JP7010398B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and a control method.

A drawing method using an inkjet method has been proposed when painting an automobile body or the like (Patent Document 1). However, the surface of a three-dimensional object such as an automobile body or an aircraft is supported by an XY table composed of an X-axis movement mechanism and a Y-axis movement mechanism and is supported by an inkjet nozzle that moves in the XY direction on the surface to be coated. Until now, a method of printing multiple images adjacent to each other has not been provided, and in such cases, direct painting by hand or pasting printed films is performed. rice field.

Japanese Unexamined Patent Publication No. 9-156088

That is, when a plurality of images are printed adjacent to each other on the surface of a three-dimensional object by an inkjet nozzle mounted on an XY table, for example, as shown in FIG. 7A, the surface of a spherical object (spherical surface). ), The ink ejected from each inkjet nozzle mounted on the nozzle head 100 is ejected in the direction perpendicular to the nozzle head 100, so that the object to be coated 101 is printed. On the surface of the above, a square having a distorted periphery as shown in FIG. 7B is printed. When another square image is printed adjacent to the printed printed image 102a in the X direction, as shown in FIG. 7 (c), between the printed image 102a and the printed image 102b. Will result in a non-printed area 103, which is an unpainted portion that is not printed. That is, there is a problem that the adjacent edge portions of the print image 102a and the print image 102b cannot be continuously printed. Further, depending on the shape of the surface of a three-dimensional object, the boundary portion between the two printed images may overlap. Therefore, conventionally, there is no method of continuously printing a plurality of images adjacently to a three-dimensional object to be coated by an inkjet method, and if you want to print an image on a three-dimensional body, do you draw a picture directly by hand? The only way to do this was to manually bond the printed films together.

Therefore, the present invention has been made in view of such a problem, and each printed image is printed even when a plurality of images are printed adjacent to each other on the surface of a three-dimensional object by an inkjet nozzle mounted on an XY table. It is an object of the present invention to provide a three-dimensional printing method capable of continuously printing on adjacent side surface portions of an image without causing unpainted areas or overlapping portions.

In order to solve the above problems, the invention according to claim 1 comprises a print head that ejects ink on the surface of a three-dimensional object and one of a plurality of images printed on the surface of the three-dimensional object. In a control device for controlling an inkjet printer having a photographing means for photographing the surface of the three-dimensional object so as to include an edge portion, the inkjet printer displays the plurality of images on the surface of the three-dimensional object. A control unit that prints adjacently and corrects the data based on the image taken by the photographing means is provided, and the control unit causes the print head to discharge the liquid based on the corrected data. It is characterized by controlling .

According to the three-dimensional printing method according to the present invention, a composite printed surface is created by projecting a subdivided image of a three-dimensional printed surface captured by a photographing means attached to an XY table onto a plane, and the composite printed surface is formed on the composite printed surface. Since it was decided to print with an inkjet printer based on the drawing target edited image edited so as to overlap the drawing target images, multiple images are continuously printed on the surface of a three-dimensional object without gaps or duplication. It has the effect of being able to.

It is a block diagram which shows one Embodiment of the inkjet printer which carries out the three-dimensional printing method which concerns on this invention. It is explanatory drawing which shows the arrangement example of the inkjet printer shown in FIG. 1 with respect to the automobile M which is a print target. It is explanatory drawing which shows the other arrangement example of the inkjet printer shown in FIG. 1 with respect to the automobile M to be printed. (A) is an explanatory diagram showing the shooting of a finely divided image by a camera, and (b) is a diagram showing a composite print surface. (A) is a diagram showing a drawing target image, and (b) is a diagram showing a drawing target edited image. (A) is a diagram illustrating an area where the first printing is completed, and (b) is an explanatory diagram of an image to be printed next. (A) Explanatory drawing when an image is printed on a spherical surface by an inkjet printer, (b) is an explanatory diagram showing a result when a square is printed on a spherical surface, and (c) is a continuous printing of squares on a spherical surface by an inkjet printer. It is an explanatory diagram in the case of.

[Overall configuration of inkjet printer]
The three-dimensional printing method according to the present invention will be described in detail below based on a preferred embodiment. First, the configuration of an inkjet printer that implements the three-dimensional printing method according to the present invention will be described. FIG. 1 is a configuration diagram showing a configuration of an inkjet printer to which the three-dimensional printing method according to the present invention is applied. The illustrated inkjet printer 1 generally includes a print head 2 by an inkjet method, a camera 4 as a photographing means arranged in the vicinity of the print head 2, and the print head 2 and the camera 4 in the X direction and the Y direction. The XY table 3 to be moved, the image editing software S for editing the image taken by the camera 4, and the XY table 3 are operated based on a preset control program to eject ink from the print head 2. It is configured to include a control unit 9 that controls printing on the surface to be printed, and a drive unit 11 that positions the camera 4 and the print head 2 at predetermined positions based on the control from the control unit 9 to perform shooting and printing operations. Has been done.

[Structure of each part]
The print head 2 is configured to include a plurality of nozzles (not shown) for ejecting ink toward the surface to be coated of the object to be coated M. The term "ink" here also includes "paint". The ink is ejected from each nozzle perpendicularly to the print head 2. That is, the ink ejection surface of the print head 2 is parallel to the XY plane formed by the movement of the XY table 3, and the ink dots ejected from each nozzle are perpendicular to the XY plane. It is discharged in the direction. In addition, the ink ejected from each nozzle is ejected in parallel. Each nozzle is connected to an ink tank of a predetermined color, and the ink tank is pressurized by a pressurizing device (not shown). If the distance between each nozzle and the printed surface of the object to be coated M is about 20 cm, there is a problem. Ink dots can be ejected to the printed surface without nozzles.

The XY table 3 is generally configured to include an X-axis 5 formed with a linear movement mechanism and a Y-axis 6 that moves the X-axis in the Y direction while holding the X-axis 5 with two arms. A print head 2 and a camera 4, which will be described later, are attached to a slider (not shown) on the X-axis. Further, the Y-axis 6 is provided with a shaft 7, and by holding the shaft 7 with the robot arm 8, the print head 2 can be freely arranged at a predetermined position where printing should be performed on the object M to be coated. It has become like. For example, when the object to be coated M is an automobile, it can be arranged in a horizontal position as shown in FIG. 2 or arranged in an upper portion as shown in FIG. The operation of the robot arm 8 is controlled based on a program stored in the control unit 9 in advance.

The camera 4 is arranged on a slider (not shown) of the X-axis 6 in the vicinity of the print head 2, and moves in the XY directions while moving in a predetermined range of the printed surface of the object to be printed M at a constant minute interval. Take a picture. The camera 4 is a so-called digital camera, and as described above, specifications such as a lens specification and a resolution capable of capturing a plurality of subdivided images in a predetermined range of the printed surface are appropriately selected. The camera 4 captures a plurality of subdivided images of the printed surface continuously and automatically according to a program provided in advance in the control unit 9.

The control unit 9 includes a storage device that records and saves various programs, captured image data, image data to be printed, and the like, a central processing device that executes various processes according to the program, an input device such as a keyboard and a mouse, and the like. It is configured by a so-called microcomputer equipped with a DVD player or the like as needed, and further equipped with a monitor 10 to display input information to the control unit 9 and processing results by the control unit 9. As will be described later, the control unit 9 performs image processing on a plurality of subdivided image data captured by the camera 4 using image processing software, and projects the printed surface of the object to be coated M, which is not a flat surface, onto a flat surface. A composite print surface is generated, and a drawing target image A, which is an image that should be printed continuously on the printed surface so as to be continuous with the printed image, is superimposed on the composite print surface and continuous with the edge portion of the printed image. By editing the drawing target image A in this way, the drawing target edited image B is generated. For example, for the print image 102b (corresponding to the drawing target image A) shown in FIG. 7 (c), the print image 102b is aligned with the composite print surface so that the non-print area 103 is not formed between the print image 102b and the adjacent print image 102a. The drawing target edited image B is generated by editing (transforming) so as to do so. Then, by actually printing by the print head 2 based on the drawing target edited image B, it becomes possible to print the printed image 102b without a gap between the printed image 102a and the printed image 102a. It should be noted that the camera 4 takes a plurality of subdivided images and prints by ejecting ink from each nozzle of the print head 2 by the drive unit 11 whose operation is controlled by the control unit 9.

[Operation of inkjet printer and its painting method]
Next, the three-dimensional printing method according to the present invention will be described together with the operation of the inkjet printer 1 configured as described above. Here, the object to be painted M is the vehicle body of the automobile, a certain image is printed on the side surface of the automobile which is the object to be painted M, and the next image is printed so as to be continuous with the already printed printed image I. I assume that you will.

[Step 1]
There are no particular restrictions on the print position of the image to be printed first, and the image may be appropriately printed at a fixed position to some extent. Specifically, when an instruction to start printing is instructed via the control unit 9, the drive unit 11 operates the robot arm 8 to position the XY table 3 on the side surface of the object M to print the first print. To carry out. For example, the print image I shown in FIG. 6A is printed. This printed image I serves as a reference image for printing the next printed image, that is, the edited image B to be drawn (see FIG. 6B).

[Step 2]
After the first printing described above is completed, the next image is printed adjacent to and continuous with the printed image I. Specifically, the robot arm 8 is operated via the control unit 9, and the XY table 3 is placed adjacent to the printed image I, that is, the XY table includes the area to be printed next. 3 is positioned so as to face the printed surface. At this time, the side where the camera 4 is continuous with the printed image I, the right end portion 13 of the printed image I in the present embodiment is included, and the drawing target image A which is the next image (see FIG. 5A). ) Is positioned so as to include a slightly wider area than the area to be printed. Then, this area is photographed by the camera 4 as a finely divided image divided into a small area, for example, 20 mm × 20 mm as the size of one divided area d (see FIG. 4A). When the range to be printed is m × n, a finely divided image divided into about 2,000 to 3,000 sheets is taken. Then, the image data D of the subdivided image is acquired. The captured subdivided image can be displayed on the monitor 10 by the control unit 9.

[Step 3]
Next, the control unit 9 synthesizes the m × n subdivided images taken by the camera 4 and synthesizes one image. That is, the subdivided image is a photograph of the printed surface of the object M to be coated, which is not a flat surface, and a composite printed surface C is created by projecting these subdivided images onto a flat surface. The size of the finely divided image is not limited to 20 mm × 20 mm, and if it is made smaller than this, a highly accurate composite printed surface C can be created. Further, when there is not much unevenness on the printed surface of the object to be coated M, a finely divided image having a size larger than this may be used.

[Step 4]
Next, the drawing target image A, which is an image to be printed next so as to be continuous with the printed image I, is superimposed on the composite print surface C, and the drawing target image is continuous with the edge portion of the printed image I. Edit A. For example, assuming that the printed image 102b shown in FIG. 7C is the drawing target image A, the left edge portion of the printed image 102b is extended so as to cover the portion corresponding to the non-printed area 103. Image editing is performed, and a drawing target edited image B is generated. That is, the image edited into an image in which the printed image 102b is continuous with the printed image 102a is the drawing target edited image B. The control unit 9 is executed by the image editing software S while watching the monitor 10 to generate (edit) the image to be edited.

Further explaining, the control unit 9 synthesizes a plurality of "m × n" subdivided images taken by the camera 4 and projects the composite printed surface C (see FIG. 5 (b)) onto a plane. Generate. Next, the control unit 9 superimposes the drawing target image A (see FIG. 5A), which is an image to be continuously printed on the printed image I, on the composite print surface C as shown in FIG. 5B. Further, the image is edited so that the correction portion 12 stretched so that the left end portion of the drawing target image A touches the boundary of the right end portion 13 of the printed image I to generate the drawing target edited image B. As the image processing software S that generates the drawing target edited image B from the drawing target image A, for example, "Adobe Photoshop" (registered trademark) of Adobe Systems Incorporated can be used.

[Step 5]
Next, based on the created image B to be drawn, ink is ejected from each nozzle of the inkjet printer onto the printed surface of the object M to be printed to print. The XY table 3 is held at the same position from the start of shooting the finely divided image by the camera 4 to the end of printing of the drawing target edited image B.

[Step 6]
After printing the edited image B to be drawn, the process of steps 1 to 5 is repeated with the printed image W (see FIG. 6B) as a reference, so that a plurality of images are continuously printed on the object to be painted M. Can be printed. Further, when it is desired to continuously print an image on the upper side, the lower side, or the right side of the first printed image I, the process of steps 1 to 5 is repeated in the same manner to continuously print a plurality of images on the object M to be coated. You can print the image of.

[Effect of embodiment]
As described above, according to the three-dimensional printing method according to the present invention, even when a plurality of images are continuously printed on the surface of the three-dimensional object to be coated M, there is continuity without gaps or overlaps. Images can be printed. As a result, it becomes possible to print on the body of an automobile or the body of an aircraft having a three-dimensional surface shape by an inkjet printer.

[Other embodiments]
The present invention is not limited to the above embodiment, and various modifications can be made without departing from or changing the technical idea of the present invention. For example, in the above embodiment, the object to be printed is the vehicle body of an automobile, but it goes without saying that it can be applied to aircraft, ships, railroad vehicles, industrial equipment, etc. having a three-dimensional printed surface. ..

Further, in the three-dimensional printing method according to the present invention, even when the surface of an object to be coated having a three-dimensional surface shape is divided into a plurality of regions and printed, no unpainted residue or duplication occurs, so that uniform coating can be achieved. It will be possible. Therefore, it can be widely adopted not only for prints such as design images but also for painting with a single color. Further, the type of ink ejected from the print head 2 can be appropriately selected from water-based and oil-based depending on the material or the like constituting the object to be coated.

1 Inkjet printer 2 Printhead 3 XY table 4 Camera 5 X-axis 6 Y-axis 7 Shaft 8 Robot arm 9 Control unit 10 Monitor 11 Drive unit 12 Correction unit 13 Right end A Drawing target image B Drawing target Edit image C Composite print Surface D Image data of finely divided image d One divided area I, W Printed image M Image to be painted S Image editing software

Claims (5)

A print head that ejects ink onto the surface of a three-dimensional object,
A control for controlling an inkjet printer having a photographing means for photographing the surface of the three-dimensional object so that the edge portion of one of the plurality of images printed on the surface of the three-dimensional object is included. In the device
The inkjet printer prints the plurality of images adjacent to each other on the surface of the three-dimensional object.
A control unit that corrects data based on an image taken by the shooting means is provided.
The control unit controls the printhead to eject ink based on the corrected data.
A control device characterized by that . The control unit corrects the data based on a plurality of captured images captured by the photographing means.
The control device according to claim 1 . The image size of each of the plurality of captured images can be arbitrarily set.
The control device according to claim 2 . The control unit corrects the data so as to be in contact with the edge portion.
The control device according to any one of claims 1 to 3 . A print head that ejects ink onto the surface of a three-dimensional object,
A control for controlling an inkjet printer having a photographing means for photographing the surface of the three-dimensional object so that the edge portion of one of the plurality of images printed on the surface of the three-dimensional object is included. In the control method by the device
The inkjet printer prints the plurality of images adjacent to each other on the surface of the three-dimensional object.
A control step of correcting data based on an image captured by the imaging means is included.
In the control step, the print head is controlled so as to eject ink based on the corrected data.
A control method characterized by that .

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