JP6810540B2 - Mobile printing device - Google Patents

Description

The present invention relates to a mobile printing device.

Conventionally, a technique related to a mobile printing device that prints on an object to be printed by a printing mechanism mounted on a mobile carriage is known. For example, Patent Document 1 includes a stamp mechanism (printing mechanism) for stamping a mark indicating a casting position on the ground, a position adjusting mechanism for supporting the stamp mechanism so that the position can be adjusted in the horizontal direction, and a traveling mechanism. An autonomous traveling type marking device is disclosed. In this marking device, while detecting the position of the marking device with a laser range finder, the marking device is driven toward the target position based on the measured value, and the position of the marking device traveled toward the target position. Is measured at the total station. Then, the position adjustment mechanism is operated to correct the error between the measured position of the marking device and the target position, and the mark is stamped on the target position by the stamp portion.

Further, Patent Document 2 describes a moving trolley that moves on the floor surface based on the instructed coordinate information, an ink stamp (inking means) that is arranged on the moving trolley and inks the floor surface, and a moving trolley. A measuring means for measuring the position, an instruction means for obtaining the position deviation from the measurement result of the measuring means and sending the correction data to the moving carriage, and a correction means for correcting the position deviation of the marking based on the correction data of the instruction means. A marking device equipped with and is disclosed.

Japanese Unexamined Patent Publication No. 2012-37287 Japanese Unexamined Patent Publication No. 06-11347

By the way, when printing on a relatively large object to be printed such as the floor of a building or the deck of a ship, if the printing device is enlarged, the slide mechanism of the print head is also increased, so that the operation of the slide mechanism is performed. The property is reduced and it becomes difficult to support the slide mechanism. In addition, increasing the size of the printing apparatus leads to an increase in cost and an increase in preparatory work. Therefore, it is required to reduce the size of the printing device for printing on a relatively large object to be printed, and it is conceivable to use the mobile printing device disclosed in Patent Document 1 and Patent Document 2. However, in the method of correcting the deviation between the target position and the actual position of the printing device by moving the position of the printing mechanism, such as the mobile printing device disclosed in Patent Documents 1 and 2, the posture of the printing mechanism is changed. It is difficult to maintain stability and control with high accuracy. In addition, a method of correcting the deviation of the printing position by correcting the traveling of the printing device can be considered, but this method requires a certain amount of mileage to correct the displacement of the printing device. There is a possibility that the deviation of the print position cannot be corrected promptly.

The present invention has been made in view of the above, and provides a mobile printing device capable of correcting a printing position with respect to a deviation of a traveling position with high accuracy and promptly, and by extension, a relatively large size. The purpose is to reduce the size of the printing device that prints on the object to be printed, reduce the cost, and simplify the printing work.

In order to solve the above-mentioned problems and achieve the object, the mobile printing apparatus of the present invention is mounted on a mobile carriage traveling on a printing object and the mobile carriage, and is orthogonal to the traveling direction of the mobile carriage. A printing mechanism capable of printing in a predetermined printing range in a direction, a position detecting unit for detecting the position of the moving trolley, and a traveling control unit for traveling the moving trolley along a printing traveling line in which a target traveling position is determined. A print control unit that causes the printing mechanism to print at the target print position within the predetermined print range according to the print data for which the target print position is determined is provided, and the print control unit is the position detection unit. When the difference between the position of the moving carriage and the target traveling position detected by the above in the direction orthogonal to the traveling direction is equal to or more than a predetermined value, the target printing position is corrected in the direction opposite to the direction in which the difference is generated. It is characterized by doing.

In the mobile printing device of the present invention, when the difference between the position of the moving carriage detected by the position detection unit and the target traveling position of the mobile carriage in the direction orthogonal to the traveling direction is equal to or more than a predetermined value, the difference is The target printing position is corrected in the direction opposite to the direction in which the printing occurs. As a result, at the same time as detecting the deviation of the traveling position of the moving carriage, the printing position can be corrected so as to cancel the deviation of the traveling position of the moving carriage without moving the printing mechanism itself. Therefore, the mobile printing apparatus of the present invention provides a mobile printing apparatus capable of accurately and promptly correcting the printing position with respect to the deviation of the traveling position, and by extension, a relatively large printing object. It is possible to reduce the size of the printing device that prints on an object, reduce costs, and simplify the printing work.

Further, the predetermined print range is provided on both sides of the first print range used when the difference is less than the predetermined value and the first print range, respectively, and the difference is equal to or more than the predetermined value. In some cases, it is preferable to include a second print range used in combination with the first print range. As a result, when the difference between the actual position of the moving trolley and the target traveling position is equal to or greater than a predetermined value, even if the target printing position is corrected to the outside of the first printing range, the second printing range is used. Printing can be performed at the corrected target printing position. As a result, it is possible to satisfactorily suppress the occurrence of print omission that cannot be printed at the target print position.

Further, in the second print range, it is preferable that the range provided on one of the first print ranges is 10% or less of the entire predetermined print range. As a result, it is possible to improve the efficiency of the printing work by the mobile printing device by preventing the second printing range, which is not normally used, from becoming too large. Further, if the second print range can be used up to 10% of the entire predetermined print range, when the target print position is corrected to the outside of the first print range, the correction is performed by using the second print range. Printing can be performed more reliably at the target printing position. As a result, it is possible to satisfactorily suppress the occurrence of print omission without improving the traveling accuracy of the mobile carriage.

Further, it is preferable that the printing traveling line overlaps the second printing range of the printing mechanism in the printing traveling line adjacent to the first printing range of the printing mechanism. As a result, even if the target print position is set in the second print range, which is not used in normal times, that is, when the difference between the actual position of the moving carriage and the target travel position is less than a predetermined value, the target print position Printing omission can be prevented.

Further, it is preferable that the print control unit stores the print record value printed by the print mechanism and controls the print mechanism so as not to print at a place where the print record value is located. As a result, it is possible to suppress overprinting on the printed portion and improve the print quality.

Further, when the position of the moving trolley detected by the position detecting unit is separated from the target traveling position by a predetermined distance or more, the traveling control unit causes the moving trolley to approach the target traveling position. It is preferable to control the running of the vehicle. As a result, it is possible to satisfactorily correct the deviation of the traveling position of the moving carriage.

Further, the position detection unit detects the direction of the moving trolley, and the traveling control unit deviates the direction of the moving trolley detected by the position detecting unit by a predetermined angle or more with respect to the printed traveling line. If so, it is preferable to control the travel of the mobile carriage so that the mobile carriage faces the printing travel line. As a result, it is possible to satisfactorily suppress the occurrence of deviation of the traveling position of the moving carriage.

Further, it is preferable that the travel control unit travels the moving carriage from the start point to the end point of the print travel line without stopping. As a result, the travel controllability of the mobile carriage can be improved, and the occurrence of deviation of the travel position of the mobile carriage can be better suppressed.

Further, it is preferable that the traveling control unit causes the moving carriage to travel at a constant speed. As a result, the travel controllability of the mobile carriage can be further improved, and the occurrence of deviation of the travel position of the mobile carriage can be further suppressed.

Further, the travel control unit outputs a print instruction to the print control unit when the mobile carriage travels a predetermined print distance equal to or less than a predetermined print pitch, and the print control unit outputs a print instruction to the print control unit. It is preferable to control the printing mechanism so that printing is performed when the printing instruction is received from the unit. As a result, printing can be performed at least once before the moving carriage advances the printing pitch, and the shorter the predetermined printing distance is set, the more printing omission occurs within the predetermined printing pitch. Can be satisfactorily suppressed.

Further, it is preferable that the print control unit controls the printing mechanism so that the mobile carriage prints at predetermined time intervals when the mobile carriage travels a predetermined printing distance equal to or less than a predetermined printing pitch. As a result, printing can be performed at least once before the moving carriage advances the printing pitch, and the shorter the predetermined printing distance is set, the more printing omission occurs within the predetermined printing pitch. Can be satisfactorily suppressed.

Further, the printing travel line has a plurality of target arrival points between the start point and the end point, and when the travel control unit reaches the plurality of target arrival points, the moving carriage is stopped to control the printing. A printing instruction is output to the unit, and when printing by the printing mechanism is completed, traveling toward the next target reaching point of the moving carriage is started, and the printing mechanism is in a direction orthogonal to the traveling direction and the traveling. It is possible to print in a predetermined print range along the direction, and it is preferable that the print control unit controls the print mechanism so as to print when the print instruction is received. As a result, it is possible to print at the target printing position within the printing range for each target reaching point on the printing traveling line, so that the number of times the printing control unit corrects the target printing position for the deviation of the traveling position of the moving carriage is reduced. , The control of the printing mechanism can be simplified. The printing mechanism may be capable of printing simultaneously in all of the directions orthogonal to the traveling direction and the predetermined printing range along the traveling direction, or in the predetermined printing range, in the direction orthogonal to the traveling direction. It may have a movable print head that can print in a range at the same time and can move along a traveling direction.

Further, it is preferable that the printing mechanism can print in the predetermined printing range at the same time. As a result, it is not necessary to move the printing mechanism itself, so that the posture of the printing mechanism can be easily maintained.

The mobile printing device according to the present invention provides a mobile printing device capable of correcting the printing position with respect to a deviation of the traveling position with high accuracy and promptly, and eventually to a relatively large printing object. This has the effect of reducing the size of the printing device that performs printing, reducing costs, and simplifying printing work.

FIG. 1 is a schematic view showing a mobile printing apparatus according to the first embodiment. FIG. 2 is a block diagram showing a mobile printing device according to the first embodiment. FIG. 3 is an explanatory diagram showing a mobile trolley according to the first embodiment. FIG. 4 is an explanatory diagram showing an example of a printed traveling line and a non-printing traveling line of the mobile carriage. FIG. 5 is a flowchart showing an overall processing procedure when printing an object to be printed by a mobile printing device. FIG. 6 is a flowchart showing a processing procedure of n-line traveling control. FIG. 7 is a flowchart showing a processing procedure of n-line printing control. FIG. 8 is an explanatory diagram showing an example of control when printing an object to be printed according to print data while traveling a moving carriage along a print travel line. FIG. 9 is an explanatory diagram showing a target print position A * set by the print control unit when the moving carriage reaches each target travel position P1 *, P2 *, P3 *. FIG. 10 is an explanatory diagram showing print record data at the time when printing up to the target traveling position P2 * is completed. FIG. 11 is an explanatory diagram showing print record data at the time when printing up to the target traveling position P3 * is completed. FIG. 12 shows control when the moving carriage travels from the target traveling position P1 * to the target traveling position P2 * by a value ΔP in a direction perpendicular to the traveling direction with respect to the target traveling position P2 *. It is explanatory drawing which shows the example of. FIG. 13 is an explanatory diagram showing a printing range H in the printing traveling line Ln and the adjacent printing traveling line Ln + 1. FIG. 14 is a flowchart showing a processing procedure of a modified example of the n-line traveling control. FIG. 15 is a flowchart showing a processing procedure of a modified example of the n-line printing control. FIG. 16 is a schematic view showing the mobile printing apparatus according to the second embodiment. FIG. 17 is a block diagram showing a mobile printing device according to the second embodiment. FIG. 18 is an explanatory diagram showing a mobile trolley according to the second embodiment. FIG. 19 is an explanatory diagram showing an example of a printed traveling line Ln and a non-printed traveling line Li of the moving carriage on the printing object according to the second embodiment. FIG. 20 is a flowchart showing a processing procedure of n-line traveling control in the second embodiment. FIG. 21 is a flowchart showing a processing procedure of n-line printing control in the second embodiment. FIG. 22 is an explanatory diagram showing an example of control when printing an object to be printed according to print data while traveling a moving carriage along a print travel line Ln in the second embodiment. FIG. 23 is an explanatory diagram showing a target printing position set by the print control unit when the moving carriage reaches the target traveling positions P1'*, P2'*, and P3'* in the second embodiment. FIG. 24 is an explanatory diagram showing print performance data at the time when printing up to the target arrival point P3'* is completed in the second embodiment. FIG. 25 is an explanatory diagram showing an example of control when printing an object to be printed according to print data while traveling a moving carriage along the print travel line Ln + 1 adjacent to the print travel line Ln in the second embodiment. Is. FIG. 26 is an explanatory diagram showing a target printing position set by the print control unit when the moving carriage reaches the target traveling position P4'* on the printing traveling line Ln + 1 in the second embodiment. FIG. 27 shows the values in the direction perpendicular to the traveling direction with respect to the target arrival point P2'* during the period from the target arrival point P1'* to the target arrival point P2'* in the second embodiment. It is explanatory drawing which shows the example of the control at the time of traveling with the deviation by ΔP. FIG. 28 is an explanatory diagram showing a printing range H in the printing traveling line Ln and the adjacent printing traveling line Ln + 1 in the second embodiment.

Hereinafter, embodiments of the mobile printing apparatus according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

[First Embodiment]
FIG. 1 is a schematic view showing the mobile printing device 1 according to the first embodiment, and FIG. 2 is a block diagram showing the mobile printing device 1 according to the embodiment. The mobile printing device 1 travels on a relatively large printing object 100 (see FIG. 4) such as the floor of a building or the deck of a ship, and moves to a place where various facilities and structures are to be installed. It is a device for printing markings and the like. As shown in FIGS. 1 and 2, the mobile printing device 1 has a mobile trolley 10 capable of traveling on a printing object 100 (see FIG. 4) and a traveling direction of the mobile trolley 10 mounted on the mobile trolley 10. A printing mechanism 20 capable of printing in a predetermined printing range H (see FIG. 3) in the orthogonal direction, and a laser tracker as a position detecting unit capable of detecting the position and orientation (attitude) of the moving carriage 10 on the printing object 100. 30 and a control device 40 for controlling the traveling of the moving carriage 10 and the printing of the printing mechanism 20 are provided.

FIG. 3 is an explanatory view showing the moving carriage 10. In addition to the printing mechanism 20, the mobile carriage 10 has a plurality of wheels 11 driven by a drive source (not shown) such as a pulse motor, and reflections attached to the top plate and reflecting the laser light emitted from the laser tracker 30. It has a target 12. As shown in FIG. 3, the mobile carriage 10 can travel in the front-rear direction by rotating a plurality of wheels 11 by driving a drive source (not shown). The moving carriage 10 is capable of adjusting the angles of the plurality of wheels 11 with respect to the traveling directions (directions indicated by white arrows in FIG. 3) by a drive mechanism (not shown), and traveling by adjusting the angles of the plurality of wheels 11. The direction can be handled.

In the first embodiment, the printing mechanism 20 is configured as an inkjet printing device. The printing mechanism 20 includes a cartridge as an ink supply unit and a printing head (none of which is shown) having a plurality of printing nozzles filled with ink from the cartridge and output ink to the printing object 100. In the first embodiment, a plurality of printing nozzles (not shown) are arranged in a row in a direction orthogonal to the traveling direction of the moving carriage 10. The plurality of printing nozzles can individually print in the corresponding areas of the predetermined printing range H shown separately in FIG.

The predetermined print range H includes a first print range H1 and a second print range H2 provided on both sides of the first print range H1. In the first embodiment, the second print range H2 is set so that the range provided on one side of the first print range H1 is 10% or less of the entire predetermined print range H of the printing mechanism 20. In the first embodiment, for the sake of simplicity, an example is shown in which eight printing nozzles (not shown) are arranged in the first printing range H1 and one printing nozzle (not shown) is arranged in the second printing range H2. However, the number of printing nozzles arranged in the first printing range H1 and the second printing range H2 is not limited to this. The predetermined print range H is, for example, about 300 mm to 500 mm, and each divided region of the predetermined print range H is about 1 mm. Therefore, the total number of printing nozzles arranged within the predetermined printing range H is actually about 300 to 500.

The laser tracker 30 irradiates the laser beam toward the reflection target 12 of the moving carriage 10 and inputs the laser beam reflected from the reflection target 12, so that the position P of the moving carriage 10 on the print object 100 ( X, Y, Z) and the rotation angle θ as the direction are measured. The laser tracker 30 is located at positions P in the X direction (traveling direction), Y direction (direction orthogonal to the traveling direction and horizontal to the printing object 100), and Z direction (height direction) of the moving carriage 10 shown in FIG. (X, Y, Z) can be measured. Further, the laser tracker 30 can measure the rotation angle α in the X direction, the rotation angle β in the Y direction, and the rotation angle γ in the Z direction of the moving trolley 10 shown in FIG. 3 as the orientation (posture) of the moving trolley 10. it can. The laser tracker 30 outputs the measured position P (X, Y, Z) of the moving carriage 10 and the rotation angle θ (α, β, γ) to the control device 40.

In the first embodiment, the control device 40 is an arithmetic processing device that is provided separately from the mobile carriage 10 and can be conveyed together with the mobile carriage 10 to the vicinity of the print target 100. The control device 40 may be, for example, a personal computer. If the size of the mobile carriage 10 is not restricted, the control device 40 may be mounted on the mobile carriage 10. The control device 40 includes a storage unit 41 that stores programs and data, and a control unit 42 that comprehensively controls the traveling of the mobile carriage 10 and the operation of the printing mechanism 20 to realize various functions.

The storage unit 41 is also used as a work area for temporarily storing the processing result of the control unit 10. As the storage unit 41, for example, a semiconductor storage medium, a magnetic storage medium, a portable storage medium such as a memory card, a storage device used as a temporary storage area such as a RAM, or the like is used. The storage unit 41 includes print data 41a in which a target print position A * to be printed on the print target 100 is predetermined, print record data 41b for storing the print record value on the print target 100, and print target. It has travel data 41c in which the travel route of the mobile vehicle 10 on the 100 is predetermined, and CAD data 50.

As shown in FIG. 2, the print data 41a is obtained by converting CAD data 50 in which the print position on the print target 100 is set by a line drawing into dots at a predetermined print pitch. That is, each dot of the print data 41a becomes the target print position A * on the print target 100. In the first embodiment, the CAD data 50 is converted into the print data 41a in advance, and then the print data 41a is stored in the storage unit 41. When printing on the print target object 100, the CAD data 50 may be converted into the print data 41a. The print record data 41b stores the record value printed from the printing mechanism 20 to the print target 100 according to the print data 41a.

The traveling data 41c includes a printing traveling line Ln (n = 1, 2, ... N) as a traveling line of the moving carriage 10 to be traveled with printing from the printing mechanism 20 to the target printing position A *, and a printing mechanism. 20 includes a non-printing travel line Li (i = 1, 2, ... N-1) as a traveling line of the moving carriage 10 that should travel without printing on the printing object 100. As shown in FIG. 2, the printed traveling line Ln and the non-printing traveling line Li are lines connecting the dot-shaped target traveling positions P * set at the same predetermined printing pitch as the target printing position A * of the print data 41a. Is.

FIG. 4 is an explanatory diagram showing an example of the printed traveling line Ln and the non-printing traveling line Li of the moving carriage 10 on the printing object 100. As shown in the figure, the print traveling line Ln is a plurality of lines that move on the print target 100 from the start point Lstart to the end point Lstop. Further, the non-printing travel line Li is a plurality of lines for traveling the moving carriage 10 from the end point Lstop of the printing travel line Ln to the start point Lstart of the print travel line Ln + 1. In the example shown in FIG. 4, the printed traveling line Ln and the non-printing traveling line Li are all set as straight lines, but there are obstacles, openings, etc. on the printing object 100, and the moving carriage 10 avoids these. When it is necessary to travel, the printed traveling line Ln and the non-printing traveling line Li may be curved or bent.

The control unit 42 is an arithmetic processing unit including, for example, a CPU (Central Processing Unit), a System (System-on-a-Chip), an MCU (MicroControl Unit), and an FPGA (Field-Programmable Gate Array). The control unit 42 includes a travel control unit 43 that controls the travel of the mobile carriage 10, and a print control unit 44 that controls the print mechanism 20.

The travel control unit 43 inputs travel data 41c from the storage unit 41. Further, the travel control unit 43 inputs the position P (X, Y, Z) of the moving carriage 10 on the print object 100 detected by the laser tracker 30 and the rotation angle θ (α, β, γ). The travel control unit 43 sets the printed travel line Ln and the non-printed travel based on the input travel data 41c, the position P (X, Y, Z) of the moving carriage 10, and the rotation angle θ (α, β, γ). The moving carriage 10 is driven along the line Li. That is, the travel control unit 43 controls the angles of the drive source (not shown) and the plurality of wheels 11 of the mobile carriage 10 so that the mobile carriage 10 reaches each target travel position P *. In the present embodiment, the travel control unit 43 travels the mobile carriage 10 from the start point Lstart of the print travel line Ln to the end point Lstop without stopping. As a result, the travel controllability of the mobile carriage 10 can be improved, and the occurrence of deviation of the travel position of the mobile carriage 10 can be better suppressed. Further, in the present embodiment, the travel control unit 43 causes the mobile carriage 10 to travel at a constant speed along the print travel line Ln. As a result, the travel controllability of the mobile carriage 10 can be further improved, and the occurrence of deviation of the travel position of the mobile carriage 10 can be further suppressed. The travel control unit 43 is configured to be able to communicate with the print control unit 44. In the first embodiment, the travel control unit 43 outputs a print instruction to the print control unit 44 every time the moving carriage 10 advances by a predetermined print distance.

The print control unit 44 inputs the target print position A * of the print data 41a, the print record data 41b, and the target travel position P * of the travel data 41c from the storage unit 41. The print control unit 44 inputs a print instruction from the travel control unit 43. Further, the print control unit 44 inputs the position P (X, Y, Z) of the moving carriage 10 on the print target 100 detected by the laser tracker 30. When the print instruction from the travel control unit 43 is input, the print control unit 44 prints not shown based on the print data 41a, the print record data 41b, and the position P (X, Y, Z) of the mobile carriage 10. A print command signal is output from the nozzle to the print mechanism 20 so that printing is performed at the target print position A * within the print range H. Further, the print control unit 44 stores the content of the print control command output to the print mechanism 20 in the print record data 41b as the print record value.

Next, a processing procedure for printing on the print target 100 by the mobile printing device 1 will be described. FIG. 5 is a flowchart showing the entire processing procedure when printing on the print target 100 by the mobile printing device 1. The processing procedure shown in FIG. 5 is executed by the control unit 42. At the start of the processing procedure shown in FIG. 5, it is assumed that the mobile carriage 10 of the mobile printing device 1 is located at the position of the start point Lstart on the printing traveling line L1 of the traveling data 41c shown in FIG.

As step S101, the control unit 42 inputs the travel data 41c to the travel control unit 43, and proceeds to step S102. In step S102, the control unit 42 sets the variable n and the variable i to the value 1, and proceeds to step S103. In step S103, the control unit 42 moves the moving carriage 10 to the start position of the printed travel line Ln, that is, the start point Lstart along the non-printed travel line Li based on the input travel data 41c. The moving trolley 10 is driven by. When the variable n = 1 and the variable i = 1, the moving carriage 10 is not moved because it is already at the starting point Lstart of the printing traveling line L1.

When the moving carriage 10 moves to the starting point Lstart of the printing traveling line Ln, the control unit 42 causes the traveling control unit 43 to execute n-line traveling control for traveling the moving carriage 10 along the printing traveling line Ln as step S104. In step S105, the print control unit 44 is made to execute n-line print control for printing from the print mechanism 20 to the print target 100. Details of n-line traveling control and n-line printing control will be described later.

When the n-line traveling control and the n-line printing control are completed, the control unit 42 increases the variable n and the variable i by the value 1 in step S106, and proceeds to step S107. In step S107, the control unit 42 determines whether or not the variable n has a value N + 1 or more. That is, in step S107, the control unit 42 determines whether or not the traveling of the moving carriage 10 and the printing from the printing mechanism 20 have been completed up to the last printed traveling line Ln (n = N) set in the traveling data 41c. judge. When the control unit 42 determines that the variable n is not equal to or greater than the value N + 1 (steps S107, No), the control unit 42 executes the processes after step S103 again. As a result, the moving carriage 10 moves along the non-printing travel line Li to the start point Lstart of the next printing travel line Ln (step S103), and again n-line travel control (step S104) and n-line print control (step S105). ) Is executed. Further, when it is determined that the variable n becomes the value N + 1 or more (step S107, Yes), the control unit 42 determines that the n-line travel control and the n-line print control are completed in all the print travel lines Ln, and moves. The printing process on the printing target 100 by the formula printing device 1 is completed.

Next, the n-line traveling control in step S104 of FIG. 5 will be described in detail. FIG. 6 is a flowchart showing a processing procedure of n-line traveling control. The n-line travel control processing procedure shown in FIG. 6 is executed by the travel control unit 43.

When the n-line travel control is started, the travel control unit 43 sets the variable m to the value 1 as step S201, and proceeds to step S202. As step S202, the travel control unit 43 inputs the target travel position P * from the travel data 41c of the storage unit 41, and proceeds to step S203. As step S203, the travel control unit 43 inputs the actual position Pm (X, Y, Z) and the rotation angle θm (α, β, γ) of the moving carriage 10 on the print target 100 from the laser tracker 30. The process proceeds to step S204.

In step S204, the travel control unit 43 determines whether or not the value of the rotation angle θm (α, β, γ) of the moving carriage 10 input from the laser tracker 30 is equal to or greater than the predetermined angle θ1. When it is determined that the value of the rotation angle θm (α, β, γ) of the moving carriage 10 is equal to or greater than the predetermined angle θ1 (step S204, Yes), the traveling control unit 43 prints the direction (posture) of the moving carriage 10. It is determined that the vehicle is inclined in any direction with respect to the traveling line Ln. Therefore, in step S205, the traveling control unit 43 sets the plurality of wheels of the moving carriage 10 so that the rotation angle θm (α, β, γ) is less than the predetermined angle θ1 (to face the printing traveling line Ln). By controlling the angle of 11, the direction of the moving carriage 10 is corrected. As a result, the moving trolley 10 is handled, and it is possible to prevent the traveling position of the moving trolley 10 from deviating from the target traveling position P *. After that, the travel control unit 43 proceeds to step S206. When it is determined that the value of the rotation angle θm (α, β, γ) of the moving carriage 10 is less than the predetermined angle θ1 (step S204, No), the traveling control unit 43 proceeds to step S206.

In step S206, the travel control unit 43 determines whether or not the actual position Pm (X, Y, Z) of the moving carriage 10 input from the laser tracker 30 is separated from the target travel position P * by a predetermined distance ΔP1 or more. To do. When it is determined that the actual position Pm (X, Y, Z) of the moving carriage 10 is separated from the target traveling position P * by a predetermined distance ΔP1 or more (step S206, Yes), the traveling control unit 43 sets the step S207. By controlling the angles of the plurality of wheels 11 of the moving trolley 10 so that the actual position Pm (X, Y, Z) of the moving trolley 10 approaches the target traveling position P *, the traveling of the moving trolley 10 is corrected. .. As a result, it is possible to prevent the traveling position of the moving carriage 10 from deviating from the target traveling position P *. After that, the travel control unit 43 proceeds to step S208. On the other hand, when it is determined that the actual position Pm (X, Y, Z) of the moving carriage 10 is not separated from the target traveling position P * by a predetermined distance ΔP1 or more (step S206, No), the traveling control unit 43 steps. Proceed to S208.

In step S208, the travel control unit 43 calculates the distance Δd that the moving carriage 10 has traveled. Specifically, the travel control unit 43 has the actual position Pm (X, Y, Z) of the moving trolley 10 and the actual position Pm-1 (X, Y) of the moving trolley 10 when the previous step S208 is executed. , Z) and the distance Δd are calculated. When m = 1 is set, Pm-1 (X, Y, Z) is the position of the start point Lstart of the print travel line Ln. After that, the travel control unit 43 proceeds to step S209.

In step S209, the travel control unit 43 determines whether or not the distance Δd traveled by the moving carriage 10 is equal to or greater than the predetermined printing distance. The predetermined print distance is set to a length equal to or less than a predetermined print pitch. The predetermined printing distance may be the same as the predetermined printing pitch. When it is determined that the distance Δd traveled by the moving carriage 10 is equal to or greater than the predetermined print distance (step S209, Yes), the travel control unit 43 outputs a print instruction to the print control unit 44 in step S210. Further, the traveling control unit 43 increases the variable m by a value of 1 in step S211 and proceeds to step S212. On the other hand, when it is determined that the distance Δd traveled by the moving carriage 10 is not equal to or greater than the predetermined printing distance (step S209, No), the travel control unit 43 proceeds to step S212.

In step S212, the travel control unit 43 determines whether or not the moving carriage 10 has reached the end point Lstop of the print travel line Ln. When it is determined that the moving carriage 10 has reached the end point Lstop of the printed travel line Ln (step S212, Yes), the travel control unit 43 ends the n-line travel control. On the other hand, when it is determined that the moving carriage 10 has not reached the end point Lstop of the printing traveling line Ln (step S212, No), the traveling control unit 43 executes the processes after step S202 again.

Next, the n-line printing control in step S105 of FIG. 5 will be described. FIG. 7 is a flowchart showing a processing procedure of n-line printing control. The processing procedure of the n-line print control shown in FIG. 7 is executed by the print control unit 44 in parallel with the n-line travel control of FIG.

When the n-line print control is started, the print control unit 44 determines in step S301 whether or not there is a print instruction from the travel control unit 43. If it is determined that there is no print instruction from the travel control unit 43 (steps S301, No), the print control unit proceeds to step S307. On the other hand, when it is determined that the travel control unit 43 has given a print instruction (steps S301, Yes), the print control unit 44 proceeds to step S302.

In step S302, the print control unit 44 acquires the current position information of the mobile carriage 10. Specifically, the print control unit 44 inputs the current target traveling position P * of the moving trolley 10 from the traveling data 41c of the storage unit 41, and the laser tracker 30 inputs the current actual position P of the moving trolley 10 ( X, Y, Z) is acquired. After that, the print control unit 44 proceeds to step S303.

In step S303, the print control unit 44 acquires the target print position A * of the print data 41a at the current position P (X, Y, Z) of the mobile carriage 10 acquired in step S302, and corrects it as necessary. To do. Specifically, the print control unit 44 acquires the target print position A * based on the current target travel position P * and the actual position P (X, Y, Z) of the moving carriage 10 acquired in step S302. Is corrected. Details of the correction of the target print position A * in the process of step S303 will be described later.

Next, in step S304, the print control unit 44 acquires the print record value of the print record data 41b at the current position P (X, Y, Z) of the mobile carriage 10 acquired in step S302, and acquires the acquired print. The target print position A * is corrected as necessary based on the actual value. The correction of the target print position A * based on the actual print value will be described later. After that, the print control unit 44 proceeds to step S305.

In step S305, the print control unit 44 outputs a print control command to the print mechanism 20 so as to print at the target print position A *. As a result, the shorter the predetermined printing distance in step S209 of FIG. 6 is set, the better it is possible to prevent the occurrence of print omission within a predetermined printing pitch. The upper limit of the traveling speed of the moving carriage 10 is set to be smaller than the processing speed at which the print control unit 44 executes the processes of steps S302 to S305. As a result, the printing mechanism 20 can print at least once within the predetermined printing pitch at the target printing position A * corrected as necessary in step S303 or step S304.

In step S306, the print control unit 44 stores the content of the print control command output to the print mechanism 20 as the print record value in the print record data 41b, and proceeds to step S307. In step S307, the print control unit 44 determines whether or not the end point Lstop of the print travel line Ln has been reached. When it is determined that the end point Lstop of the print travel line Ln has been reached (step S307, Yes), the print control unit 44 ends the n-line print control. On the other hand, when it is determined that the end point Lstop of the print traveling line Ln has not been reached (step S307, No), the print control unit 44 executes the processes after step S301 again.

The processing of steps S303 to S306 of FIG. 7 will be described in detail. FIG. 8 is an explanatory diagram showing an example of control when the print target 100 is made to print according to the print data 41a while the moving carriage 10 is running along the print travel line Ln. The white circle in FIG. 8 indicates the target print position A * on the print target 100 set in the print data 41a. In FIG. 8, the range surrounded by a thin solid line indicates the printing range H, which is the maximum range that can be printed from the printing mechanism 20, and the range surrounded by the thick solid line indicates the first printing range H1. Further, the white arrows in FIG. 8 indicate the traveling direction of the moving carriage 10, and “P1 *”, “P2 *”, and “P3 *” indicate that the moving carriage 10 travels along the printing traveling line Ln by the printing pitch. The target traveling position P * reached by doing so is shown. In the example shown in FIG. 8, it is assumed that the printing traveling line Ln is bent at the target traveling position P3 * in order to avoid an obstacle (not shown) on the printing object 100.

The print control unit 44 usually acquires the target print position A * within the first print range H1 from the print data 41a. FIG. 9 is an explanatory diagram showing a target print position A * set by the print control unit 44 when the mobile carriage 10 reaches the target travel positions P1 *, P2 *, and P3 *. For example, when the mobile trolley 10 reaches the target traveling position P1 *, the print control unit 44 first prints the target in all of the first print range H1 according to the print data 41a shown in FIG. 8 as the process of step S303. Recognize that there is position A *. At this time, at the target traveling position P1 *, the print record value is not yet stored in the print record data 41b. Therefore, the print control unit 44 does not correct the target print position A * based on the actual print value in the process of step S304. As a result, when the print control command is output to the print mechanism 20 in the process of step S305, printing is performed from all the print nozzles (not shown) in the first print range H1 of the print mechanism 20 to the target print position A *. After that, the print control unit 44 prints the content of the print control command that "at the target travel position P1 *, all the target print positions A * in the first print range H1 are printed" as the process of step S306. As the actual value, it is stored in the print actual data 41b of the storage unit 41.

When the moving trolley 10 reaches the target traveling position P2 *, a print control command is output to the printing mechanism 20 in the same procedure as when the moving trolley 10 reaches the target traveling position P1 *, and the print control command is output. The content is stored in the print record data 41b of the storage unit 41 as a print record value. FIG. 10 is an explanatory diagram showing print record data 41b at the time when printing up to the target traveling position P2 * is completed. As shown in the figure, at this time, the print record data 41b stores the record that printing was performed at the target print position A * located within the first print range H1 in the target travel positions P1 * and P2 * in FIG. Will be done.

When the moving trolley 10 reaches the target traveling position P3 *, the printed traveling line Ln is set to be bent, so that the moving trolley 10 is set to the target traveling positions P1 * and P2 * as shown in FIG. In contrast to the case where the posture is tilted. Therefore, in the process of step S304, the print control unit 44 recognizes that the print record value already exists at the position indicated by the broken line circle in FIG. 9 based on the print record data 41b shown in FIG. As a result, the print control unit 44 determines that it is not necessary to print at the portion indicated by the broken line circle in FIG. 9 at the target traveling position P3 *, and only the portion indicated by the solid line circle at the target print position A *. Correct to. As the process of step S305, the print control unit 44 outputs a print command signal to the print mechanism 20 so as to print from the print nozzle corresponding to the corrected target print position A * to the print target 100. After that, as the process of step S306, the print control unit 44 prints that "at the target travel position P3 *, printing is performed at the target print position A * shown by the solid circle in FIG. 9 of the first print range H1". The content of the control command is stored in the print record data 41b as the print record value. FIG. 11 is an explanatory diagram showing print record data 41b at the time when printing up to the target traveling position P3 * is completed. In this way, the print quality can be improved by preventing the printed portion from being printed again. Further, even if a print instruction is output from the travel control unit 43 to the print control unit 44 once or more within the print pitch, it is possible to prevent the print from being reprinted at the portion once printed.

Here, the moving carriage 10 may travel while meandering in a direction orthogonal to the traveling direction due to unevenness, inclination, friction coefficient, sand, small parts, deposits, etc. on the surface of the object to be printed 100. .. In this case, as shown by the broken line in FIG. 3, the print range H also draws a meandering locus. FIG. 12 shows a case where the moving carriage 10 travels from the target traveling position P1 * to the target traveling position P2 * by a value ΔP in the direction perpendicular to the traveling direction with respect to the target traveling position P2 *. It is explanatory drawing which shows the example of control. When the moving carriage 10 deviates from the target traveling position P2 * by a value ΔP in the direction perpendicular to the traveling direction, the printing mechanism 20 is controlled so as to print at the target printing position A * within the first printing range H1. As shown by the broken line circle in the figure, the printing target 100 is printed at a position deviated from the position originally desired to be printed (that is, the printing position shown in FIG. 9).

Therefore, in the process of step S303, the print control unit 44 has a direction orthogonal to the traveling direction of the actual position P (X, Y, Z) of the moving carriage 10 input from the laser tracker 30 and the target traveling position P2 *. When the difference ΔP of is greater than or equal to the predetermined value ΔP2 (ΔP2 <ΔP1), the target print position A * is corrected in the direction opposite to the direction in which the difference ΔP is generated. That is, as shown in the lower part of FIG. 12, the print control unit 44 sets the target print position A * to a position slid to the left side in the drawing by the difference ΔP. The predetermined value ΔP2 is a value within the range of the deviation of the print position that is acceptable as the print quality on the print target 100. The predetermined value ΔP2 is, for example, 0.5 dots.

In this case, as the process of step S305, the print control unit 44 prints using the second print range H2 provided on both sides of the first print range H1 together with the first print range H1. A print control command is output to the print mechanism 20. As a result, at the same time as detecting the deviation of the traveling position of the moving carriage 10, the printing position can be corrected so as to cancel the deviation of the traveling position of the moving carriage 10 without moving the print head (not shown) of the printing mechanism 20. .. Further, even if the target print position A * is corrected to the outside of the first print range H1, printing can be performed at the corrected target print position A * by using the second print range H2. In the present embodiment, the second print range H2 is set so that the range provided on one of the first print range H1 is 10% or less of the entire print range H of the printing mechanism 20. The expected deviation of the traveling position of the moving carriage 10 is approximately 2 to 3 dots when traveling straight, for example, when the printing range H is 500 mm, the deviation is 2 to 3 with respect to the printing range H. It is about%. Therefore, if the second print range H2 can be used up to 10% of the entire print range H, the second print range H2 will be set when the target print position A * is corrected to the outside of the first print range H1. By using this, printing can be performed more reliably at the corrected target printing position A *. As a result, it is possible to satisfactorily suppress the occurrence of print omission without improving the traveling accuracy of the mobile carriage 10.

As described above, in the print control unit 44, the difference ΔP in the normal time, that is, the difference ΔP between the actual position P (X, Y, Z) of the moving carriage 10 and the target traveling position P * in the direction orthogonal to the traveling direction is a predetermined value P2. If it is less than, the printing mechanism 20 is controlled so as to print at the target printing position A * using the first printing range H1. That is, normally, printing is not performed at the target printing position A * within the second printing range H2. Therefore, the print travel line Ln overlaps with the second print range H2 in the print travel line Ln + 1 (or the print travel line Ln-1) to which the first print range H1 is adjacent. FIG. 13 is an explanatory diagram showing a printing range H in the printing traveling line Ln and the adjacent printing traveling line Ln + 1. As shown in the figure, the first print range H1 on the print travel line Ln overlaps with the second print range H2 on the print travel line Ln + 1, and the first print range H1 on the print travel line Ln + 1 is the second print on the print travel line Ln. It overlaps with the range H2. As a result, the target is set to the second print range H2, which is not used in the normal state, that is, when the difference ΔP between the actual position P (X, Y, Z) of the moving carriage 10 and the target traveling position P * is less than the predetermined value P2. Even if the print position A * is set, it is possible to prevent printing omission at the target print position A *. Further, the second print range H2 provided on one side of the first print range H1 is set to 10% or less of the entire print range H of the printing mechanism 20, so that the second print range H2 which is not normally used is increased. It is possible to reduce the overlap margin between adjacent printing traveling lines Ln by not excessively. As a result, the efficiency of the printing work by the mobile printing device 1 can be improved.

As described above, in the mobile printing device 1 according to the first embodiment, the positions P (X, Y, Z) of the mobile carriage 10 detected by the laser tracker 30 as the position detection unit and the mobile carriage 10 When the difference ΔP in the direction orthogonal to the traveling direction with the target traveling position P * is a predetermined value ΔP2 or more, the target printing position A * is corrected in the direction opposite to the direction in which the difference is generated (FIG. 7). Step S303). As a result, at the same time as detecting the deviation of the traveling position of the moving carriage 10, the printing position can be corrected so as to cancel the deviation of the traveling position of the moving carriage 10 without moving the printing mechanism 20 itself. Therefore, the mobile printing device 1 provides a mobile printing device capable of accurately and promptly correcting the printing position with respect to the deviation of the traveling position, and eventually to a relatively large printing object. It is possible to reduce the size of the printing device for printing, reduce the cost, and simplify the printing work.

In the present embodiment, the correction of the target print position A * based on the difference ΔP between the target travel position P * and the actual position P (X, Y, Z) is performed in step S303 of FIG. Apart from the processing procedure of FIG. 7, the print control unit 44 sets the print data 41a (target print position A *) based on the current target travel position P * of the mobile carriage 10 and the actual position P (X, Y, Z). ) May be updated (corrected) at any time, and in step S303, the updated print data 41a (target print position A *) at the current position P (X, Y, Z) may be acquired. ..

Further, the print range H is provided on both sides of the first print range H1 used when the difference ΔP is less than the predetermined value ΔP2 and the first print range H1, respectively, and the difference ΔP is equal to or more than the predetermined value ΔP2. Includes a second print range H2 used in conjunction with the first print range H1. As a result, when the difference ΔP between the actual position P (X, Y, Z) of the moving carriage 10 and the target traveling position P * is a predetermined value ΔP2 or more, the target printing position A * is outside the first printing range H1. Even if the correction is made to, the second print range H2 can be used to print at the corrected target print position A *. As a result, it is possible to satisfactorily suppress the occurrence of printing omissions that cannot be printed at the target printing position A *. However, the second print range H2 may be omitted.

Further, in the second print range H2, the range provided on one side of the first print range H1 is 10% or less of the entire print range H. As a result, the efficiency of the printing work by the mobile printing device 1 can be improved by preventing the second printing range H2, which is not normally used, from becoming too large. Further, if the second print range H2 can be used up to 10% of the entire predetermined print range H, the second print range H2 is corrected when the target print position A * is corrected to the outside of the first print range H1. Can be used to more reliably print at the corrected target print position A *. As a result, it is possible to satisfactorily suppress the occurrence of print omission without improving the traveling accuracy of the mobile carriage 10. As for the second print range H2, the range provided on one side of the first print range H1 may be 10% or more of the entire print range H.

Further, the printing traveling line Ln overlaps with the second printing range H2 of the printing mechanism 20B in the adjacent printing traveling line Ln + 1 in which the first printing range H1 of the printing mechanism 20 overlaps. As a result, the target is set to the second print range H2, which is not used in the normal state, that is, when the difference ΔP between the actual position P (X, Y, Z) of the moving carriage 10 and the target traveling position P * is less than the predetermined value ΔP2. Even if the print position A * is set, it is possible to prevent printing omission at the target print position A *. It should be noted that the print travel line Ln + 1 (or the print travel line Ln-1) adjacent to the print travel line Ln does not have to overlap with each other in the print range H, and the first print ranges H1 overlap with each other. You may.

Further, the print control unit 44 stores the print record value printed by the print mechanism 20 and controls the print mechanism 20 so as not to print at a place where the print record value exists (steps S304 to S306 in FIG. 7). .. As a result, it is possible to suppress overprinting on the printed portion and improve the print quality. If the print quality is not impaired even if printing is performed at a location where the print record value is present, the print record data 41b may be omitted from the storage unit 41, and printing may be performed over the printed location.

Further, when the position of the moving trolley 10 detected by the laser tracker 30 is separated from the target traveling position P * by a predetermined distance ΔP1 or more, the traveling control unit 43 causes the moving trolley 10 to approach the target traveling position P *. The travel of the mobile carriage 10 is controlled (steps S206 and S207 in FIG. 6). As a result, the deviation of the traveling position of the moving carriage 10 can be satisfactorily corrected. The processing of steps S206 and S207 may be omitted.

Further, the laser tracker 30 detects the direction (rotation angle θ) of the moving carriage 10, and the traveling control unit 43 prints the direction (rotation angle θ) of the moving carriage 10 detected by the laser tracker 30 on the printing traveling line Ln. On the other hand, when the moving trolley 10 is deviated by a predetermined angle θ1 or more, the traveling of the moving trolley 10 is controlled so that the moving trolley 10 faces the printing traveling line Ln (steps S204 and S205 in FIG. As a result, it is possible to satisfactorily suppress the occurrence of deviation of the traveling position of the moving carriage 10. The processing of steps S204 and S205 may be omitted.

Further, the travel control unit 43 causes the mobile carriage 10 to travel from the start point Lstart of the print travel line Ln to the end point Lstop without stopping. As a result, the travel controllability of the mobile carriage 10 can be improved, and the occurrence of deviation of the travel position of the mobile carriage 10 can be better suppressed.

Further, the travel control unit 43 causes the mobile carriage 10 to travel at a constant speed. As a result, the travel controllability of the mobile carriage 10 can be further improved, and the occurrence of deviation of the travel position of the mobile carriage 10 can be further suppressed. The traveling speed of the moving carriage 10 may be changed.

Further, the travel control unit 43 outputs a print instruction to the print control unit 43 when the mobile carriage 10 travels at a predetermined print distance equal to or less than a predetermined print pitch, and the print control unit 43 is a travel control unit. The printing mechanism 20 is controlled so that printing is performed when a printing instruction is received from 44. As a result, printing can be performed at least once before the moving carriage 10 advances the printing pitch, and the shorter the predetermined printing distance is set, the more printing omission occurs within the predetermined printing pitch. This can be suppressed satisfactorily.

However, the print control unit 44 may control the print mechanism 20 so as to print at predetermined time intervals. FIG. 14 is a flowchart showing a processing procedure of a modified example of the n-line traveling control, and FIG. 15 is a flowchart showing a processing procedure of a modified example of the n-line print control.

A modified example of the n-line traveling control of FIG. 14 will be described. The n-line travel control of FIG. 14 is executed by the travel control unit 43. In the n-line travel control shown in FIG. 14, the processing of steps S401 to S407 is the same as the processing of steps S201 to S207 shown in FIG. 6, and thus the description thereof will be omitted.

After executing the processes of steps S401 to S407, the travel control unit 43 increases the variable m by a value of 1 as step S408, and proceeds to step S409. In step S409, the travel control unit 43 determines whether or not the moving carriage 10 has reached the end point Lstop of the print travel line Ln. When it is determined that the moving carriage 10 has reached the end point Lstop of the printed travel line Ln (step S409, Yes), the travel control unit 43 ends the n-line travel control. On the other hand, when it is determined that the moving carriage 10 has not reached the end point Lstop of the printing traveling line Ln (step S409, No), the traveling control unit 43 executes the processes after step S402 again. That is, in the n-line travel control shown in FIG. 14, unlike the n-line travel control shown in FIG. 6, a print instruction is not output from the travel control unit 43 to the print control unit 44.

Next, a modified example of the n-line printing control shown in FIG. 15 will be described. The n-line print control shown in FIG. 15 is executed by the print control unit 44. When the n-line print control shown in FIG. 15 is started, the print control unit 44 determines in step S501 whether or not a predetermined time has elapsed since the previous print control command was output. The predetermined time is set as the time required for the moving carriage 10 to travel a predetermined printing distance equal to or less than a predetermined printing pitch. The predetermined printing distance may be the same as the predetermined printing pitch.

When it is determined that the predetermined time has not elapsed since the previous print control command was output (step S501, No), the print control unit 44 proceeds to step S507. On the other hand, when it is determined that a predetermined time has elapsed since the previous print control command was output (steps S501, Yes), the print control unit 44 executes the processes of steps S502 to S506 and then proceeds to step S507. move on. Since the processing of steps S502 to S506 is the same as the processing of steps S302 to S306 of FIG. 7, the description thereof will be omitted.

In step S507, the print control unit 44 determines whether or not the end point Lstop of the print travel line Ln has been reached. When it is determined that the end point Lstop of the print traveling line Ln has been reached (step S507, Yes), the print control unit 44 ends the n-line print control. On the other hand, when it is determined that the end point Lstop of the print travel line Ln has not been reached (step S507, No), the print control unit 44 again executes the processes after step S501.

That is, in the n-line print control shown in FIG. 14, every time a predetermined time elapses after the previous print control command is output, the current position P (X,) of the mobile carriage 10 is processed in steps S502 to S504. The target print position A * in Y, Z) is corrected as necessary, and in the process of step S505, a print control command is issued from the print control unit 44 to the print mechanism 20 so as to print at the target print position A *. It is output, and in the process of step S506, the content of the print control command is stored in the print record data 41b as the print record value. As a result, the shorter the predetermined time is set (the shorter the predetermined print distance is set), the better the occurrence of print omission within the predetermined print pitch can be suppressed. The upper limit of the traveling speed of the moving carriage 10 is set to be smaller than the processing speed at which the print control unit 44 executes the processes of steps S502 to S505. As a result, the printing mechanism 20 can print at least once within the predetermined printing pitch at the target printing position A * corrected as necessary in steps S503 and S504.

As described above, in the modified example of the n-line travel control shown in FIG. 14 and the n-line print control shown in FIG. 15, the print control unit 44 does not output the print command from the travel control unit 43 to the print control unit 44. Outputs a print control command to the printing mechanism 20 every time a predetermined time elapses. As a result, the printing mechanism 20 can be controlled more easily by simplifying the n-line traveling control and the n-line printing control. In this case, it is not necessary to configure the travel control unit 43 and the print control unit 44 to be communicable.

[Second Embodiment]
The mobile printing device 1B according to the second embodiment will be described. FIG. 16 is a schematic view showing the mobile printing device 1B according to the second embodiment, and FIG. 17 is a block diagram showing the mobile printing device 1B. The mobile printing device 1B travels on a relatively large printing object 100 (see FIG. 19) such as the floor of a building or the deck of a ship, and moves to a place where various facilities and structures are to be installed. It is a device for printing markings and the like. As shown in FIGS. 16 and 17, the mobile printing device 1B is mounted on a mobile trolley 10B capable of traveling on the printing object 100 and a mobile trolley 10B for printing in a direction orthogonal to the traveling direction of the mobile trolley 10B. A printing mechanism 20B capable of printing in a range H (see FIG. 18), a laser tracker 30B as a position detecting unit capable of detecting the position and orientation (attitude) of the moving carriage 10B on the printing object 100, and a moving carriage 10B. It is provided with a control device 40B that controls traveling and printing of the printing mechanism 20B. The mobile printing device 1B has basically the same structure as the mobile printing device 1 except for the printing timing based on the arrangement of the printing nozzles of the printing mechanism 20B and the arrangement of the printing nozzles. Hereinafter, the points peculiar to the mobile printing apparatus 1B will be mainly described.

FIG. 18 is an explanatory view showing the mobile carriage 10B. The mobile carriage 10B includes a printing mechanism 20B, a plurality of wheels 11B driven by a drive source (not shown) such as a pulse motor, and a reflection target 12B attached to a top plate and reflecting laser light emitted from a laser tracker 30. And have.

In the second embodiment, the printing mechanism 20B is configured as an inkjet printing device. The plurality of printing nozzles of the printing mechanism 20B of the second embodiment are provided with a plurality of rows arranged side by side in a direction orthogonal to the traveling direction of the moving carriage 10B. That is, in the second embodiment, the printing mechanism 20B is capable of printing in a direction orthogonal to the traveling direction and a predetermined printing range H along the traveling direction. The plurality of printing nozzles can print individually and simultaneously in the corresponding areas of the predetermined printing range H shown separately in FIG.

The laser tracker 30B irradiates the laser beam toward the reflection target 12B of the moving carriage 10B, and inputs the laser beam reflected from the reflection target 12B, so that the position P of the moving carriage 10B on the print object 100 ( X, Y, Z) and the rotation angle θ as the direction (attitude) are measured.

The control device 40B is an arithmetic processing unit. The control device 40B includes a storage unit 41B that stores programs and data, and a control unit 42B that comprehensively controls the traveling of the mobile carriage 10B and the operation of the printing mechanism 20B to realize various functions. The storage unit 41B includes print data 41Ba in which a target print position A * to be printed on the print target 100 is predetermined, print record data 41Bb that stores print record values on the print target 100, and print target. It has travel data 41Bc in which the travel route of the mobile vehicle 10B on 100 is predetermined, and CAD data 50B.

FIG. 19 is an explanatory diagram showing an example of a printed traveling line Ln and a non-printed traveling line Li of the moving carriage 10B on the printing object 100. As shown in the figure, the print traveling line Ln is set as a plurality of lines moving on the print target 100 from the start point Lstart to the end point Lstop. Further, the non-printing travel line Li is set as a plurality of lines for traveling the moving carriage 10B from the end point Lstop of the printing travel line Ln to the start point Lstart of the print travel line Ln + 1. In the second embodiment, as shown in FIG. 19, the printed travel line Ln has a plurality of target arrival points P'* selected from each target travel position P * between the start point Lstart and the end point Lstop. The plurality of target arrival points P'* are arranged at equal intervals in the present embodiment.

The control unit 42B is, for example, an arithmetic processing unit including a CPU (Central Processing Unit), a System (System-on-a-Chip), an MCU (MicroControl Unit), and an FPGA (Field-Programmable Gate Array). The control unit 42B includes a travel control unit 43B that controls the travel of the mobile carriage 10B, and a print control unit 44B that controls the printing mechanism 20B.

The travel control unit 43B inputs travel data 41Bc from the storage unit 41B. The travel control unit 43B controls the drive source (not shown) and the angles of the plurality of wheels 11B of the mobile carriage 10B so that the mobile carriage 10B reaches the target travel position P *. The travel control unit 43B is configured to be able to communicate with the print control unit 44B. In the second embodiment, when the moving carriage 10B reaches a plurality of target arrival points P'*, the traveling control unit 43B temporarily stops the moving carriage 10B and outputs a print instruction to the print control unit 44B. When the printing by the printing mechanism 20B is completed and the printing completion instruction is input from the printing control unit 44B, the traveling control unit 43B starts traveling toward the next target arrival point P'* of the moving carriage 10B.

The print control unit 44B inputs the target print position A * of the print data 41Ba, the print record data 41Bb, and the target arrival position P'* of the travel data 41Bc from the storage unit 41B. Further, the print control unit 44B outputs a print completion instruction to the travel control unit 43B when printing by the print mechanism 20B is completed.

Next, a processing procedure for printing on the print target 100 by the mobile printing device 1B will be described. Since the entire processing procedure when printing on the printing object 100 by the mobile printing device 1B is the same as the processing procedure shown in FIG. 5, the description thereof will be omitted.

The n-line traveling control in step S104 of FIG. 5 in the mobile printing apparatus 1B according to the second embodiment will be described in detail. FIG. 20 is a flowchart showing a processing procedure of n-line traveling control. The processing procedure of the n-line travel control shown in FIG. 20 is executed by the travel control unit 43B.

When the n-line travel control is started, the travel control unit 43B inputs the current target travel position P * and target arrival point P'* from the travel data 41Bc of the storage unit 41B as step S601, and proceeds to step S602. .. In step S602, the travel control unit 43B inputs the actual position Pm (X, Y, Z) and the rotation angle θm (α, β, γ) of the moving carriage 10B on the print target 100 from the laser tracker 30B. The process proceeds to step S603.

In step S603, the travel control unit 43B determines whether or not the value of the rotation angle θm (α, β, γ) of the moving carriage 10B input from the laser tracker 30B is a predetermined angle θ1 or more. When it is determined that the value of the rotation angle θm (α, β, γ) of the moving carriage 10B is equal to or greater than the predetermined angle θ1 (step S603, Yes), the traveling control unit 43B prints the direction (posture) of the moving carriage 10B. It is determined that the vehicle is inclined in any direction with respect to the traveling line Ln. Therefore, in step S604, the travel control unit 43B controls the angles of the plurality of wheels 11B of the moving carriage 10B so that the rotation angle θm (α, β, γ) is less than the predetermined angle θ1. As a result, the moving trolley 10B is handled, and it is possible to prevent the traveling position of the moving trolley 10B from deviating from the target traveling position P *. After that, the travel control unit 43B proceeds to step S605. When it is determined that the value of the rotation angle θm (α, β, γ) of the moving carriage 10B is less than the predetermined angle θ1 (step S603, No), the traveling control unit 43B omits the process of step S604 and steps S605. Proceed to.

In step S605, the travel control unit 43B determines whether or not the actual position Pm (X, Y, Z) of the moving carriage 10B input from the laser tracker 30B is separated from the target travel position P * by a predetermined distance ΔP1 or more. To do. When it is determined that the actual position Pm (X, Y, Z) of the moving carriage 10B is separated from the target traveling position P * by a predetermined distance ΔP1 or more (step S605, Yes), the traveling control unit 43B sets the step S606. , The angles of the plurality of wheels 11B of the moving carriage 10B are controlled so that the actual position Pm (X, Y, Z) of the moving carriage 10B approaches the target traveling position P *. As a result, it is possible to prevent the traveling position of the moving carriage 10B from deviating from the target traveling position P *. After that, the travel control unit 43B proceeds to step S607. On the other hand, when it is determined that the actual position Pm (X, Y, Z) of the moving carriage 10B is not separated from the target traveling position P * by a predetermined distance ΔP1 or more (step S605, No), the traveling control unit 43B steps. Proceed to S607.

In step S607, the travel control unit 43B determines whether or not the moving carriage 10B has reached the target arrival point P'*. When it is determined that the moving trolley 10B has reached the target arrival point P'* (step S607, Yes), the traveling control unit 43B stops the traveling of the moving trolley 10B as step S608 and proceeds to step S609. On the other hand, when it is determined that the moving carriage 10B has not reached the target arrival point P'* (step S607, No), the traveling control unit 43B again executes the processes after step S601.

As step S609, the travel control unit 43B outputs a print instruction to the print control unit 44B, and proceeds to step S610. In step S610, the travel control unit 43B determines whether or not a print completion instruction has been input from the print control unit 44B. If it is determined that the print completion instruction has not been input (step S610, No), the travel control unit 43B waits until the print completion instruction is input. When it is determined that the print completion instruction has been input (step S610, Yes), the travel control unit 43B inputs the next target arrival point P'* from the travel data 41Bc as step S611, and proceeds to step S612. In step S612, the travel control unit 43B starts traveling of the moving carriage 10B toward the next target arrival point P'*, and proceeds to step S613.

In step S613, the travel control unit 43B determines whether or not the mobile carriage 10B has reached the end point Lstop of the print travel line Ln. When it is determined that the mobile carriage 10B has reached the end point Lstop of the print travel line Ln (step S613, Yes), the travel control unit 43B ends the n-line travel control. On the other hand, when it is determined that the moving carriage 10B has not reached the end point Lstop of the printing traveling line Ln (step S613, No), the traveling control unit 43B again executes the processes after step S601.

Next, the n-line printing control in step S105 of FIG. 5 in the mobile printing device 1B according to the second embodiment will be described. FIG. 21 is a flowchart showing a processing procedure for n-line printing control. The processing procedure of the n-line print control shown in FIG. 21 is executed by the print control unit 44B in parallel with the n-line travel control of FIG.

When the n-line print control is started, the print control unit 44B determines in step S701 whether or not there is a print instruction from the travel control unit 43B. When it is determined that there is no print instruction from the travel control unit 43B (step S701, No), the print control unit 44B proceeds to step S709. On the other hand, when it is determined that the travel control unit 43B has given a print instruction (step S701, Yes), the print control unit 44B proceeds to step S702.

In step S702, the print control unit 44B acquires the current position information of the moving carriage 10. Specifically, the print control unit 44B inputs the current target arrival point P'* of the moving trolley 10B from the traveling data 41Bc of the storage unit 41B, and the current actual position P of the moving trolley 10B from the laser tracker 30B. (X, Y, Z) is acquired. After that, the print control unit 44B proceeds to step S703.

In step S703, the print control unit 44B acquires the target print position A * of the print data 41Ba at the current position P (X, Y, Z) of the mobile carriage 10B acquired in step S702, and corrects it as necessary. To do. Specifically, the print control unit 44 acquires the target print position A based on the current target arrival point P'* and the actual position P (X, Y, Z) of the mobile carriage 10 acquired in step S702. * Correct. Details of the correction of the target print position A * in the process of step S703 will be described later.

Next, in step S704, the print control unit 44 acquires the print record value of the print record data 41b at the current position P (X, Y, Z) of the mobile carriage 10 acquired in step S702, and acquires the acquired print. The target print position A * is corrected as necessary based on the actual value. The correction of the target print position A * based on the actual print value will be described later. After that, the print control unit 44 proceeds to step S705.

In step S705, the print control unit 44B outputs a print control command to the print mechanism 20B so as to print at the target print position A *. Next, in step S706, the print control unit 44B determines whether or not printing from the print mechanism 20B is completed. When it is determined that the printing from the printing mechanism 20B is not completed (step S706, No), the print control unit 44B waits until the printing is completed. When it is determined that the printing from the printing mechanism 20B is completed (step S706, Yes), the print control unit 44B proceeds to step S707. In step S707, the print control unit 44B stores the content of the print control command output to the print mechanism 20B as a print record value in the print record data 41Bb, and proceeds to step S708.

As step S708, the print control unit 44B outputs a print completion instruction to the travel control unit 43B, and proceeds to step S709. In step S709, the print control unit 44B determines whether or not the end point Lstop of the print travel line Ln has been reached. When it is determined that the end point Lstop of the print traveling line Ln has been reached (step S709, Yes), the print control unit 44B ends the n-line print control. On the other hand, when it is determined that the end point Lstop of the print traveling line Ln has not been reached (step S709, No), the print control unit 44B again executes the processes after step S701.

The processing of steps S703 to S707 of FIG. 21 will be described in detail. FIG. 22 is an explanatory diagram showing an example of control when printing is performed on the print target 100 according to the print data 41Ba while the moving carriage 10B is running along the print travel line Ln. The white circle in FIG. 22 indicates the target print position A * on the print target 100 set by the print data 41Ba. In FIG. 22, the range surrounded by a thin solid line indicates the printing range H, which is the maximum range that can be printed from the printing mechanism 20B, and the range surrounded by the thick solid line indicates the first printing range H1. Further, the white arrow in FIG. 22 indicates the traveling direction of the moving carriage 10B, and “P1’ * ”,“ P2 ′ * ”, and“ P3 ′ * ”are the moving carriage 10B traveling along the printing traveling line Ln. Indicates each target arrival point P'* that has been reached.

The print control unit 44B usually acquires the target print position A * within the first print range H1 from the print data 41Ba. FIG. 23 is an explanatory diagram showing a target print position A * set by the print control unit 44B when the mobile carriage 10B reaches the target travel positions P1'*, P2'*, and P3'*. For example, when the mobile carriage 10B reaches the target arrival point P1'*, the print control unit 44B first, as the process of step S703 in FIG. 21, first, according to the print data 41Ba shown in FIG. 22, is within the first print range H1. Recognize the target print position A *. At this time, at the target arrival point P1'*, the print record value is not yet stored in the print record data 41Bb. Therefore, in step S704, the print control unit 44B does not correct the target print position A * based on the actual print value. As a result, when the print control command is output to the print mechanism 20B in the process of step S705, printing is simultaneously performed from the corresponding print nozzle of the first print range H1 of the print mechanism 20B to the target print position A *. .. After that, as the process of step S707, the print control unit 44B prints the content of the print control command that "at the target arrival point P1'*, the target print position A * of the first print range H1 is printed". As a value, it is stored in the print record data 41Bb of the storage unit 41B.

When the mobile trolley 10B reaches the target arrival points P2'* and P3'*, a print control command to the printing mechanism 20B is output in the same procedure as when the mobile trolley 10B reaches the target arrival point P1'*. Then, the content of the print control command is stored in the print record data 41Bb of the storage unit 41B as the print record value. FIG. 24 is an explanatory diagram showing print record data 41Bb at the time when printing up to the target arrival point P3'* is completed. As shown in the figure, the print record data 41Bb is printed at the target print position A * located within the first print range H1 at the target arrival points P1'*, P2'*, and P3'*. Will be remembered.

FIG. 25 is an explanatory diagram showing an example of control when the print target 100 is made to print according to the print data 41Ba while the moving carriage 10B is running along the print travel line Ln + 1 adjacent to the print travel line Ln. Further, FIG. 26 is an explanatory diagram showing a target print position A * set by the print control unit 44B when the mobile carriage 10B reaches the target travel position P4'* on the print travel line Ln + 1. As shown in FIG. 25, for example, in order to drive the mobile carriage 10B while avoiding obstacles and openings on the print target 100, the target arrival point P4 at the print travel line Ln + 1 adjacent to the print travel line Ln. In ′ *, the target printing position A * on the printing traveling line Ln is included in the first printing range H1.

In this case, as the process of step S704, the print control unit 44B recognizes that the print record value already exists at the position indicated by the broken line circle in FIG. 26 based on the print record data 41Bb shown in FIG. 24. As a result, the print control unit 44B determines that it is not necessary to print at the target arrival point P4'* at the portion indicated by the broken line circle in FIG. 26 as the process of step S704, and sets the target print position A *. Correct only the part indicated by the solid circle. As the process of step S705, the print control unit 44B outputs a print command signal to the print mechanism 20B so as to print from the print nozzle corresponding to the set target print position A * to the print target 100. After that, as the process of step S707, the print control unit 44B says, "At the target arrival point P4'*, printing is performed at the target print position A * shown by the solid circle in FIG. 26 of the first print range H1." The content of the print control command is stored in the print record data 41Bb as the print record value. In this way, the print quality can be improved by preventing the printed portion from being printed again.

Here, the moving carriage 10B may travel while meandering in a direction orthogonal to the traveling direction due to unevenness, inclination, friction coefficient, sand, small parts, deposits, etc. on the surface of the object to be printed 100. .. In this case, as shown by the broken line in FIG. 18, the print range H also draws a meandering locus. In FIG. 27, the moving trolley 10B travels by a value ΔP in a direction perpendicular to the traveling direction with respect to the target reaching point P2'* during the period from the target reaching point P1'* to the target reaching point P2'*. It is explanatory drawing which shows the example of the control in the case of. When the moving carriage 10B deviates from the target arrival point P2'* by ΔP in the direction perpendicular to the traveling direction, the printing mechanism 20B is controlled so as to print at the target printing position A * within the first printing range H1. As shown by the broken line circle in the figure, the print target 100 is printed at a position deviated from the position originally desired to be printed (that is, the position shown in FIG. 23).

Therefore, in the process of step S703, the print control unit 44B is orthogonal to the traveling direction of the actual position P (X, Y, Z) of the moving carriage 10B input from the laser tracker 30B and the target arrival point P2'*. When the difference ΔP in the direction is larger than the predetermined value ΔP2 (ΔP2 <ΔP1), the target print position A * is corrected in the direction opposite to the direction in which the difference ΔP is generated. That is, as shown in the lower part of FIG. 27, the print control unit 44B sets the target print position A * to a position slid to the left side in the figure by the difference ΔP. The predetermined value ΔP2 is a value within the range of the deviation of the print position that is acceptable as the print quality on the print target 100. The predetermined value ΔP2 is, for example, 0.5 dots.

In this case, as the process of step S705, the print control unit 44B prints using the second print range H2 provided on both sides of the first print range H1 together with the first print range H1. A print control command is output to the print mechanism 20B. As a result, at the same time as detecting the deviation of the traveling position of the moving carriage 10B, the printing position can be corrected so as to cancel the deviation of the traveling position of the moving carriage 10B without moving the print head (not shown) of the printing mechanism 20B. .. Further, even if the target print position A * is corrected to the outside of the first print range H1, printing can be performed at the corrected target print position A * by using the second print range H2. As a result, it is possible to satisfactorily suppress the occurrence of printing omissions that cannot be printed at the target printing position A *. In the second print range H2, the range provided in one of the first print range H1 is set to 10% or less of the entire print range H of the print mechanism 20B. As a result, similarly to the mobile printing device 1, it is possible to satisfactorily suppress the occurrence of printing omission without improving the traveling accuracy of the mobile carriage 10.

As described above, in the print control unit 44B, the difference ΔP in the normal time, that is, the difference ΔP between the actual position P (X, Y, Z) of the moving carriage 10B and the target arrival point P * in the direction orthogonal to the traveling direction is a predetermined value P2. If it is less than, the printing mechanism 20B is controlled so as to print at the target printing position A * using the first printing range H1. That is, normally, printing is not performed at the target printing position A * within the second printing range H2. Therefore, the print travel line Ln overlaps with the second print range H2 in the print travel line Ln + 1 (or the print travel line Ln-1) to which the first print range H1 is adjacent. FIG. 28 is an explanatory diagram showing a printing range H in the printing traveling line Ln and the adjacent printing traveling line Ln + 1. As shown in the figure, the first print range H1 on the print travel line Ln overlaps with the second print range H2 on the print travel line Ln + 1, and the first print range H1 on the print travel line Ln + 1 is the second print on the print travel line Ln. It overlaps with the range H2. As a result, in the normal state, that is, when the difference Δ between the actual position P (X, Y, Z) of the moving carriage 10B and the target arrival point P'* is less than the predetermined value P2, the second print range H2 is not used. Even if the target print position A * is set, it is possible to prevent printing omission at the target print position A *. Further, by setting the second printing range H2 provided on one of the first printing ranges H1 to 10% or less of the entire printing range H of the printing mechanism 20, mobile printing is performed in the same manner as the mobile printing device 1. The efficiency of the printing work by the device 1B can be improved.

As described above, according to the mobile printing device 1B according to the second embodiment, the mobile printing device capable of accurately and promptly correcting the printing position with respect to the deviation of the traveling position of the moving carriage 10B. As a result, it is possible to realize a miniaturization of a printing device that prints on a relatively large printing object, and to reduce costs and simplify printing work. Further, since printing can be performed at the target printing position A * within the printing range H for each target reaching point P'* on the printing traveling line Ln, the target for the deviation of the traveling position of the moving carriage 10B by the print control unit 44B. The number of corrections for the print position A * can be reduced, and the control of the print mechanism 20B can be simplified.

In this embodiment, the target print position A * is corrected based on the difference ΔP between the target arrival point P'* and the actual position P (X, Y, Z) in step S703 of FIG. , Apart from the processing procedure of FIG. 21, the print control unit 44B prints data 41Ba (target print position) based on the current target travel position P'* of the mobile carriage 10B and the actual position P (X, Y, Z). A *) is updated (corrected) at any time, and in step S703, the updated print data 41a (target print position A *) at the current position P (X, Y, Z) is acquired. May be good.

Further, the printing mechanism 20B can print in the printing range H at the same time. As a result, it is not necessary to move the printing mechanism 20B itself, so that the posture of the printing mechanism 20B can be easily maintained. However, the printing mechanism 20B has a plurality of movable printing nozzles (not shown) arranged in a row in a direction perpendicular to the traveling direction within the printing range H, and by moving the printing nozzles arranged in the row in the traveling direction. , Printing may be performed within the printing range H.

Further, in the mobile printing device 1 according to the first embodiment and the mobile printing device 1B according to the second embodiment, the traveling control by the traveling control units 43 and 43B and the printing control by the printing control units 44 and 44B are performed. Each is a separate control. That is, when the shape of the print area on the print target 100 is not a rectangular area as shown in FIG. 4 or 8, or when there is an obstacle in the print area, the moving carriages 10 and 10B may travel in any way. Even when traveling on a route, it is not necessary to change the processing content of the print control on the print control units 44 and 44B side and the content of the print data 41a. As a result, the degree of freedom in the printing work can be further increased, and the efficiency of the printing work can be further improved.

In the first embodiment and the second embodiment, the printing mechanisms 20 and 20B are configured as an inkjet printing device, but the printing mechanisms 20 and 20B may be any type of printing device. ..

1,1B Mobile printing device 10,10B Mobile trolley 11,11B Wheel 12,12B Reflection target 20,20B Printing mechanism 30,30B Laser tracker 40,40B Control device 41,41B Storage unit 41a, 41Ba Print data 41b, 41Bb Printing Actual data 41c, 41Bc Travel data 42,42B Control unit 43,43B Travel control unit 44,44B Print control unit 50,50B CAD data

Claims (12)

A mobile trolley that runs on the object to be printed,
A printing mechanism mounted on the moving carriage and capable of printing in a predetermined printing range in a direction orthogonal to the traveling direction of the moving carriage.
A position detection unit that detects the position of the moving carriage and
A travel control unit that travels the moving trolley along a printed travel line on which a target travel position is determined,
A print control unit that causes the printing mechanism to print to the target printing position within the predetermined printing range according to the printing data in which the target printing position is determined.
With
When the difference between the position of the moving carriage detected by the position detection unit and the target traveling position is equal to or greater than a predetermined value, the print control unit performs the target printing position in a direction opposite to the direction in which the difference occurs. Correct and
The print actual value printed by the print mechanism is stored, and the print mechanism is controlled so as not to print at a place where the print actual value is.
A mobile printing apparatus characterized in that the printing mechanism is controlled so as not to print a portion having a printing record in the print data at the immediately preceding printing pitch based on the position of the moving carriage detected by the position detecting unit. .. The predetermined print range is provided on both sides of the first print range used when the difference is less than the predetermined value and the first print range, respectively, and when the difference is greater than or equal to the predetermined value. The mobile printing apparatus according to claim 1, further comprising a second printing range used in combination with the first printing range. The mobile printing apparatus according to claim 2, wherein the range provided in one of the first printing ranges is 10% or less of the entire predetermined printing range. The second or third aspect of the present invention, wherein the printing traveling line overlaps the second printing range of the printing mechanism in the printing traveling line adjacent to the first printing range of the printing mechanism. Mobile printing device. When the position of the moving trolley detected by the position detecting unit is separated from the target traveling position by a predetermined distance or more, the traveling control unit travels the moving trolley so that the moving trolley approaches the target traveling position. The mobile printing apparatus according to any one of claims 1 to 4, wherein the mobile printing apparatus is controlled. The position detecting unit detects the direction of the moving carriage and detects the direction of the moving carriage.
When the direction of the moving trolley detected by the position detecting unit is deviated by a predetermined angle or more with respect to the printed traveling line, the traveling control unit moves so that the moving trolley faces the printing traveling line. The mobile printing device according to any one of claims 1 to 5, wherein the traveling of the trolley is controlled. The mobile printing device according to any one of claims 1 to 6, wherein the traveling control unit travels the mobile carriage from a start point to an end point of the printing traveling line without stopping. The mobile printing device according to claim 7, wherein the travel control unit causes the mobile carriage to travel at a constant speed. The travel control unit outputs a print instruction to the print control unit when the mobile carriage travels a predetermined print distance equal to or less than a predetermined print pitch.
The mobile printing device according to claim 7, wherein the printing control unit controls the printing mechanism so as to perform printing when the traveling control unit receives the printing instruction. The eighth aspect of the present invention, wherein the print control unit controls the printing mechanism so that the mobile carriage prints at predetermined time intervals when the mobile carriage travels a predetermined printing distance equal to or less than a predetermined printing pitch. Mobile printing device. The print running line has a plurality of target arrival points between the start point and the end point.
When the traveling control unit reaches the plurality of target arrival points, the moving trolley is stopped, a printing instruction is output to the printing control unit, and when printing by the printing mechanism is completed, the following of the moving trolley is described. Start driving toward the target goal,
The printing mechanism can print in a direction orthogonal to the traveling direction and a predetermined printing range along the traveling direction.
The method according to any one of claims 1 to 6, wherein the print control unit controls the print mechanism so as to print in the predetermined print range when the print instruction is received. Mobile printing device. The mobile printing device according to claim 11, wherein the printing mechanism can print in the predetermined printing range at the same time.

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