JP6308003B2 - Image forming apparatus, control program, and image forming system - Google Patents

Description

  The present invention relates to an image forming apparatus, a control program, and an image forming system, and more particularly to processing in an image forming apparatus that executes image forming output by manually moving on a recording medium.

  In recent years, portability and size reduction of image forming apparatuses such as printers used for outputting digitized information have been promoted. As such a portable image forming apparatus, there is a handy type image forming apparatus that applies ink while manually scanning a recording medium such as paper.

  Since such a handy type image forming apparatus scans freehand, in order to accurately form and output an image to be formed on a recording medium, it is necessary to accurately grasp the moving direction and moving amount of the apparatus. There is.

  A reference guide indicating the moving direction of the image forming apparatus is attached to the recording sheet for the purpose of correcting image misalignment during printing by the hand-held image forming apparatus, and output so that the image can be printed along the reference guide. There has been proposed a method of correcting an image to be corrected (see, for example, Patent Document 1).

  In such a handy type image forming apparatus, the position of the apparatus on the storage medium is grasped when the image forming apparatus is lifted away from the recording medium in the middle of the image forming output to the recording medium or the scanning speed is too high. If execution of the image formation output is interrupted and the image formation output is interrupted, even if the image formation apparatus is replaced on the storage medium and the image formation output is resumed, the image formation output is not performed normally due to deviation from the original position. There is. Further, the technique disclosed in Patent Document 1 does not take into consideration that the position of the apparatus cannot be grasped in the middle of image formation output.

  Further, not only the execution of the image formation output is interrupted due to the inability to grasp the position of the apparatus as described above, but the same problem occurs even when the execution of the image formation output is interrupted due to another cause. Arise.

  The present invention has been made to solve such problems, and in a handy type image forming apparatus, even when execution is interrupted in the middle of image formation output, image formation output is completed normally. The purpose is to let you.

In order to solve the above-described problem, an aspect of the present invention is an image forming apparatus that executes image formation output by being manually moved on a recording medium, and is a reference apparatus that is installed at a predetermined position. A distance measuring unit that measures the distance to the position, a position information acquiring unit that acquires position information of the image forming apparatus on the recording medium based on the measured distance, and the acquired position information in a storage medium a position information storage unit to be stored, when the execution of the image formation output is interrupted, unrealized and resume output control unit to execute the image forming output based on the position information stored in the storage medium The distance measuring unit measures a distance between the reference device and two predetermined positions of the image forming apparatus, and the position information acquiring unit is configured to determine the position of the two locations based on the measured distance. To obtain information, based on the position information of the acquired two places, to obtain the inclination of the image forming apparatus for said recording medium, characterized in that.

  According to the present invention, in a handy type image forming apparatus, even when execution is interrupted in the middle of image formation output, image formation output can be completed normally.

1 is a diagram illustrating an operation mode of an image forming system according to an embodiment of the present invention. 1 is a block diagram illustrating a hardware configuration of an image forming apparatus according to an embodiment of the present invention. 2 is a block diagram illustrating functional configurations of an image forming apparatus and a light receiving device according to an embodiment of the invention. FIG. 1 is a diagram illustrating a mechanical configuration of an image forming apparatus viewed from the back side according to an embodiment of the invention. 1 is a diagram illustrating a mechanical configuration of an image forming apparatus viewed from the surface according to an embodiment of the invention. 1 is a diagram illustrating a mechanical configuration of an image forming apparatus viewed from the left side according to an embodiment of the invention. It is a figure which illustrates the function structure of the main control part which concerns on embodiment of this invention. It is a figure which illustrates the information which the position information storage part concerning the embodiment of the present invention stores. It is a figure which illustrates the installation aspect of the light-receiving device A and the light-receiving device B which concern on embodiment of this invention. It is a flowchart which illustrates the positional information acquisition process by the positional information acquisition part which concerns on embodiment of this invention. It is a figure which illustrates the aspect of the light transmission by the distance measuring sensor which concerns on embodiment of this invention. It is a figure which illustrates the aspect at the time of acquiring the coordinate of the position A which concerns on embodiment of this invention. It is a figure which illustrates the aspect at the time of acquiring the coordinate of the position B which concerns on embodiment of this invention. It is a flowchart which illustrates the positional information acquisition process by the rear ranging sensor which concerns on embodiment of this invention. It is a flowchart which illustrates the process before an image formation output start among the processes by each structure part of the main control part which concerns on embodiment of this invention. FIG. 6 is a diagram illustrating a relationship between a display mode of a notification unit and the state of the image forming apparatus according to the embodiment of the invention. It is a flowchart which illustrates the process performed during a printing process among the processes by each structure part of the main control part which concerns on embodiment of this invention. It is a flowchart which illustrates another process performed during a printing process among the processes by each structure part of the main-control part which concerns on embodiment of this invention. 1 is a diagram of an image forming apparatus according to an embodiment of the present invention viewed from the left side. 1 is a diagram of an image forming apparatus according to an embodiment of the present invention viewed from the left side. 6 is a flowchart illustrating print restart processing when a print inhibition state occurs during printing according to an embodiment of the present invention. It is a figure which illustrates the relationship between the output mode which concerns on embodiment of this invention, and the detection accuracy of the light at the time of acquiring positional information. It is a figure which illustrates the difference in the detection accuracy of the light by the light-receiving device which concerns on embodiment of this invention. It is a figure which illustrates the threshold value of the lightness which determines with having received the light of each pattern which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram illustrating an operation mode of the image forming system according to the present embodiment. As shown in FIG. 1, the image forming system according to the present embodiment includes a portable image forming apparatus 1 and light receiving devices 2-1, 2-2. Hereinafter, the portable image forming apparatus 1 is referred to as an image forming apparatus 1, the light receiving device 2-1 is referred to as a light receiving device A, and the light receiving device 2-2 is referred to as a light receiving device B.

  The image forming apparatus 1 is a portable printer that executes image formation output by being manually moved on a recording medium. As the recording medium, in addition to the above-described paper, a sheet-like material such as a film or plastic can be used as long as it is an object for image formation output.

  The light receiving devices A and B are reference devices installed at predetermined positions at the time of image formation output by the image forming device 1, and measure the distance from the image forming device 1 to the light receiving devices A and B. It is an optical sensor that receives the output light. In the image forming system according to the present embodiment, by measuring the distance from the image forming apparatus 1 to the light receiving devices A and B, the image forming output is executed while acquiring the position information of the image forming apparatus 1 on the recording medium. To do. Details will be described later.

  Next, hardware constituting the image forming apparatus 1 and the light receiving devices A and B included in the image processing system according to the present embodiment will be described. FIG. 2 is a block diagram illustrating a hardware configuration of the image forming apparatus 1 according to the present embodiment. FIG. 2 shows the hardware configuration of the image forming apparatus 1, but the same applies to other apparatuses.

  As shown in FIG. 2, the information processing apparatus according to the present embodiment includes a configuration similar to that of a general server, a PC (Personal Computer), or the like. That is, the image forming apparatus 1 according to the present embodiment includes a CPU (Central Processing Unit) 10, a RAM (Random Access Memory) 20, a ROM (Read Only Memory) 30, an HDD (Hard Disk Drive) 40, and an I / F 50. 80 is connected. A display unit 60 and an operation unit 70 are connected to the I / F 50. In addition, the image forming apparatus 1 includes an engine that executes an image forming output.

  The CPU 10 is a calculation unit and controls the operation of the entire image forming apparatus 1. The RAM 20 is a volatile storage medium capable of reading and writing information at high speed, and is used as a work area when the CPU 10 processes information. The ROM 30 is a read-only nonvolatile storage medium and stores a program such as firmware. The HDD 40 is a non-volatile storage medium that can read and write information, and stores an OS (Operating System), various control programs, application programs, and the like. In addition to the HDD, a semiconductor storage device such as an SSD (Solid State Drive) may be used.

  The I / F 50 connects and controls the bus 80 and various hardware and networks. The display unit 60 is a visual user interface for the user to check the state of the image forming apparatus 1. The operation unit 70 is a user interface for the user to input information to the information processing apparatus, such as various hard buttons and a touch panel. As described with reference to FIG. 1, the light receiving devices A and B according to the present embodiment are operated as optical sensors. Therefore, user interfaces such as the display unit 60 and the operation unit 70 can be omitted.

  In such a hardware configuration, a program stored in a storage medium such as the ROM 30, the HDD 40, or an optical disk (not shown) is read into the RAM 20, and the software control unit is configured by the CPU 10 performing calculations according to those programs. . A combination of the software control unit configured in this way and hardware constitutes a functional block that realizes the functions of the respective devices constituting the image forming system according to the present embodiment.

  Next, functional configurations of the image forming apparatus 1 and the light receiving devices A and B according to the present embodiment will be described. FIG. 3 is a block diagram illustrating the functional configuration of the image forming apparatus 1 and the light receiving devices A and B according to this embodiment. As shown in FIG. 3, the image forming apparatus 1 according to the present embodiment includes a home position registration button 110, a print start button 111, a notification unit 112, a polygon motor 113, a speed sensor 114, an inkjet head 115, a network I / F 116, Four distance measuring sensors 121 to 124 and a controller 100 are included.

  The controller 100 includes a main control unit 130, an operation display control unit 101, a motor drive control unit 102, a sensor control unit 103, a head drive control unit 104, an input / output control unit 105, and an image processing unit 106. Hereinafter, the distance measuring sensors 121 to 124 may be referred to as distance measuring sensors A to D, respectively, and the distance measuring sensors 121 to 124 may be collectively referred to as the distance measuring sensor 120.

  In addition, the light receiving device A according to the present embodiment includes a light receiving unit 201, and the light receiving device B includes a light receiving unit 202. Hereinafter, the light receiving unit 201 may be referred to as a light receiving unit A and the light receiving unit 202 may be referred to as a light receiving unit B.

  The home position registration button 110 is an input interface for inputting to the image forming apparatus 1 a command for registering a home position indicating the position where the image forming apparatus 1 is placed on the recording medium. This corresponds to the operation unit 70. Details of the home position will be described later.

  The print start button 111 is an input interface for inputting to the image forming apparatus 1 a command for starting image formation output to the recording medium, and corresponds to the operation unit 70 shown in FIG. The notification unit 112 is an output interface that notifies various states of the image forming apparatus 1 and corresponds to the display unit 60 shown in FIG. For example, the notification unit 112 notifies various states according to the lighting state of an LED (Light Emitting Diode). Various states of the image forming apparatus 1 will be described later.

  The polygon motor 113 is used for each distance measuring sensor 120 described later, and rotates the distance measuring sensor 120. The speed sensor 114 is a sensor for measuring the moving speed of the image forming apparatus 1. The ink jet head 115 ejects ink for forming and outputting an image on a recording medium.

  The network I / F 116 is an interface through which the image forming apparatus 1 communicates with other devices such as an administrator terminal via the network, and includes Ethernet (registered trademark), USB, Bluetooth (registered trademark), and Wi-Fi. An interface such as (Wireless Fidelity) is used.

  The distance measuring sensor 120 is an infrared sensor, an ultrasonic sensor, a millimeter wave radar, or the like, and transmits light having straightness to measure the distance to the light receiving devices A and B while rotating by the polygon motor 113. It is detected that the devices A and B have received light, and the linear distance from the light receiving devices A and B is measured. That is, the distance measuring sensor 120 functions as a distance measuring unit that measures the distance to the light receiving devices A and B that are reference devices. Details of the distance measurement processing using the distance measuring sensor 120 with respect to the light receiving devices A and B will be described later.

  The controller 100 is configured by a combination of software and hardware. Specifically, a software control unit and an integrated circuit configured by loading a control program such as firmware stored in a non-volatile storage medium such as the ROM 30 or the HDD 40 into the RAM 20 and performing an operation by the CPU 10 according to the program. The controller 100 is configured by hardware such as. The controller 100 functions as a control unit that controls the entire image forming apparatus 1.

  The main control unit 130 plays a role of controlling each unit included in the controller 100 and gives a command to each unit of the controller 100. The operation display control unit 101 notifies the main control unit 130 of a command input via the home position registration button 110 and the print start button 111. In addition, the operation display control unit 101 notifies the notification unit 112 of the state of the image forming apparatus 1 according to the control of the main control unit 130.

  The motor drive control unit 102 controls or drives the polygon motor 113. The sensor control unit 103 controls or drives the distance measuring sensor 120 and the speed sensor 114. The sensor control unit 103 notifies the main control unit 130 of information input from the distance measuring sensor 120 and the speed sensor 114. The head drive control unit 104 controls or drives the inkjet head 115 according to the control of the main control unit 130.

  The input / output control unit 105 inputs a signal or a command input from the information processing apparatus or the like connected to the image forming apparatus 1 via the network I / F 116 to the main control unit 130. Further, the input / output control unit 105 accesses other devices via the network I / F 116 under the control of the main control unit 130.

  The image processing unit 106 generates drawing information based on image information to be imaged and output under the control of the main control unit 130. The drawing information is information for drawing an image to be formed by the inkjet head 115 in the image forming operation.

  In the image forming apparatus 1 configured as described above, first, the input / output control unit 105 receives a print job from the information processing apparatus or the like connected to the image forming apparatus 1 via the network I / F 116. The input / output control unit 105 transfers the received print job to the main control unit 130. When the main control unit 130 receives a print job, the main control unit 130 controls the image processing unit 106 to generate drawing information based on document information or image information such as a PDL (Page Description Language) format included in the print job. When drawing information is generated by the image processing unit 106, the head drive control unit 104 executes image formation output based on the generated drawing information under the control of the main control unit 130.

  In the present embodiment, the user presses the image forming apparatus 1 against the recording medium, and the home position is acquired when the user presses the home position registration button 110 at the start of image forming output. Then, when the user presses the print start button 111 and moves the image forming apparatus 1 on the recording medium, the image forming output based on the drawing information as described above is executed.

  In such an image forming apparatus 1, the position information of the image forming apparatus 1 is obtained by measuring the distance from the light receiving apparatuses A and B by the distance measuring sensor 120 with reference to the installation positions of the light receiving apparatuses A and B. One aspect of the present invention is to resume execution of image formation output based on the acquired position information when the position of the image forming apparatus 1 cannot be grasped in the middle of image formation output and the image formation output is interrupted. It is.

  Next, the mechanical configuration of the image forming apparatus 1 will be described. FIG. 4 is a diagram illustrating a mechanical configuration of the image forming apparatus 1 as viewed from a surface (hereinafter referred to as “back surface”) facing a recording medium that is a printing surface at the time of image formation output. FIG. 5 is a diagram illustrating a mechanical configuration of the image forming apparatus 1 viewed from a surface (hereinafter referred to as “front surface”) opposite to a surface facing the recording medium, which is a printing surface, at the time of image formation output. It is. FIG. 6 is a diagram illustrating a mechanical configuration of the image forming apparatus 1 as viewed from the left side of the image forming apparatus 1.

  As shown in FIG. 4, on the back surface of the image forming apparatus 1, a speed sensor 114, an inkjet head 115, a distance measuring sensor A (121), a distance measuring sensor B (122), and a distance measuring sensor counterclockwise from the upper right corner of the four corners. A distance sensor C (123) and a distance measurement sensor D (124) are arranged. Further, light shielding plates 141 to 144 (hereinafter referred to as light shielding plates A to D) are arranged for the distance measuring sensors A to D, respectively. The light shielding plates A to D are materials that absorb light, and are used to block light transmitted from the distance measuring sensors A to D. Details of the light shielding plates A to D will be described later. In addition, the arrangement positions of the speed sensor 114 and the inkjet head 115 are examples, and can be installed at arbitrary positions where these components operate correctly.

  As shown in FIG. 5, a home position registration button 110, a print start button 111, and a notification unit 112 are arranged on the surface of the image forming apparatus 1. In addition, the arrangement position of the button shown in FIG. 5 is an example, and can be arranged at an arbitrary position. In the present embodiment, the case where the notification unit 112 is an LED will be described as an example. However, this is an example, and a display panel for notifying the state of the image forming apparatus 1 may be used. Both display panels may be provided.

  Further, as shown in FIG. 6, the image forming apparatus 1 has a step so that the light from the distance measuring sensors A to D installed on the back surface is not blocked by the image forming apparatus 1 itself.

  Next, among the functions of the main control unit 130 according to the present embodiment, a functional configuration related to acquisition of position information of the image forming apparatus 1 in the recording medium at the time of image formation output and image formation output control based on the position information will be described. FIG. 7 is a block diagram exemplifying a functional configuration related to acquisition of position information of the image forming apparatus 1 on the recording medium at the time of image formation output and image formation output control based on the position information among the functions of the main control unit 130 according to the present embodiment. FIG. As shown in FIG. 7, the main control unit 130 includes a print control unit 131, a position acquisition command reception unit 132, a position information acquisition unit 133, a position information storage unit 134, a state notification unit 135, and a movement speed acquisition unit 136.

  The print control unit 131 is an output control unit that controls image formation output in accordance with the state of the image forming apparatus 1. Specifically, the print control unit 131 prohibits execution of image formation output or cancels the prohibition state and starts image formation output. In addition, the print control unit 131 interrupts or restarts execution of image formation output. Details of processing by the print control unit 131 will be described later.

  The position acquisition command receiving unit 132 receives a position acquisition command when the user presses the home position registration button 110 shown in FIGS. 3 and 5 and acquires a position on the recording medium of the image forming apparatus 1. The information is output to the information acquisition unit 133.

  The position information acquisition unit 133 acquires the position of the image forming apparatus 1 on the recording medium in response to a command from the position acquisition command receiving unit 132. Details of the position information acquisition processing by the position information acquisition unit 133 will be described later. Further, the position information acquisition unit 133 functions as a position information storage processing unit that stores the acquired position information in the position information storage unit 134.

  FIG. 8 is a diagram illustrating information stored in the position information storage unit 134. As illustrated in FIG. 8, the position information storage unit 134 is a storage medium that stores the position information of the image forming apparatus 1 acquired by the position information acquisition unit 133. Further, the position information storage unit 134 stores the position information and distance information of the light receiving unit A and the light receiving unit B shown in FIG.

  FIG. 9 is a diagram illustrating an installation mode of the light receiving device A and the light receiving device B. As shown in FIG. 9, in this embodiment, the light receiving device A and the light receiving device B are installed at the left and right ends of the upper side of the recording medium as shown in FIG. 9, and the light receiving unit A (201) and the light receiving unit B ( 202) is set so that the positions in the vertical axis direction of the recording medium are aligned. The distance information between the light receiving part A and the light receiving part B indicates the distance S0 in the horizontal axis direction of the recording medium between the light receiving part A and the light receiving part B as shown in FIG.

  The position information of the light receiving unit A and the light receiving unit B is, for example, indicated by coordinates in which the horizontal axis direction of the recording medium is the X axis and the vertical axis direction is the Y axis, and the position P of the light receiving unit A is a reference coordinate (for example, (0 , 0)). In this case, the value of the Y axis at the position Q of the light receiving unit B is the same as that of the light receiving unit A, and the value of the X axis can be calculated from the distance information. Further, it is assumed that the installation positions of the light receiving device A and the light receiving device B are fixed until the image forming output is completed.

  The distance information is determined in advance, for example. In this case, the light receiving device A and the light receiving device B are installed so that the user has a predetermined distance at the time of image formation output. In addition, when the user installs the light receiving device A and the light receiving device B at the time of image formation output, for example, the light receiving device A and the light receiving device B communicate with each other to measure the distance, and from either of the light receiving devices via the network You may make it memorize | store in the positional-information memory | storage part 134. FIG.

  In the present embodiment, the case where the position information storage unit 134 stores the position information and distance information of the light receiving units A and B and the position information acquired by the position information acquisition unit 133 will be described as an example. However, this is an example, and these pieces of information may be stored in different storage media, or may be stored in an external storage medium or server.

  The status notification unit 135 notifies the status of the image forming apparatus 1 by the notification unit 112 illustrated in FIGS. 3 and 5 in accordance with information from the print control unit 131 and the position information acquisition unit 133. A specific example of notification by the state notification unit 135 will be described later. The movement speed acquisition unit 136 acquires the movement speed of the image forming apparatus 1 by the speed sensor 114 during execution of the image formation output, and outputs it to the print control unit 131.

  Next, details of position information acquisition processing by the position information acquisition unit 133 will be described. FIG. 10 is a flowchart illustrating position information acquisition processing by the position information acquisition unit 133. As shown in FIG. 10, the position information acquisition unit 133 controls the sensor control unit 103 to transmit light from the distance measuring sensor A (S1001).

  FIG. 11 is a diagram illustrating a mode of light transmission by the distance measuring sensor A (121). The distance measuring sensor A is rotated 360 degrees by the polygon motor 113, and as shown in FIG. 11, emits light having a straightness indicated by a dotted arrow. Further, as shown in FIG. 11, the light transmitted from the distance measuring sensor A is blocked by the light shielding plate 141 installed corresponding to the distance measuring sensor A in a 180 degree range on the side where the light shielding plate 141 is installed. It is done.

  This is because light received from the distance measuring sensor A is received when the image forming apparatus 1 is turned upside down with respect to the recording medium (that is, when the distance measuring sensor A faces the lower side of the recording medium). This is to prevent the device A and the light receiving device B from receiving light. In this case, the light receiving device A and the light receiving device B receive the light transmitted from the distance measuring sensor C and the distance measuring sensor D, and the position information acquisition unit 133 causes the image forming apparatus 1 to turn upside down with respect to the recording medium. Is detected.

  The position information acquisition unit 133 that has transmitted light from the distance measuring sensor A determines whether the light receiving device A and the light receiving device B have detected light transmitted from the distance measuring sensor A through the information from the sensor control unit 103. Is determined (S1002). That is, the position information acquisition unit 133 determines whether the image forming apparatus 1 is turned upside down with respect to the recording medium.

  When it is determined that the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor A (S1002 / YES), the position information acquisition unit 133 determines the position of the distance measuring sensor A (hereinafter “position A”). ) Is acquired (S1003).

  FIG. 12 is a diagram illustrating a mode when the coordinates of the position A are acquired. As shown in FIG. 12, when the transmitted light is received by the light receiving part A (201), the distance measuring sensor A (121) from the distance measuring sensor A (position A) to the light receiving part A (position P). The linear distance S1 is measured. Similarly, when the transmitted light is received by the light receiving part B (202), the distance measuring sensor A measures the linear distance S2 from the distance measuring sensor A (position A) to the light receiving part B (position Q). .

  The position information acquisition unit 133 acquires the distances S1 and S2 measured by the distance measuring sensor A, acquires the distance S0 from the position information storage unit 134, and based on these acquired distances, the cosine theorem performs FIG. The interior angle α of the position P of the triangle having the positions A, P and Q as vertices is obtained. That is, the interior angle α is calculated by the following equation (1).

Further, the distance dx in the X-axis direction from the position P to the position A is calculated by the following formula (2) using α calculated by the above formula (1).
dx = S1 × cos α (2)

Further, the distance dy in the Y-axis direction from the position P to the position A is calculated by the following equation (3) using α calculated by the above equation (1).
dy = S1 × sin α (3)

  By using dx and dy calculated in this way, the coordinates of the position A with respect to the position P are obtained. For example, if the position P is (x0, y0), the coordinates of the position A are (x0 + dx, y0 + dy). The position information acquisition unit 133 acquires the coordinates of the position A calculated in this way (S1003).

  The position information acquisition unit 133 that has acquired the coordinates of the position A controls the sensor control unit 103 to transmit light from the distance measurement sensor B in the same manner as the distance measurement sensor A (S1004). The position information acquisition unit 133 that has transmitted light from the distance measuring sensor B determines whether or not the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor B via the information from the sensor control unit 103. Is determined (S1005).

  When it is determined that the light transmitted from the light receiving device A and the light receiving device B ranging sensor B is detected (S1005 / YES), the position information acquisition unit 133 determines the position of the ranging sensor B (hereinafter referred to as “position B”). Position information is acquired (S1006).

  FIG. 13 is a diagram illustrating a mode when the position information of the position B is acquired. As shown in FIG. 13, the distance measurement sensor B (122) transmits light to obtain the linear distance from the position B to the position P, from the position B, as in the case of acquiring the coordinates of the position A described above. The straight line distance to the position Q is calculated. Based on these distances and the distance S0, the coordinates of the position B with respect to the position Q can be obtained in the same manner as in the case of the position A. The position information acquisition unit 133 acquires the coordinates of the position B calculated in this way (S1006).

  The position information acquisition unit 133 that has acquired the coordinates of the two predetermined positions A and B of the image forming apparatus 1 uses the acquired coordinates of the position A and the position B of the image forming apparatus 1 with respect to the recording medium. The inclination is obtained (S1007). Specifically, for example, when the image forming apparatus 1 is placed as shown in FIG. 12, the difference between the Y coordinate value of the position A and the Y coordinate value of the position B is 0, so the inclination is 0. . That is, in this case, the straight line connecting the position A and the position B is parallel to the upper side of the recording medium. On the other hand, for example, when the image forming apparatus 1 is placed as shown in FIG. 13, the inclination of the image forming apparatus 1 with respect to the recording medium is obtained from the coordinate values of the position A and the position B.

  The position information acquisition unit 133 acquires the coordinates and inclination of the position A calculated in this way as position information of the image forming apparatus 1 and stores them in the position information storage unit 134 (S1008). In the present embodiment, the case where the coordinates and inclination of the position A are stored as position information in the position information storage unit 134 is described as an example. However, the coordinates of the position A and position B are the position information as position information. It may be stored in the storage unit 134. Even in this case, the inclination can be calculated from the coordinates of the position A and the position B.

  On the other hand, when it is determined that the light receiving device A and the light receiving device B do not detect the light transmitted from the distance measuring sensor A (S1002 / NO), the position information acquisition unit 133 causes the image forming apparatus 1 to move up and down with respect to the recording medium. It is determined that the position is reversed, and position information acquisition processing is performed by the rear ranging sensors (that is, ranging sensor C and ranging sensor D) (S1009). Details of the position information acquisition process by the rear distance measuring sensor will be described later.

  Further, when it is determined that the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor A (S1002 / YES), it is determined that the light transmitted from the distance measuring sensor B is not detected (S1005). / NO), the position information acquisition unit 133 determines that the image forming apparatus 1 is not in a state where the image forming apparatus 1 is not in contact with the recording medium and is not in a correct image formation output state, and notifies the state notification unit 135 of an error. (S1010).

  Next, details of position information acquisition processing by the rear ranging sensor will be described. FIG. 14 is a flowchart illustrating position information acquisition processing by the rear distance measuring sensor. As shown in FIG. 14, the position information acquisition unit 133 controls the sensor control unit 103 to transmit light from the distance measuring sensor C (S1401).

  The position information acquisition unit 133 that has transmitted light from the distance measuring sensor C determines whether the light receiving device A and the light receiving device B have detected light transmitted from the distance measuring sensor C through the information from the sensor control unit 103. Is determined (S1402). When the light receiving device A and the light receiving device B detect light transmitted from the distance measuring sensor C, the distance measuring sensor C faces the upper side of the recording medium, that is, the image forming apparatus 1 is turned upside down with respect to the recording medium. It is determined that

  When it is determined that the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor C (S1402 / YES), the position information acquisition unit 133 determines the position of the distance measuring sensor C (hereinafter “position C”). ) Is acquired (S1403). The process for acquiring the coordinates of the position C is the same as the process for acquiring the coordinates of the position A described above.

  The position information acquisition unit 133 that has acquired the coordinates of the position C controls the sensor control unit 103 to transmit light from the distance measurement sensor D (S1404). The position information acquisition unit 133 that has transmitted light from the distance measuring sensor D determines whether or not the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor D through the information from the sensor control unit 103. Is determined (S1405).

  When it is determined that the light transmitted from the light receiving device A and the light receiving device B distance measuring sensor D is detected (S1405 / YES), the position information acquisition unit 133 determines the position of the distance measuring sensor D (hereinafter referred to as “position D”). Position information is acquired (S1406). The process for acquiring the coordinates of the position C is the same as the process for acquiring the coordinates of the position B described above.

  The position information acquisition unit 133 that has acquired the coordinates of two predetermined positions C and D of the image forming apparatus 1 uses the acquired coordinates of the position C and the position D of the image forming apparatus 1 with respect to the recording medium. The inclination is obtained (S1407). The position information acquisition unit 133 acquires the coordinates and inclination of the position C calculated in this way as position information of the image forming apparatus 1, and stores them in the position information storage unit 134 (S1408).

  In the present embodiment, the case where the coordinates and inclination of the position C are stored as position information in the position information storage unit 134 is described as an example. However, the coordinates of the position C and position D are position information as position information. It may be stored in the storage unit 134. Even in this case, the inclination can be calculated from the coordinates of the position C and the position D.

  On the other hand, when it is determined that the light receiving device A and the light receiving device B do not detect the light transmitted from the distance measuring sensor C (S1402 / NO), the position information acquisition unit 133 causes the image forming apparatus 1 to contact the recording medium. It is determined that the image forming / outputting state is not correct, for example, it is not, and an error notification is sent to the state notification unit 135 (S1409).

  When it is determined that the light receiving device A and the light receiving device B have detected the light transmitted from the distance measuring sensor C (S1402 / YES), but it is determined that the light transmitted from the distance measuring sensor D is not detected (S1405). / NO), the position information acquisition unit 133 determines that the image forming apparatus 1 is not in a state where the image forming apparatus 1 is not in contact with the recording medium and is not in a correct image formation output state, and notifies the state notification unit 135 of an error. Is performed (S1409).

  Next, details of processing by each component of the main controller 130 shown in FIG. 7 will be described. First, processing before starting image formation output among processing by each component of the main control unit 130 will be described. FIG. 15 is a flowchart illustrating a process before starting image forming output among the processes performed by the components of the main control unit 130.

  In the following description, image forming output will be described as print processing. As shown in FIG. 15, the print control unit 131 controls the head drive control unit 104 to prohibit printing by the image forming apparatus 1 (S1501). Thereby, even if the image forming apparatus 1 is moved on the recording medium, an image is not printed on the recording medium.

  As a result, the status notification unit 135 receives information from the print control unit 131 and notifies the notification unit 112 of the current status of the image forming apparatus 1. FIG. 16 is a diagram illustrating the relationship between the display mode of the notification unit 112 and the state of the image forming apparatus 1. Since the printing prohibited state is a state in which the home position, which is the current position of the image forming apparatus 1 on the recording medium, is not registered, the notification unit 112 is in an unlit state as shown in FIG. is there. Note that “type” shown in FIG. 16 is a type of state, “error” indicates an unintended state due to some trouble, and “normal” indicates a state other than “error”. .

  In addition, the position acquisition command receiving unit 132 waits (S1502 / NO) until the user receives the position acquisition command by pressing the home position registration button 110 (S1502 / YES).

  When the position acquisition command reception unit 132 receives the position acquisition command (S1502 / YES), the position information acquisition unit 133 acquires the current position information of the image forming apparatus 1 placed on the recording medium as a home position ( S1503). If the position information acquisition unit 133 succeeds in acquiring the position information (S1504 / YES), the position information acquisition unit 133 determines whether or not the acquired position information can be stored in the position information storage unit 134 (S1505).

  On the other hand, when the acquisition of the position information has failed (S1504 / NO), upon receiving a notification from the position information acquisition unit 133, the status notification unit 135 notifies that the acquisition of the position information has failed (S1508). In this case, as shown in FIG. 16, for example, the notification unit 112 blinks twice at a blinking interval of 1 second.

  For example, when it is determined that the memory capacity of the position information storage unit 134 is sufficient and the position information can be stored (S1505 / YES), the position information acquisition unit 133 causes the position information storage unit 134 to store the position information. (S1506). On the other hand, when it is determined that the position information cannot be stored (S1505 / NO), upon receiving a notification from the position information acquisition unit 133, the state notification unit 135 notifies that the position information storage process has failed. (S1508). In this case, as shown in FIG. 16, for example, the notification unit 112 blinks three times at a blinking interval of 0.5 seconds.

  When the position information acquired by the position information acquisition unit 133 is stored in the position information storage unit 134, the print control unit 131 receives the notification from the position information acquisition unit 133 and cancels the print prohibition state (S1507). As a result, the image forming apparatus 1 can perform printing. Specifically, when the print start position (home position) for the recording medium of the image forming apparatus 1 is acquired, ink is ejected from the inkjet head 115 in accordance with the moving direction and moving amount of the image forming apparatus 1 and the recording medium. An image is formed on top.

  As a result, the status notification unit 135 receives information from the print control unit 131 and notifies the notification unit 112 of the current status of the image forming apparatus 1. Since the printable state is a state in which the registration of the home position is completed, the notification unit 112 is always lit as shown in FIG.

  Next, processing performed during printing processing among processing by each component of the main control unit 130 will be described. FIG. 17 is a flowchart illustrating a process performed during the printing process among the processes performed by the components of the main control unit 130. As illustrated in FIG. 17, the print control unit 131 constantly detects the scanning state of the image forming apparatus 1 during the printing process, and when the image forming apparatus 1 is moving (S1701 / YES). ), The moving speed of the image forming apparatus 1 measured by the speed sensor 114 is acquired (S1702).

  On the other hand, when the movement of the image forming apparatus 1 is temporarily stopped and is not being scanned (S1701 / NO), the print control unit 131 determines whether or not the movement speed acquired in S1702 is lower than a predetermined threshold. (S1703). When the moving speed is lower than the predetermined threshold (S1703 / YES), the position information acquisition unit 133 receives the notification from the print control unit 131 and receives the current information of the image forming apparatus 1 placed on the recording medium. The position information is acquired (S1704).

  This is because when the moving speed is lower than a predetermined threshold, the moving speed of the image forming apparatus 1 is not too fast and the position of the image forming apparatus 1 cannot be grasped. From this, the threshold of the moving speed depends on the performance of the distance measuring sensor 120 and the like, and thus is determined according to the distance measuring sensor 120 to be used.

  The position information acquisition unit 133 that has acquired the position information of the image forming apparatus 1 uses the position information (home position) stored in the position information storage unit 134 as a new home position using the position information acquired in the process of S1704. (S1705). Note that the location information acquisition unit 133 may store all location information as a history instead of updating the location information stored in the location information storage unit 134, or may process the previous location information and the processing of S1704. The amount of movement, the direction of movement, the movement speed, etc. calculated from the position information acquired in step 1 may be further stored.

  On the other hand, when the moving speed is equal to or higher than a predetermined threshold (S1703 / NO), the print control unit 131 controls the head drive control unit 104 to prohibit printing by the image forming apparatus 1 (S1706). . That is, the execution of image formation output is interrupted. This is because when the moving speed is equal to or higher than a predetermined threshold, the moving speed of the image forming apparatus 1 is too fast to grasp the position of the image forming apparatus 1 and normal printing processing may not be continued. . The print resumption process when the print is prohibited during printing will be described later.

  As a result, the status notification unit 135 receives information from the print control unit 131 and notifies the notification unit 112 of the current status of the image forming apparatus 1. Since the printing prohibited state is a state in which the home position is not registered, the notification unit 112 is in a light-off state as shown in FIG.

  Next, another process during the printing process among the processes performed by the components of the main control unit 130 will be described. FIG. 18 is a flowchart illustrating another process performed during the printing process among the processes performed by the components of the main control unit 130. As shown in FIG. 18, the print control unit 131 always detects the scanning state of the image forming apparatus 1 during the printing process (S1801). When the movement of the image forming apparatus 1 is temporarily stopped and is no longer being scanned (S1801 / NO), the position information acquisition unit 133 receives the notification from the print control unit 131 and is placed on the recording medium. 1 is acquired (S1802).

  If the position information acquisition unit 133 succeeds in acquiring the position information (S1803 / YES), the position information acquisition unit 133 newly acquires the position information (home position) stored in the position information storage unit 134 using the position information acquired in the process of S1802. The home position is updated (S1804). Note that the location information acquisition unit 133 may store all location information as a history instead of updating the location information stored in the location information storage unit 134, or may process the previous location information and the processing of S1804. The amount of movement, the direction of movement, the movement speed, etc. calculated from the position information acquired in step 1 may be further stored.

  On the other hand, when the acquisition of the position information has failed (S1803 / NO), the print control unit 131 receives the notification from the position information acquisition unit 133 and controls the head drive control unit 104 to perform printing by the image forming apparatus 1. Is prohibited (S1805). That is, the execution of image formation output is interrupted. The print resumption process when the print is prohibited during printing will be described later. The failure to acquire the position information during the printing process occurs, for example, when the image forming apparatus 1 is moved away from the recording medium by being lifted.

  19 and 20 are views of the image forming apparatus 1 viewed from the left side. As shown in FIG. 19, when the image forming apparatus 1 is in contact with the recording medium, the distance between the distance measuring sensor A (121) and the light receiving portion A (201) is the same. The light receiving unit A can receive the straightly traveling light, and the position information acquisition unit 133 can acquire the position information of the image forming apparatus 1.

  On the other hand, as shown in FIG. 20, when the image forming apparatus 1 is lifted away from the recording medium, for example, the height of the distance measuring sensor A from the recording medium becomes higher than the height of the light receiving unit A from the recording medium. The light receiving unit A cannot receive the straight-ahead light transmitted from the distance measuring sensor A and the distance cannot be measured, and the position information acquisition unit 133 cannot acquire the position information of the image forming apparatus 1. .

  Next, a print resumption process when the print inhibition state occurs during printing in the processes shown in FIGS. 17 and 18 among the processes performed by the components of the main control unit 130 will be described. FIG. 21 is a flowchart illustrating an example of a print resumption process when a print prohibition state is entered during printing. As shown in FIG. 21, the print control unit 131 acquires the position information stored last from the position information storage unit 134 (S2101).

  The position information acquisition unit 133 receives the notification from the print control unit 131 and acquires the current position information of the image forming apparatus 1 placed on the recording medium (S2102). This position information indicates a position where the image forming apparatus 1 is repositioned on the recording medium so that the user can resume printing.

  The print control unit 131 compares the last stored position information acquired from the position information storage unit 134 with the current position information (coordinates and inclination) acquired by the position information acquisition unit 133 (S2103). If it is determined that the positional information of both coincides (S2103 / YES), the print control unit 131 cancels the print prohibition state (S2104). As a result, the image forming apparatus 1 can perform printing.

  As a result, the status notification unit 135 receives information from the print control unit 131 and notifies the notification unit 112 of the current status of the image forming apparatus 1. Since the printable state is a state in which the registration of the home position is completed, the notification unit 112 is always lit as shown in FIG. The home position is position information acquired in the process of S2102 and is a restart position of the printing process.

  When the print control unit 131 that has canceled the print prohibition state moves the image forming apparatus 1 from the print resuming position by the user, if the print processing has already been performed on the recording medium at each position (S2105 / If the print processing is not performed and the print processing is not performed (S2105 / NO), the print processing is restarted from the position (S2106).

  For example, if the acquisition of the next position information fails after the home position is registered at the start of printing, the position at which the acquisition of the position information failed is the home position at the start of printing as the print resume position. In some cases, the printing process has already been performed. Therefore, the printing process is not performed again at the position where the printing process has already been performed. It is assumed that the print control unit 131 holds information for grasping to which position the printing process has been completed.

  As described above, in the present embodiment, image formation on a recording medium using the light receiving device installed at a predetermined position and the distance measuring sensor 120 installed in the image forming apparatus 1 at the time of image formation output. If the position information of the image forming apparatus 1 is acquired and the image forming apparatus 1 is separated from the recording medium or the moving speed of the image forming apparatus 1 is too fast, the position of the image forming apparatus 1 cannot be grasped. When the execution of the formation output is interrupted, the image formation output is resumed based on the acquired position information.

  In the present embodiment, the position information of the image forming apparatus 1 is acquired with reference to the position of the light receiving device fixed at a predetermined position during image formation output. Therefore, even if the execution is interrupted in the middle of the image formation output due to the fact that the position information of the image forming apparatus 1 for the image formation output cannot be grasped, the position used in the image formation output so far Since the position information based on the same standard as the information can be acquired again, the image formation output can be completed normally without forming an image out of the original position.

  Note that an image formation output mode may be further specified at the time of image formation output in the present embodiment. The image formation output mode is, for example, setting information of the image quality of the image formed and output, and the “low image quality mode” in which the image to be output is only text or the like and does not need to be output with a high image quality like a photo, There are “high image quality mode” for outputting a high-quality image whose image to be output is a photograph, “normal mode” that is intermediate between “low image quality mode” and “high image quality mode”.

  FIG. 22 is a diagram illustrating the relationship between such an output mode and the light detection accuracy when acquiring position information. As shown in FIG. 22, as the image quality in the output mode becomes higher, the position information needs to be acquired more accurately. Therefore, the detection accuracy of the light transmitted from the distance measuring sensor 120 by the light receiving device A and the light receiving device B ( It is necessary to increase the distance measurement accuracy.

  FIG. 23 is a diagram illustrating the difference in light detection accuracy by the light receiving device A. As shown in FIG. 23, the distance measuring sensor A (121) of the image forming apparatus 1 sends light (shown by a broken line in FIG. 23) toward the light receiving device A. The light detection accuracy depends on how much light the light receiving unit A receives and determines that the light has been detected.

  For example, among the lights transmitted in the directions of patterns 1 to 3 shown in FIG. 23, the light transmitted in the direction of pattern 1 is received at the center of the light receiving unit A, so that the light detection accuracy is the highest. The accuracy of the position information is also increased. Since the light transmitted in the order of the pattern 2 and the pattern 3 is received with a deviation from the center of the light receiving portion A, the light detection accuracy is lowered, and the positional information accuracy is also lowered. The same applies to the distance measuring sensors B to D other than the distance measuring sensor A shown in FIG.

  FIG. 24 is a diagram illustrating a lightness threshold value for determining that the light of each pattern illustrated in FIG. 23 has been received. As shown in FIG. 24, as the lightness of the detected light is darker, the light is received at the center of the light receiving unit A, and thus the accuracy of the position information becomes higher. Each pattern is determined, for example, by comparing the lightness of light with a threshold value. For example, when the lightness is between the threshold value a and the threshold value b, the light detection accuracy is the lowest, which corresponds to the pattern 3 shown in FIG.

  Further, for example, when the lightness is between the threshold value b and the threshold value c, this corresponds to the pattern 2 shown in FIG. Further, for example, when the lightness is between the threshold value c and the threshold value d, the light detection accuracy is the highest, which corresponds to the pattern 1 shown in FIG.

  Therefore, for example, as shown in FIG. 22, a sensor light pattern allowed as light to be detected is associated with an output mode. For example, when the output mode is “low image quality mode”, the position information acquisition unit 133 determines that light is detected even in the section A, and acquires position information.

  As described above, when the output mode can be set, the accuracy of the position information acquired by the position information acquisition unit 133 can be changed according to the set output mode.

  In the present embodiment, the case where the four distance measuring sensors A to D are provided in the image forming apparatus 1 has been described as an example. With such a configuration, it is possible to determine whether or not the image forming apparatus 1 is placed upside down with respect to the recording medium. That is, the image forming apparatus 1 can detect the orientation of the image forming apparatus with respect to the recording medium based on the distance measurement result by the distance measuring sensor 120. However, such a configuration is not essential. If the image forming apparatus 1 is not placed upside down with respect to the recording medium, only two distance measuring sensors A and B may be used. In this case, the light shielding plates 141 to 144 can also be omitted.

  In the present embodiment, the case where the coordinates and inclination of the image forming apparatus 1 are acquired by a combination of the distance sensors A and B or the distance sensors C and D has been described as an example. In addition, the coordinates and inclination of the image forming apparatus 1 may be acquired by a combination of the distance sensors A and D or the distance sensors B and C. In this case, it is possible to detect position information in a state where the image forming apparatus 1 is tilted at 90 degrees to the left or right from the direction shown in FIG.

  Further, as in the process of determining the upside down of the image forming apparatus 1 described in the present embodiment, it is possible to detect whether the image is tilted left or right. In this case, when four sensors are used, the light receiving device A and the light receiving device B receive light according to the combination of the distance measuring sensors when the image forming apparatus 1 is tilted to either 90 degrees to the left or right. It is necessary to provide a light shielding plate at the position.

  In the above embodiment, the case where the position information of the image forming apparatus 1 is acquired at the timing when the movement of the image forming apparatus 1 is temporarily stopped and is not being scanned has been described as an example. In addition, even when the image forming apparatus 1 is moving, when the user presses the home position registration button 110, the position information of the image forming apparatus 1 at that time may be acquired. As described above, if the position information of the image forming apparatus 1 is appropriately acquired, when the image forming output is resumed, the image forming apparatus 1 does not return to the start position of the image forming output and resumes from the position at which the position information was last acquired. Therefore, user convenience is improved.

DESCRIPTION OF SYMBOLS 1 Portable image forming apparatus 2 Light receiving device 10 CPU
20 RAM
30 ROM
40 HDD
50 I / F
DESCRIPTION OF SYMBOLS 60 Display part 70 Operation part 80 Bus 100 Controller 101 Operation display control part 102 Motor drive control part 103 Sensor control part 104 Head drive control part 105 Input / output control part 106 Image processing part 110 Home position registration button 111 Print start button 112 Notification part 113 Polygon motor 114 Speed sensor 115 Inkjet head 121-124 Distance sensor AD
Reference Signs List 130 Main Control Unit 131 Print Control Unit 132 Position Acquisition Command Receiving Unit 133 Position Information Acquisition Unit 134 Position Information Storage Unit 135 Status Notification Unit 136 Movement Speed Acquisition Unit 141 to 144 Light-shielding Plates A to D
201, 202 Light receiving part A, B

JP 2009-208291 A

Claims (8)

An image forming apparatus that executes image formation output by being manually moved on a recording medium,
A distance measuring unit for measuring a distance to a reference device installed at a predetermined position;
A position information acquisition unit that acquires position information of the image forming apparatus on the recording medium based on the measured distance;
A position information storage processing unit for storing the acquired position information in a storage medium;
If the execution of the image formation output is interrupted, viewed contains a resume output control unit to execute the image forming output based on the position information stored in the storage medium,
The distance measuring unit measures a distance between the reference device and two predetermined positions of the image forming apparatus;
The position information acquisition unit acquires the position information of the two locations based on the measured distance, and determines the inclination of the image forming apparatus with respect to the recording medium based on the acquired position information of the two locations. get,
Images forming device you wherein a. An image forming apparatus that executes image formation output by being manually moved on a recording medium,
A distance measuring unit for measuring a distance to a reference device installed at a predetermined position;
A position information acquisition unit that acquires position information of the image forming apparatus on the recording medium based on the measured distance;
A position information storage processing unit for storing the acquired position information in a storage medium;
An output control unit that resumes execution of image formation output based on the position information stored in the storage medium when execution of image formation output is interrupted;
Only including,
The position information acquisition unit detects an orientation of the image forming apparatus with respect to the recording medium based on the measurement result of the distance;
Images forming device you wherein a. A moving speed acquisition unit that acquires a moving speed on the recording medium of the image forming apparatus;
The output control unit interrupts execution of image forming output when the acquired moving speed is equal to or higher than a predetermined speed ;
The image forming apparatus according to claim 1 or 2, characterized in that. The output control unit interrupts execution of image forming output when the distance becomes impossible to measure .
The image forming apparatus according to any one of claims 1 to 3, characterized in that. The distance measurement unit changes the measurement accuracy of the distance according to the setting information of the image quality of the image formed and output .
The image forming apparatus according to any one of claims 1 to 4, characterized in that. A control program for an image forming apparatus that executes image forming output by being manually moved on a recording medium,
Measuring a distance to a reference device installed at a predetermined position;
Obtaining the position information of the image forming apparatus on the recording medium based on the measured distance;
Storing the acquired position information in a storage medium;
Resuming execution of image formation output based on the position information stored in the storage medium when execution of image formation output is interrupted,
In the step of measuring the distance, a distance between the reference device and two predetermined positions of the image forming apparatus is measured,
In the step of acquiring the position information, the position information of the two locations is acquired based on the measured distance, and the position of the image forming apparatus with respect to the recording medium is determined based on the acquired position information of the two locations. Get the tilt,
A control program for causing an image forming apparatus to execute processing. A control program for an image forming apparatus that executes image forming output by being manually moved on a recording medium,
Measuring a distance to a reference device installed at a predetermined position;
Obtaining the position information of the image forming apparatus on the recording medium based on the measured distance;
Storing the acquired position information in a storage medium;
Resuming execution of image formation output based on the position information stored in the storage medium when execution of image formation output is interrupted ,
In the step of acquiring the position information, the orientation of the image forming apparatus with respect to the recording medium is detected based on the measurement result of the distance.
A control program for causing an image forming apparatus to execute processing . An image forming system including an image forming apparatus that performs image forming output by being manually moved on a recording medium, and a reference apparatus installed at a predetermined position,
A distance measuring unit for measuring a distance to the reference device;
A position information acquisition unit that acquires position information of the image forming apparatus on the recording medium based on the measured distance;
A position information storage processing unit for storing the acquired position information in a storage medium;
If the execution of the image formation output is interrupted, viewed contains a resume output control unit to execute the image forming output based on the position information stored in the storage medium,
The distance measuring unit measures a distance between the reference device and two predetermined positions of the image forming apparatus;
The position information acquisition unit acquires the position information of the two locations based on the measured distance, and determines the inclination of the image forming apparatus with respect to the recording medium based on the acquired position information of the two locations. get,
An image forming system.