JP5494069B2 - Recording apparatus, control method, and program - Google Patents

Description

  The present invention relates to a recording apparatus such as an ink jet printer.

  An ink jet recording apparatus reciprocates a carriage on which a recording head is mounted in a main scanning direction, and ejects ink from the recording head during the reciprocating movement to record an image (dot) on a recording medium. Then, the recording medium is conveyed in the sub-scanning direction using a conveyance roller or the like, and recording in the main scanning direction is repeated to form an image on the recording medium.

  However, the recording head is not always correctly mounted on the carriage, and when an error in mounting the recording head occurs, the amount of inclination between the recording head and the recording medium varies, and the ink landing position shifts. It will be.

  For this reason, as a technical document filed prior to the present invention, there is a document that discloses a technique that can appropriately and easily make an adjustment corresponding to the cause of the deviation of the individual ink landing positions (for example, , See Patent Document 1).

  In Patent Document 1 (Japanese Patent Laid-Open No. 2005-132066), ink is ejected from the nozzle 8 when the recording head 9 moves in the forward direction and the backward direction, and at least one dot row arranged in the sub-scanning direction is recorded. A dot row pattern 26 is created. Next, the dot row pattern 26 is read, the deviation of the ink landing position based on the data of the dot row pattern 26, and the error in the flight time from when the ink is ejected from the recording head 9 until it reaches the recording medium 7 Are separated into a time-caused component caused by the error and an angle-caused component caused by an error in the angle of the recording head 9 or the nozzle 8 with respect to the main scanning direction. Then, the ink landing position is adjusted based on each cause component.

  In Patent Document 1, ink is ejected from the nozzles 8 when the recording head 9 moves in the forward direction and the backward direction, thereby creating a dot row pattern 26. For this reason, in the method of Patent Document 1, the recording head 9 is affected by yawing when the dot row pattern 26 is created. Yawing means a change in behavior in which the recording head 9 swings as the recording head 9 moves. As a result, the dot row pattern 26 created by the method of Patent Document 1 includes an ink landing position deviation component due to the yawing effect of the recording head 9. For this reason, with the dot row pattern 26 created by the method of Patent Document 1, it is not possible to detect the inclination of the recording head 9 that is not affected by yawing.

  The present invention has been made in view of the above circumstances, and provides a recording apparatus, a control method, and a program capable of detecting the tilt of a recording head that is not affected by yawing, which is the problem described above. The purpose is to do.

  In order to achieve this object, the present invention has the following features.

<Recording device>
The recording apparatus according to the present invention includes:
A recording head provided with a nozzle array in which a plurality of nozzles for ejecting ink are arranged in the conveyance direction of the recording medium;
A carriage equipped with a record head,
A moving means for reciprocally moving the key Yarijji in a direction orthogonal to the transport direction of the record medium,
In a state in which the carriage is stopped at the reference recording position, ejecting ink from a plurality of Bruno nozzle onto a recording medium at different positions in the transport direction, consisting least also the first dots independent second dot detecting Pattern forming means for forming a pattern;
Detecting the detection knowledge pattern formed on a record medium, a line sensor for acquiring a detection signal of detection known pattern,
Includes information of the detection pattern obtained from the detection signal of the detection knowledge patterns, and information of the reference recording position, based on a comparison result obtained by comparing a detection means for detecting the inclination of the record head, a,
The detection means is
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position of the first dot in the orthogonal direction obtained from the detection signal of the detection pattern with the position of the second dot in the orthogonal direction;
A third comparison result obtained by comparing the position in the transport direction of the first dot obtained from the detection signal of the detection pattern with the position in the transport direction of the second dot;
Based on the above, the inclination of the recording head is detected .

<Control method>
The control method according to the present invention includes:
A recording head nozzles for ejecting ink nozzle row in which a plurality arranged in the conveying direction of the recording medium provided, a carriage mounting the record head, a direction orthogonal to the transport direction of the record medium key Yarijji A control method performed by a recording apparatus comprising a moving means that reciprocates and a line sensor,
While stopping the carriage at the reference recording position, ejecting ink from a plurality of Bruno nozzle of different positions in the transport direction, to reduce the well and the first dots independent form the detection pattern of a second dot A pattern forming process;
The test knowledge pattern formed on the record medium detected by the La-sensor, acquires the detection signal of the detection knowledge pattern detection step,
And information of the detection pattern obtained from the detection signal of the detection knowledge patterns, and information of the reference recording position, based on a comparison result obtained by comparing the a detection step of detecting a tilt of the record head,
I have a,
The detection process is
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position of the first dot in the orthogonal direction obtained from the detection signal of the detection pattern with the position of the second dot in the orthogonal direction;
A third comparison result obtained by comparing the position in the transport direction of the first dot obtained from the detection signal of the detection pattern with the position in the transport direction of the second dot;
And a step of detecting the inclination of the recording head .

<Program>
The program according to the present invention is:
A recording head nozzles for ejecting ink nozzle row in which a plurality arranged in the conveying direction of the recording medium provided, a carriage mounting the record head, a direction orthogonal to the transport direction of the record medium key Yarijji A program that is executed by a computer of a recording apparatus that includes a moving unit that reciprocally moves and a line sensor,
While stopping the carriage at the reference recording position, ejecting ink from a plurality of Bruno nozzle of different positions in the transport direction, to reduce the well and the first dots independent form the detection pattern of a second dot Pattern formation processing,
The test knowledge pattern formed on the record medium detected by the La-sensor, a detection process of acquiring the detection signal of the detection known pattern,
Execution and information of the detection pattern obtained from the detection signal of the detection pattern, and the information of the reference recording position, based on a comparison result obtained by comparing a detection process for detecting the inclination of the record head, to computer then,
The detection process
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position of the first dot in the orthogonal direction obtained from the detection signal of the detection pattern with the position of the second dot in the orthogonal direction;
A third comparison result obtained by comparing the position in the transport direction of the first dot obtained from the detection signal of the detection pattern with the position in the transport direction of the second dot;
And a process of detecting the tilt of the recording head based on the above.

  According to the present invention, it is possible to detect the tilt of the recording head that is not affected by yawing.

1 is a diagram illustrating a schematic configuration example of a recording apparatus according to an embodiment. FIG. 3 is a diagram illustrating a schematic configuration example of an image forming mechanism and a detection mechanism of the recording apparatus according to the embodiment. FIG. 3 is a first diagram illustrating a configuration example of a carriage 5 and a recording head 6. FIG. 5 is a second diagram illustrating a configuration example of a carriage 5 and a recording head 6. 3 is a diagram showing a tilt state of the recording head 6. FIG. It is a figure which shows the structural example of the control mechanism of the recording device of this embodiment. 3 is a diagram illustrating an example of a method for forming a detection pattern 100. FIG. FIG. 4 is a diagram showing a detection pattern 100 (first dot 101, second dot 102) formed according to the tilt state of the recording head 6. It is a figure which shows the example of a type of the detection pattern 100 (1st dot 101, 2nd dot 102). It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 1. FIG. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 2. FIG. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 3. FIG. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 4. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 5. FIG. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 6. FIG. It is a figure which shows the detection pattern 100 (1st dot 101, 2nd dot 102) of type 7. FIG. 6 is a diagram illustrating a first method example when acquiring a reference time when the position of the reference line 201 is detected. FIG. 10 is a diagram illustrating a second method example when acquiring a reference time when the position of the reference line 201 is detected. FIG. 4 is a diagram illustrating an example of a method for specifying the type of a detection pattern 100. FIG. It is a figure which shows the dot space | interval d of the 1st dot 101 and the 2nd dot 102 of the inclination direction. 4 is a diagram illustrating an example of a method for calculating an inclination amount (angle) of the recording head 6. FIG. It is a figure which shows the example of a calculation method of the inclination angle ((theta)) in the case of the detection pattern 100 (1st dot 101, 2nd dot 102) of type 6. FIG. 4 is a diagram showing the tilt direction of the recording head 6. FIG. 6 is a diagram illustrating an example of a processing operation when the tilt direction of the recording head 6 is specified. FIG. 5 is a diagram for explaining a method for detecting the position of a reference line 201. FIG. It is a figure which shows the state in which the reference | standard attachment surface 62 inclines. It is a figure which shows the state in which the reference attachment surface 62 is not inclined, and the state in which the reference attachment surface 62 is inclined. It is the figure which expanded a part of FIG. 6 is a first diagram illustrating an example of a method for specifying position information of the first dot 101 and the second dot 102. FIG. 6 is a second diagram illustrating an example of a method for specifying position information of the first dot 101 and the second dot 102. FIG. FIG. 6 is a diagram illustrating a case where the tilt amount of the recording head 6 is calculated at two or more locations. 6 is a first diagram showing a modification of the line sensor 30. FIG. FIG. 6 is a second diagram showing a modification of the line sensor 30. FIG. 10 is a third diagram showing a modification of the line sensor 30. 6 is a diagram illustrating an example of notifying whether or not the recording head 6 is correctly mounted on the carriage 5. FIG.

(Outline of the recording apparatus of the present embodiment)
First, the outline of the recording apparatus of the present embodiment will be described with reference to FIGS. 2, 6, and 9.

  The recording apparatus of the present embodiment includes a recording head 6 provided with a nozzle row 61 in which a plurality of nozzles that eject ink are arranged in the conveyance direction of the recording medium 16, a carriage 5 on which the recording head 6 is mounted, and a carriage 5 Moving means (corresponding to the control unit 107 and the main scanning driver 109) that reciprocates in the orthogonal direction perpendicular to the conveyance direction of the recording medium 16, and a plurality of nozzles on the recording medium 16 with the carriage 5 stopped. Pattern forming means (corresponding to the control unit 107 and the recording head driver 111) that ejects ink and forms the detection pattern 100 shown in FIG. 9 composed of at least two or more independent first dots 101 and second dots 102; A line sensor 30 that detects the detection pattern 100 formed on the recording medium 16 and acquires a detection signal of the detection pattern 100, and a detection unit that detects the inclination of the recording head 6 based on the detection signal of the detection pattern 100 And equivalent) to the control unit 107, characterized in that it comprises a.

  The recording apparatus of the present embodiment forms a detection pattern 100 (a pattern composed of at least two or more independent first dots 101 and second dots 102) shown in FIG. 9 with the carriage 5 stopped. Therefore, the detection signal of the detection pattern 100 obtained by detecting the detection pattern 100 with the line sensor 30 does not include an ink landing position deviation component due to the yawing effect of the recording head 6. For this reason, the recording apparatus of the present embodiment can detect the inclination of the recording head 6 in a state not affected by yawing. Hereinafter, the recording apparatus of the present embodiment will be described in detail with reference to the accompanying drawings.

(First embodiment)
<Schematic configuration example of recording apparatus>
First, a schematic configuration example of the recording apparatus of the present embodiment will be described with reference to FIG.

  In the recording apparatus of the present embodiment, the main support guide rod 3 and the sub support guide rod 4 are horizontally mounted between the side plates 1 and 2 on both sides in a substantially horizontal positional relationship, and the main support guide rod 3 and the sub support guide rod 4 The carriage 5 is configured to be slidably supported in the main scanning direction.

  The carriage 5 has four recording heads 6 that discharge yellow (Y) ink, magenta (M) ink, cyan (C) ink, and black (Bk) ink, with their discharge surfaces (nozzle surfaces) facing downward. It is installed. The carriage 5 has four ink cartridges 7 (symbol “7” is one of the ink cartridges) above the recording head 6 (symbol “6” means any of the recording heads or a generic name). (Or generic name) is interchangeably mounted. The ink cartridge 7 is an ink supply body for each color for supplying ink to the four recording heads 6. The carriage 5 is connected to a timing belt 11 stretched between a driving pulley (drive timing pulley) 9 and a driven pulley (idler pulley) 10 that are rotated by the main scanning motor 8, and drives and controls the main scanning motor 8. By doing so, it is configured to move in the main scanning direction. The movement in the main scanning direction is controlled based on an encoder value obtained by providing an encoder sensor 41 on the carriage 5 and detecting the mark on the encoder sheet 40 by the encoder sensor 41.

  Further, the recording apparatus of the present embodiment is configured such that the subframes 13 and 14 are erected on the bottom plate 12 that connects the side plates 1 and 2, and the transport roller 15 is rotatably held between the subframes 13 and 14. ing. A sub-scanning motor 17 is disposed on the sub-frame 14 side, and in order to transmit the rotation of the sub-scanning motor 17 to the conveying roller 15, a gear 18 fixed to the rotation shaft of the sub-scanning motor 17 and the conveying roller 15 And a gear 19 fixed to the shaft.

  Further, between the side plate 1 and the subframe 12, a reliability maintaining and recovering mechanism (hereinafter referred to as “subsystem”) 21 of the recording head 6 is disposed. The sub-system 21 is configured by holding four cap means 22 for capping the ejection surface of the recording head 6 by a holder 23 and holding the holder 23 by a link member 24 so as to be swingable. Then, when the carriage 5 moves in the main scanning direction and the carriage 5 comes into contact with the engaging portion 25 provided in the holder 23, the holder 23 lifts up, and the cap means 22 caps the ejection surface of the recording head 6. Like to do. Further, when the carriage 5 moves to the image forming area side, the holder 23 is lifted down so that the cap unit 22 is separated from the ejection surface of the recording head 6.

  The cap means 22 is connected to the suction pump 27 via the suction tube 26, forms an atmosphere opening port, and communicates with the atmosphere via the atmosphere opening tube and the atmosphere opening valve. The suction pump 27 discharges the sucked waste liquid (waste ink) to a waste liquid storage tank.

  A wiper blade 30 for wiping the discharge surface of the recording head 6 is attached to the blade arm 31 at the side of the holder 23. The blade arm 31 is pivotally supported and rotated by a driving means (not shown). The cam is swung by the rotation of the cam.

<Configuration Example of Image Forming Mechanism of Recording Apparatus>
Next, a configuration example of the image forming mechanism of the recording apparatus according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 2, the image forming mechanism of the recording apparatus of this embodiment includes a carriage 5 and a main support guide rod 3. As shown in FIG. 3, the carriage 5 of the present embodiment includes a plurality of recording heads 6. In FIG. 3, recording heads 6 of the number (four) of colors (Y, M, C, Bk) necessary for image formation are mounted on the carriage 5. Note that the number of recording heads 6 mounted on the carriage 5 is not particularly limited, and at least one recording head 6 may be mounted.

  The image forming mechanism of the present embodiment conveys the recording medium 16 in the sub-scanning direction while moving and scanning the carriage 5 on which the recording head 6 is mounted in the main scanning direction, and is mounted on the recording head 6 in accordance with a predetermined recording timing signal. Ink is ejected from the nozzle row 61 onto the recording medium 16 to record an image (dot) on the recording medium 16. Then, the recording medium 16 is conveyed by the rotation of the conveying roller 15 and recording in the main scanning direction is repeated to form an image on the recording medium 16. Note that the conveyance amount of the recording medium 16 is controlled by position information of A, B, and Z phases of an encoder (not shown) attached on the rotation shaft of the conveyance roller 15.

  Since the recording head 6 mounted on the carriage 5 is a consumable item, the recording head 6 can be removed from the carriage 5 and replaced as shown in FIG.

  However, as shown in FIG. 4, when the recording head 6 is replaced, an installation error of the recording head 6 occurs, and the tilt amount of the recording head 6 with respect to the carriage 5 varies. If the tilt amount of the recording head 6 is small, the tilt amount of the recording head 6 can be suppressed with mechanical accuracy. However, even if the mechanical accuracy is increased, it is impossible to achieve an ideal state in which the recording head 6 has no tilt amount as shown in FIG.

  For this reason, the recording head 6 generates a slight amount of inclination with respect to the carriage 5 as shown in FIGS. 5B, 5C, and 5D.

  FIG. 5A shows an ideal state where there is no inclination amount of the recording head 6 with respect to the carriage 5, and shows each surface constituting the recording head 6. FIG. 5A also shows a reference attachment surface 62 when the recording head 6 is attached to the carriage 5. As shown in FIG. 5A, the reference mounting surface 62 constitutes the upstream side surface of the recording head 6 in the sub-scanning direction. 5A also shows the x, y, and z directions with respect to the recording head 6. The x direction indicates the main scanning direction, the y direction indicates the sub-scanning direction, and the z direction indicates the recording head. The height direction of 6 is shown.

  FIG. 5B shows an inclination amount of the recording head 6 when the recording head 6 shown in FIG. 5A is viewed from the front (A direction). Although the center position when the recording head 6 shown in FIG. 5B rotates is represented by the center point 63, strictly speaking, it is a straight line extending from the position indicated by the center point 63 in the y direction (sub-scanning direction). The inclination of the recording head 6 occurs in the main scanning direction and the height direction around the straight line. Note that the state indicated by the dotted frame 64 indicates a state in which the recording head 6 is correctly mounted on the carriage 5 (the state shown in FIG. 5A), and the main scanning direction of the recording head 6 relative to the carriage 5 and The case where the amount of inclination in the height direction is zero is shown.

  FIG. 5C shows the amount of inclination of the recording head 6 when the recording head 6 shown in FIG. 5A is viewed from above (B direction). The center position when the recording head 6 rotates is a straight line extending in the z direction (height direction) from the position indicated by the center point 63, and the inclination of the recording head 6 about the straight line is the main scanning direction and the sub scanning. Will occur in the direction. Note that the state indicated by the dotted frame 64 indicates a state in which the recording head 6 is correctly mounted on the carriage 5 (the state shown in FIG. 5A), and the main scanning direction of the recording head 6 relative to the carriage 5 and The case where the amount of inclination in the sub-scanning direction is zero is shown.

  FIG. 5D shows the tilt amount of the recording head 6 when the recording head 6 shown in FIG. 5A is viewed from the lateral side (C direction). The center position when the recording head 6 rotates is a straight line extending in the x direction (main scanning direction) from the position indicated by the center point 63, and the inclination of the recording head 6 centered on the straight line is the sub-scanning direction and height. Will occur in the direction. The state indicated by the dotted frame 64 indicates a state in which the recording head 6 is correctly mounted on the carriage 5 (the state shown in FIG. 5A), and the sub-scanning direction of the recording head 6 relative to the carriage 5 and The case where the amount of inclination in the height direction is zero is shown.

  When the amount of inclination of the recording head 6 with respect to the carriage 5 occurs as in the states shown in FIGS. 5B, 5C, and 5D, for example, in Patent Document 1 (Japanese Patent Laid-Open No. 2005-132066) As described above, when the recording head 6 moves in the forward and backward directions, ink is ejected from the nozzle array 61 of the recording head 6 to create a dot array pattern, and based on the dot array pattern, the nozzle array of the recording head 6 It is also possible to adjust the landing position of the ink ejected from 61. However, in the method of Patent Document 1, the recording head 6 is affected by yawing when creating a dot row pattern. For this reason, with the dot row pattern created by the method of Patent Document 1, it is not possible to detect the inclination of the recording head 6 that is not affected by yawing.

  For this reason, in the recording apparatus of the present embodiment, in order to detect the inclination of the recording head 6 that is not affected by yawing, ink is ejected from the nozzle row 61 of the recording head 6 while the carriage 5 is stopped. The detection pattern 100 shown in FIG. 2 is formed on the recording medium 16 by discharging. The detection pattern 100 formed on the recording medium 16 is detected by the line sensor 30, the detection signal of the detection pattern 100 is acquired, and the inclination of the recording head 6 is detected based on the detection signal of the detection pattern 100. I have to.

  Since the recording apparatus of the present embodiment forms the detection pattern 100 shown in FIG. 2 with the carriage 5 stopped, the detection of the detection pattern 100 obtained by detecting the detection pattern 100 with the line sensor 30 is performed. The signal does not include an ink landing position deviation component due to the yawing effect of the recording head 6. For this reason, the recording apparatus of the present embodiment can detect only the inclination of the recording head 6 that is not affected by yawing.

<Configuration example of recording device detection mechanism>
Next, a configuration example of the detection mechanism of the recording apparatus according to the present embodiment will be described with reference to FIG.

  The detection mechanism of this embodiment has a line sensor 30 as shown in FIG. The detection mechanism of the present embodiment is configured by mounting the line sensor 30 on the carriage 5.

  The line sensor 30 detects the detection pattern 100 formed on the recording medium 16 by the image forming mechanism, and acquires a detection signal of the detection pattern 100. The detection mechanism of the present embodiment detects the detection pattern 100 formed on the recording medium 16 by the line sensor 30, and a control unit (107 shown in FIG. 6) described later acquires a detection signal of the detection pattern 100.

  The configuration of the line sensor 30 and its detection method are not particularly limited as long as the detection pattern 100 formed on the recording medium 16 can be detected, and any known configuration or known detection method is applied. Is possible.

  Similarly, the arrangement position of the line sensor 30 is not particularly limited as long as it can detect the detection pattern 100 formed on the recording medium 16, and can be arranged at an arbitrary position. . For example, the line sensor 30 can be arranged separately from the carriage 5.

<Configuration example of control mechanism of recording apparatus>
Next, a configuration example of the control mechanism of the recording apparatus of the present embodiment will be described with reference to FIG.

  The control mechanism of the recording apparatus of the present embodiment includes a control unit 107, a main storage unit 118, a sub storage unit 119, a carriage 5, a main scanning driver 109, a recording head 6, a recording head driver 111, an encoder sensor 41, a line sensor 30, A paper transport unit 112, a sub-scan driver 113, an image processing unit 120, and an adjustment pattern generation unit 121 are included.

  The control unit 107 supplies recording data and a drive control signal (pulse signal) to the main storage unit 118 and each driver, and controls the entire recording apparatus. The control unit 107 controls driving of the carriage 5 in the main scanning direction via the main scanning driver 109. Further, the ink ejection timing by the recording head 6 is controlled via the recording head driver 111. Further, the driving of the paper conveyance unit 112 (conveyance belt or the like) in the sub scanning direction is controlled via the sub scanning driver 113.

  The encoder sensor 41 outputs an encoder value obtained by detecting the mark on the encoder sheet 40 to the control unit 107. The control unit 107 controls driving of the carriage 5 in the main scanning direction via the main scanning driver 109 based on the encoder value.

  The line sensor 30 detects the detection pattern 100 formed on the recording medium 16, and outputs a detection signal of the detection pattern 100 to the control unit 107.

  The main storage unit 118 stores necessary information. For example, a program such as a processing procedure executed by the control unit 107 is stored. The main storage unit 118 can be rewritten from the outside. The secondary storage unit 119 is used as a working memory or the like.

  The control unit 107 according to the present embodiment reads image information from the image processing unit 120 according to the recording mode, and converts the read image information into an image format for the recording head in the sub storage unit 119. Then, the image information converted in the secondary storage unit 119 is transferred to the recording head driver 111. The recording head driver 111 generates various timing signals for driving the head according to the recording mode, and transfers the various timing signals for driving the head and image information to the recording head 6 to perform recording processing.

  The control unit 107 controls the driving of the carriage 5 in the main scanning direction via the main scanning driver 109 according to the recording mode, and controls the paper conveying unit 112 (conveying belt or the like) via the sub scanning driver 113. The recording operation is performed by controlling the driving in the sub-scanning direction.

  In addition, when detecting the tilt of the recording head 6, the control unit 107 transmits a parameter for generating the detection pattern 100 to the adjustment pattern generation unit 121, and the adjustment pattern generation unit 121 detects based on the parameter. A pattern 100 is generated. The control unit 107 converts the detection pattern 100 generated by the adjustment pattern generation unit 121 into an image format for the recording head in the sub storage unit 119 in the same way as during normal recording processing. Then, the main scanning driver 109, the carriage 5, the recording head driver 111, the recording head 6, the sub-scanning driver 113, the paper transport unit 112, and the like are controlled in the same way as in normal recording processing, and the detection pattern 100 is formed on the recording medium 16. To do. After forming the detection pattern 100, the control unit 107 detects the detection pattern 100 with the line sensor 30, and the detection signal of the detection pattern 100 obtained by detecting the detection pattern 100 is stored in the sub storage unit 119. Store sequentially. The control unit 107 calculates the tilt amount (angle) of the recording head 6 based on the detection signal of the detection pattern 100 stored in the sub storage unit 119.

<Processing Operation Example of Recording Apparatus of Present Embodiment>
Next, an example of processing operation of the recording apparatus according to the present embodiment will be described.
The recording apparatus of this embodiment performs the following processing.
1: In a state where the carriage 5 is stopped, ink is ejected from the nozzle row 61 of the recording head 6, and a detection pattern 100 composed of at least two or more independent dots is formed on the recording medium 16.
2; The detection pattern 100 formed on the recording medium 16 is detected by the line sensor 30, and a detection signal of the detection pattern 100 is acquired.
3: Based on the detection signal of the detection pattern 100, the tilt amount (angle) of the recording head 6 is calculated.
Hereinafter, the processes 1 to 3 described above will be described in detail.

<1: Example of forming detection pattern 100>
First, an example of a method for forming the detection pattern 100 will be described with reference to FIG. FIG. 7 shows the positional relationship between each recording head 6 and the line sensor 30.

  Each recording head 6 is attached to the reference attachment surface 62 as shown in FIG. 7A, for example. In FIG. 7A, the reference mounting surface 62 constitutes the upstream side surface of the recording head 6 in the sub-scanning direction. In FIG. 7A, five recording heads 6 are arranged in the main scanning direction, and a line sensor 30 is arranged in parallel with each recording head 6. In the present embodiment, the dots read at the m-th and n-th positions of the line sensor 30 are set as reference reading positions, and the dots are detected when the dots are detected at the m-th and n-th reference reading positions of the line sensor 30. It is determined that the head 6 is correctly attached to the carriage 5. If dots are detected at positions other than the mth and nth reference reading positions of the line sensor 30, it is determined that the recording head 6 is not correctly attached to the carriage 5.

For this reason, the recording apparatus of the present embodiment stops the mth and nth of the line sensor 30 in a state where each recording head 6 is stopped on the reference recording position 201 (n _{1 to} n ₅ ) shown in FIG. Ink is ejected from the nozzles of the recording heads 6 corresponding to the second position, and as shown in FIG. 7B, a detection pattern composed of at least two independent first dots 101 and second dots 102. 100 is formed on the recording medium 16. The dotted line shown in FIG. 7B indicates the reference recording position 201, and each recording head 6 stops on the reference recording position 201 (n _{1 to} n ₅ ), and at least two or more independent first dots 101 are obtained. , A detection pattern 100 constituted by the second dots 102 is formed on the recording medium 16. In FIG. 7, since five recording heads 6 are mounted on the carriage 5, the five recording heads 6 are stopped on the reference recording positions 201 (n _{1 to} n ₅ ) shown in FIG. 7B. Then, ink is ejected from the nozzles of the recording heads 6 corresponding to the m-th and n-th positions of the line sensor 30, and as shown in FIG. 7B, at least two or more independent first dots 101 are obtained. Therefore, the detection pattern 100 constituted by the second dots 102 is formed on the recording medium 16.

The recording apparatus according to the present embodiment detects the first dot 101 and the second dot 102 at the mth and nth reference reading positions of the line sensor 30 on the reference recording position 201 (n _{1 to} n ₅ ). In this case, it is determined that the recording head 6 is correctly attached to the carriage 5. If the first dot 101 and the second dot 102 are detected on the reference recording position 201 (n _{1 to} n ₅ ) other than the m-th and n-th reference reading positions of the line sensor 30, the recording head 6 It is determined that the carriage 5 is not correctly attached. Further, when the first dot 101 and the second dot 102 are detected by the line sensor 30 at positions other than the reference recording position 201 (n _{1 to} n ₅ ), it is determined that the recording head 6 is not correctly attached to the carriage 5. .

  Next, the detection pattern 100 formed by ejecting ink from the nozzles of the recording head 6 will be described with reference to FIGS. Note that the detection patterns 100 shown in FIGS. 8A to 8D are all formed in a state where the carriage 5 is stopped (a state where the recording head 6 is stopped). If the detection pattern 100 is formed by ejecting ink from the nozzles of the recording head 6 while reciprocating the carriage 5, the recording head 6 will be affected by yawing. The state shown in (a) to (d) does not occur, and only the tilt amount of the recording head 6 in a state not affected by yawing cannot be detected accurately. For this reason, the recording apparatus of the present embodiment ejects ink from the nozzles of the recording head 6 with the carriage 5 stopped, and a detection pattern 100 as shown in FIGS. 8A to 8D is displayed on the recording medium. Form on 16.

  Detection patterns 100 shown in FIGS. 8A to 8D are detection patterns formed by ejecting ink from the nozzle array 61 in the state of the recording head 6 shown in FIGS. 5A to 5D. The detection pattern 100 includes first dots 101 and second dots 102. Items common to each of the detection patterns 100 shown in FIGS. 8A to 8D are the first dots 101 on the reference mounting surface 62 side on the lower side, and the surface opposite to the reference mounting surface 62 side. The second dot 102 on the side is shown on the upper side. In the present embodiment, since the reference mounting surface 62 constitutes the upstream side surface of the recording head 6 in the sub-scanning direction, the first dot 101 side indicates the upstream side in the sub-scanning direction, and the second dot 102 The side indicates the downstream side in the sub-scanning direction. Cross-shaped dotted lines 201 and 202 in a square frame are reference lines shown for easy understanding of the tilt amount of the recording head 6, and are not actually described in the recording medium 16. Further, the dots actually recorded on the recording medium 16 are the dots indicated by 101 and 102 in FIG. 8, and the dots existing between the first dot 101 and the second dot 102 are the tilt amount of the recording head 6. This is shown for easy understanding, and is not actually recorded. However, the dots existing between the first dot 101 and the second dot 102 can be recorded on the recording medium 16. In the case where the dots existing between the first dot 101 and the second dot 102 are recorded on the recording medium 16, the nozzles existing between the two nozzles used for recording the first dot 101 and the second dot 102 are used. Will be recorded. A dotted line 201 shown in FIG. 8 corresponds to the reference recording position 201 shown in FIG.

  In the present embodiment, with the carriage 5 stopped, ink is ejected from the nozzle array 61 of the recording head 6 to record the first dot 101 and the second dot 102 on the recording medium 16, and the first dot 101. , A detection pattern 100 constituted by the second dots 102 is formed on the recording medium 16. However, the detection pattern 100 formed on the recording medium 16 is not limited to the pattern constituted by the first dots 101 and the second dots 102, and any detection pattern can be used as long as it is a pattern constituted by at least two independent dots. The pattern 100 can be formed on the recording medium 16. For example, it is possible to form a detection pattern 100 composed of two independent dots by using two adjacent nozzles (four nozzles in total). Note that the distance (dot interval) between the first dot 101 and the second dot 102 is preferably as far as possible.

  The detection pattern 100 (detection pattern constituted by the first dots 101 and the second dots 102) shown in FIG. 8A is obtained by ejecting ink from the nozzle row 61 in the state of the recording head 6 shown in FIG. The formed detection pattern is shown, and the detection pattern 100 is shown in a state where no deviation of the ink landing position has occurred.

  The detection pattern 100 shown in FIG. 8B (detection pattern constituted by the first dot 101 and the second dot 102) ejects ink from the nozzle row 61 in the state of the right recording head 6 shown in FIG. 5B. The detection pattern 100 formed in this manner is shown, and the detection pattern 100 in a state where the landing position deviation of the ink has occurred in the main scanning direction is shown. 8B, the first dot 101 and the second dot 102 are translated in either one of the directions of the horizontal reference line 202 with respect to the vertical reference line 201. In FIG. .

  The detection pattern 100 shown in FIG. 8C (detection pattern constituted by the first dot 101 and the second dot 102) ejects ink from the nozzle row 61 in the state of the right recording head 6 shown in FIG. 5C. The detection pattern formed in this way is shown, and shows a state in which the landing position deviation of the ink has occurred in the main scanning direction and the sub-scanning direction. The ink landing position deviation shown in FIG. 8C is based on the first dot 101 on the reference mounting surface 62 side, and the inclination of the recording head 6 appears as it is as the inclination of the second dot 102.

  The detection pattern 100 (detection pattern constituted by the first dots 101 and the second dots 102) shown in FIG. 8D is obtained by ejecting ink from the nozzle row 61 in the state of the recording head 6 shown in FIG. The formed detection pattern is shown, and the ink landing position shift is generated in the sub-scanning direction. The ink landing position deviation shown in FIG. 8D is that the first dot 101 and the second dot 102 move above the vertical reference line 201 with respect to the horizontal reference line 202, and the first The distance (dot interval) between the dots 101 and the second dots 102 is longer than the distance (dot interval) between the first dots 101 and the second dots 102 shown in FIG. Become.

  In FIG. 8, the main scanning and height direction (FIG. 8B), the main scanning and sub-scanning direction (FIG. 8C), and the sub-scanning and height direction (FIG. 8D) of the recording head 6 are shown. The landing positions of the respective inks with respect to the three inclinations have been described. However, when the recording head 6 is inclined and mounted on the carriage 5, the inclination shown in FIGS. 8B, 8C, and 8D is rare, and the inclination that is normally considered is The state shown in FIG. 9 is obtained by combining the slopes of the states shown in FIGS. 8B, 8C, and 8D.

  FIG. 9 shows a detection pattern 100 (detection composed of the first dot 101 and the second dot 102) formed when the slopes of the states shown in FIGS. 8B, 8C, and 8D are combined. Pattern) type.

FIG. 9A shows the detection pattern 100 in the state shown in FIG. 8B (type 1).
FIG. 9B shows the detection pattern 100 in the state shown in FIG. 8C (type 2).
FIG. 9C shows the detection pattern 100 in the state shown in FIG. 8D (type 3).
FIG.9 (d) shows the detection pattern 100 of the state which combined the type 1 and the type 2 (type 4).
FIG. 9E shows a detection pattern 100 in a state where Type 1 and Type 3 are combined (Type 5).
FIG. 9F shows a detection pattern 100 in a state where Type 2 and Type 3 are combined (Type 6).
FIG. 9G shows a detection pattern 100 in a state where Type 1, Type 2, and Type 3 are combined (Type 7).

  The recording apparatus according to the present embodiment includes at least two or more independent first dots 101 and second dots 102 by ejecting ink from the nozzle row 61 of the recording head 6 with the carriage 5 stopped. Any type of detection pattern 100 shown in FIG. 9 is formed on the recording medium 16. Then, the detection pattern 100 formed on the recording medium 16 is detected by the line sensor 30, and only the inclination of the recording head 6 in a state not affected by yawing is detected.

<2: Detection method example of detection pattern 100>
Next, a processing operation example when each type of detection pattern 100 shown in FIG. 9 is detected by the line sensor 30 will be described with reference to FIGS. In the following description, a case where the detection pattern 100 (first dot 101, second dot 102) is detected by the line sensor 30 from the right side (reading direction) of the drawing will be described as an example. The detection signal obtained when detecting the detection pattern 100 (first dot 101, second dot 102) has the horizontal axis as the time axis and the vertical axis as the detection pattern 100 (first dot 101, second dot 102). ) Reading width (dot interval between the first dot 101 and the second dot 102). 10 to 16, the interval between the upper and lower waveforms indicates the dot interval (reading width) between the first dot 101 and the second dot 102 as it is. The time when the position of the reference line 201 is detected is set as the reference time.

<In the case of type 1 detection pattern 100>
As in the type 1 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 10, the same amount of positional deviation occurs only in the main scanning direction in the first dot 101 and second dot 102. In this case, the first dot 101 and the second dot 102 are read by the line sensor 30 at the same position in the main scanning direction, and the reading width L of the first dot 101 and the second dot 102 is obtained. The reading width L is a reading width obtained by a predetermined standard dot interval between the first dot 101 and the second dot 102. In the type 1 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 10, the first dot 101 and the second dot 102 are detected with a delay of T1 from the position of the reference line 201. For this reason, when the type 1 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 10 is detected, the type 1 detection pattern 100 (first dot 101, second dot 102) is detected. Get T1 and L from the signal.

<In the case of type 2 detection pattern 100>
When the recording head 6 is tilted with reference to the first dot 101 on the reference mounting surface 62 side as in the type 2 detection pattern 100 (first dot 101, second dot 102) shown in FIG. Thus, the first dot 101 and the second dot 102 are displaced in the main scanning direction and the sub scanning direction. For this reason, when the type 2 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 11 is detected, the type 2 detection pattern 100 (first dot 101, second dot 102) is detected. From the signal, the detection time error T2 of the first dot 101 and the second dot 102 and the reading width L2 of the first dot 101 and the second dot 102 are acquired. The reading width L2 is shorter than a predetermined standard dot interval L.

<In the case of type 3 detection pattern 100>
When the first dot 101 and the second dot 102 are misaligned only in the sub-scanning direction like the type 3 detection pattern 100 (first dot 101, second dot 102) shown in FIG. Both the first dot 101 and the second dot 102 are read by the line sensor 30 at the position of the reference line in the main scanning direction, and the reading width L3 ′ of the first dot 101 and the second dot 102 is obtained. L3 ′ has a reading width longer than a predetermined standard dot interval L between the first dot 101 and the second dot 102. For this reason, when the type 3 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 12 is detected, the type 3 detection pattern 100 (first dot 101, second dot 102) is detected. L3 ′ is obtained from the signal.

<In the case of type 4 detection pattern 100>
A type 4 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 13 is a combination of type 1 and type 2. For this reason, when the type 4 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 13 is detected, the type 4 detection pattern 100 (first dot 101, second dot 102) is detected. Obtain T1, T2, and L2 from the signal.

<In the case of type 5 detection pattern 100>
The type 5 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 14 is a combination of type 1 and type 3. For this reason, when the type 5 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 14 is detected, the type 5 detection pattern 100 (first dot 101, second dot 102) is detected. T1 and L3 ′ are obtained from the signal.

<In the case of type 6 detection pattern 100>
The type 6 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 15 is a combination of type 2 and type 3. For this reason, when the type 6 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 15 is detected, the type 6 detection pattern 100 (first dot 101, second dot 102) is detected. From the signal, T2, L3 ′ · cos θ (inclination angle θ represents the inclination angle of type 2) is acquired.

<In case of type 7 detection pattern 100>
A type 7 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 16 is a combination of type 1, type 2, and type 3. For this reason, when the type 7 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 16 is detected, the type 7 detection pattern 100 (first dot 101, second dot 102) is detected. From the signal, T1, T2, and L3 ′ · cos θ (inclination angle θ represents the inclination angle of type 2) are acquired.

  The detection signals obtained by detecting the type 1 to type 7 detection patterns 100 (first dot 101, second dot 102) shown in FIGS. 10 to 16 have a reference line 201 in a square in the drawings. The time when the position of the reference line 201 is detected is set as the reference time, and T1 is obtained from the difference (T1) between the reference time and the detection time when the first dot 101 is detected. However, since the recording medium 16 on which the reference line 201 is described is not actually used, the reference time when the position of the reference line 201 is detected cannot be acquired. For this reason, it is necessary to specify the reference time for acquiring T1. Hereinafter, a method for obtaining the reference time when the position of the reference line 201 is detected will be described with reference to FIG. In FIG. 17, the m-th and n-th reference reading positions of the line sensor 30 shown in FIG. 7A are m = 30 and n = 229.

As a method of acquiring the reference time when the position of the reference line 201 is detected, for example, as shown in FIG. 17B, the reference time is generated when the line sensor 30 detects the leading end of the recording medium 16. When the recording head 6 is correctly attached, the reference recording position (the reference line 201 of the reference line 201) for recording the first dot 101 and the second dot 102 when the recording head 6 is correctly attached is set. There is a method of obtaining the reference time when the position of the reference line 201 is detected as the reference time of the position). In FIG. 17B, the respective reference recording positions (positions of the reference line 201) advanced by a predetermined time interval from the reference time are n _{1 to} n ₅ [ms].

When there is one recording head 6, only one value is required to indicate the reference recording position. However, when there are a plurality of recording heads 6, the recording heads 6 are spaced apart from each other. Depending on whether or not, the time interval for indicating the reference recording position is determined. Note that information indicating the reference recording position of each recording head 6 (information of n _{1 to} n ₅ ) is stored and managed in advance in the memory (main storage unit 118, sub storage unit 119, etc.) of the recording apparatus. . Then, when the line sensor 30 detects the leading edge of the recording medium 16, a reference time is generated. Based on the generated reference time, the reference time of the reference recording position (n _{1 to} n ₅ ) of each recording head 6 is determined. The difference (T1) between the acquired reference time and the detection time when the first dot 101 and the second dot 102 are detected is calculated, and the detection delay of the first dot 101 from the position of the reference line 201 ( Advance) Time T1 will be obtained.

  FIG. 17C shows the output when the upper and lower five first dots 101 and 102 are detected with the dots read at the positions m = 30 and n = 229 of the line sensor 30 as the reference reading position. The waveform is shown. The rectangular outer frame shown in FIG. 17C is the square outer frame shown in FIGS. 10 to 16 described above, and the vertical line 201 described in the rectangular outer frame shown in FIG. Corresponds to the reference line 201 shown in FIGS. 10 to 16 and serves as a time axis indicating the reference recording position 201 of each recording head 6.

  Note that the output waveform shown in FIG. 17C is not a waveform in which the reading width of the first dot 101 and the second dot 102 varies, but the detection delay (advance of the first dot 101 and the second dot 102 with respect to the reference time). ) Or a waveform when the first dot 101 and the second dot 102 are read at a position other than the reference reading position of the line sensor 30 is shown.

In FIG. 17, a reference time is generated when the line sensor 30 shown in FIG. 17B detects the leading edge of the recording medium 16, and the reference recording position of each recording head 6 is based on the generated reference time. The reference time (n _{1 to} n ₅ ) is acquired, and the difference (T1) between the acquired reference time and the detection time when the first dot 101 and the second dot 102 are detected is calculated. The detection delay (advance) time T1 of the first dot 101 from the position is determined.

As shown in FIG. 18 (a), when another sensor 300 for detecting the line sensor 30 is newly installed and the newly installed sensor 300 detects that the line sensor 30 has passed. The reference time is generated, and the reference time of the reference recording position (n _{1 to} n ₅ ) of each recording head 6 is acquired based on the generated reference time. The acquired reference time and the first dot 101, It is also possible to calculate a difference (T1) between the detection time at which the second dot 102 is detected and obtain the detection delay (advance) time T1 of the first dot 101 from the position of the reference line 201. The output waveform shown in FIG. 18B is an output waveform obtained from the configuration shown in FIG. 18A, and is similar to the output waveform shown in FIG.

<Example of detection pattern 100 type identification method>
Here, referring to FIG. 19, based on the detection signal of the detection pattern 100 obtained by the line sensor 30, a method for specifying which type of type 1 to type 7 the detection pattern 100 corresponds to. Will be described.

First, the carriage 5 is moved (step S1), and the carriage 5 is stopped at a predetermined reference recording position (reference recording positions (n _{1 to} n ₅ ) of the recording heads 6 shown in FIG. 17B). Ink is ejected from the nozzles of the recording head 6 to record at least two or more independent first dots 101 and second dots 102 on the recording medium 16, and at least two or more independent first dots 101 and second. A detection pattern 100 composed of dots 102 is formed on the recording medium 16 (step S2).

  Next, the detection pattern 100 formed on the recording medium 16 is detected by the line sensor 30, and a detection signal of the detection pattern 100 is acquired (step S3).

  Next, based on the detection signal of the detection pattern 100, the control unit 107 determines whether the dot interval d between the first dot 101 and the second dot 102 constituting the detection pattern 100 is the standard dot interval L (d = L?). It is determined whether or not (step S4). The standard dot interval L is a reading width of the first dot 101 and the second dot 102 read at the n-th and m-th positions of the line sensor 30 shown in FIG. 7A, and is a predetermined value.

  When the dot interval d between the first dot 101 and the second dot 102 is the standard dot interval L (when d = L) (step S4 / Yes), the control unit 107 determines that the type 1 is satisfied (step S4 / Yes). Step S5).

  In addition, when the dot interval d between the first dot 101 and the second dot 102 is not the standard dot interval L (when d ≠ L) (step S4 / No), the control unit 107 outputs the detection signal of the detection pattern 100. Based on this, it is determined whether or not the first dot 101 and the second dot 102 are simultaneously read by the line sensor 30 (step S6).

  When the control unit 107 determines that the first dot 101 and the second dot 102 are simultaneously read by the line sensor 30 (step S6 / Yes), the first dot 101 and the second dot are determined based on the detection signal of the detection pattern 100. It is determined whether or not the timing when the dot 102 is read is on the reference line 201 (step S7).

  When the control unit 107 does not detect T1 based on the detection signal of the detection pattern 100 (when T1 = 0), the timing when the first dot 101 and the second dot 102 are read is on the reference line 201. (Step S7 / Yes), and it is determined that it corresponds to type 3 (step S8). When T1 is detected (when T1 ≠ 0), it is determined that the timing of reading the first dot 101 and the second dot 102 is not on the reference line 201 (step S7 / No), and if it corresponds to type 5 Judgment is made (step S9).

  If it is determined that the first dot 101 and the second dot 102 are not read simultaneously by the line sensor 30 (step S6 / No), the control unit 107 determines the reference mounting surface based on the detection signal of the detection pattern 100. It is determined whether or not the timing when the first dot 101 on the 62 side is read is on the reference line 201 (step S10).

  When the control unit 107 does not detect T1 based on the detection signal of the detection pattern 100 (when T1 = 0), the timing at which the first dot 101 on the reference attachment surface 62 side is read is on the reference line 201. It is determined that there is (step S10 / Yes), and the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is calculated (step S11). The dot interval d between the first dot 101 and the second dot 102 in the inclination direction indicates the dot interval d shown in FIG. 20A, the dot interval d1 in the sub-scanning direction shown in FIG. The dot interval d2 shown in FIG. 20A can be obtained based on the dot interval d2.

  The control unit 107 determines whether the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is the standard dot interval L (d = L?) (Step S12).

  When the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is the standard dot interval L (when d = L) (step S12 / Yes), the control unit 107 corresponds to type 2 Judgment is made (step S13). Further, when the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is not the standard dot interval L (when d ≠ L) (step S12 / No), it is determined that the type 6 is satisfied (step S12). S14).

  When T1 is detected (when T1 ≠ 0), the control unit 107 determines that the timing when the first dot 101 on the reference attachment surface 62 side is read is not on the reference line 201 (step S10 / No). Then, the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is calculated (step S15). The dot interval d between the first dot 101 and the second dot 102 in the inclination direction indicates the dot interval d shown in FIG. 20A, the dot interval d1 in the sub-scanning direction shown in FIG. The dot interval d2 shown in FIG. 20A can be obtained based on the dot interval d2.

  The control unit 107 determines whether the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is the standard dot interval L (d = L?) (Step S16).

  When the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is the standard dot interval L (when d = L) (step S16 / Yes), the control unit 107 corresponds to type 4 Judgment is made (step S17). Further, when the dot interval d between the first dot 101 and the second dot 102 in the tilt direction is not the standard dot interval L (when d ≠ L) (step S16 / No), it is determined that the type 7 is satisfied (step S16). S18).

  Accordingly, the control unit 107 can identify which type the detection pattern 100 corresponds to based on the detection signal of the detection pattern 100 obtained by the line sensor 30. Then, the tilt amount (angle) of the recording head 6 is calculated using a formula for calculating the tilt angle (θ) corresponding to the specified type.

<3: Method for calculating the tilt amount (angle) of the recording head 6>
Next, an example in which the tilt amount (angle) of the recording head 6 is calculated using a calculation formula for the tilt angle (θ) corresponding to the type will be described with reference to FIG.

<In the case of type 1 detection pattern 100>
FIG. 21A shows an example of a method for calculating the tilt angle (θ) of the recording head 6 when the type 1 detection pattern 100 shown in FIG. 10 is detected. The inclination angle (θ) can be calculated by the following equation.

θ = sin ⁻¹ ((T1 × V1) / H1)

  However, V1 indicates the moving speed of the line sensor 30, T1 indicates the error between the detection time of the reference line 201 and the detection times of the first dot 101 and the second dot 102. Specifically, T1 is This is the time from the detection time when the line sensor 30 detects the position of the reference line 201 to the detection time when the line sensor 30 detects the detection pattern 100 (first dot 101, second dot 102). H1 indicates the height of the recording head 6.

  Since V1 and H1 can be grasped in advance by the recording device before detecting the detection pattern 100, the recording device is based on the detection signal obtained by detecting the type 1 detection pattern 100 shown in FIG. T1 is acquired, and the tilt angle (θ) of the recording head 6 is calculated using the acquired T1.

<In the case of type 2 detection pattern 100>
FIG. 21B shows an example of a method for calculating the tilt angle (θ) of the recording head 6 when the type 2 detection pattern 100 shown in FIG. 11 is detected. The inclination angle (θ) can be calculated by the following equation.

θ = tan ⁻¹ ((V2 × T2) / L2)

  However, V2 indicates the moving speed of the line sensor 30, L2 indicates the reading width of the first dot 101 and the second dot 102, and specifically, L2 indicates that the line sensor 30 detects the second dot 102. The reading width from the position to the position where the first dot 101 is detected is obtained. T2 indicates an error between the detection time of the first dot 101 and the detection time of the second dot 102. Specifically, T2 is determined by the line sensor 30 from the detection time when the line sensor 30 detects the second dot 102. This is the time until the detection time when the first dot 101 is detected.

  Since V2 can be grasped in advance by the recording device before detecting the detection pattern 100, the recording device detects L2, L2 based on the detection signal obtained by detecting the type 2 detection pattern 100 shown in FIG. T2 is acquired, and the tilt angle (θ) of the recording head 6 is calculated using the acquired L2 and T2.

<In the case of type 3 detection pattern 100>
FIG. 21C shows an example of a method for calculating the tilt angle (θ) of the recording head 6 when the type 3 detection pattern 100 shown in FIG. 12 is detected. The inclination angle (θ) can be calculated by the following equation.

θ = cos ^-1 (L / L3 ')

  Here, L indicates the nozzle interval of the recording head 6 that ejects ink when the first dot 101 and the second dot 102 are recorded on the recording medium 16, and the first dot 101 and the second dot 102 are determined in advance. Standard dot spacing. L3 ′ represents the reading width from the position where the line sensor 30 detects the second dot 102 to the position where the first dot 101 is detected. In FIG. 21C, since the recording head 6 is inclined by an arbitrary angle (θ) in the height direction of the recording head 6, L3 ′ becomes longer than L.

  Since L can be grasped in advance by the recording device before detecting the detection pattern 100, the recording device detects L3 ′ based on the detection signal obtained by detecting the type 3 detection pattern 100 shown in FIG. And the tilt angle (θ) of the recording head 6 is calculated using the acquired L3 ′.

<In the case of type 4 detection pattern 100>
A type 4 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 13 is a combination of type 1 and type 2. For this reason, when the type 4 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 13 is detected, the type 4 detection pattern 100 (first dot 101, second dot 102) is detected. From the signals, T1, T2, and L2 can be obtained, and the tilt angle of the recording head 6 can be calculated using the method for calculating the tilt angle θ shown in FIGS. 21 (a) and 21 (b).

<In the case of type 5 detection pattern 100>
The type 5 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 14 is a combination of type 1 and type 3. For this reason, when the type 5 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 14 is detected, the type 5 detection pattern 100 (first dot 101, second dot 102) is detected. T1 and L3 ′ are obtained from the signal, and the tilt angle of the recording head 6 can be calculated using the method for calculating the tilt angle θ shown in FIGS.

<In the case of type 6 detection pattern 100>
The type 6 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 15 is a combination of type 2 and type 3. For this reason, when the type 6 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 15 is detected, the type 6 detection pattern 100 (first dot 101, second dot 102) is detected. T2, L3 ′ · cos θ (inclination angle θ represents type 2 inclination angle) is acquired from the signal, and recorded using the method of calculating inclination angle θ shown in FIGS. The tilt angle of the head 6 can be calculated. A detailed calculation method is shown in FIG.

  The type 6 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 15 can be expressed as shown in FIG.

For this reason, if the tilt angle of the recording head 6 is calculated using the method of calculating the tilt angle θ shown in FIG. 21B, the tilt angle θ ₁ can be calculated by the following equation.

Tilt angle θ ₁ = tan ⁻¹ ((V2 × T2) / L2)
L3 '= L2 / cosθ ₁
However, θ ₁ is the inclination angle shown in FIG.

When the tilt angle of the recording head 6 is calculated using the tilt angle θ calculation method shown in FIG. 21C, the tilt angle θ ₂ can be calculated by the following equation.

Tilt angle θ ₂ = cos ^-1 (L / L3 ')
= Cos ^-1 ((L x cosθ ₁ ) / L2)
However, θ ₂ is the inclination angle shown in FIG.

<In case of type 7 detection pattern 100>
A type 7 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 16 is a combination of type 1, type 2, and type 3. For this reason, when the type 7 detection pattern 100 (first dot 101, second dot 102) shown in FIG. 16 is detected, the type 7 detection pattern 100 (first dot 101, second dot 102) is detected. T1, T2, L3 ′ · cos θ (inclination angle θ represents the inclination angle of type 2) is acquired from the signal, and the inclination angle θ shown in FIGS. 21 (a), (b), and (c) is obtained. The tilt angle of the recording head 6 can be calculated using a calculation method. In the case of type 7, it is obtained by adding the detection delay T1 from the reference line 201 of the first dot 101 on the reference mounting surface 62 side to the above-described method of calculating the inclination angle of type 6.

<Operation / Effect of Recording Apparatus of this Embodiment>
As described above, the recording apparatus of the present embodiment ejects ink from the nozzle array 61 of the recording head 6 mounted on the carriage 5 with the carriage 5 stopped, and at least two or more independent first dots. A detection pattern 100 including 101 and second dots 102 is formed on the recording medium 16. Then, the detection pattern 100 formed on the recording medium 16 is detected by the line sensor 30, and a detection signal of the detection pattern 100 is acquired. Then, based on the detection signal of the detection pattern 100 acquired by the line sensor 30, it is specified which type of detection pattern 100 in FIGS. Then, according to the specified type of detection pattern 100, the inclination angle (θ) of the recording head 6 is calculated using the calculation formula of the inclination angle (θ) of (a) to (c) of FIG. The inclination of the recording head 6 is detected. As a result, it is possible to accurately detect only the inclination of the recording head 6 that is not affected by yawing.

(Second Embodiment)
Next, a second embodiment will be described.

  In the first embodiment, the case where the recording head 6 is inclined in one direction has been described (positive inclination shown in FIG. 23). However, the recording head 6 may tilt in the reverse direction (negative tilt shown in FIG. 23). However, even when the recording head 6 is tilted in the reverse direction, the tilt amount of the recording head 6 can be calculated using the calculation formulas (a) to (c) of FIG. Hereinafter, an example of processing operation for specifying the tilt direction of the recording head 6 will be described with reference to FIGS. Note that the processing operation shown in FIG. 24 will be described by taking, as an example, a case where the detection pattern 100 is detected by the line sensor 30 from the right side (reading direction) of the drawing as shown in FIG.

  First, in the detection pattern 100 type determination method shown in FIG. 19 described above, when the detection pattern 100 corresponds to type 1 or type 5 (step A1 / Yes), the first dot 101, the first dot with respect to the reference line 201 are detected. It is determined whether or not the detection position of the 2-dot 102 is late (step A2). When the detection positions of the first dot 101 and the second dot 102 are late with respect to the reference line 201 (step A2 / Yes), it is determined that type 1 is a positive inclination as shown in FIG. A3). If the detection positions of the first dot 101 and the second dot 102 are earlier than the reference line 201 (step A2 / No), as shown in FIG. 23B, type 1 is determined to have a negative inclination. (Step A4).

  If the detection pattern 100 corresponds to type 2 or type 6 (step A5 / Yes), whether or not the detection positions of the first dot 101 and the second dot 102 are in the order of the second dot 102 → the first dot 101. Is determined (step A6). When the detection positions of the first dot 101 and the second dot 102 are in the order of the second dot 102 → the first dot 101 (step A6 / Yes), type 2 has a positive slope as shown in FIG. (Step A7). When the detection positions of the first dot 101 and the second dot 102 are in the order of the first dot 101 → the second dot 102 (step A6 / No), the type 2 is negative as shown in FIG. (Step A8).

  When the detection pattern 100 corresponds to type 4 or type 7 (step A9 / Yes), it is determined whether or not the detection position of the first dot 101 on the reference attachment surface 62 side is late with respect to the reference line 201. (Step A10). When the detection position of the first dot 101 on the reference attachment surface 62 side is late with respect to the reference line 201 (step A10 / Yes), the type 1 included in the type 4 or type 7 is shown in FIG. Thus, it is determined that the slope is positive (step A11). When the detection position of the first dot 101 on the reference mounting surface 62 side is earlier than the reference line 201 (step A10 / No), the type 1 included in the type 4 or type 7 is shown in FIG. As shown in FIG. 5, it is determined that the slope is negative (step A12).

  Next, it is determined whether or not the detection positions of the first dot 101 and the second dot 102 are in the order of the second dot 102 → the first dot 101 (step A13). When the detection positions of the first dot 101 and the second dot 102 are in the order of the second dot 102 → the first dot 101 (step A13 / Yes), for type 2 included in type 4 or type 7, FIG. As shown in c), a positive slope is determined (step A14). Further, when the detection positions of the first dot 101 and the second dot 102 are in the order of the first dot 101 → the second dot 102 (step A13 / No), type 2 included in type 4 or type 7 is shown in FIG. As shown in FIG. 23 (d), a negative slope is determined (step A15).

  Since the slope of type 3 is unidirectional, there is no need to judge positive and negative slopes.

  As described above, the recording apparatus of the present embodiment calculates the tilt amount of the recording head 6 using the above-described calculation formulas (a) to (c) of FIG. 21 even when the recording head 6 is tilted in the reverse direction. can do.

(Third embodiment)
Next, a third embodiment will be described.

In the first embodiment, a reference time is generated when the line sensor 30 detects the leading edge of the recording medium 16 as shown in FIG. 17, or the sensor 300 changes the line sensor 30 as shown in FIG. A reference time was generated when the passage was detected. Then, based on the generated reference time, the reference time of the reference recording position (n _{1 to} n ₅ ) of each recording head 6 is acquired, and the acquired reference time and the line sensor 30 detect the first dot 101. The difference (T1) from the detected time is calculated. Then, and the difference (T1), the moving speed V1 of the line sensor 30, based on, in the calculation formula of the tilt angle of Fig. 21 (a) (θ), the reference recording position and (n ₁ ~n ₅₎ first The amount of deviation (V1 × T1) from one dot 101 was calculated.

In the third embodiment, as shown in FIG. 25, the position information of the encoder at the reference recording position (n _{1 to} n ₅ ) of each recording head 6, and the position information of the encoder when the first dot 101 is detected, , The amount of deviation between the reference recording position (n _{1 to} n ₅ ) and the first dot 101 is calculated.

Specifically, as shown in FIG. 25, position information of n _{1 to} n ₅ [mm] of the encoder at the reference recording position of each recording head 6 is stored in advance in a memory or the like of the recording apparatus. Then, the distance between the position information of the encoder when the line sensor 30 detects the first dot 101 and the position information of the encoder at the reference recording position (n _{1 to} n ₅ ) of each recording head 6 is calculated. The amount of deviation between the reference recording position (n _{1 to} n ₅ ) and the first dot 101 is calculated.

Thus, in the equation for calculating the tilt angle (θ) in FIG. 21A, the amount of deviation (V1 × T1) between the reference recording position (n _{1 to} n ₅ ) and the first dot 101 is not calculated. The tilt angle (θ) of the recording head 6 can be calculated.

  In the first embodiment, the time T2 from the time when the line sensor 30 detects the second dot 102 to the time when the first dot 101 is detected is obtained, and the obtained time T2 and the moving speed V2 of the line sensor 30 are obtained. Based on the above, in the calculation formula of the inclination angle (θ) of FIG. 21B, the shift amount (V2 × T2) in the main scanning direction between the second dot 102 and the first dot 101 is calculated. .

  In the second embodiment, as shown in FIG. 25, the position information of the encoder when the line sensor 30 detects the second dot 102 and the position information of the encoder when the line sensor 30 detects the first dot 101. Based on the above, the amount of deviation in the main scanning direction between the second dot 102 and the first dot 101 is calculated.

  Accordingly, the recording head 6 can be calculated without calculating the deviation (V2 × T2) in the main scanning direction between the first dot 101 and the second dot 102 in the equation for calculating the tilt angle (θ) of FIG. The tilt angle (θ) can be calculated. As a result, by using the position information of the encoder, the tilt angle (θ) of the recording head 6 can be calculated with a simple calculation formula. Also, as shown in FIG. 17, when the line sensor 30 detects the leading edge of the recording medium 16, a reference time is generated, or, as shown in FIG. 18, a sensor 300 is newly provided and newly provided. Since it is not necessary to provide a mechanism for generating a reference time when detecting that the sensor 300 has passed the line sensor 30, the tilt angle (θ) of the recording head 6 can be calculated with a simple mechanism.

(Fourth embodiment)
Next, a fourth embodiment will be described.

  In the first embodiment, the detection pattern 100 including type 2 is based on the premise that the first dot 101 on the reference attachment surface 62 side always exists on the reference line 201 as shown in FIG. The tilt angle of the recording head 6 is calculated using the formula for calculating the tilt angle (θ) in FIG. However, there is always a certain gap between the reference mounting surface 62 and the nozzle used when the first dots 101 are recorded on the recording medium 16. For this reason, when the reference attachment surface 62 is inclined, the first dots 101 on the reference attachment surface 62 side are displaced from the position of the reference line 201 by the inclination amount of the reference attachment surface 62. This will be described with reference to FIG.

  The type 2 detection pattern 100 is generated when the reference mounting surface 62 is inclined as shown in FIG. However, when the reference mounting surface 62 is inclined as shown in FIG. 26, the position of the first dot 101 on the reference mounting surface 62 side moves from the position of the reference line 201 as shown in FIG. Become. FIG. 27 shows a state (A) in which the reference mounting surface 62 is not tilted and a state (B) in which the reference mounting surface 62 is tilted. FIG. 28 is an enlarged view of a part of FIG. 27, and shows the amount of deviation of the first dots 101 from the reference line 201 when the inclination angle of the recording head 6 is θ.

Since b ₁ shown in FIGS. 27 and 28 is a value that can be grasped in advance, the inclination angle θ is obtained by the calculation method of FIG. 21B, and is substituted into the equation shown in FIG. B ₃ and b ₄ which are the deviation amounts of the first dots 101 from 201 can be obtained.

  When the reference attachment surface 62 is inclined, as shown in FIG. 26, the end of the reference attachment surface 62 is inclined as a fulcrum, and the first dots 101 on the reference attachment surface 62 side are as shown in FIG. It is positioned above the reference position by a distance b3 corresponding to the angle θ, and is positioned on the right side by a distance b4 corresponding to the angle θ from the reference position. The reference position is the position of the first dot 101 in a state where the reference mounting surface 62 is not inclined.

  As shown in FIG. 26, when the end of the reference attachment surface 62 is inclined as a fulcrum, the position of the first dot 101 on the reference attachment surface 62 side moves from the position of the reference line 201 as shown in FIG. Therefore, the displacement amount of the first dot 101 from the position of the reference line 201 is included, and the detection pattern 100 including type 2 also includes type 1.

For this reason, when the detection pattern 100 including type 2 is detected, the deviation b ₄ of the first dot 101 from the reference line 201 is used to determine the deviation amount of the first dot 101 from the position of the reference line 201. to correct. Thereby, it is possible to correct the amount of deviation from the position of the reference line 201 that occurs when the reference mounting surface 62 is inclined.

  In FIGS. 27 and 28, the case where one end portion of the reference mounting surface 62 is inclined as a fulcrum has been described as an example. However, when the other end portion of the reference mounting surface 62 is tilted with respect to the fulcrum, the reference mounting surface 62 is moved from the position of the reference line 201 in the same manner as described above. The amount of deviation from the position of the reference line 201 that occurs when it is tilted can be corrected.

(Fifth embodiment)
Next, a fifth embodiment will be described.

  In the above embodiment, the detection pattern 100 is formed by using the upper and lower two first dots 101 and 102, and the first and second dots 101 and 102 constituting the detection pattern 100 are detected by the line sensor 30. Therefore, the detection signal of the detection pattern 100 is acquired.

  However, with only the first dot 101 and the second dot 102 one above the other, the first dot 101 and the second dot 102 straddle a plurality of sensor portions constituting the line sensor 30, as shown in FIG. There is a risk of detection. FIG. 29 shows the positional relationship between the sensor portions constituting the line sensor 30 and the first dots 101, and the detection signals in the respective positional relationships are shown on the right side of each figure.

  In FIG. 29A, the first dot 101 just overlaps one sensor portion, and the detection signal only appears for this sensor portion, so this sensor portion is determined as position information for the first dot 101.

  In FIG. 29B, the first dot 101 straddles two sensor portions. In this case, since the level of the detection signal is higher in the upper sensor portion over which more area is straddled, the upper sensor portion is determined as the position information of the first dot 101.

  In FIG. 29 (c), the first dot 101 overlaps the two sensor portions as in (b), and the area of the overlapping dots is also the same. In this case, it is determined in advance that the sensor portion on the end side is the dot position information, and the upper sensor portion of the two is determined as the position information of the first dot.

  Thereby, even when the first dot 101 and the second dot 102 are detected across a plurality of sensor portions constituting the line sensor 30, the position information of the first dot 101 and the second dot 102 can be determined. .

  Note that the position information of the first dot 101 and the second dot 102 is accurately detected when dust is detected by the line sensor 30 using only the first dot 101 and the second dot 102 one above the other. There is a risk that it will not be possible. For this reason, as shown in FIG. 30, it is preferable to record two first dots 101 and two second dots 102 in the vertical direction. FIG. 30 shows the positional relationship between the sensor portions constituting the line sensor 30 and the first dots 101, and the detection signals in the respective positional relationships are shown on the right side of each figure. FIG. 30 shows the positional relationship between the sensor portion of the line sensor 30 and the first dots 101 when two first dots 101 are recorded, which is basically the same as FIG.

  30A and 30C, two first dots 101 overlap two sensor portions, and the detection signals of the two sensor portions have substantially the same detection level. Therefore, the sensor portion on the end side is determined as the position information of the first dot 101.

  In FIG. 30B, the sensor portion having the highest detection level of the detection signal of the sensor portion is determined as the position information of the first dot 101.

  Thereby, even when dust or the like is detected by the line sensor 30, the position information of the first dots 101 and the second dots 102 can be accurately detected.

(Sixth embodiment)
Next, a sixth embodiment will be described.

  It is conceivable that external factors such as distortion of the main support guide rod 3 itself influence the detection of the tilt of the recording head 6.

  For this reason, in the sixth embodiment, as shown in FIG. 31, the amount of inclination of the recording head 6 is calculated at two or more locations, and the recording head is calculated based on the amount of inclination of the recording head 6 calculated at each location. Find the average value of 6 slopes. FIG. 31 shows an example in which the amount of inclination of the recording head 6 is calculated at three locations and the average value of the recording heads 6 calculated at three locations is obtained. As a result, it is possible to calculate the tilt amount of the recording head 6 that is less affected by external factors.

(Seventh embodiment)
Next, a seventh embodiment will be described.

  In the first embodiment, the line sensor 30 is attached to the carriage 5 as shown in FIG. However, as shown in FIG. 32, the line sensor 30 may be attached to the main support guide rod 3 to which the carriage 5 is attached independently of the carriage 5. The arrangement relationship between the line sensor 30 and the carriage 5 is not particularly limited, and the carriage 5 and the line sensor 30 may be attached or separated.

  As shown in FIG. 33, it is also possible to provide a guide rod 200 dedicated to the line sensor 30 and perform detection processing of the detection pattern 100 by moving the line sensor 30 in the main scanning direction. The arrangement positions of the carriage 5 and the line sensor 30 are not limited to the arrangement positions shown in FIG. 33, and can be arbitrarily arranged according to the environmental conditions of the apparatus.

As shown in FIG. 34, it is also possible to use a line sensor 30 mounted on the scanner unit. When the line sensor 30 mounted on the scanner unit is used, the line sensor 30 is fixed to the scanner unit, so that when the line sensor 30 detects the leading edge of the recording medium 16 that has been conveyed, A reference time is generated for each of the recording heads 6 based on the generated reference time, and the reference time of the reference recording position (n _{1 to} n ₅ ) of each recording head 6 is acquired. The difference (T1) from the detection time at which one dot 101 is detected is calculated.

  Thus, the arrangement position of the line sensor 30 is not particularly limited as long as the detection pattern 100 formed on the recording medium 16 can be detected, and the line sensor 30 can be arranged at an arbitrary position.

  The above-described embodiment is a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiment alone, and various modifications are made without departing from the gist of the present invention. Implementation is possible.

  For example, when the recording head 6 is replaced, control is performed so as to display a screen as shown in FIG. 35 on the operation unit in order to check whether the recording head 6 is correctly attached to the carriage 5. Is preferred. For example, when the recording head 6 is not correctly attached to the carriage 5, a screen as shown in FIG. 35A is displayed on the display unit, and when the recording head 6 is correctly attached to the carriage 5. Displays a screen as shown in FIG. 35B on the display unit. Thereby, it is possible to grasp whether or not the recording head 6 is correctly mounted on the carriage 5. In FIG. 35, the screen is displayed on the display unit. However, if the user can grasp whether or not the recording head 6 is correctly mounted on the carriage 5, it is configured to notify by voice or the like. It is also possible to do.

  Further, the control operation of each unit constituting the recording apparatus of the present embodiment described above can be executed using hardware, software, or a combined configuration of both.

  In the case of executing processing using software, it is possible to install and execute a program in which a processing sequence is recorded in a memory in a computer incorporated in dedicated hardware. Alternatively, the program can be installed and executed on a general-purpose computer capable of executing various processes.

  For example, the program can be recorded in advance on a hard disk or ROM (Read Only Memory) as a recording medium. Alternatively, the program can be stored (recorded) temporarily or permanently in a removable recording medium. Such a removable recording medium can be provided as so-called package software. Examples of the removable recording medium include a floppy (registered trademark) disk, a CD-ROM (Compact Disc Read Only Memory), an MO (Magneto optical) disk, a DVD (Digital Versatile Disc), a magnetic disk, and a semiconductor memory.

  The program is installed in the computer from the removable recording medium as described above. In addition, it is wirelessly transferred from the download site to the computer. In addition, it is transferred to the computer via a network by wire.

  The recording apparatus according to the present embodiment is not only executed in time series according to the processing operation described in the above embodiment, but also the processing capability of the apparatus that executes the process, or in parallel or individually as required. It is also possible to build to run on

  The present invention is suitable for an ink jet recording apparatus.

3 Main support guide rod 5 Carriage 6 Recording head 15 Conveying roller 61 Nozzle array 16 Recording medium 30 Line sensor 41 Encoder sensor 100 Detection pattern 101 First dot 102 Second dot 107 Control unit 109 Main scanning driver 111 Recording head driver 112 Paper conveyance Unit 113 Sub-scan driver 118 Main storage unit 119 Sub storage unit 120 Image processing unit 121 Adjustment pattern generation unit

JP-A-2005-132066

Claims (9)

A recording head provided with a nozzle array in which a plurality of nozzles for ejecting ink are arranged in the conveyance direction of the recording medium;
A carriage on which the recording head is mounted;
Moving means for reciprocating the carriage in an orthogonal direction perpendicular to the conveyance direction of the recording medium;
In a state in which the carriage is stopped at the reference recording position, ejecting ink from the plurality of nozzles of different positions in the transport direction, from the first dot and the second dot also independent and less on the recording medium Pattern forming means for forming a detection pattern comprising:
A line sensor that detects the detection pattern formed on the recording medium and acquires a detection signal of the detection pattern;
Detecting means for detecting an inclination of the recording head based on a comparison result obtained by comparing information on the detection pattern obtained from a detection signal of the detection pattern and information on the reference recording position. ,
The detection means includes
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position in the orthogonal direction of the first dot obtained from the detection signal of the detection pattern and the position in the orthogonal direction of the second dot;
A third comparison result obtained by comparing the position of the first dot in the transport direction obtained from the detection signal of the detection pattern and the position of the second dot in the transport direction;
And a recording apparatus for detecting the tilt of the recording head . The pattern forming means includes
Ink is ejected from the nozzles on the attachment surface side where the recording head is attached to the carriage, the first dots are recorded on the recording medium, and ink is ejected from the nozzles on the side opposite to the attachment surface. The recording apparatus according to claim 1 , wherein the second dots are recorded on the recording medium . The detection means includes
A comparison result obtained by comparing the time required for the recording head to reach the reference recording position from a predetermined position and the time required for the line sensor to detect the detection pattern from the predetermined position. The recording apparatus according to claim 2, wherein an inclination of the recording head is detected based on the recording head. The detection means includes
The inclination of the recording head is detected based on a comparison result obtained by comparing the position of the detection pattern obtained when the line sensor detects the detection pattern with the reference recording position. The recording apparatus according to claim 2. The detection means includes
In response to the second comparison result, any one of claims 1 to 4, characterized in that it comprises a correcting means for correcting the position of the first dot used in obtaining the first comparison result the recording apparatus according to. The detection means includes
When a plurality of positions of the first dots are detected from the detection signal of the detection pattern, the position of the first dots detected on the end side of the line sensor is adopted,
Wherein when the position of the second dot from the detection signal of the detection pattern multiple detection claim 1, characterized in that to adopt a position of the second dot detected by the end portion side of the line sensor The recording apparatus according to any one of 5 . The pattern forming means includes
Forming the detection pattern with the carriage stopped at at least two positions;
The line sensor is
Obtaining a detection signal of the detection pattern at at least two positions;
The detection means includes
Based on the detection signal of the detection pattern of the at least two positions, a recording apparatus according to any one of claims 1 to 6, characterized in that for detecting inclination of the recording head. A recording head provided with a nozzle array in which a plurality of nozzles for ejecting ink are arranged in the conveyance direction of the recording medium, a carriage on which the recording head is mounted, and an orthogonal direction orthogonal to the conveyance direction of the recording medium A control method performed by a recording apparatus comprising a moving means that reciprocates and a line sensor,
In a state in which the carriage is stopped at the reference recording position, ejecting ink from the plurality of nozzles of different positions in the transport direction, from the first dot and the second dot also independent and less on the recording medium A pattern forming process for forming a detection pattern,
A detection step of detecting the detection pattern formed on the recording medium with the line sensor and obtaining a detection signal of the detection pattern;
A detection step of detecting the inclination of the recording head based on a comparison result obtained by comparing the information of the detection pattern obtained from the detection signal of the detection pattern and the information of the reference recording position ;
I have a,
The detection step includes
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position in the orthogonal direction of the first dot obtained from the detection signal of the detection pattern and the position in the orthogonal direction of the second dot;
A third comparison result obtained by comparing the position of the first dot in the transport direction obtained from the detection signal of the detection pattern and the position of the second dot in the transport direction;
A control method comprising a step of detecting the inclination of the recording head based on the above . A recording head provided with a nozzle array in which a plurality of nozzles for ejecting ink are arranged in the conveyance direction of the recording medium, a carriage on which the recording head is mounted, and an orthogonal direction orthogonal to the conveyance direction of the recording medium A program that is executed by a computer of a recording apparatus that includes a moving unit that reciprocally moves and a line sensor,
In a state in which the carriage is stopped at the reference recording position, ejecting ink from the plurality of nozzles of different positions in the transport direction, from the first dot and the second dot also independent and less on the recording medium A pattern forming process for forming a detection pattern,
A detection process for detecting the detection pattern formed on the recording medium by the line sensor and obtaining a detection signal of the detection pattern;
A detection process for detecting the inclination of the recording head based on a comparison result obtained by comparing the detection pattern information obtained from the detection signal of the detection pattern and the reference recording position information ; Causing the computer to execute ,
The detection process includes
A first comparison result obtained by comparing the position of the first dot obtained from the detection signal of the detection pattern and the reference recording position;
A second comparison result obtained by comparing the position in the orthogonal direction of the first dot obtained from the detection signal of the detection pattern and the position in the orthogonal direction of the second dot;
A third comparison result obtained by comparing the position of the first dot in the transport direction obtained from the detection signal of the detection pattern and the position of the second dot in the transport direction;
And a program for detecting the tilt of the recording head based on the program.

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