JP6844145B2 - Position detection device, droplet ejection device, program, position detection method - Google Patents

Description

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

There are known printers that form an image by conveying the paper and ejecting ink or the like at the timing when the paper reaches the image forming position. On the other hand, with the spread of smart devices that are easy to carry, there is an increasing need for printers to be easily printed by users on the go. Therefore, a printer (hereinafter referred to as HMP: handy mobile printer) in which a user moves on a paper surface to eject ink is being put into practical use. Since the HMP is not equipped with a paper transport system, it can be miniaturized.

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

However, the method of calculating the position using the two navigation sensors has a problem that an error occurs in the position due to the deviation of the assembled position of the navigation sensor. That is, the HMP calculates the rotation angle from the difference in the amount of movement of each of the two navigation sensors, but if the actual assembly position deviates from the ideal assembly position (design value), the calculated rotation The angle will also be different from the actual value, and an error will occur in the position of the HMP. In addition, this error is accumulated and gradually increases.

If the absolute position on the paper can be detected, the position of the HMP can be corrected, but in order to detect the absolute position, a highly accurate correction pattern is formed on the paper, and the HMP also has a function to read the pattern. Must be.

In view of the above problems, an object of the present invention is to provide a position detecting device capable of reducing a position error.

The present invention is a position detecting device that detects a position on a moving surface based on a moving amount and a posture, and provides information on at least two moving amount detecting means for detecting the moving amount and the posture of the position detecting device. The posture information acquisition means to be acquired, the detection means position calculation means for obtaining the distance between the two movement amount detection means using the movement amount and the information related to the posture, and the detection means position calculation means.
The position of the position detection device is calculated using the distance calculated by the detection means position calculation means.

It is possible to provide a position detecting device capable of reducing a position error.

It is an example of the figure explaining the outline of the correction of the distance between two navigation sensors. This is an example of a diagram schematically showing image formation by HMP. This is an example of the hardware configuration diagram of HMP. This is an example of a diagram for explaining the configuration of the control unit. This is an example of a configuration diagram of an image reading unit. It is a figure which shows the configuration example of the hardware configuration of a navigation sensor. It is a figure explaining the method of detecting the movement amount by a navigation sensor. It is an example of the figure explaining the nozzle position in the IJ recording head. It is an example of the figure explaining the calculation method of the coordinate system and the position of HMP. This is an example of a diagram for explaining how to obtain the rotation angle of HMP generated during image formation. This is an example of a diagram for explaining the calculation of the nozzle position. This is an example of a functional block diagram of HMP. This is an example of a flowchart for explaining the operation procedure of the image data output device and the HMP. This is an example of a flowchart for explaining the procedure of the distance correction process performed before the start of image formation. This is an example of a flowchart for explaining the procedure of the distance correction process performed before the start of image formation. This is an example of a flowchart for explaining the operation procedure of the image data output device and the HMP. This is an example of a schematic configuration diagram of a correction system. This is an example of a functional block diagram of the correction system. This is an example of a sequence diagram for explaining the operation procedure of the correction system.

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

<Outline of correction of mounting position>
FIG. 1 is an example of a diagram illustrating an outline of correction of a distance L between two navigation sensors. The HMP (Handy Mobile Printer) 20 has at least two navigation sensors S ₀ and S ₁ arranged at a distance L on the bottom surface of the HMP 20. Further, the HMP 20 of the present embodiment has a gyro sensor 31. The gyro sensor 31, two navigation sensors S _0, S ₁ detects the rotation angle variation d [theta] _Gyro accurately HMP20 than the rotation angle variation d [theta] _navi based on the movement amount detecting.

The two navigation sensors S ₀ and S ₁ output to the control unit 25 the movement amounts ΔX ′ ₀ and ΔX ′ _{1 for each cycle.} Further, the control unit 25 the rotation angle change amount d [theta] _Gyro per cycle from the gyro sensor 31 is outputted. Conventionally, the control unit 25 calculates _{dθ navi} by the equation “f (ΔX ′ ₀ , ΔX ′ ₁ , L)” in which the movement amounts ΔX ′ ₀ , ΔX ′ _{1 and the distance L are parameters.} However, this distance L may not be exactly L due to the mounting error of the _{navigation sensors S 0} and S _1. On the other hand, the rotation angle variation d [theta] _Gyro gyro sensor 31 detects the certain level of accuracy (navigation sensors or precision) is guaranteed.

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

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

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

The moving surface may be any surface on which the HMP 20 can move, and includes a curved surface as well as a flat surface. Specific examples thereof include, but are not limited to, the print medium 12.

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

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

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

Further, in the present embodiment, image formation, recording, printing, printing, printing, modeling, etc. are all synonymous terms.

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

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

It is preferable that the HMP 20 does not float from the print medium 12 because the navigation sensors S ₀ and S ₁ detect the movement amount by using the reflected light from the print medium 12. When the HMP 20 floats from the print medium 12, the reflected light cannot be detected and the movement amount cannot be detected. Further, when the navigation sensors S ₀ and S ₁ protrude from the print medium 12, the reflected light may not be detected depending on the thickness of the print medium 12, or the position may shift even if the reflected light can be detected. Therefore, it is preferable that the two navigation sensors S ₀ and S ₁ are scanned on the print medium 12.

<Configuration example>
FIG. 3 shows an example of the hardware configuration diagram of the HMP 20. The HMP 20 is an example of an image forming apparatus that forms an image on the print medium 12. Alternatively, it may be called a droplet ejection device, a printer, an image processing device, or the like. The entire operation of the HMP 20 is controlled by the control unit 25, and the control unit 25 includes a communication IF 27, an IJ recording head drive circuit 23, an OPU 26, a ROM 28, a DRAM 29, a gyro sensor 31, and two navigation sensors S ₀ , S ₁ ( The reference numeral 30) is electrically connected. Further, since the HMP 20 is driven by electric power, it has a power supply 22 and a power supply circuit 21. The electric power generated by the power supply circuit 21 is the communication IF27, the IJ recording head drive circuit 23, the OPU26, the ROM28, the DRAM29, the IJ recording head 24, the control unit 25, the gyro sensor 31, and two by wiring shown by the dotted line 22a. It is supplied to the navigation sensors S ₀ and S _1.

The position detection device refers to the SoC50, the navigation sensor I / F42, and the gyro sensor I / F45.

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

The communication IF 27 receives image data from an image data output device 11 such as a smartphone or a PC (Personal Computer). The communication IF27 is a communication device compatible with communication standards such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), infrared rays, 3G (mobile phone), and LTE (Long Term Evolution). Further, in addition to such wireless communication, a communication device that supports wired communication using a wired LAN, a USB cable, or the like may be used.

The ROM 28 stores firmware for controlling the hardware of the HMP 20, drive waveform data of the IJ recording head 24 (data defining a voltage change for ejecting droplets), initial setting data of the HMP 20, and the like.

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

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

The gyro sensor 31 is a sensor that detects the angular velocity (yaw angular velocity) when the HMP 20 rotates about an axis perpendicular to the print medium 12. The gyro sensor 31 may be capable of detecting the angular velocities of the three axes. This makes it easier to detect the floating of the HMP 20 from the print medium 12. Multiplying the angular velocity by the period for detecting the angular velocity (minute time) gives the amount of change in the angle of rotation dθ during this period.

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

The IJ recording head drive circuit 23 uses the above drive waveform data to generate a drive waveform (voltage) for driving the IJ recording head 24. It is possible to generate a drive waveform according to the size of ink droplets.

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

The IJ recording head 24 is a functional component that discharges and ejects a liquid from the nozzle 61. The liquid to be discharged may have a viscosity and surface tension that can be discharged from the IJ recording head 24, and is not particularly limited, but the viscosity becomes 30 mPa · s or less at room temperature, under normal pressure, or by heating or cooling. It is preferable that it is a thing. More specifically, solvents such as water and organic solvents, colorants such as dyes and pigments, functionalizing materials such as polymerizable compounds, resins and surfactants, biocompatible materials such as DNA, amino acids and proteins, and calcium. , Solvents, suspensions, emulsions, etc. containing edible materials such as natural dyes, etc., for example, inks for inkjets, surface treatment liquids, constituents of electronic elements and light emitting elements, and formation of electronic circuit resist patterns. It can be used for applications such as liquids for three-dimensional modeling.

The control unit 25 has a CPU 33 and controls the entire HMP 20. The control unit 25 forms an image according to the position of each nozzle of the IJ recording head 24 and the position of each nozzle of the IJ recording head 24 based on the movement amount detected by _{the navigation sensors S 0} and S _{1 and the angular velocity detected by the gyro sensor 31.} Is determined, and whether or not the discharge nozzle is possible, which will be described later, is determined. The details of the control unit 25 will be described below.

FIG. 4 is an example of a diagram illustrating the configuration of the control unit 25. The control unit 25 has a SoC50 and an ASIC / FPGA40. The SoC50 and the ASIC / FPGA40 communicate via buses 46 and 47. The ASIC / FPGA 40 means that it may be designed by either mounting technology, and may be configured by a mounting technology other than the ASIC / FPGA 40. Further, the SoC50 and the ASIC / FPGA 40 may be configured by one chip or a substrate without using separate chips. Alternatively, it may be mounted on three or more chips or substrates.

The SoC 50 has functions such as a CPU 33 connected via a bus 47, a position calculation circuit 34, a memory CTL (controller) 35, and a ROM CTL (controller) 36. The components of the SoC50 are not limited to these.

Further, the ASIC / FPGA 40 is connected to the image reading unit 38, the interrupt controller 41, the navigation sensor I / F42, the printing / sensor timing generation unit 43, the gyro sensor I / F45, and the IJ recording head, which are connected via the bus 46. It has a control unit 44. The components of the ASIC / FPGA 40 are not limited to these.

The CPU 33 executes the firmware (program) developed from the ROM 28 to the DRAM 29, and controls the operations of the position calculation circuit 34, the memory CTL35, and the ROM CTL36 in the SoC50. It also controls the operations of the image reading unit 38, interrupt controller 41, navigation sensor I / F 42, print / sensor timing generation unit 43, gyro sensor I / F 45, IJ recording head control unit 44, etc. in the ASIC / FPGA 40. ..

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

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

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

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

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

The print / sensor timing generation unit 43 notifies the navigation sensor I / F of the timing at which the navigation sensor I / F 42 reads information, and notifies the IJ recording head control unit 44 of the drive timing. Further, the gyro sensor I / F45 is notified of the timing at which the gyro sensor I / F45 reads the information. The cycle of the timing for reading the information is longer than the cycle of the ink ejection timing.

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

Navigation sensor I / F 42 communicates with the navigation sensors _S 0, _{S 1,} the moving amount ΔX' as information from the navigation sensors _S 0, _{S 1,} receives ΔY' the (these will be described later), the value Store in a register. Information from the navigation sensors S _0, S ₁ is other reading of the reflected light (including sensor reliability information to be described later) status notification function indicating, for example, whether better with.

The gyro sensor I / F45 acquires the angular velocity detected by the gyro sensor 31 at the timing generated by the print / sensor timing generation unit 43, and stores the value in the register.

The interrupt controller 41 detects that the navigation sensors I / F 42 have _{completed communication with the navigation sensors S 0} and S _1, and outputs an interrupt signal for notifying the SoC 50. By this interrupt, the CPU 33 acquires ΔX ′ and ΔY ′ stored in the register by the navigation sensor I / F42. Similarly, for the gyro sensor 31, the interrupt controller 41 detects that the communication with the gyro sensor 31 is completed by the gyro sensor I / F45, and outputs an interrupt signal for notifying the SoC 50.

FIG. 5 shows an example of a configuration diagram of the image reading unit 38. The image reading unit 38 includes a CPU I / F381, a nozzle position generation unit 382, an address generation unit 383, an output I / F384, a data storage unit 385, and a table management unit 386. The CPU I / F 381 is a circuit that serves as an interface with the CPU 33. The CPU I / F 381 accepts various settings from the CPU 33, such as the image resolution in the width direction and the image resolution in the vertical direction. Further, the discharge timing is acquired from the IJ recording head control unit 44, and _{the positions of the navigation sensors S 0} and S _{1 at} the discharge timing are received from the CPU 33.

The nozzle position generation unit 382 generates the position of each nozzle from the positions _{of the navigation sensors S 0} and S _1. Every time the positions of the navigation sensors S ₀ and S ₁ are received once, the positions corresponding to the number of nozzles are generated and output to the address generation unit 383. Further, the nozzle position generation unit 382 outputs the enable / invalid flag of each nozzle in accordance with the print mode, the limitation on the number of ejection nozzles, and the like.

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

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

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

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

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

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

Next, the operation of the navigation sensors S ₀ and S ₁ will be described with reference to FIG. 7. FIG. 7 is a diagram illustrating a method of detecting the movement amount by the _{navigation sensors S 0} and S _1. The light emitted by the LED driver 303 is applied to the surface of the print medium 12 via the lens 306. As shown in FIG. 7A, the surface of the print medium 12 has minute irregularities having various shapes. For this reason, shadows of various shapes are generated.

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

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

The HMP 20 of this embodiment has two navigation sensors S ₀ and S ₁ . The length between the two navigation sensors S ₀ and S _{1 is the distance L.} The longer the distance L, the better. This is because the longer the distance L, the smaller the minimum amount of change in rotation angle dθ that can be detected, and the smaller the error in the position of the HMP 20.

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

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

In such position calculating circuit 34 by calculating the position of the navigation sensors S _0, the distance a (distance b), using the distance d and the distance e, the position calculating circuit 34 can calculate the position of the nozzle 61.

<About the position of HMP 20 on the print medium 12>
FIG. 9 is an example of a diagram illustrating a method of calculating the coordinate system and position of the HMP 20. In the present embodiment, the direction horizontal to the print medium 12 is set to the X-axis, and the direction perpendicular to the print medium 12 is set to the Y-axis. The origin is the position of _{the navigation sensor S 0} when image formation is started. These coordinates will be referred to as print medium coordinates. On the other hand, the navigation sensor S ₀ outputs the movement amount on the coordinate axes (X'axis, Y'axis) of FIG. That is, the movement amount is output with the arrangement direction of the nozzles 61 as the Y'axis and the direction orthogonal to the Y'axis as the X'axis.

As shown in FIG. 9A, a case where the HMP 20 is rotated by θ clockwise with respect to the print medium 12 will be described as an example. It is considered difficult for the user to scan the HMP 20 without tilting it with respect to the print medium coordinates, resulting in a non-zero θ. If it is not rotating at all, then X = X'and Y = Y'. However, when the HMP 20 is rotated by a rotation angle θ with respect to _{the print medium 12, the output of the navigation sensor S 0} and the actual position of the HMP 20 on the print medium 12 do not match. The rotation angle θ is positive in the clockwise direction, positive in the right direction for X and X', and positive in the upward direction for Y and Y'.

FIG. 9A is an example of a diagram illustrating the X coordinate of the HMP 20. FIG. 9A shows the correspondence between the movement amounts ΔX ′, ΔY ′ and X, Y detected by _{the navigation sensor S 0} when the HMP 20 having the rotation angle θ moves only in the X direction with the same rotation angle θ. .. Since the relative positions of the two navigation sensors S ₀ and S ₁ are fixed, the outputs (movement amounts) of the _{two navigation sensors S 0} and S _{1 are the same.} The X coordinate of the navigation sensor S ₀ is X1 + X2, and X1 + X2 is obtained from ΔX ′, ΔY ′ and the rotation angle θ.

FIG. 9B shows the correspondence between the movement amounts ΔX ′, ΔY ′ and X, Y detected by _{the navigation sensor S 0} when the HMP 20 having the rotation angle θ moves only in the Y direction with the same rotation angle θ. .. The Y coordinate of the navigation sensor S ₀ is Y1 + Y2, and Y1 + Y2 is obtained from −ΔX ′, ΔY ′ and the rotation angle θ.

Therefore, when the HMP 20 moves in the X and Y directions with the rotation angle θ, _{the ΔX ′ and ΔY ′ output by the navigation sensor S 0} can be converted into the print medium coordinates X and Y as follows.
X = ΔX'cosθ + ΔY'sinθ ... (1)
Y = −ΔX ´sinθ ＋ ΔY´cosθ… (2)
<< Detection of rotation angle change amount dθ >>
With reference to FIG. 10, a method of calculating the rotation angle variation dθ be described using the amount of movement of navigation sensors S _0, S ₁ is output. FIG. 10 is an example of a diagram for explaining how to obtain the rotation angle change amount (rotation angle change amount) dθ of the HMP 20 that occurs during image formation. Rotation angle variation dθ is calculated using the amount of movement ΔX' the two navigation sensors S _0, S ₁ is detected (may be used ΔY'). Movement amount ΔX'0 the upper navigation sensors S ₀ of the printing medium 12 is detected, the moving amount of the navigation sensor S ₁ is detected with ΔX' _1. In FIG. 10, the rotation angle already obtained is θ.

When the HMP 20 rotates dθ while moving in parallel, the movement amounts ΔX ′ ₀ and ΔX ′ ₁ do not match. However, since both outputs are movement amounts in the direction perpendicular to the straight line connecting the _{two navigation sensors S 0} and S _{1 , the difference between the movement amounts ΔX ′ 0} and ΔX ′ ₁ is obtained as “ΔX ′ _{0 −} ΔX ′ ₁ ”. be able to. This difference is a value caused by the rotation of HMP20 by dθ. Further, since “ΔX ′ _{0 −} ΔX ′ ₁ ”, L, and dθ have the relationship shown in FIG. 10, dθ can be expressed as follows.
dθ = arcsin {(ΔX ′ _{0 −} ΔX ′ ₁ ) / L}… (3)
The position calculation circuit 34 can obtain the rotation angle θ by integrating the amount of change in the rotation angle dθ. As shown in equations (1) and (2), the HMP 20 can detect the position using the rotation angle θ. Further, as can be seen from the equation (3), it is preferable to increase the distance L in order to detect a smaller dθ. Although design values are given as the L, the mounting error of the navigation sensors S _0, S ₁ is generated during production, if the actual spacing of the navigation sensors S ₀ and S ₁ is not a design value (distance L) There is. If L is different from the design value, the amount of change in the rotation angle dθ will be different. Therefore, in the present embodiment, the distance L of the equation (3) is corrected by using the gyro sensor 31.

<Nozzle position>
FIG. 11A is an example of a diagram for explaining the calculation of the nozzle position. If even one position of the navigation sensor is known and the rotation angle θ is known, the nozzle position generation unit 382 can calculate the position of each nozzle 61. The nozzle 61-1 of FIG. 11A will be described as an example. The distance between the navigation sensor S ₀ and the IJ recording head 24 is a, and the distance from the end of the IJ recording head 24 to the nozzle 61-1 is d. Further, the rotation angle with respect to the axis perpendicular to the print medium 12 is θ. From these, the coordinates (X, Y) of the nozzle 61-1 can be obtained.

X = X0- (a + d) × sinθ
Y = Y0- (a + d) × cosθ
Further, FIG. 11 (b) is a diagram for explaining the position of the two navigation sensors _S 0, not on a straight line connecting _{S 1} nozzle 61. When the IJ recording head 24 has a multicolor nozzle 61 for color printing, the nozzle rows Y and C may not be on the straight line connecting the _{two navigation sensors S 0} and S _1.

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

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

The correction processing unit 51 controls the processing for correcting the distance L between the _{navigation sensors S 0} and S _1. That is, the timing for correcting the distance L is detected, and it is determined whether or not the distance L is corrected. Further, the correction processing unit 51 sets the distance Lnew 55 in a register or a non-volatile memory in which the position calculation circuit 34 reads the distance L. As a result, the position calculation circuit 34 can calculate the rotation angle change amount dθ _navi by substituting the distance Lnew55 into the equation (3).

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

Distance calculating unit 53 is moving amount DerutaX' ₀ of the gyro sensor 31 is substituted into the rotation angle variation d [theta] _Gyro calculated from the angular velocity detecting the left, navigation sensors S _0, S ₁ is detected on the right-hand side of Equation (3), The distance L is calculated by substituting ΔX ′ _1. In order to distinguish the calculated distance L from the design value distance L, it is referred to as a distance Lnew55.

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

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

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

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

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

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

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

The user is free to scan the HMP 20 so that it slides on the print medium 12 (U108).

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

HMP20 is also activated by turning on the power. The CPU 33 of the HMP 20 initializes the hardware elements of FIGS. 3 and 4 built in the HMP 20 (S101). For example, the register of the navigation sensor I / F42 is initialized, or the timing value is set in the print / sensor timing generation unit 43. It also establishes communication between the HMP 20 and the image data output device 11.

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

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

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

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

The processing after the correction processing is completed will be described.
Upon request for execution of the print job, the communication IF27 of the HMP 20 accepts the input of the image data from the image data output device 11 and notifies the user that the image has been input by blinking the LED of the OPU 26 or the like (S106).

When the user determines the initial position of the HMP 20 on the print medium 12 and presses the print start button, the OPU 26 of the HMP 20 accepts this operation, and the CPU 33 causes the navigation sensor I / F 42 to read the position (S107). Thus, the navigation sensor I / F 42 is storing communicating with navigation sensors _S 0, _{S 1,} etc. navigation sensors _S 0, obtains the movement _{amount S 1} is detected register (S1001). The CPU 33 reads the movement amount from the navigation sensor I / F42.

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

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

The CPU 33 of the HMP 20 determines whether or not it is the timing to acquire the movement amount (S110). This determination is made by the notification from the interrupt controller 41, but it may be determined by the CPU 33 counting the same timing as the print / sensor timing generation unit 43.

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

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

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

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

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

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

Next, the CPU 33 determines whether or not all the image data has been output (S118). If no output is made, the processes from steps S110 to S118 are repeated.

When all the image data is output, the CPU 33 turns on, for example, the LED of the OPU 26 to notify the user that printing is completed (S119).

If the user determines that all the image data is not output, the user may press the print completion button, the OPU 26 accepts the button, and the printing may be terminated. The power may be turned off by the user after the printing is completed, or the power may be automatically turned off when the printing is completed.

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

The correction processing unit 51 of the HMP 20 determines whether or not the correction start timing is present (S10). As described above, not only the user input (switch operation, touch panel operation) to the OPU 26, but also the correction process may be performed without fail after the power is turned on, and the movement amount from the _{navigation sensors S 0} and S _{1 or the gyro sensor 31} When the angular velocity is input from, it may be determined that the timing is reached.

If the determination in step S10 is Yes, the correction processing unit 51 of the HMP 20 waits until the rotation of the HMP 20 is detected (S20). The correction processing unit 51 determines whether or not the rotation angle change amount dθ _{navi detected from the movement amount of the navigation sensors S 0} and S ₁ or the rotation angle change amount dθ gyro detected from the angular velocity of the gyro sensor 31 is _equal to or more than the threshold value. judge. This is because if the HMP 20 does not rotate significantly to some extent, the corrected distance Lnew55 may include an error.

If the determination in step S20 is Yes, the sensor value acquisition unit 52 acquires the sensor value required for correcting the distance L (S30). For example, when the movement of the HMP 20 is stopped, the sensor value after the movement ( _{the movement amount of the navigation sensors S 0} and S ₁ and the angular velocity of the gyro sensor 31) is acquired. The sensor value obtained when the movement accompanied by rotation is stopped may be used. Moreover, you may use the sensor value obtained after a certain period of time. Since the timing of acquiring the sensor value is determined in this way, the sensor value acquisition unit 52 waits until the sensor value can be acquired.

When the sensor value can be acquired, the distance calculation unit 53 calculates the distance Lnew between the _{navigation sensors S 0} and S _{1 (S40).} First, the angular velocity obtained from the gyro sensor 31 is integrated to _{calculate the amount of change in rotation angle dθ gyro , dθ gyro} is substituted on the left side of _{equation (3), and the navigation sensor S 0} or S is assigned to the right side of equation (3). ₁ movement amount ΔX' _0, substituting DerutaX' _1, calculates the distance Lnew55 is a correction value of the distance L between the navigation sensors _S 0, _{S 1.}

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

The correction processing unit 51 applies the movement amounts ΔX ′ ₀ and ΔX ′ _{1 of the navigation sensors S 0} and S ₁ to the equation (3) to calculate the _{rotation angle change amount dθ navi , and dθ gyro} and dθ _navi. If there is only a difference in the error level of the gyro sensor 31 (if there is only a difference below the threshold value), the distance L need not be updated. As a result, the distance L can be updated only when it is better to update the distance L.

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

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

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

When the correction process starts, in step S5, the correction processing unit 51 determines the number of times to acquire the sensor value for correction (S5). For example, the user sets from OPU26. Alternatively, a constant value may be set in advance as this number of times, or the distance Lnew55 may be repeated until it converges to a certain range.

The processing of the next steps S10 to S40 and S50 is the same as in FIG.

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

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

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

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

In this embodiment, the HMP 20 that executes the correction process during the image formation with the start of the image formation as the trigger of the correction process, not before the start of the image formation, will be described.

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

FIG. 16 is an example of a flowchart for explaining the operation procedure of the image data output device 11 and the HMP 20. FIG. 16 mainly describes the difference from FIG. 13.

First, scanning for the correction process of step U103 in FIG. 13 becomes unnecessary. Further, the correction process is executed after step S111 instead of step S105.

It is determined in step S111-2 whether or not to perform the correction process. This process is the same as in step S104 of FIG.

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

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

Therefore, the position calculation circuit 34 can calculate the positions of the navigation sensors S ₀ and S _{1 with} the corrected distance Lnew 55 of the navigation sensors S ₀ and S ₁ (S112). Subsequent processing may be the same as in FIG.

In FIG. 16, the _{correction process is executed at the timing of acquiring the movement amount of the navigation sensors S 0} and S ₁ , but the correction process may be executed only once after the start of image formation.

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

On the other hand, _{if there is a large deviation between the distance L between the navigation sensors S 0} and S ₁ and the actual distance at the start of image formation, the image quality of the image output from the start of image formation to the correction processing is high. It may decrease. Therefore, immediately after the image formation start, this embodiment is utilized in forming an image such as is margins and same color solid image (navigation sensors S _0, hardly affects the image quality error position S ₁₎ It is desirable to be done. What kind of image data exists around the initial position of the HMP 20 when the image formation is started is determined by the brightness gradient obtained by analyzing the pixel value of the image data.

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

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

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

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

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

The configuration of FIG. 17 is for the purpose of explanation, and is integrated with a recording head maintenance device (keeping the state of the IJ recording head 24 normal), a charging stand, etc., which are prepared separately from the HMP 20. May be good. Further, the shape of the correction system 100 may be any shape as long as it has the above functions. For example, the HMP 20 may be rotated on the turntable.

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

The correction device 70 includes a communication unit 81, a rotation control unit 82, and a rotation angle detection unit 83. The communication unit 81 is realized by the CPU executing a program, communication I / F74, or the like. The rotation control unit 82 is realized by the CPU executing a program or controlling the rotation unit 72. The rotation angle detection unit 83 is realized by the CPU executing a program or controlling the rotation amount sensor 73.

Further, the HMP 20 has a communication unit 56 in addition to the configuration shown in FIG. The communication unit 56 is realized by a communication IF27 or the like. The communication unit 56 communicates with the communication unit 81 of the correction device 70.

FIG. 19 is an example of a sequence diagram for explaining the operation procedure of the correction system 100. The user attaches the HMP 20 to the rotating portion 72 and performs an operation to start the correction process.
S1: As an example, when the correction processing unit 51 of the HMP 20 detects the timing of performing the correction processing, the correction processing start is transmitted to the correction device 70 via the communication unit 56.
S2: The communication unit 81 of the correction device 70 receives the notification of the start of the correction process, and the rotation control unit 82 rotates the rotation unit 72.
S3: As a result, the navigation sensors S ₀ and S ₁ of the HMP 20 detect the movement amount.
S4: Further, the rotation angle detection unit 83 of the correction device 70 detects the rotation angle change amount dθturn of the rotation unit 72.
S5: The communication unit 81 of the correction device 70 transmits the rotation angle change amount dθturn to the HMP 20.
S6: The communication unit 56 of the HMP 20 receives the rotation angle change amount dθturn, and the correction processing unit 51 sends it to the distance calculation unit 53. As a result, the distance calculation unit 53 _{can calculate the distance Lnew 55 by using the movement amount of the navigation sensors S 0} and S ₁ and the rotation angle change amount dθturn as in the first to third embodiments. Further, the correction processing unit 51 can update the distance L.

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

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

For example, in the present embodiment, it has been explained that there are two navigation sensors, but even when there are three or more navigation sensors, the same applies to the old woman whose position is calculated by the distance between these navigation sensors. it can.

Further, in the present embodiment, the amount of change in the angle of rotation is detected by the gyro sensor, but any sensor may be used as long as the amount of change in the angle of rotation can be detected.

Further, the components of the SoC50 and the ASIC / FPGA40 described above may be included in either of them depending on the CPU performance, the circuit scale of the ASIC / FPGA40, and the like.

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

The navigation sensor 30 is an example of the movement amount detecting means, the sensor value acquiring unit 52 is an example of the posture information acquiring means, the distance calculating unit 53 is an example of the detecting means position calculating means, and the correction processing unit 51 is an example. The position calculation circuit 34 is an example of the position calculation means, and the IJ recording head control unit 44 is an example of the droplet ejection means.

11 Image data output device 30 Navigation sensor 31 Gyro sensor 51 Correction processing unit 52 Sensor value acquisition unit 53 Distance calculation unit 70 Correction device 100 Correction system

Japanese Patent No. 5033247

Claims (10)

A position detection device that detects a position on a moving surface based on the amount of movement and posture.
At least two movement amount detecting means for detecting the movement amount, and
A posture information acquisition means for acquiring information on the posture of the position detection device, and
It has a detecting means position calculating means for obtaining a distance between the two moving amount detecting means by using the moving amount and the information about the posture.
A position detection device that calculates the position of the position detection device using the distance calculated by the detection means position calculation means. A position calculation means for calculating the position of the position detecting device using the distance between the moving amount and the two displacement detection means before Symbol two moving amount detecting means detects respectively,
Distance, position detecting apparatus according to claim 1 having a correction means for correcting by the distance which the detector position calculating means is calculated between the previous SL two moving amount detecting means. It has a droplet ejection means for ejecting droplets for forming an image of the position according to the position of the position detecting device.
The position detection device according to claim 2, wherein the correction means corrects the position of the movement amount detecting means for detecting the movement amount before the droplet ejection means starts ejecting droplets for forming an image. .. It has a droplet ejection means for ejecting droplets for forming an image of the position according to the position of the position detecting device.
The detection means position calculation means moves amount detection that detects the movement amount for calculating the position of the position detection device after the droplet ejection means starts ejecting droplets for forming an image. Using the movement amount detected by the means, the distance is calculated.
The position detecting device according to claim 2, wherein the correction means corrects the position of the movement amount detecting means by the distance calculated by the detecting means position calculating means. The movement amount detecting means for detecting the movement amount detects a plurality of the movement amounts, and the posture information acquisition means detects information on the plurality of the postures.
The detection means position calculation means calculates the distance between the two movement amount detection means a plurality of times using the information on the movement amount and the posture.
Said correction means, the position detecting apparatus according to any one of claims 2-4 for correcting the position of said moving amount detecting means by the distance obtained by applying a statistical process to a plurality of said distance. The correction means stores the distance used for correction, and stores the distance.
Among the plurality of the distance which the detector position calculating means is calculated, with the distance difference between the distance that is stored is minimized, the position according to claim 5 for correcting the position of said moving amount detecting means Detection device. Wherein the correction means uses a distance between the moving amount and the two displacement detection means for the two moving amount detecting unit detects respectively, and calculates information relating to the position,
When the difference between the information about the posture acquired by the posture information acquisition means and the calculated information about the posture is equal to or less than the threshold value, the correction means does not correct the position of the movement amount detecting means for detecting the movement amount. The position detecting apparatus according to any one of claims 2 to 6. The position detection device according to any one of claims 1 to 7.
A droplet ejection device comprising a droplet ejection means for ejecting droplets for forming an image of the position according to the position of the position detecting apparatus. An information processing device that detects the position on the moving surface based on the posture and the amount of movement.
At least two movement amount detecting means for detecting the movement amount, and
A posture information acquisition means for acquiring information on the posture of the information processing device, and
It said detecting means position calculating means asking you to distance between the two moving amount detecting means by using the information about the amount of movement and the posture, to function as,
A program that calculates the position of the information processing device using the distance calculated by the detection means position calculation means. A position detection method in which a position detection device detects a position on a moving surface based on a posture and a movement amount.
A step in which at least two movement amount detecting means detect the movement amount, and
A step in which the posture information acquisition means acquires information regarding the posture of the position detection device, and
A step in which the detection means position calculating means obtains a distance between the two movement amount detecting means using the information on the movement amount and the posture, and
A position detection method comprising a step of calculating the position of the position detection device using the distance calculated by the detection means position calculation means.