JP3449335B2 - Self-propelled printing device and self-propelled printing method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled printing apparatus that receives print data including character data and image data and prints it on an object to be printed such as recording paper while the apparatus itself is self-propelled. Regarding a self-propelled printing method.

[0002]

2. Description of the Related Art As a conventional self-propelled printer, Japanese Patent Laid-Open No. 5-254182 discloses a "self-propelled printer". This self-propelled printer has a print head for printing on recording paper, a position detecting means for detecting the position of the printer main body with respect to the recording paper, and a moving means for moving the printer main body on the recording paper in an arbitrary direction. It has the feature that it starts printing after automatically moving to the print start position on the recording paper according to the print information, and prints while moving on the recording paper in any direction by itself. Is.

The position detecting means of this self-propelled printer has an edge sensor for detecting the edge of the recording paper, which is the boundary between the recording paper and the desk or the like on which the recording paper is placed, and the moving means is the printer body. A plurality of spheres rotatably supported by
Each sphere is provided with two stepping motors, and the two stepping motors drive the spheres to rotate in directions orthogonal to each other.

[0004]

However, the conventional self-propelled printer requires the position detecting means for the edge of the recording paper, which makes it difficult to reduce the size. Further, the moving means by a plurality of spheres provided with two stepping motors for one sphere complicates the configuration of the printer,
Not only is it difficult to reduce the size, but it is also difficult to perform position control and movement control.

An object of the present invention is to solve the above problems and to provide a self-propelled printing apparatus and a self-propelled printing method which can be easily downsized as compared with a conventional example.

Another object of the present invention is to solve the above problems and to provide a self-propelled printing apparatus and a self-propelled printing method capable of easily performing position control and movement control as compared with the conventional example. To provide.

[0007]

A self-propelled printing apparatus according to a first aspect of the present invention is a self-propelled printing apparatus that prints print data while moving on an object to be printed by using a moving unit. A calculation for calculating the position of the print data to be printed on the object to be printed based on the receiving means for receiving the print data via the communication line, the print start reference point, and the moving distance moved by the moving means. and means, and moved by the moving means to the position of the print data calculated above, a printing unit for printing the print data the received, the print
The printed material printed by the means is optically or magnetically detected.
Output detecting means, and the calculating means is
Position of the printed material and the position of the print data calculated above
The printing data to be printed by the printing means based on the
The feature is that the position of the data is adjusted and calculated .

[0008]

The self-propelled printing apparatus according to claim 2 is
The self-propelled printing apparatus according to claim 1, wherein the calculation unit prints on a print target object based on a print start reference point, a movement distance moved by the movement unit, and the received print data. It is characterized by calculating the position of print data to be printed.

The self-propelled printing method according to a third aspect of the present invention is a self-propelled printing method in which printing means prints print data while moving on an object to be printed by using a moving means. Receiving print data via the print start reference point, and calculating the position of the print data to be printed on the print target based on the print start reference point and the moving distance moved by the moving means; Moving to the position of the calculated print data by the moving means, and printing the received print data ,
The printing material printed by the printing means is optically or magnetically
And the step of calculating above.
The position of the printing material detected above and the calculated
Based on the position of the print data
The position of the print data to be printed is adjusted and calculated.

[0011]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a plan view showing the structure of a self-propelled printing system according to an embodiment of the present invention. As shown in FIG. 1, the schematic configuration of the self-propelled printing system according to this embodiment is as follows. (B) Self-propelled printing for wirelessly transmitting print data by wirelessly receiving the print data via the antenna 6a and printing the print data while self-propelled on the recording paper 18. And device 16.

FIG. 2 is a block diagram showing the internal construction of the self-propelled printing apparatus 16 shown in FIG. In FIG. 2, the self-propelled printing device 16 includes a control device 1, a self-propelled drive device 2, an inkjet head control device 3 that controls the operation of an inkjet head 3a, an ink holder 4, and a CCD line sensor 5a. Ink detection device 5 provided with and antenna 6
The wireless transceiver 6 including a, a print data temporary storage memory 7, a work memory 8, and a power supply circuit 9 for supplying a power supply voltage to each of the circuits 1 to 8 are configured. The control device 1 of the self-propelled printing device 16 determines a predetermined print start reference point, a movement distance moved by the self-propelled drive device 2, and
By calculating the position of the print data to be printed on the recording paper, which is the print target, based on the print data wirelessly received from the print information transmitting device 17 via the wireless transceiver 6, A feature of the present invention is that the self-propelled printing apparatus can be downsized by eliminating the need for the position detecting means of the edge of the recording paper in the self-propelled printer.

The control device 1 includes a self-propelled drive device 2, an ink jet head control device 3, an ink holder 4, an ink detection device 5, a wireless transceiver 6, a print data temporary holding memory 7, and a work. It controls the operation of the memory 8 and controls the transfer of print data received via the wireless transceiver 6. Specifically, the control device 1 instructs the self-propelled drive device 2 to drive an amount or a position to be moved calculated as described later in detail, thereby driving the self-propelled printing. The device 16 is moved. Further, the control device 1 instructs the inkjet head control device 3 when to print the ink from the ink holder 4 on the recording paper, and supplies the ink to the inkjet head control device 3 to the ink holder 4. Indicate how much ink to do. Further, the control device 1 receives the ink detection result information from the ink detection device 5, and controls the inkjet head 3a via the inkjet head control device 3 based on the detection result information to determine the position to print. Performs control for adjustment.

Further, the control device 1 monitors the internal state of the wireless transceiver 6, that is, whether or not the print data to be received from the print information transmitting device 17 has arrived, and when the data to be received has arrived. Indicates to the wireless transceiver 6 that the print data should be received. When the wireless transceiver 6 receives the print data, the control device 1 temporarily stores the received print data in the print data temporary storage memory 7. The wireless transceiver 6, the print data temporary holding memory 7, and the work memory 8 are controlled so that the data are stored in the work memory 8 and then output to the work memory 8. Further, the control device 1 prints the print data temporarily held in the print data temporary holding memory 7 by using the working memory 8 so that the inkjet head control device 3 can print the print target object. After changing the format of the data and the like, the data is controlled to be transferred to the inkjet head control device 3. Furthermore, the control device 1 calculates its own position, that is, the position of the main body of the printing device 16 from information such as the diameter of the wheel of the self-propelled drive device 2 and the position of the reference point of movement before printing.

As will be described later with reference to FIG. 3, the self-propelled driving device 2 is composed of a pair of wheels 31a, 31b, stepping motors 33a, 33b, etc., and the self-propelled printing device according to the present embodiment. 16 is responsible for self-propelled. The self-propelled drive device 2 operates in accordance with the movement amount or the movement position instructed by the control device 1, and the stepping motors 33a and 33b.
Is rotated to drive the pair of wheels 31a and 31b.

Returning to FIG. 2, the ink jet head control device 3 comprises an ink jet head 3a used in a conventional ink jet printer. The inkjet head control device 3 controls the ink retained in the ink retainer 4 at a timing instructed by the control device 1 in accordance with the print data retained in the working memory 8 to a normal object to be printed. The inkjet system is controlled to record using the inkjet head 3a. Here, the ink holder 4 has the same structure as an ink tank in a conventional printer, and holds color inks containing a plurality of colors of ink,
The color ink is supplied to the inkjet head control device 3 in an amount specified by the control device 1.

The ink detection device 5 is composed of a CCD line sensor 5a, a detection data register 5b, etc., and detects the shape and position of the ink recorded and attached to the printing target by the ink jet head 3a, and the detection results thereof. The information data is temporarily stored in the detection data register 5b and then transmitted to the control device 1. The wireless transceiver 6 is composed of, for example, an infrared receiving device used in a conventional personal computer or the like, or a wireless receiving device used in a wireless mobile phone or the like. The reception state of the print data to be printed on the object is monitored, and the print data wirelessly transmitted from the print information transmitting device 17 of FIG. The wirelessly received print data is output to the print data temporary storage memory 7 and temporarily stored therein. The wireless transceiver 6 has a reception flag register that indicates the reception state of print data. Further, the working memory 8 is used as a working memory for converting the print data so that it can be printed on the printing target, as described above. Further, the power supply circuit 9 supplies a predetermined power supply voltage to each of the circuits 1 to 8 in the self-propelled printing device 16.

FIG. 3 is a plan view of the external appearance of the self-propelled printing device 16 shown in FIG. As shown in FIG. 3, a circuit including a controller 1, an inkjet head controller 3, an ink holder 4, an ink detector 5, a wireless transceiver 6, a print data temporary holding memory 7, a working memory 8 and a power supply circuit 9. The parts are mounted on the chassis 10, and the chassis 10 is self-propelled by the self-propelled drive device 2. Here, the self-propelled drive device 2 includes a pair of wheels 31a and 31b, a stepping motor 33a connected to the wheels 31a via an axle 32a, and a wheel 31.
The stepping motor 33b is connected to the vehicle b through the axle 32b, and the rotating ball 34 is provided. By outputting a predetermined number of pulse signals from the control device 1 to the stepping motor 33a and the stepping motor 33b of the self-propelled drive device 2, the stepping motors 33a and 33b are output.
Is driven to rotate, and the self-propelled printing device 16 is self-propelled. The direction can be changed by making the pulse numbers of the pulse signals for the two stepping motors 33a and 33b different. Further, the rotating ball 34 is installed on the carriage 10 via a bearing (not shown), and the rotating ball 34 can rotate freely by the mechanism of the bearing.

FIG. 4 is a flowchart showing a print control process executed by the control device 1 of the self-propelled printing device 16 of FIG. The print data to be printed that is received by the wireless transceiver 6 is composed of print control data for controlling printing and print data that means print data to be printed on the printing target. Further, the self-propelled printing device 16 is arranged near the print information transmitting device 17.

In FIG. 4, first, in step S1, an initialization process S1 is executed, and the control device 1 initializes the internal state of each device such as the self-propelled drive device 2 and the inkjet head control device 3, and The self-propelled driving device 2 is instructed to move to the reference position of the printing target. As a result, the self-propelled printing device 16 moves to a reference position of the printing target before printing, for example, the upper left end of the paper to be printed. In addition, this initialization processing S1
At, the data in the print data temporary storage memory 7 and the work memory 8 are initialized. Next, in step S2, print data reception processing is executed, and the wireless transceiver 6
Receives a wireless signal transmitted from the print information transmitting device 17. Here, when the received wireless signal data is print data, the wireless transceiver 6 sets the internal state of the reception flag register indicating the print data reception state of the wireless transceiver 6 to “receiving print data”. It is set and the control device 1 is notified that a wireless signal has arrived. Control device 1
Monitors the internal state of the wireless transceiver 6, that is, whether the print data to be received has arrived, and when the print data to be received has arrived, the print data should be received by the wireless transceiver 6. Instruct that. The wireless transceiver 6
In response to the monitoring control signal from the control device 1, the reception state of the print data to be printed on the printing target is monitored, and the print data from the external print information transmitting device 17 is received.

Further, in step S3, print data temporary holding processing is executed, and when the wireless transceiver 6 receives the print data, the control device 1 stores the received print data in the print data temporary holding memory 7 To the wireless transceiver 6 and to instruct the print data temporary holding memory 7 to hold the print data in the print data temporary holding memory 7. In response to this, the wireless transceiver 6 supplies the received print data to the print data temporary storage memory 7 in response to the instruction from the control device 1. Next, in step S4, print data end determination processing is executed, and the control device 1 determines whether or not the print data held in the print data temporary holding memory 7 is print control data indicating the end of printing, If YES, a predetermined finalization process is executed in step S10 to end the print control process. On the other hand, if NO in step S4, print data conversion processing is executed in step S5, and the control device 1 inspects the content of the print data held in the print data temporary holding memory 7,
It is determined whether it is print control data or print data, and if it is print control data such as "line feed", the self-propelled drive device 2 is determined according to the content of the print control data. Processing such as driving instruction is performed. on the other hand,
When the inspected print data is print data, the control device 1 uses the working memory 8 so that the image represented by the print data can be printed on the print target by the inkjet head control device 3. Convert data. The conversion of this data is performed, for example, from RGB color components to C
It includes color conversion processing to MYK color components and halftone processing by a dither method, an error diffusion method, or the like.

Next, in step S6, the ink recording process is executed, the controller 1 controls the ink jet head controller 3, and the print data held in the working memory 8 is held in the ink holder 4. The target ink is used to print on an object to be printed by an inkjet method. Then, in step S7, the ink detection process is executed, and the ink detection device 5 detects the position and shape of the ink recorded on the printing material by using the CCD line sensor 5a, and the inside of the position register, the shape information register, and the like. The state is changed to inform the control device 1 of the position and shape of the ink that has adhered. When a magnetic material is mixed in the ink, a magnetic sensor or the like is used instead of the CCD line sensor 5a. Furthermore, step S
In 8, the movement position calculation processing is executed, and the control device 1
The content of the print data, that is, the print control data or the print data, the position of the self-propelled printing device 16, the distance from the reference point (for example, the upper left corner between the papers) of the printing target, and the main body of the self-propelled printing device 16 The position to be printed next or the amount to be moved is calculated from the amount of movement. Then, in step S9, the drive process of the self-propelled drive device 2 is executed, and the control device 1 based on the position to be printed next or the amount to be moved calculated in the calculation process of the moving position in step S8. After instructing the self-propelled drive device 2 to drive so as to move to the position to be printed next, the control flow returns to step S2, and the above-described processing is repeated. That is, in this print control process,
The process from the print data reception process of step S2 to the drive process of the self-propelled drive device 2 of step S9 is repeated until there is no data to be printed.

FIG. 5 is a block diagram showing the internal structure of the print information transmitting apparatus 17 of FIG. The print information transmission device 17 includes a control device 11 and an external interface circuit 1
2, a wireless transceiver 13, a print data temporary storage memory 14, and a work memory 15. The external interface circuit 12 is connected to a personal computer 19 which is an external device.

In FIG. 5, the control device 11 manages the internal states of the external interface circuit 12, the wireless transceiver 13, the print data temporary storage memory 14 and the working memory 15, and controls them. Further, the external interface circuit 12 acts as an intermediary between the print information transmitting device and the personal computer 19 on which the application software requesting printing operates, and the personal computer 1
The signal conversion processing of the signal supplied from 9 and the protocol conversion processing etc. are performed. Further, the wireless transceiver 13 directs the print data received from the application software requesting printing via the external interface circuit 12 and the accompanying print control information to the antenna 6a of the self-propelled printing apparatus 16 via the antenna 13a. Wirelessly. The print data temporary holding memory 14 is used to temporarily hold print data and accompanying print control information received from the application software requesting printing via the external interface circuit 12 and the working memory 15. . Furthermore, the working memory 15
Is controlled by the control device 11 and is used for holding each internal state of the external interface circuit 12, the wireless transceiver 13, and the print data temporary holding memory 14.

The flow of print data in the print information transmission device 17 is as follows. First, the print data is transferred from the application software requesting the printing to the work memory 15 via the external interface circuit 12. Then, the print data is transferred from the work memory 15 to the print data temporary storage memory 14. Furthermore, after the print data is transferred from the print data temporary storage memory 14 to the wireless transceiver 13, the self-propelled printing device 16
Wirelessly transmitted to the wireless transmitter / receiver 6.

Next, referring to FIG. 1, the above-described movement position calculation processing (step S8) and drive processing for the self-propelled drive device 2 (step S9) will be described below. Figure 1
Shows the positional relationship between the self-propelled printing device 16, the print information transmitting device 17, and the recording paper 18 before printing.
Reference numeral 8a is a print start reference point indicating a reference position for starting printing on the recording paper 18, and 18b is
The area surrounded by the dashed rectangle on the recording paper 18 is the print area of the first character (here, the character A). Here, the print start reference point 18a is located at the lower left corner of the rectangle of the print area 18b. In the example of FIG. 1, the print information transmission device 17
Is connected to a personal computer 18, and application software such as a word processor that generates print data is operating in the personal computer 18. As shown in FIG. 1, before printing,
The self-propelled printing device 16 is arranged outside the recording paper 18 to be printed, in the vicinity of the print information transmitting device 17, and the reference position where the self-propelled printing device 16 before printing is arranged is " The movement start reference point ".

FIG. 6 shows the movement start reference point 18r, the print start reference point 18a, and the printing used in the movement position calculation process (step S8) executed by the controller 1 of the self-propelled printing apparatus 16 of FIG. It is a figure of an xy coordinate plane which shows a physical relationship of field 18b. In FIG. 6, the two-dimensional coordinate of the movement start reference point 18r is (x ₀ , y ₀ ). In addition, the two-dimensional coordinates of the print start reference point 18a are (x ₁ , y ₁ )
And Note that here, y ₀ = y ₁ . The unit of distance in the two-dimensional coordinates will be called a logical unit. For example, here, one logical unit is 0.5 point in the technical field of printing. One point is about 1/72 inch.

In the example of FIG. 6, the distance from the movement start reference point 18r to the print start reference point 18a is 100 logical units, the first character to be printed is A, and the first character to be printed is the first character. The second character is B. Although the movement amount from the movement start reference point 18r to the printing start reference point 18a is _{√ {(x 1 -x 0)} 2 + (y 1 -y 0) 2}, for simplicity here , Y ₀ and y ₁ are equal. The movement start reference point 18r and the print start reference point 1
8a is designated as an initial value by the user. When the self-propelled printing device 16 records the first character, for example, the character A, the amount to be moved is (x ₁ −x ₀ ) logical unit. As shown in FIG. 6, the movement amount (x ₁ −x ₀ ).
Is 100 logical units, movement of the printing device 16 is accomplished as follows.

The circumferences of the wheels 31a and 31b of the printing device 16 are 10 logical units, and the stepping motor 33a and the stepping motor 33b of the printing device 16 receive 100 pulses from the control device 1 and the axis of the stepping motor is It is a DC pulse stepping motor that rotates once,
It is assumed that the axles 32a and 31b are directly connected to the respective shafts of the stepping motor 33a and the stepping motor 33b. That is, when the stepping motor 33a and the stepping motor 33b rotate so as to move in the same direction, the self-propelled printing device 16 moves by 10 logical units in response to 100 pulses from the control device 1. . Then, in the self-propelled printing device 16 configured as described above, by inputting 1000 pulses from the control device 1 to the stepping motor 33a and the stepping motor 33b, it is possible to move by 100 logical units.

Next, the first character A to be printed is 12 points, and the second character B is also moved to the right immediately following it, that is, adjacent to the first character A in the y direction. Without being involved, a moving method for printing the character B of the second character when it is recorded at 12 points will be described.

Here, it is assumed that the character width for the first character A and the second character B is 10 points.
That is, it is assumed that the distance between the origin of the first character A and the origin of the second character B is 10 points, that is, 20 logical units. The print start reference point 18a and the origin of the first character A (the position of the lower left corner of the printing area 18b is referred to as the position of the lower left corner of the printing area of each character. , Which is in the same position. In order to move from the origin of the character A of the first character to the origin of the character B of the second character, 20 logical units corresponding to 10 points in width of the print area 18b of the first character from the print start reference point 18a. Need only move in the x direction. In this case, the controller 1 sends 200 pulses to the stepping motor 3
By inputting 3a and the stepping motor 33b, it is possible to move by 20 logical units. The characters after the third character are moved and printed in the same manner as the second character. As described above, the print positions of the second and subsequent characters are sequentially calculated from the font size of the character and the print start reference point 18a, which is the print start position of the first character, and the self-run distance. can do.

Further, the ink detection process (step S7) of FIG. 4 and the method of adjusting the print position based on the ink detection will be described below. The ink detection device 5 can be configured by including the CCD line sensor 5a as described above. By installing the ink detection device 5 on the bottom surface of the chassis 10 of the printing device 16, it is possible to detect the recorded printing material, that is, the ink.

FIG. 7 shows a reading area 20 of the line sensor 5a of the ink detecting device 5 of FIG. 2 and a printable area 2 of the ink jet head 3a of the ink jet head controller 3.
1 and the print area 22 for the second character to be printed,
It is a figure of an xy coordinate plane which shows the physical relationship of the pixel row 23 of the 1st character rightmost end, and the pixel row 24 of the 2nd character leftmost end. In FIG. 7, the x coordinate of the rightmost pixel row 23 of the first character is x ₂ , and the leftmost pixel row 24 of the second character is 24.
Is x ₄ , and the distance between x ₂ and x ₄ is 20 logical units. Further, the example of FIG. 7 shows a case where the reading area 20 of the CCD line sensor 5a has moved to the position of the x coordinate of x ₂ , and the reading area 20 of the CCD line sensor 5a and the printable area of the inkjet head 3a. 21 is set apart from each other by 2 logical units in the x direction.

The CCD line sensor 5a inputs the light from the object to be printed at the timing of the ink detection process (step S7) in FIG. 4 and measures the brightness thereof to determine the presence or absence of a recorded pixel. It is possible to determine the position of the recorded pixel. The position information of the recorded pixel is used to adjust the position of the leftmost pixel row of the character to be recorded next. For example, as shown in FIG. 7, ink detection processing (step S
At the timing of 7), the CCD line sensor 5a of the ink detecting device 5 can detect the rightmost pixel row 23 of the first character, and the self-propelled printing device 16 detects the coordinate x ₂ thereof.
You can get the value of. In addition, the self-propelled printing device 16
From the font information of the second character to be printed,
The value of x ₄ , which is the x coordinate of the leftmost pixel row 24 of the second character, can be calculated. Further, the reading area 20 of the CCD line sensor 5a and the printable area 2 of the inkjet head 3a
Since it is set to be separated from 1 by 2 logical units in the x direction, the printing apparatus 16 can calculate that the amount to be moved is 18 logical units.

As described above, the print position is adjusted by feeding back the recorded position information of the pixel to the amount to be moved. Further, by utilizing the CCD line sensor 5a, the luminance information from the line sensor 5a one logical unit before (that is, one logical unit is located on the left side) is held, and the current luminance information of the CCD line sensor 5a is stored. The presence or absence of the recording paper and the edge of the recording paper can be detected by comparing the above.

As described above, according to the present embodiment, the position of the print data to be printed on the print target is set to the initial position of the self-propelled printer before printing and the actually moved amount or print data. By calculating the position to be moved, which is derived from the above, the position detecting means in the self-propelled printer disclosed in Japanese Patent Laid-Open No. 5-254182 is unnecessary, and thus the self-propelled printer can be downsized. Further, since the printing apparatus according to the present embodiment is configured to include two stepping motors for one sphere as the moving unit, the movement amount connected to the drive unit without using a plurality of spheres. By using a wheel that can be measured, the position control or the movement control can be facilitated and the self-propelled printing apparatus can be downsized.

<Modification 1> In the above embodiment,
Although the printing position is optically detected, the present invention is not limited to this, and the printing material mixed with the magnetic material is printed at a specific point or a specific region of the print data to determine the position to be printed. A method of increasing the precision of control may be used.
Here, differences from the description of the ink detection processing (step S7) in the processing procedure according to the present embodiment using the flowchart of FIG. 4 described above will be mainly described.

FIG. 8 shows the baseline 2 when the ink detection device 5 of FIG. 2 is composed of the magnetic sensor according to the first modification.
6 indicating the positional relationship between 6 and the pixel 25 in which the magnetic substance is mixed x
FIG. 6 is a diagram of a y-coordinate plane. First, as shown in FIG. 8, ink containing a magnetic material is printed on pixels at specific positions. At a specific position, for example, when the content to be printed is an alphabetic character, a pixel that virtually intersects the baseline that is the reference line for printing is selected, and a magnetic substance is mixed into the selected pixel. Print ink. Needless to say, since the baseline is not normally printed, the intersection of the baseline and the pixels that make up the letter is a virtual point.

In FIG. 8, the pixel 2 in which the magnetic material is mixed
5 is aligned with the baseline 26 whose y coordinate is y ₃ . In FIG. 8, the pixels in which the magnetic substance is mixed are shown by white circles, and the pixels in which the magnetic substance is not mixed are shown by black circles. In the ink detection process (step S7) according to the first modification, the ink detection device 5 detects the position of the pixel in which the magnetic substance recorded on the printing material is mixed,
The internal state of the position register or the like is changed to inform the control device 1 of the position of the attached ink. The control device 1 is
If necessary, the self-propelled drive unit 2 is used to correct the current position based on the contents of the position register. Here, the ink detection device 5 is composed of magnetic sensors arranged in a straight line. The detection area of the magnetic sensor corresponds to the reading area 20 of the line sensor 5a in FIG. As described above, the position of the recorded magnetic substance at a specific position is detected,
By correcting the current position, the accuracy of position control by the control device 1 is improved.

<Modification 2> FIG. 9 is a plan view showing the configuration of a self-propelled printing system according to Modification 2. Referring to FIG. 9, a method of arranging the printer 16 with respect to the print information transmitter 17 is shown. Will be described. As shown in FIG. 9, a thin installation stand 27 having a rectangular shape is provided between the right side edge of the print information transmission device 17 and the left side edge of the recording paper 18, and the self-propelled type is installed on the installation stand 27. Arrangement of the printing device 16 and installation table 2
By disposing the print information transmitting device 17 on the left side edge of 7, it is possible to accurately determine the above-mentioned movement start reference point 18r (FIG. 6). Here, the installation table 27 is made of a thin material so as not to prevent the self-propelled printing device 16 from moving to the recording paper 18. In order to accurately determine the position of the movement start reference point 18r, the installation table 27 has a fixed unit, for example, a board-shaped reference line with a unit of 10 mm, or recording paper. A mark with a known distance to 18 is used. In addition,
By arranging the printing device 16 so as to be joined to the print information transmitting device 17, the movement position reference point 18r (FIG. 6) can be accurately specified as described above.

<Modification 3> In the above embodiment,
In step S8, the control device 1 moves the print data, that is, the content of the print control data or the print data, the position of the own machine, the distance from the reference point of the print target, and the main body of the self-propelled printing device 16 of the own machine. The position to be printed next or the amount to be moved is calculated from the amount. When the content of the print data is, for example, the size of the font is predetermined, the content of the print data is changed. Instead, the position of the print data to be printed on the print target may be calculated.

[0043]

As described in detail above, according to the present invention, in a self-propelled printing device that prints print data while moving on a printing object by using a moving means, the print data is transmitted via a communication line. Is received, the position of the print data to be printed on the object to be printed is calculated based on the print start reference point and the moving distance moved by the moving means, and the position is moved to the calculated print data position. Since the print data received is moved by means of the means for printing, the miniaturization is easy as compared with the conventional example.

Further, a detection means for optically or magnetically detecting the printed printing material is further provided, and based on the position of the detected printing material and the position of the calculated print data, Since the position of the print data to be printed is adjusted and calculated by the printing means, position control and movement control can be performed more easily than in the conventional example.

[Brief description of drawings]

FIG. 1 is a plan view showing a configuration of a self-propelled printing system according to an embodiment of the present invention.

FIG. 2 is a block diagram showing an internal configuration of the self-propelled printing device 16 in FIG.

FIG. 3 is a plan view of the external appearance of the self-propelled printing device 16 of FIG.

FIG. 4 is a flowchart showing a print control process executed by the control device 1 of the self-propelled printing device 16 of FIG.

5 is a block diagram showing an internal configuration of the print information transmitting apparatus 17 of FIG.

FIG. 6 shows a movement start reference point 18r, a print start reference point 18a, and a print area 18b used in a movement position calculation process (step S8) executed by the control device 1 of the self-propelled printing apparatus 16 in FIG. It is a figure of the xy coordinate plane which shows a positional relationship.

7 is a line sensor 5a of the ink detection device 5 of FIG.
Reading area 20, a printable area 21 of the inkjet head 3a of the inkjet head control device 3, a printing area 22 of the second character to be printed, a first rightmost pixel row 23, and Second leftmost pixel row 24
FIG. 6 is a diagram of an xy coordinate plane showing a positional relationship with.

8 is a diagram of an xy coordinate plane showing a positional relationship between the baseline 26 and the pixel 25 in which the magnetic substance is mixed when the ink detection device 5 of FIG. 2 is configured by the magnetic sensor according to the first modification. Is.

FIG. 9 is a plan view showing the configuration of a self-propelled printing system according to Modification 2.

[Explanation of symbols]

1 ... Control device, 2 ... self-propelled drive, 3 ... Inkjet head control device, 3a ... Inkjet head, 4 ... Ink holder, 5 ... Ink detection device, 5a ... line sensor, 5b ... Detection data register, 6 ... Wireless transceiver 6a ... antenna, 7 ... Print data temporary storage memory, 8 ... Working memory, 9 ... Power supply circuit, 10 ... chassis 11 ... Control device, 12 ... External interface circuit, 13 ... Wireless transceiver, 13a ... antenna, 14 ... Print data temporary storage memory, 15 ... Working memory, 16 ... Printing device, 17 ... Print information transmitting device, 18 ... Recording paper, 18a ... print start reference point, 18b ... the print area of the first character, 18r ... movement start reference point, 19 ... Personal computer, 20 ... Reading area of line sensor, 21: printable area of the inkjet head, 22 ... print area, 23 ... the rightmost pixel row of the first character, 24 ... the leftmost pixel row of the second character, 25 ... Pixel mixed with magnetic material, 26 ... Baseline, 27 ... Installation stand, 31a, 31b ... Wheels, 32a, 32b ... Axle, 33a, 33b ... Stepping motors, 34 ... A rotating ball.

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP 62-146697 (JP, A) JP 62-179965 (JP, A) JP 1-128847 (JP, A) JP 5- 254182 (JP, A) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B41J 3/28 B41J 29/00

Claims (3)

(57) [Claims] 1. A self-propelled printing apparatus that prints print data while moving it on an object to be printed by using a moving unit, a receiving unit that receives the print data via a communication line, and a print start reference point. , A calculating means for calculating the position of the print data to be printed on the object to be printed based on the moving distance moved by the moving means, and moving to the calculated position of the print data by the moving means, a printing unit for printing the print data the received, optical or magnetic printing materials printed by the printing means
And a calculating means for detecting the position of the detected printing material.
Based on the calculated print data position,
Calculate by adjusting the position of print data to be printed according to the level
Self-propelled printing apparatus characterized by that. 2. The calculation means determines a position of print data to be printed on an object to be printed based on a print start reference point, a moving distance moved by the moving means, and the received print data. self-propelled printing apparatus according to claim 1, wherein the calculating. 3. A self-propelled printing method in which a printing means prints print data while moving on a printing object using a moving means, a step of receiving print data via a communication line, and a print start criterion. Calculating the position of the print data to be printed on the object to be printed based on the point and the moving distance moved by the moving means, and the printing means moving the print data to the calculated print data position by the moving means. Go and a step of printing the print data the received, optical or magnetic printing materials printed by the printing means
And a step of calculating the position of the detected printing material.
And the position of the print data calculated above,
Adjust the position of the print data to be printed by the printing means.
A self-propelled printing method that is characterized by the calculation .