and the position detectors detected thereafter are regarded as the second position detectors. The amount of movement from the detection of the second position detector to the stop is calculated based on the ON time at which the detection signal is output, and the amount of movement is calculated and written in the storage unit. The detector detects the second position detector. Then, after the movement amount is read from the storage unit and the detection signal of the second position detector is output, the movement amount is moved, and then a control signal for stopping the movable object is sent to the driving unit. The first and second It is said that the stop position of the movable object can be controlled to be constant regardless of the sensitivity of the detector by adjusting the stop of the movable object in accordance with the sensitivity of the detector without providing one position detector for each body. It works.

According to the third aspect of the present invention, a plurality of position detectors are sequentially provided along the moving direction as position detectors attached to the movable object, and the control unit controls the driving unit. Is rotated forward and the movable object is controlled in a forward direction until the detection of the position detector by the detector is completed, so that the detected position detector is used as a first position detector and the first position detector is detected from the detector. The position detector detected after the detection of the first position detector based on the ON time at which the detection signal is output is regarded as the second position detector, and from the detection of the second position detector to the stop. After the detection of the first position detector is completed, the drive section is rotated in reverse to feed the movable object in the reverse direction to calculate the first position. Position before detector detection After the movable object is returned, the drive unit is rotated forward again to control the movable object in a forward direction, so that when the second position detector is detected by the detector, the moving amount is read from the storage unit. Is read and the detection signal of the second position detector is outputted, and after the movement amount is moved, a control sequence for sending a control signal for stopping the movable object to the drive unit is operated. Even if there is only one position detector, by controlling the movable object to reverse, the stop of the movable object is adjusted in accordance with the sensitivity of the detector, and the stop position of the movable object is controlled irrespective of the sensitivity of the detector. It has the effect that it can be done.

According to the movable object stop position control device, the length of the second position detector in the detection direction is set to be equal to or longer than the length of the first position detector in the detection direction. The movement amount calculated based on the ON time during which the detection signal of the first position detector is output from the detector is set to be at least equal to or less than the length of the second position detector in the detection direction. The first position detector is prevented from being erroneously detected as the second position detector, and the second position detector can be reliably prevented even if the sensitivity of the detector decreases.
In this case, the stop position of the movable object can be controlled to be constant regardless of the sensitivity of the detector by adjusting the stop of the movable object in accordance with the sensitivity of the detector.

Further, according to the movable object stop position control device of the fifth aspect, the distance between the first position detector and the second plurality of position detectors is set in the detection direction of the first position detector. Since the length is longer than the length, the first and second position detectors are
It is possible to control the stop position of the movable object to be constant regardless of the sensitivity of the detector by adjusting the stop of the movable object according to the sensitivity of the detector to prevent the problem of being erroneously detected as the position detector. It has the effect of being able to.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a movable object stop position control device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a position detector according to the first embodiment of the present invention.

FIG. 3 is an operation sequence diagram according to the first embodiment of the present invention.

FIG. 4 is an operation waveform diagram when the sensitivity of the detector according to the first embodiment of the present invention is high.

FIG. 5 is an operation waveform diagram when the sensitivity of the detector according to the first embodiment of the present invention is low.

FIG. 6 is a block diagram showing a movable object stop position control device according to a second embodiment of the present invention.

FIG. 7 is an explanatory diagram of a position detector according to a second embodiment of the present invention.

FIG. 8 is an operation sequence diagram of a main routine according to the second embodiment of the present invention.

FIG. 9 is an operation sequence diagram of a first positioning subroutine according to the second embodiment of the present invention.

FIG. 10 is an operation sequence diagram of a second positioning subroutine according to the second embodiment of the present invention.

FIG. 11 is an explanatory diagram of a position detector according to a third embodiment of the present invention.

FIG. 12 is an initialization operation sequence diagram according to Embodiment 3 of the present invention.

FIG. 13 is a sequence diagram of a positioning operation according to the third embodiment of the present invention.

FIG. 14 is an explanatory diagram of a stop position control device for a movable object according to a fourth embodiment of the present invention.

FIG. 15 is an explanatory diagram of a movable object stop position control device according to Embodiment 5 of the present invention.

FIG. 16 is an explanatory diagram of a position detector according to Embodiment 6 of the present invention.

FIG. 17 is a block diagram showing a conventional movable object stop position control device.

FIG. 18 is an operation sequence diagram of a movable object stop position control device according to a conventional example.

FIG. 19 is an operation waveform diagram when the sensitivity of the conventional detector is high.

FIG. 20 is an operation waveform diagram when the sensitivity of the conventional detector is low.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Movable object 3 Detector 4 Detection signal 5 Control part 6 Drive part 7 1st position detector 8 2nd position detector 9 Storage part

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B65H 23/18-23/198 B41J 11/42 B41J 17 / 02,17 / 36

Claims (5)

(57) [Claims] 1. A detector for detecting a position detector attached to a movable object that is moved in a predetermined moving direction by a driving unit, and a sequence for controlling the driving unit based on a detection signal of the detector. A control unit for controlling the stop of the movable object at a predetermined position, wherein the first and second position detectors attached to the movable object are provided as first and second position detectors.
Are provided along the moving direction sequentially, and a storage unit is provided for storing a calculation result by the control unit, and the detection signal of the first position detector is provided to the control unit by the detector. When the amount of movement from the detection of the second position detector to the stop based on the output ON time is calculated and written to the storage unit, and the second position detector is detected by the detector. A control signal for sending a control signal for stopping the movable object after moving the moving amount after the detection signal of the second position detector is output from the storage unit and outputting a detection signal of the second position detector to the driving unit. A movable object stop position control device, comprising: And a detector for detecting a position detector attached to a movable object moving in a predetermined moving direction by a driving unit, and a sequence for controlling the driving unit based on a detection signal of the detector. A control unit for controlling the stop of the movable object at a predetermined position, wherein a plurality of position detectors are sequentially provided along the moving direction as position detectors attached to the movable object. And a storage unit for storing a calculation result by the control unit, and the control unit sets a position detector detected first after the initialization control sequence as a first position detector, and detects a position detector thereafter. The position detector is regarded as a second position detector, and the detector detects the second position detector based on an on-time during which the detection signal of the first position detector is output, and then stops. The amount of movement And when the detector detects the second position detector, reads the movement amount from the storage unit and outputs a detection signal of the second position detector. A stop position control device for a movable object, comprising: a control sequence for sending a control signal for stopping the movable object after moving by a movement amount to the drive unit. 3. A detector for detecting a position detector attached to a movable object moving in a predetermined moving direction by a driving unit, and a sequence for controlling the driving unit based on a detection signal of the detector. A control unit for controlling the stop of the movable object at a predetermined position, wherein a plurality of position detectors are sequentially provided along the moving direction as position detectors attached to the movable object. A storage unit for storing a calculation result by the control unit, and the control unit controls the forward movement of the movable object until the drive unit is rotated forward and the position detector is detected by the detector. With the detected position detector as a first position detector, the first position detector is detected after the detection of the first position detector based on the ON time during which the detection signal of the first position detector is output from the detector. Place An initializing operation sequence in which the position detector is regarded as a second position detector, a movement amount from the detection of the second position detector to the stop is calculated, and the calculated amount is written into the storage unit; After the detection is completed, the driving unit is rotated in the reverse direction to feed the movable object in the reverse direction, return the movable object to a position before the detection of the first position detector, and then rotate the driving unit forward again. By sequentially controlling the movable object, the moving amount is read from the storage unit when the second position detector is detected by the detector, and the detection signal of the second position detector is output. A stop position control device for a movable object, comprising: a control sequence for sending a control signal for stopping the movable object after moving by a movement amount to the drive unit. 4. A detector for detecting a position detector attached to a movable object moving in a predetermined moving direction by a driving unit, and a sequence for controlling the driving unit based on a detection signal of the detector. A control unit for controlling the stop of the movable object at a predetermined position, wherein the first and second position detectors attached to the movable object are provided as first and second position detectors.
Are sequentially provided along the moving direction, the length of the second position detector in the detection direction is set to be equal to or longer than the length of the first position detector in the detection direction, and the calculation result by the control unit is A storage unit for storing, and the control unit detects the second position detector based on an ON time during which the detection signal of the first position detector is output by the detector, and then stops. The amount of movement of at least the length of the second position detector up to the detection direction is calculated and written in the storage unit. When the second position detector is detected by the detector, the amount of movement is calculated from the storage unit. And a control sequence for sending a control signal for stopping the movable object after moving the movement amount after the movement amount is read and a detection signal of the second position detector is output to the driving unit. Stop position control device for moving objects 5. A detector for detecting a position detector attached to a movable object moving in a predetermined moving direction by a driving unit, and a sequence for controlling the driving unit based on a detection signal of the detector. A control unit for controlling the stop of the movable object at a predetermined position, wherein the first and second position detectors attached to the movable object are provided as first and second position detectors.
Are sequentially provided along the moving direction, the distance between the first position detector and the second plurality of position detectors is set to be equal to or longer than the length of the first position detector in the detection direction, and A storage unit for storing a calculation result by the control unit, wherein the control unit outputs the second position detector based on an on-time during which the detector outputs a detection signal of the first position detector. The amount of movement from the detection to the stop is calculated and written to the storage unit, and when the detector detects the second position detector, the amount of movement is read from the storage unit to obtain the second position. A stop position control device for a movable object, comprising: a control sequence for sending a control signal for stopping the movable object after moving the amount of movement after a detection signal of a detector is output to the drive unit.