JP7554097B2 - Inkjet recording device and program - Google Patents

Description

The present invention relates to an inkjet recording device and a program that causes a processor to generate recording data for recording a pattern on the inkjet recording device.

Patent Document 1 discloses a method of printing on a curved surface. The curved surface has curvature in two directions. In the printing method, an inkjet head prints a pattern on the curved surface of the surface of an object. The inkjet head has a plurality of nozzles. The curved surface and the inkjet head move relatively to each other. The printing method includes a first step, a second step, a placement step, a selection step, a setting step, and a coating step. In the first step, a coating line is provided on the curved surface. It is preferable that the coating line is provided in a portion of the curved surface close to the plane having the greatest curvature. In the second step, a printing coordinate is calculated on the coating line. The printing coordinate is divided into equal pitches from CAD data according to the printing resolution. In the placement step, the inkjet head is moved on the coating line. The inkjet head moves so that a perpendicular line drawn from a central nozzle among the plurality of nozzles becomes the printing coordinate. In the placement step, the lower surface of the inkjet head and a tangent to the curved surface at the printing coordinate are parallel to each other for each printing coordinate. Nozzles are placed on the lower surface of the inkjet head. When moving, the following distances are constant within the range of 0.5 to 5 mm. The aforementioned distance is the shortest distance between the nozzle and the curved surface. The selection process selects a nozzle whose distance between the nozzle and the curved surface is in a constant range for all printing coordinates. The setting process sets the area that can be coated with the selected nozzle. The coating process coats the area with ink.

Patent Document 2 discloses an inkjet printer for printing on spherical media. The inkjet printer includes an X-direction movement mechanism, a Y-direction movement mechanism, a Z-direction movement mechanism, an X-axis rotation mechanism, a Y-axis rotation mechanism, a return means, and an image correction means. The X-direction movement mechanism moves the spherical media in the X-axis direction of the support means. The Y-direction movement mechanism moves the spherical media in the Y-axis direction of the support means. The Z-direction movement mechanism moves the spherical media in the Z-axis direction of the support means. The X-axis rotation mechanism rotates the spherical media around the X-axis of the support means. The Y-axis rotation mechanism rotates the spherical media around the Y-axis of the support means. When moving and rotating the spherical media, the inkjet printer supports the spherical media with the support means. The return means rotates the spherical media around the X-axis of the support means to a rotation start position and returns it. The image correction means adds blank spaces between the ink dots arranged in the Y direction for image printing, and corrects distortion of the image printed on the spherical print surface. In an inkjet printer, the distance between the spherical print starting surface and the inkjet head directly above it is a fixed distance of 1 to 2 mm.

JP 2016-77971 A JP 2007-8110 A

An inkjet recording device ejects ink from multiple nozzles of an inkjet head onto the surface of a recording medium, and records a pattern on the surface of the recording medium. When the surface of the recording medium is a three-dimensional curved surface, the pattern is recorded on this three-dimensional curved surface. Examples of such recording media include housings (shells) of electrical equipment, interior and exterior materials for vehicles and buildings, and furniture. In other words, recording media having a three-dimensional curved surface on which a pattern is recorded include various devices, instruments, and parts having three-dimensional shapes. The inventor has considered a technology that can record patterns to fit the three-dimensional curved surfaces of various three-dimensional shapes when recording patterns on three-dimensional curved surfaces with an inkjet recording device.

The present invention aims to provide an inkjet recording device and program that can record a pattern that matches the three-dimensional curved surface of a recording medium.

One aspect of the present invention is a method for producing a print head comprising: an inkjet head including a plurality of nozzles that eject ink onto a three-dimensional curved surface of a recording medium on which a pattern is to be recorded; and a mobile robot that moves and rotates the inkjet head relative to the three-dimensional curved surface, the mobile robot moving the inkjet head relative to the three-dimensional curved surface in a first coordinate axis direction, a second coordinate axis direction orthogonal to the first coordinate axis direction in the same plane as the first coordinate axis direction, and a third coordinate axis direction orthogonal to both the first coordinate axis direction and the second coordinate axis direction, and rotating the inkjet head relative to the three-dimensional curved surface in a first rotation direction about a first rotation axis along a row direction in which the plurality of nozzles are aligned, a second rotation direction about a second rotation axis along a width direction orthogonal to the row direction in the same plane as the row direction, and a third rotation direction about a third rotation axis along a height direction orthogonal to both the row direction and the width direction, when the inkjet head is moved relative to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head is rotated relative to the three-dimensional curved surface in the first rotation direction without rotating relative to the three-dimensional curved surface in both the second rotation direction and the third rotation direction, so that the ejection surface of the inkjet head from which the multiple nozzles are opened is parallel to a tangent plane at a facing position of the three-dimensional curved surface that is closest to a reference position of the ejection surface in the height direction, and a distance between the reference position and the facing position is constant, and when the inkjet head is moved relative to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head ejects the ink in the height direction from the multiple nozzles.

The inkjet recording device described above can fix the row direction and width direction with respect to the first coordinate axis direction and the second coordinate axis direction, and can move the inkjet head relative to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction. The three-dimensional curved surface and the multiple nozzles can be moved in parallel relative to each other in both the first coordinate axis direction and the third coordinate axis direction. Ink can be landed at a desired position on the three-dimensional curved surface.

The mobile robot may execute , as the relative movement of the inkjet head with respect to the three-dimensional curved surface in the first coordinate axis direction, a first movement in which the inkjet head is moved relatively from a first side to a second side in the first coordinate axis direction with respect to the three-dimensional curved surface, and a second movement in which the inkjet head is moved relatively from the second side to the first side in the first coordinate axis direction with respect to the three-dimensional curved surface, and execute, as the relative movement of the inkjet head with respect to the three-dimensional curved surface in the second coordinate axis direction, a third movement in which the inkjet head is moved relatively from a third side to a fourth side in the second coordinate axis direction with respect to the three-dimensional curved surface, and further execute the third movement in a state in which the inkjet head has been moved relatively to the three-dimensional curved surface to a movement end on a first side in the first coordinate axis direction by the second movement, and execute the first movement in a state in which the third movement has been executed .

With this configuration, the position of the inkjet head in the second coordinate axis direction relative to the three-dimensional curved surface can be changed, and the inkjet head can be repeatedly moved relative to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction. This allows the recording of a pattern on the entire three-dimensional curved surface to be performed in multiple steps.

The mobile robot may be configured such that, when performing the first movement, it moves the inkjet head relative to the three-dimensional curved surface in the third coordinate axis direction , and when performing the second movement, it moves the inkjet head relative to the three-dimensional curved surface in the third coordinate axis direction, and further, when performing the first movement, in a first case in which the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction , it holds a set angle between the second coordinate axis direction and the column direction at a constant angle, and when performing the second movement, in a second case in which the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction , it holds the set angle at a constant angle different from the first case.

This configuration allows the relative movement between the curved surface and the inkjet head to follow the three-dimensional shape of the curved surface.

Another aspect of the present invention is a program that causes a processor that generates recording data for recording a pattern in an inkjet recording device to execute a first acquisition process that acquires pattern data including a pattern having a shape that corresponds to a planar shape of a three-dimensional curved surface of a recording medium on which the pattern is to be recorded, a second acquisition process that acquires first size information of the pattern from the pattern data, a third acquisition process that acquires second size information of the three-dimensional curved surface that follows the three-dimensional curved surface, and a generation process that transforms the pattern data in accordance with the size ratio between the first size information and the second size information to generate the recording data.

This program allows you to generate recording data that matches the three-dimensional shape of a three-dimensional curved surface.

The program may further cause the processor to execute an output process that outputs the recording data to the inkjet recording device.

With this configuration, the inkjet recording device can eject ink using recording data that matches the three-dimensional shape of the three-dimensional curved surface.

The program further causes the processor to execute a division process for dividing the pattern data into first divided pattern data and second divided pattern data, which are arranged in a vertical direction of the pattern data corresponding to a row direction in which a plurality of nozzles that eject ink are aligned in the inkjet head that moves relative to the three-dimensional curved surface in the first coordinate axis direction perpendicular to the first coordinate axis direction in which the inkjet head of the inkjet recording device moves relative to the three-dimensional curved surface when recording the pattern on the three-dimensional curved surface, and which correspond to an alignment direction of the nozzles, and which eject ink in the inkjet head that moves relative to the three-dimensional curved surface in the first coordinate axis direction, and the second acquisition process acquires, as the first size information, third size information of a first pattern portion of the pattern included in the first divided pattern data and fourth size information of a second pattern portion of the pattern included in the second divided pattern data, and the third acquisition process acquires, as the first size information, third size information of a first pattern portion of the pattern included in the first divided pattern data and fourth size information of a second pattern portion of the pattern included in the second divided pattern data, and As the size information, fifth size information of the first curved area along a first curved area of the three-dimensional curved surface that coincides with a first planar view area in the planar view shape of the three-dimensional curved surface corresponding to the first pattern portion, and sixth size information of the second curved area along a second curved area of the three-dimensional curved surface that coincides with a second planar view area in the planar view shape of the three-dimensional curved surface corresponding to the second pattern portion are acquired, and the generation process may be configured to generate first divided record data as the record data by transforming the first divided pattern data according to a size ratio between the third size information and the fifth size information, and to generate second divided record data as the record data by transforming the second divided pattern data according to a size ratio between the fourth size information and the sixth size information.

With this configuration, it is possible to generate first divided recording data that matches the three-dimensional shape of the first curved area, and it is possible to generate second divided recording data that matches the three-dimensional shape of the second curved area.

The program may further cause the processor to execute an output process to output the recording data, including the first divided recording data and the second divided recording data, to the inkjet recording device.

With this configuration, the inkjet recording device can eject ink using recording data that matches the three-dimensional shape of the three-dimensional curved surface.

The present invention provides an inkjet recording device and program that can record a pattern that matches the three-dimensional curved surface of a recording medium.

FIG. 1 is a perspective view showing an example of a schematic configuration of an inkjet recording apparatus and an information processing apparatus. 2 is a side view showing an example of a schematic configuration of an ink-jet head, with a first support, an ink-jet head, and a second ink flow path cut away, the cut position corresponding to line II in FIG. 1 is a bottom view showing an example of a schematic configuration of an inkjet head; 1 is a plan view showing a relative movement path of an inkjet head with respect to a three-dimensional curved surface of a recording medium, the plan view corresponding to a state in which the recording medium in FIG. 1 is viewed from a fifth side in a third coordinate axis direction. FIG. 2 is a front view showing a relative movement path of an inkjet head with respect to a three-dimensional curved surface of a recording medium, the front view corresponding to a state in which the recording medium in FIG. 1 is viewed from a fourth side in the second coordinate axis direction. 1 is a side view showing an example of a schematic configuration of an inkjet head. An example of a set angle when the inkjet head moves relative to a three-dimensional curved surface of a recording medium is shown. A first support, an inkjet head, and a second ink flow path are shown in section. The cutting position corresponds to line II in FIG. 1. 1 is a perspective view showing a schematic diagram of a relationship between pattern data and a three-dimensional curved surface of a recording medium, the upper part showing the pattern data and the lower part showing the recording medium. 13 is a flowchart of image processing. 1 is a diagram showing an example of a schematic configuration of pattern data, in which the upper part shows the entire pattern data, and the lower part shows divided pattern data obtained by equally dividing the pattern data in the upper part into six parts. FIG. 1 is a perspective view showing an example of a schematic configuration of a recording medium on which a pattern is recorded over the entire three-dimensional curved surface.

The following drawings are used to explain an embodiment of the present invention. The present invention is not limited to the configurations described below, and various configurations can be adopted within the same technical concept. For example, some of the configurations shown below may be omitted or replaced with other configurations. The present invention may include other configurations. The drawings show a specific configuration in a schematic manner. Hatching indicates a cut surface. A dashed line is a reference line or a center line. A dashed line is an imaginary line. A broken line is a hidden line.

<Inkjet recording apparatus 10>
The inkjet recording device 10 will be described with reference to FIGS. 1 to 6. In the embodiment, the directions for identifying the inkjet recording device 10 are called the first coordinate axis direction, the second coordinate axis direction, the third coordinate axis direction, the column direction, the width direction, the height direction, the first rotation direction, the second rotation direction, and the third rotation direction. The second coordinate axis direction is perpendicular to the first coordinate axis direction in the same plane. The third coordinate axis direction is perpendicular to both the first coordinate axis direction and the second coordinate axis direction. The first coordinate axis direction and the second coordinate axis direction are horizontal directions, and the third coordinate axis direction is vertical. One side in the first coordinate axis direction is called the "first side", and the other side in the first coordinate axis direction is called the "second side". One side in the second coordinate axis direction is called the "third side", and the other side in the second coordinate axis direction is called the "fourth side". One side in the third coordinate axis direction is called the "fifth side", and the other side in the third coordinate axis direction is called the "sixth side". The fifth side in the third coordinate axis direction is called the upper side in the vertical direction, and the sixth side in the third coordinate axis direction is called the lower side in the vertical direction. The width direction is perpendicular to the column direction in the same plane. The height direction is perpendicular to both the column direction and the width direction. One side of the column direction is called the "seventh side", and the other side of the column direction is called the "eighth side". One side of the width direction is called the "ninth side", and the other side of the width direction is called the "tenth side". The first rotation direction is centered on a first rotation axis along the column direction. The second rotation direction is centered on a second rotation axis along the width direction. The third rotation direction is centered on a third rotation axis along the height direction. The directions for identifying the pattern recorded by the inkjet recording device 10 and the pattern data and recording data corresponding to this pattern are called the vertical direction and the horizontal direction. The vertical direction corresponds to the column direction. The horizontal direction is perpendicular to the vertical direction. One side of the vertical direction is called the "eleventh side", and the other side of the vertical direction is called the "twelfth side". One side of the horizontal direction is called the "thirteenth side", and the other side of the horizontal direction is called the "fourteenth side".

The inkjet recording device 10 records a pattern on a three-dimensional curved surface 91 of a recording medium 90 (see Figs. 1 and 4). The pattern applied to a part of the three-dimensional curved surface 91 in Figs. 1 and 4 and the pattern applied to the entire three-dimensional curved surface 91 in Fig. 10 described later correspond to a recorded pattern. In the embodiment, the recording medium 90 has a circular shape in a plan view. Furthermore, the three-dimensional curved surface 91 is a uniformly curved surface (spherical curved surface) that is convex from the outer periphery side toward the center in the radial direction (radial direction). The radial direction is centered on the vertical axis in the third coordinate axis direction and includes the first coordinate axis direction and the second coordinate axis direction. However, such a three-dimensional shape of the three-dimensional curved surface 91 is an example. The three-dimensional curved surface 91 includes various curved surfaces having a three-dimensional shape.

By using multiple colors of ink to record the pattern, the inkjet recording device 10 can record a full-color pattern on the three-dimensional curved surface 91. Examples of ink colors include yellow, magenta, cyan, and black. However, inks of colors other than these may also be used to record the pattern. The number of ink colors may be three or less, or five or more. The embodiments will be described without distinguishing between ink colors.

The inkjet recording device 10 includes a mounting table 15, a first support 16, a second support 17, an inkjet head 20, an ink flow path 30, a moving robot 40, and a control device 50 (see FIG. 1). The inkjet head 20 is shown in simplified form in FIG. 1.

The recording medium 90 is placed on the mounting table 15 with the three-dimensional curved surface 91 on the fifth side in the third coordinate axis direction (see FIG. 1). The recording medium 90 is placed on a fixed position on the mounting table 15 in a predetermined orientation. The inkjet recording device 10 records a pattern on the three-dimensional curved surface 91 of the recording medium 90 supported on the fixed position on the mounting table 15. In the embodiment, the recording medium 90 and the three-dimensional curved surface 91 have the shapes described above. Therefore, when the recording medium 90 is placed on the mounting table 15, the orientation of the recording medium 90 is not taken into consideration except that the three-dimensional curved surface 91 is on the fifth side in the third coordinate axis direction. The mounting table 15 supports the recording medium 90 in a fixed position when recording the pattern.

The inkjet head 20 is mounted on the first support 16. That is, the first support 16 supports the inkjet head 20. The inkjet head 20 includes a plurality of nozzles 21 (see FIGS. 2 to 6). In the embodiment, the surface of the inkjet head 20 on which the plurality of nozzles 21 are provided is referred to as the "ejection surface 22" (see FIGS. 2, 3, 5, and 6). The width direction is perpendicular to the row direction within the ejection surface 22. When recording a pattern, the ejection surface 22 faces the three-dimensional curved surface 91 in the height direction (see FIG. 5). The plurality of nozzles 21 open on the ejection surface 22 (see FIGS. 2, 3, 5, and 6). The plurality of nozzles 21 are aligned in the row direction on the ejection surface 22 (see FIGS. 2 to 4, and 6). The plurality of nozzles 21 eject ink in the height direction. The ink lands on the three-dimensional curved surface 91. The inkjet head 20 ejects ink from multiple nozzles 21 in the height direction toward the three-dimensional curved surface 91, and records a pattern on the three-dimensional curved surface 91 (see Figures 1 and 4 and Figure 10 described later). When the ejection surface 22 is in a horizontal state, the height direction coincides with the third coordinate axis direction. In Figures 2 to 6, one of the multiple nozzles 21 is denoted by the reference symbol "21."

The inkjet head 20 includes a supply port 23 and an internal flow path 24 (see Figures 2 and 6). The supply port 23 is connected to a second ink flow path 34 of the ink flow path 30. Ink that flows through the second ink flow path 34 passes through the supply port 23 and flows into the inkjet head 20. The ink flow path 30 and the second ink flow path 34 will be described later. The internal flow path 24 connects the supply port 23 and the multiple nozzles 21. The ink that flows in from the supply port 23 flows through the internal flow path 24 and reaches the multiple nozzles 21.

The internal flow path 24 includes a main flow section 25 and multiple branch flow sections 26 (see Figures 2 and 6). The main flow section 25 is continuous with the supply port 23 and is formed along the row direction. Ink flowing in from the supply port 23 flows through the main flow section 25. The multiple branch flow sections 26 branch off from the main flow section 25 and connect to the multiple nozzles 21, respectively. Ink flowing in from the main flow section 25 flows through each of the branch flow sections 26 to reach each nozzle 21. In Figures 2 and 6, one of the multiple branch flow sections 26 is denoted by the reference symbol "26."

The ink flow path 30 includes a main tank 31, a sub tank 32, a first ink flow path 33, and a second ink flow path 34 (see FIG. 1). The main tank 31 stores ink. The sub tank 32 stores the following inks: The aforementioned inks are supplied from the main tank 31 to the inkjet head 20. The first ink flow path 33 connects the main tank 31 and the sub tank 32. The second ink flow path 34 connects the sub tank 32 and the inkjet head 20.

The ink flows out of the subtank 32 into the second ink flow path 34. The ink then flows through the second ink flow path 34, passes through the supply port 23, and flows into the inkjet head 20. The ink then flows through the internal flow path 24 as described above. The ink in the subtank 32 decreases as it is ejected from the nozzle 21. When the amount of ink in the subtank 32 falls below or at the lower limit, the ink stored in the main tank 31 is supplied to the subtank 32 via the first ink flow path 33.

The subtank 32 is mounted on the second support 17. That is, the second support 17 supports the subtank 32. In FIG. 1, a portion of the second support 17 is omitted to show the portion on which the subtank 32 is mounted. The second support 17 may be attached to a predetermined position of the robot arm of the mobile robot 40 or to a predetermined position of the first support 16. However, such an installation structure of the subtank 32 and the installation position of the second support 17 are examples. The installation structure of the subtank 32 and the installation position of the second support 17 are appropriately determined taking into account various conditions. When the second support 17 is attached to the robot arm of the mobile robot 40 or the first support 16, the first ink flow path 33 is provided in a state capable of responding to the movement of the second support 17 accompanying the drive of the mobile robot 40.

The inkjet recording device 10 employs a vertical articulated robot as the mobile robot 40 (see FIG. 1). The mobile robot 40 has six axes: a first axis A1, a second axis A2, a third axis A3, a fourth axis A4, a fifth axis A5, and a sixth axis A6. Vertical articulated robots are already in practical use and are well known. Therefore, a description of the structure of the mobile robot 40 will be omitted.

The moving robot 40 moves and rotates the inkjet head 20 relative to the three-dimensional curved surface 91 (see Figs. 1, 4, and 5). The moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction. The moving robot 40 rotates the inkjet head 20 relative to the three-dimensional curved surface 91 in the first rotation direction, the second rotation direction, and the third rotation direction. The relative rotation in each of the first rotation direction, the second rotation direction, and the third rotation direction is performed by rotating the robot arm around a predetermined axis or multiple axes among the first axis A1, the second axis A2, the third axis A3, the fourth axis A4, the fifth axis A5, and the sixth axis A6. The moving robot 40 changes the relative position between the three-dimensional curved surface 91 and the inkjet head 20 and keeps the relative posture between the three-dimensional curved surface 91 and the inkjet head 20 constant. When recording the pattern, the mobile robot 40 changes the relative position between the three-dimensional curved surface 91 and the inkjet head 20, and positions the three-dimensional curved surface 91 and the ejection surface 22 facing each other at a fixed distance and angle (direction).

The next first relative movement by the mobile robot 40 includes the next first movement and second movement. In the first relative movement, the inkjet head 20 moves relative to the three-dimensional curved surface 91 in the first coordinate axis direction. The first movement is a relative movement from the first side to the second side in the first coordinate axis direction. The second movement is a relative movement from the second side to the first side in the first coordinate axis direction. With respect to the first relative movement, position P1 is the movement end of the second movement to positions P0-P1, position P3 is the movement end of the first movement to positions P2-P3, position P5 is the movement end of the second movement to positions P4-P5, position P7 is the movement end of the first movement to positions P6-P7, position P9 is the movement end of the second movement to positions P8-P9, and position P11 is the movement end of the first movement to positions P10-P11. The next second relative movement by the mobile robot 40 includes the next third movement and fourth movement. In the second relative movement, the inkjet head 20 moves relative to the three-dimensional curved surface 91 in the second coordinate axis direction. The third movement is a relative movement from the third side to the fourth side in the second coordinate axis direction. The fourth movement is a relative movement from the fourth side to the third side in the second coordinate axis direction. The next third relative movement by the mobile robot 40 includes the next fifth movement and sixth movement. In the third relative movement, the inkjet head 20 moves relative to the three-dimensional curved surface 91 in the third coordinate axis direction. The fifth movement is a relative movement from the fifth side to the sixth side in the third coordinate axis direction. The sixth movement is a relative movement from the sixth side to the fifth side in the third coordinate axis direction. When recording the pattern, the mobile robot 40 executes the second relative movement between the first movement and the second movement (see FIG. 4). In other words, the mobile robot 40 executes the second relative movement after the first movement, and executes the second relative movement after the second movement. In the embodiment, the second relative movement when recording the pattern is the third movement (see FIG. 4).

When the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in the first coordinate axis direction, the row direction is made perpendicular to the first coordinate axis direction, and the inkjet head 20 is moved relative to the three-dimensional curved surface 91 in the third coordinate axis direction (see FIGS. 4 and 5). That is, when the moving robot 40 performs the first relative movement, it performs the third relative movement. At that time, the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in a posture in which the row direction is made perpendicular to the first coordinate axis direction. When the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, it does not rotate the inkjet head 20 relative to the three-dimensional curved surface 91 in the third rotation direction, but rotates it relative to the three-dimensional curved surface 91 in the first rotation direction so that the discharge surface 22 is parallel to the tangent plane T and the separation distance D1 is constant (see FIGS. 4 and 5). Furthermore, in the above-mentioned case, the moving robot 40 does not need to rotate the inkjet head 20 relative to the three-dimensional curved surface 91 in the second rotation direction (see FIGS. 4 and 5). In the embodiment, when the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head 20 is rotated relative to the three-dimensional curved surface 91 in the first rotation direction without being rotated relative to the three-dimensional curved surface 91 in both the second rotation direction and the third rotation direction, so that the ejection surface 22 is parallel to the tangent plane T and the separation distance D1 is constant. The three straight lines indicated by the two-dot chain lines marked with the symbol "T" in FIG. 5 correspond to the tangent plane T at each of the three opposing positions PB.

The separation distance D1 is the distance between the reference position PA of the ejection surface 22 and the opposing position PB of the three-dimensional curved surface 91 (see FIG. 5). The separation distance D1 is appropriately determined taking into account various conditions. For example, the determination of the separation distance D1 takes into account a reference value described later. The reference position PA may be the center of the nozzle region B of the ejection surface 22 (see FIG. 3). The nozzle region B on the ejection surface 22 is provided in the nozzle region B. The nozzle region B can also be said to have a rectangular shape with the following first side, second side, third side, and fourth side as its four sides. The first side and second side are along the width direction, and the third side and fourth side are along the row direction. The first side is in contact with the seventh side end in the row direction of the nozzle 21 (see "first nozzle N1" described later) that is located closest to the nozzle 21 in the row direction among the multiple nozzles 21. The second side is in contact with the eighth side end in the row direction of the nozzle 21 (see "second nozzle N2" described later) that is located closest to the nozzle 21 in the row direction among the multiple nozzles 21. The third side is in contact with the ninth side end in the width direction of the nozzle 21 that is furthest to the ninth side in the width direction among the multiple nozzles 21. The fourth side is in contact with the tenth side end in the width direction of the nozzle 21 that is furthest to the tenth side in the width direction among the multiple nozzles 21. In this embodiment, the number of nozzles 21 is seven, and the seven nozzles 21 have the same shape and are arranged in a row in the row direction (see Figures 2, 3, and 6). In this case, the reference position PA coincides with the position of the central nozzle 21 of the seven nozzles 21. The opposing position PB is the position of the three-dimensional curved surface 91 that is closest to the reference position PA in the height direction (see Figure 5).

The reference position PA may be a position within the nozzle region B or a position within the ejection surface 22 that is different from the above. The reference position PA is determined as appropriate, taking into consideration various conditions. For example, the three-dimensional shape of the three-dimensional curved surface 91 and the arrangement of the multiple nozzles 21 on the ejection surface 22 are taken into consideration when determining the reference position PA. The number and arrangement of the nozzles 21, seven and one row, are examples. The number and arrangement of the nozzles 21 are determined as appropriate, taking into consideration various conditions.

The first support 16 is attached to the tip of the robot arm of the mobile robot 40 (see FIG. 1). As described above, the inkjet head 20 is mounted on the first support 16. Therefore, the relative movement between the three-dimensional curved surface 91 and the inkjet head 20 by the mobile robot 40 is performed by moving the first support 16. Furthermore, the relative rotation between the three-dimensional curved surface 91 and the inkjet head 20 by the mobile robot 40 is performed by rotating the first support 16. When recording a pattern on the three-dimensional curved surface 91, the mobile robot 40 changes the position (coordinate value) of the inkjet head 20 in the first coordinate axis direction, the position (coordinate value) of the inkjet head 20 in the second coordinate axis direction, and the position (coordinate value) of the inkjet head 20 in the third coordinate axis direction while changing the attitude of the inkjet head 20.

In the inkjet recording device 10, prior to recording a pattern, teaching is performed on the moving robot 40 with respect to the recording medium 90 on which the pattern is to be recorded. This teaching sets the movement path and posture of the inkjet head 20 relative to the three-dimensional curved surface 91. When recording the pattern, the moving robot 40 executes the operation set by teaching.

In the embodiment, the movement path starts at position P0, passes through positions P1-P10 in order, and ends at position P11 (see FIG. 4). When moving from position P0 to P1, to positions P4-P5, and to positions P8-P9, the mobile robot 40 moves the inkjet head 20 from the second side to the first side in the first coordinate axis direction (see FIG. 4). In this case, the mobile robot 40 moves the inkjet head 20 from the second side to the center in the first coordinate axis direction to the sixth side to the fifth side in the third coordinate axis direction, and then moves the inkjet head 20 from the center to the first side in the first coordinate axis direction to the fifth side in the third coordinate axis direction (see FIGS. 4 and 5).

When moving to positions P2-P3, P6-P7, and P10-P11, the mobile robot 40 moves the inkjet head 20 from the first side to the second side in the first coordinate axis direction (see FIG. 4). In this case, the mobile robot 40 moves the inkjet head 20 from the first side to the center in the first coordinate axis direction to the sixth side to the fifth side in the third coordinate axis direction, and then moves the inkjet head 20 from the center to the second side in the first coordinate axis direction to the fifth side in the third coordinate axis direction (see FIGS. 4 and 5). FIG. 5 corresponds to the movement to positions P4-P5 or the movement to positions P6-P7. However, FIG. 5 is a schematic diagram, and the first support 16 and the inkjet head 20 are simplified in FIG. 5.

When moving the inkjet head 20 in the third coordinate axis direction, the mobile robot 40 operates in the above-mentioned state when moving to positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11 (see Figures 4 and 5). That is, the mobile robot 40 makes the row direction perpendicular to the first coordinate axis direction. Furthermore, the mobile robot 40 rotates the inkjet head 20 in the first rotation direction without rotating it in the second and third rotation directions, so that the ejection surface 22 is parallel to the tangential plane T and the separation distance D1 is constant.

When the mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction at positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11, the set angle θA is maintained at a constant angle. The set angle θA is the angle between the second coordinate axis direction and the row direction (see FIG. 6). The set angle θA is set to different angles when moving to positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11. In the embodiment, "different angles" means differences in value and/or direction.

As described above, the three-dimensional curved surface 91 is a uniformly curved surface (spherical curved surface) that is convex from the outer periphery side toward the center in the radial direction (radial direction). In this case, the row direction when moving to positions P0 to P1 and the row direction when moving to positions P10 to P11 are line-symmetrical with the third coordinate axis direction as the axis of symmetry. The set angle θA during these movements is the same angle in the opposite direction in the second coordinate axis direction. The row direction when moving to positions P2 to P3 and the row direction when moving to positions P8 to P9 are line-symmetrical with the third coordinate axis direction as the axis of symmetry. The set angle θA during these movements is the same angle in the opposite direction in the second coordinate axis direction. The row direction when moving to positions P4 to P5 and the row direction when moving to positions P6 to P7 are line-symmetrical with the third coordinate axis direction as the axis of symmetry. The set angle θA during these movements is the same angle in the opposite direction in the second coordinate axis direction. In contrast, the column direction when moving to positions P0-P1, the column direction when moving to positions P2-P3, and the column direction when moving to positions P4-P5 are inclined in the same direction. However, the set angle θA during these movements is different. The column direction when moving to positions P6-P7, the column direction when moving to positions P8-P9, and the column direction when moving to positions P10-P11 are inclined in the same direction. However, the set angle θA during these movements is different.

When moving to positions P1-P2, P3-P4, P5-P6, P7-P8, and P9-P10, the mobile robot 40 moves the inkjet head 20 from the third side to the fourth side in the second coordinate axis direction. In the embodiment, the mobile robot 40 does not move the inkjet head 20 in the third coordinate axis direction in such cases. That is, when the mobile robot 40 executes the second relative movement during recording of a pattern on the three-dimensional curved surface 91, the mobile robot 40 does not execute the third relative movement. However, the mobile robot 40 may execute the third relative movement in such cases and move the inkjet head 20 in the third coordinate axis direction. When the second relative movement is executed during recording of a pattern, whether or not the third relative movement is executed is determined appropriately according to the three-dimensional shape of the three-dimensional curved surface 91.

In Figure 4, the positions in the first coordinate axis direction at positions P0, P3, P4, P7, P8, and P11 are constant, and the positions in the first coordinate axis direction at positions P1, P2, P5, P6, P9, and P10 are constant, thereby illustrating the path portion of the next movement path (indicated by arrows) with a constant length. However, the positions in the first coordinate axis direction at positions P0 to P11 are set in this manner for the sake of simplicity of explanation. In reality, the positions in the first coordinate axis direction at positions P0 to P11 are set appropriately by the teaching described above. Assume that the positions in the first coordinate axis direction at positions P0, P3, P4, P7, P8, and P11 are not constant, and that the positions in the first coordinate axis direction at positions P1, P2, P5, P6, P9, and P10 are not constant. In this case, when moving from position P1 to P2, to position P3 to P4, to position P5 to P6, to position P7 to P8, and to position P9 to P10, the mobile robot 40 executes the second relative movement and the first relative movement. That is, when recording the pattern, the mobile robot 40 executes the third movement and the first or second movement in a state where the inkjet head 20 is moved relative to the three-dimensional curved surface 91 to the end of the first or second movement of the first relative movement.

The control device 50 includes a connection interface 51, a processor 52, a storage 53, and a memory 54 (see FIG. 1). In the embodiment, the connection interface is described as a "connection I/F". The connection I/F 51 includes an interface for communication. The control device 50 is connected to the mobile robot 40 and the information processing device 60 via the connection I/F 51, and communicates with the mobile robot 40 and the information processing device 60. The recording data and medium information output from the information processing device 60 are input to the connection I/F 51. The recording data is image data corresponding to the pattern to be recorded on the three-dimensional curved surface 91. Examples of the data format of the recording data include bitmap and TIFF (Tagged Image File Format). The medium information specifies a specific recording medium. It is assumed that the recording medium on which the pattern is to be recorded is the recording medium 90. In this case, the medium information specifies the recording medium 90.

The processor 52 executes arithmetic processing and controls various operations executed by the inkjet recording device 10. For example, the processor 52 controls the recording of patterns. The storage 53 is a storage medium that can be read by the processor 52. An example of the storage 53 is a flash memory. The storage 53 may include a ROM. The storage 53 stores programs for various operations executed by the inkjet recording device 10. The memory 54 serves as a storage area when the processor 52 executes the programs. Predetermined data is stored in a predetermined storage area of the memory 54 during execution of processing.

The inkjet recording device 10 records the entire pattern on the three-dimensional curved surface 91 by repeating the recording of the pattern on each pattern portion obtained by dividing the entire pattern vertically (see Figs. 1 and 4 and Fig. 10 described later). The vertical direction of the pattern corresponds to the column direction. When the inkjet head 20 moves relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head 20 ejects ink in the height direction from the multiple nozzles 21. When the inkjet head 20 moves relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the nozzles 21 in the next ejection area are used for ejecting ink. The ejection area is a nozzle area B in which the distance in the height direction from the three-dimensional curved surface 91 is equal to or less than a reference value. The reference value is appropriately determined in consideration of various conditions. For example, the reference value is set to a predetermined value in the range of "0 mm < reference value ≦ 5 mm".

The number and combination of the ink ejection nozzles 21 vary depending on the following elements of the three-dimensional curved surface of the recording medium on which the pattern is to be recorded. An example of the aforementioned elements is the curvature of the three-dimensional curved surface in the second coordinate axis direction. Take the movement path of the embodiment (see FIG. 4) as an example. This movement path includes six path portions: positions P0-P1, positions P2-P3, positions P4-P5, positions P6-P7, positions P8-P9, and positions P10-P11. When comparing these six path portions, in a given path portion, one or both of the number and combination of the ink ejection nozzles 21 may differ from some or all of the other path portions. However, when comparing the path portion of positions P0-P1 and the path portion of positions P10-P11, the number and combination of the ink ejection nozzles 21 may be the same. This is also true when comparing the path portion from positions P2 to P3 with the path portion from positions P8 to P9, and when comparing the path portion from positions P4 to P5 with the path portion from positions P6 to P7.

Regarding the relative movement of the inkjet head 20 in the first coordinate axis direction with respect to the three-dimensional curved surface 91, if the movement path includes the above-mentioned six path parts (see FIG. 4), the pattern recorded on the three-dimensional curved surface 91 is divided into six pattern parts in the row direction. However, such a setting of the movement path and the number of divisions of the pattern are examples. The pattern is appropriately divided in the row direction corresponding to the nozzles 21 arranged in the discharge area. Assume that the inkjet head 20 (see FIGS. 2, 3, and 6) includes seven nozzles 21 and the discharge area includes M nozzles 21. In this case, the pattern is appropriately divided into multiple pattern parts according to the following method. In the above-mentioned method, the dimension of the pattern part in the row direction after division is set to be equal to or less than the center distance between the third nozzle and the fourth nozzle. The third nozzle is arranged on the seventh side of the M nozzles 21 in the row direction. The fourth nozzle is arranged on the eighth side of the M nozzles 21 in the row direction.

<Information processing device 60>
The information processing device 60 will be described with reference to Figures 1, 4, and 7 to 10. The information processing device 60 includes a connection I/F 61, a processor 62, a storage 63, a memory 64, an operation device 65, and a display device 66 (see Figure 1). The information processing device 60 is connected to the control device 50 via the connection I/F 61 and communicates with the control device 50. The connection I/F 61 outputs recording data and medium information to the inkjet recording device 10.

The processor 62 executes arithmetic processing and controls various operations executed by the information processing device 60. For example, the processor 62 executes image processing (see FIG. 8). The image processing generates recording data for recording a pattern in the inkjet recording device 10. The recording data is generated from the pattern data by the image processing. The inkjet recording device 10 ejects ink in accordance with the recording data and records the pattern on the three-dimensional curved surface 91. The image processing will be described later.

The storage 63 is a storage medium that can be read by the processor 62. Examples of the storage 63 include a hard disk and a flash memory. The storage 63 may include a ROM. The storage 63 stores various programs. Examples of the programs stored in the storage 63 include an operating system (OS), an image editing program, and an image processing program. The image editing program and the image processing program are pre-installed in the storage 63.

The image editing program generates pattern data. The pattern data includes the pattern to be recorded on the three-dimensional curved surface 91 (see the top row of FIG. 7, the top row of FIG. 9, and FIG. 10). The image editing program allows the design of the pattern to be recorded on the three-dimensional curved surface 91. A publicly known application program can be used as the image editing program. Examples of image editing programs include Illustrator (registered trademark) and Photoshop (registered trademark) made by Adobe. Therefore, further explanation of the image editing program will be omitted.

The pattern recorded on the three-dimensional curved surface 91 is designed to match the planar shape of the three-dimensional curved surface 91 using an image editing program. The shape of the pattern in the pattern data corresponds to the planar shape of the three-dimensional curved surface 91. In the embodiment, the shape of the pattern included in the pattern data matches the planar shape of the three-dimensional curved surface 91 (see the upper part of FIG. 7 and the upper part of FIG. 9). The planar shape of the three-dimensional curved surface 91 is divided into six equal parts in the second coordinate axis direction at a set interval D2, and the parts of this planar shape are called "planar view regions R1, R2, R3, R4, R5, R6" (see the upper part of FIG. 7 and FIG. 9). The circle shown by the two-dot chain line along the outer periphery of the circular pattern in the upper part of FIG. 7 and the upper part of FIG. 9 indicates the planar shape of the three-dimensional curved surface 91 and a part of the planar view regions R1 to R6. The arc shown by the two-dot chain line along the outer periphery of the pattern portion in the lower part of FIG. 9 indicates a part of the planar view regions R1 to R6. The set interval D2, the planar view regions R1 to R6, and the pattern portion will be described later.

The image processing program may be a device driver. When the image processing program is a device driver, this program is called a printer driver. In the image processing program, second size information determined from the three-dimensional shape of the three-dimensional curved surface 91 is registered. The second size information indicates the length of the three-dimensional curved surface 91 along the three-dimensional curved surface 91. For example, the second size information can be measured using a known three-dimensional measuring machine. In the image processing program, the actual measurement value of the three-dimensional curved surface 91 measured using a known three-dimensional measuring machine with the recording medium 90 as the measurement object may be registered as the second size information.

In addition, the recording medium 90 is a part or component of a specified product, and is designed using a design program. An example of a design program is 3D CAD (Computer-Aided Design). Furthermore, 3D CAD with the following functions has been put to practical use. The above-mentioned function outputs design values of a 3D model. The 3D model is designed using 3D CAD, and the design values indicate specified dimensions of the 3D model. In the image processing program, the design values of a three-dimensional curved surface 91 output by a known design program such as 3D CAD with the 3D model on the recording medium 90 as the output target may be registered as second size information.

The second size information indicates the size of the three-dimensional curved surface 91 based on the recording medium 90 (see FIG. 1) placed on the mounting table 15 in the above-mentioned certain manner. In the embodiment, the unit of the second size information and the first size information described later is the number of dots. For example, the relationship between "millimeters" and "number of dots" is "number of dots = millimeters ÷ 25.4 × resolution (dpi)". An example of "millimeters" in this formula is the measured value or design value of the three-dimensional curved surface 91 described above. An example of "resolution (dpi)" in this formula is the resolution of the pattern data. Examples of the second size information include the following first length and second length. The first length is the length of the three-dimensional curved surface 91 along the three-dimensional curved surface 91 in the first coordinate axis direction. The second length is the length of the three-dimensional curved surface 91 along the three-dimensional curved surface 91 in the second coordinate axis direction. In the embodiment, the first length and the second length are used as the second size information (see the lower part of FIG. 7). The second length is measured at the center position in the first coordinate axis direction. For convenience of explanation, the minimum value of the first length and the second length is 1 dot. In this case, the first length of the third side end and the fourth side end of the three-dimensional curved surface 91 in the second coordinate axis direction is 1 dot.

Let us assume that 254 mm is obtained as the measurement value or design value of the three-dimensional curved surface 91 using a known three-dimensional measuring machine or design program (three-dimensional CAD). Let us assume that the resolution of the pattern data is 200 dpi. In this case, the second length is calculated as 2000 dots (254÷25.4×200) from the above formula.

The memory 64 is a storage area used when the processor 62 executes various programs. The memory 64 stores in a specified storage area specific data and information used in processing during execution of the processing. The controller 65 accepts input of various instructions to the information processing device 60. The processor 62 acquires commands corresponding to the instructions accepted by the controller 65. The display 66 displays various information and images. Examples of the controller 65 include a keyboard and a mouse. Additionally, the controller 65 may include a touch pad. In this case, the controller 65, together with the display 66, becomes a touch panel. An example of the display 66 is a liquid crystal display.

The information processing device 60 differs from known information processing devices such as personal computers in that an image processing program is stored in the storage 63 and the processor 62 executes the image processing. In other words, the information processing device 60 has the same configuration as a known information processing device, except for the points mentioned above, and executes the same processing. Therefore, other explanations regarding the information processing device 60 will be omitted.

<Image processing>
The image processing will be described with reference to Figs. 1, 3, 4, and 7 to 10. The processor 62 starts image processing when the operation unit 65 instructs the start of image processing (see Fig. 8) and acquires an execution command corresponding to this start command. It is assumed that the image processing program is a printer driver. In this case, when the image editing program is executed, the operation unit 65 accepts an instruction to start recording the pattern generated by this program. Accordingly, the processor 62 acquires an execution command corresponding to this start command. The processor 62 executes the image processing program in response to acquisition of this execution command. In other words, the image processing is started by a process by the image editing program. In the embodiment, the execution command includes information specifying the pattern data in the upper part of Fig. 7 and the upper part of Fig. 9, and medium information specifying the recording medium 90. The image processing targets the pattern data in the upper part of Fig. 7 and the upper part of Fig. 9 and the recording medium 90 in the lower part of Fig. 7.

The processor 62, which has started the image processing in FIG. 8, acquires pattern data (S11). After the pattern data is generated by the image editing program, this pattern data is stored in the storage 63. In this case, the processor 62 reads the pattern data from the storage 63 and acquires it. It is assumed that the image processing has been started by a process based on the image editing program. In this case, the processor 62 acquires the pattern data from the process based on the image editing program. The processor 62 stores the pattern data in the memory 64.

Then, the processor 62 divides the pattern data vertically (S13). In S13, a known image processing technique for dividing image data can be used. Therefore, a description of this image processing technique is omitted. The pattern data is divided vertically at a set interval D2 (see the upper part of FIG. 7 and FIG. 9). In this embodiment, the set interval D2 divides the pattern data vertically into six equal parts. The six divided pieces of pattern data are referred to as "divided pattern data 1, 2, 3, 4, 5, and 6." However, when divided pattern data 1 to 6 are not differentiated or are referred to collectively, they are referred to as "divided pattern data." The straight lines shown by dashed lines inside the pattern data in the upper part of FIG. 7 and the upper part of FIG. 9 indicate the division positions C1, C2, C3, C4, and C5 of the pattern data.

In the embodiment, the portion of the record data generated from divided pattern data 1 in image processing is referred to as "divided record data 1." Similarly, the portions of the divided record data generated from divided pattern data 2, 3, 4, 5, and 6 in image processing are referred to as "divided record data 2, 3, 4, 5, and 6." When divided record data 1 to 6 are not differentiated from one another or are referred to collectively, they are referred to as "divided record data." The number of divisions in the pattern data, "6," is an example. The same applies to the number of divisions in the planar shape of the three-dimensional curved surface 91 described above, "6." However, the number of divisions in the pattern data and the number of divisions in the planar shape of the three-dimensional curved surface 91 are the same (see the top of Figure 7 and the top of Figure 9).

The set interval D2 is appropriately determined taking into consideration various conditions. For example, the set interval D2 may be determined taking into consideration the curvature of the three-dimensional curved surface 91 in the second coordinate axis direction. Alternatively, the set interval D2 may correspond to the center-to-center distance D3 (see FIG. 3) between the first nozzle N1 and the second nozzle N2 in the row direction. The first nozzle N1 is disposed furthest from the seventh side in the row direction among all the nozzles 21 of the inkjet head 20, and the second nozzle N2 is disposed furthest from the eighth side in the row direction among all the nozzles 21 (see FIG. 3).

In S13, the processor 62 acquires the divided pattern data 1 to 6 (see the lower part of FIG. 9). The processor 62 stores the divided pattern data 1 to 6 in the memory 64. As described above, the shape of the pattern in the pattern data corresponds to the shape of the three-dimensional curved surface 91 in a planar view. Therefore, the pattern portion included in the divided pattern data 1 corresponds to the planar view region R1. The pattern portion included in the divided pattern data 2 corresponds to the planar view region R2. The pattern portion included in the divided pattern data 3 corresponds to the planar view region R3. The pattern portion included in the divided pattern data 4 corresponds to the planar view region R4. The pattern portion included in the divided pattern data 5 corresponds to the planar view region R5. The pattern portion included in the divided pattern data 6 corresponds to the planar view region R6. Furthermore, in this regard, in the embodiment, as described above, the shape of the pattern included in the pattern data matches the shape of the three-dimensional curved surface 91 in a planar view (see the upper part of FIG. 7 and the upper part of FIG. 9). Therefore, the outer shape of the pattern portion included in the divided pattern data 1 has the same shape as the outer shape of the planar view region R1 (see "Divided pattern data 1" in the lower part of FIG. 9). The outer shape of the pattern portion included in divided pattern data 2 has the same shape as the outer shape of planar view region R2 (see "Divided pattern data 2" in the lower part of FIG. 9). The outer shape of the pattern portion included in divided pattern data 3 has the same shape as the outer shape of planar view region R3 (see "Divided pattern data 3" in the lower part of FIG. 9). The outer shape of the pattern portion included in divided pattern data 4 has the same shape as the outer shape of planar view region R4 (see "Divided pattern data 4" in the lower part of FIG. 9). The outer shape of the pattern portion included in divided pattern data 5 has the same shape as the outer shape of planar view region R5 (see "Divided pattern data 5" in the lower part of FIG. 9). The outer shape of the pattern portion included in divided pattern data 6 has the same shape as the outer shape of planar view region R6 (see "Divided pattern data 6" in the lower part of FIG. 9).

Then, the processor 62 selects one of the divided pattern data 1 to 6 as the target for processing (S15). The divided pattern data selected as the target for processing is one of the divided pattern data that is not the target for processing in S15 to S21. For example, if this S15 is the first execution after the start of image processing, the processor 62 selects divided record data 1. Thereafter, the processor 62 selects divided record data 2, 3, 4, 5, and 6 in this order each time S21 described below is negated (S21: No) and S15 is repeated.

Next, the processor 62 acquires first size information (S17). The first size information indicates the size of the pattern. Examples of the size of the pattern include the horizontal size of the pattern included in the pattern data and the vertical size of this pattern. In the embodiment, the horizontal size and the vertical size are used as the first size information (see the upper part of FIG. 7 and FIG. 9). For convenience of explanation, the minimum value of the horizontal size and the vertical size is set to 1 dot, similar to the first length and the second length of the second size information. The processor 62 executes S17 for the divided pattern data to be processed in S15. In S17, the processor 62 acquires, as the first size information, the horizontal size of the pattern part included in the divided pattern data to be processed and the vertical size of this pattern part (see the lower part of FIG. 9). Furthermore, with regard to the horizontal size of this pattern part, the processor 62 acquires the horizontal size of the eleventh vertical side end and the horizontal size of the twelfth vertical side end (see the lower part of FIG. 9). The processor 62 stores in the memory 64 the horizontal size of the eleventh vertical side end, the horizontal size of the twelfth vertical side end, and the vertical size in association with the divided pattern data to be processed.

Let us assume that divided pattern data 1 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size of the eleventh vertical side edge "1 dot", the horizontal size of the twelfth vertical side edge "W1 dot", and the vertical size "H1 dot" for the pattern portion included in divided pattern data 1 (see "Divided pattern data 1" in the lower part of Figure 9).

Let us assume that divided pattern data 2 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size "W1 dots" of the eleventh vertical side end, the horizontal size "W2 dots" of the twelfth vertical side end, and the vertical size "H2 dots" of the pattern portion included in divided pattern data 2 (see "Divided pattern data 2" in the lower part of Figure 9).

Let us assume that divided pattern data 3 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size "W2 dots" of the eleventh vertical side end, the horizontal size "W3 dots" of the twelfth vertical side end, and the vertical size "H3 dots" for the pattern portion included in divided pattern data 3 (see "Divided pattern data 3" in the lower part of Figure 9).

Let us assume that divided pattern data 4 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size of the eleventh vertical side end "W3 dots", the horizontal size of the twelfth vertical side end "W4 dots", and the vertical size "H4 dots" for the pattern portion included in divided pattern data 4 (see "Divided pattern data 4" in the lower part of Figure 9).

Let us assume that divided pattern data 5 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size of the eleventh vertical side edge "W4 dots", the horizontal size of the twelfth vertical side edge "W5 dots", and the vertical size "H5 dots" for the pattern portion included in divided pattern data 5 (see "Divided pattern data 5" in the lower part of Figure 9).

Let us assume that divided pattern data 6 is selected as the processing target in S15. In S17, processor 62 obtains the horizontal size of the eleventh vertical side edge "W5 dots", the horizontal size of the twelfth vertical side edge "1 dot", and the vertical size "H6 dots" for the pattern portion included in divided pattern data 6 (see "Divided pattern data 6" in the lower part of Figure 9).

Regarding the vertical size of the pattern portion included in divided pattern data 1-6, in this embodiment, the pattern is arranged over the entire vertical area, and in S13, the pattern data is divided into 6 equal parts vertically at a set interval D2 (see the top of Figure 7 and the top of Figure 9). Therefore, in divided pattern data 1-6, the vertical sizes H1-H6 of the pattern portions are the same (see the top of Figure 7 and Figure 9). In S17, the following image processing technique can be used to analyze the pattern included in the image data. For example, the image processing technique described above identifies the pattern included in the image data from the color information of the pixels that form the image data, and obtains the size of the identified pattern. An example of pixel color information is RGB values. Such image processing techniques are well known. Therefore, a description of this image processing technique will be omitted.

After executing S17, the processor 62 acquires the second size information (S19). In the embodiment, the portions of the three-dimensional curved surface 91 that are divided by the same number of divisions as the number of divisions of the three-dimensional curved surface 91 in the planar view shape, "6", are called "curved surface areas Q1, Q2, Q3, Q4, Q5, Q6" (see the lower part of FIG. 7). The curved surface area Q1 corresponds to the planar view area R1 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view area R1 shows the planar view shape of the curved surface area Q1. The curved surface area Q1 corresponds to the divided pattern data 1. The curved surface area Q2 corresponds to the planar view area R2 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view area R2 shows the planar view shape of the curved surface area Q2. The curved surface area Q2 corresponds to the divided pattern data 2. The curved surface region Q3 corresponds to the planar view region R3 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view region R3 shows the planar view shape of the curved surface region Q3. The curved surface region Q3 corresponds to the divided pattern data 3. The curved surface region Q4 corresponds to the planar view region R4 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view region R4 shows the planar view shape of the curved surface region Q4. The curved surface region Q4 corresponds to the divided pattern data 4. The curved surface region Q5 corresponds to the planar view region R5 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view region R5 shows the planar view shape of the curved surface region Q5. The curved surface region Q5 corresponds to the divided pattern data 5. The curved surface region Q6 corresponds to the planar view region R6 in the planar view shape of the three-dimensional curved surface 91 (see FIG. 7). In other words, the planar view region R6 shows the planar shape of the curved region Q6. The curved region Q6 corresponds to the divided pattern data 6.

In S19, the processor 62 acquires, as the second size information, the first length and the second length of the curved area Q1 to Q6 that corresponds to the divided pattern data to be processed. Furthermore, with respect to the first length of this curved area, the processor 62 acquires the first length of the third side end in the second coordinate axis direction and the first length of the fourth side end in the second coordinate axis direction. In the embodiment, the second length for the curved areas Q1 to Q6 is the length of the curved areas Q1 to Q6 along the curved areas Q1 to Q6 in the second coordinate axis direction at the center position of the curved areas Q1 to Q6 in the first coordinate axis direction (see the lower part of FIG. 7). The processor 62 stores in the memory 64 the first length of the third side end in the second coordinate axis direction, and the first and second lengths of the fourth side end in the second coordinate axis direction in association with the curved area that corresponds to the divided pattern data to be processed.

Let us assume that divided pattern data 1 is selected as the processing target in S15. In S19, the processor 62 acquires, for the curved area Q1, the first length "1 dot" of the third side end in the second coordinate axis direction, the first length "L1 dot" of the fourth side end in the second coordinate axis direction, and the second length "M1 dot" (see "Curved area Q1" in the lower part of Figure 7).

Let us assume that divided pattern data 2 is selected as the processing target in S15. In S19, the processor 62 acquires, for the curved area Q2, the first length "L1 dots" of the third side end in the second coordinate axis direction, the first length "L2 dots" of the fourth side end in the second coordinate axis direction, and the second length "M2 dots" (see "Curved area Q2" in the lower part of Figure 7).

Let us assume that divided pattern data 3 is selected as the processing target in S15. In S19, the processor 62 acquires the first length "L2 dots" of the third side end in the second coordinate axis direction, the first length "L3 dots" of the fourth side end in the second coordinate axis direction, and the second length "M3 dots" for the curved area Q3 (see "Curved area Q3" in the lower part of Figure 7).

Let us assume that divided pattern data 4 is selected as the processing target in S15. In S19, the processor 62 acquires the first length "L3 dots" of the third side end in the second coordinate axis direction, the first length "L4 dots" of the fourth side end in the second coordinate axis direction, and the second length "M4 dots" for the curved area Q4 (see "Curved area Q4" in the lower part of Figure 7).

Let us assume that divided pattern data 5 is selected as the processing target in S15. In S19, the processor 62 obtains, for curved area Q5, the first length "L4 dots" of the third side end in the second coordinate axis direction, the first length "L5 dots" of the fourth side end in the second coordinate axis direction, and the second length "M5 dots" (see "Curved area Q5" in the lower part of Figure 7).

Let us assume that divided pattern data 6 is selected as the processing target in S15. In S19, processor 62 acquires, for curved area Q6, the first length "L5 dots" of the third side end in the second coordinate axis direction, the first length "1 dot" of the fourth side end in the second coordinate axis direction, and the second length "M6 dots" (see "Curved area Q6" in the lower part of Figure 7).

After executing S19, the processor 62 transforms the pattern data according to the size ratio between the first size information and the second size information, and generates divided record data (S21). In S21, the processor 62 transforms the pattern data for each divided pattern data to be processed, and generates divided record data corresponding to this divided pattern data. At that time, the processor 62 obtains the first size ratio, the second size ratio, and the third size ratio as the aforementioned size ratios.

The first size ratio is the ratio between the horizontal size of the eleventh side end in the vertical direction and the first length of the third side end in the second coordinate axis direction, and is calculated by the following formula (1). The second size ratio is the ratio between the horizontal size of the twelfth side end in the vertical direction and the first length of the fourth side end in the second coordinate axis direction, and is calculated by the following formula (2). The third size ratio is the ratio between the vertical size and the second length, and is calculated by the following formula (3). In the embodiments, when the first size ratio, second size ratio, and third size ratio are not differentiated from each other, or when they are referred to collectively, they are referred to as "size ratio".

First size ratio = first length of the third side end in the second coordinate axis direction ÷ horizontal size of the eleventh side end in the vertical direction (1)
Second size ratio=first length of the fourth side edge in the second coordinate axis direction÷horizontal size of the twelfth side edge in the vertical direction (2)
Third size ratio = second length ÷ vertical size ... (3)
The processor 62 transforms the divided pattern data to be processed horizontally at an eleventh vertical side end to conform to a first size ratio. The processor 62 transforms the divided pattern data to be processed horizontally at a twelfth vertical side end to conform to a second size ratio. The processor 62 transforms the divided pattern data to be processed vertically to conform to a third size ratio. The processor 62 generates divided record data from the divided pattern data by transforming the divided pattern data to be processed horizontally and vertically to conform to the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided record data in memory 64.

Regarding the relationship between size ratio and deformation of pattern data, "size ratio = 1" means that the pattern data is undeformed, "size ratio > 1" means that the pattern data is enlarged, and "size ratio < 1" means that the pattern data is reduced. Deformation of pattern data includes enlargement of pattern data and reduction of pattern data. Undeformed pattern data can also be said to be deformation of the pattern data at the same size. In other words, regarding the relationship between size ratio and deformation of divided pattern data, "size ratio = 1" means that the divided pattern data is undeformed, "size ratio > 1" means that the divided pattern data is enlarged, and "size ratio < 1" means that the divided pattern data is reduced. Deformation of divided pattern data includes enlargement of divided pattern data and reduction of divided pattern data. Undeformed divided pattern data can also be said to be deformation of the divided pattern data at the same size.

Suppose that divided pattern data 1 is selected as the processing target in S15. In S21, processor 62 acquires "1" as the first size ratio, "L1/W1" as the second size ratio, and "M1/H1" as the third size ratio. Processor 62 transforms divided pattern data 1 in the horizontal direction at the eleventh vertical end to match the first size ratio "1". However, as described above, the size ratio "1" means no transformation, so processor 62 does not actually transform divided pattern data 1 in the horizontal direction at the eleventh vertical end. Processor 62 may omit this process in S21. Processor 62 transforms divided pattern data 1 in the horizontal direction at the twelfth vertical end to match the second size ratio "L1/W1". Processor 62 transforms divided pattern data 1 in the vertical direction to match the third size ratio "M1/H1". Accordingly, the processor 62 generates divided recording data 1 by deforming the divided pattern data 1 in the horizontal and vertical directions according to the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided recording data 1 in the memory 64.

Assume that the divided pattern data 2 is selected as the processing target in S15. In S21, the processor 62 obtains "L1/W1" as the first size ratio, "L2/W2" as the second size ratio, and "M2/H2" as the third size ratio. The processor 62 transforms the divided pattern data 2 in the horizontal direction at the eleventh vertical side end to match the first size ratio "L1/W1". The processor 62 transforms the divided pattern data 2 in the horizontal direction to match the second size ratio "L2/W2" at the twelfth vertical side end. The processor 62 transforms the divided pattern data 2 in the vertical direction to match the third size ratio "M2/H2". Accordingly, the processor 62 generates divided record data 2 by transforming the divided pattern data 2 in the horizontal and vertical directions to match the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided record data 2 in the memory 64.

Assume that the divided pattern data 3 is selected as the processing target in S15. In S21, the processor 62 acquires "L2/W2" as the first size ratio, "L3/W3" as the second size ratio, and "M3/H3" as the third size ratio. The processor 62 transforms the divided pattern data 3 in the horizontal direction at the eleventh vertical side end to match the first size ratio "L2/W2". The processor 62 transforms the divided pattern data 3 in the horizontal direction to match the second size ratio "L3/W3" at the twelfth vertical side end. The processor 62 transforms the divided pattern data 3 in the vertical direction to match the third size ratio "M3/H3". Accordingly, the processor 62 generates divided record data 3 by transforming the divided pattern data 3 in the horizontal and vertical directions to match the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided record data 3 in the memory 64.

Assume that the divided pattern data 4 is selected as the processing target in S15. In S21, the processor 62 obtains "L3/W3" as the first size ratio, "L4/W4" as the second size ratio, and "M4/H4" as the third size ratio. The processor 62 transforms the divided pattern data 4 in the horizontal direction at the eleventh vertical side end to match the first size ratio "L3/W3". The processor 62 transforms the divided pattern data 4 in the horizontal direction to match the second size ratio "L4/W4" at the twelfth vertical side end. The processor 62 transforms the divided pattern data 4 in the vertical direction to match the third size ratio "M4/H4". Accordingly, the processor 62 generates the divided record data 4 by transforming the divided pattern data 4 in the horizontal and vertical directions to match the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided record data 4 in the memory 64.

Assume that the divided pattern data 5 is selected as the processing target in S15. In S21, the processor 62 obtains "L4/W4" as the first size ratio, "L5/W5" as the second size ratio, and "M5/H5" as the third size ratio. The processor 62 transforms the divided pattern data 5 in the horizontal direction at the eleventh vertical side end to match the first size ratio "L4/W4". The processor 62 transforms the divided pattern data 5 in the horizontal direction to match the second size ratio "L5/W5" at the twelfth vertical side end. The processor 62 transforms the divided pattern data 5 in the vertical direction to match the third size ratio "M5/H5". Accordingly, the processor 62 generates the divided record data 5 by transforming the divided pattern data 5 in the horizontal and vertical directions to match the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided record data 5 in the memory 64.

Assume that the divided pattern data 6 is selected as the processing target in S15. In S21, the processor 62 acquires "L5/W5" as the first size ratio, "1" as the second size ratio, and "M6/H6" as the third size ratio. The processor 62 transforms the divided pattern data 6 in the horizontal direction at the eleventh vertical side end to match the first size ratio "L5/W5". The processor 62 transforms the divided pattern data 6 in the horizontal direction at the twelfth vertical side end to match the second size ratio "1". However, as described above, the size ratio "1" means no transformation, so the processor 62 does not actually transform the divided pattern data 6 in the horizontal direction at the twelfth vertical side end. The processor 62 may omit this process in S21. The processor 62 transforms the divided pattern data 6 in the vertical direction to match the third size ratio "M6/H6". Accordingly, the processor 62 generates divided recording data 6 by deforming the divided pattern data 6 in the horizontal and vertical directions according to the first size ratio, the second size ratio, and the third size ratio. The processor 62 stores the divided recording data 6 in the memory 64.

After the image processing starts, in the first S21, the processor 62 stores the divided record data 1 generated from the divided pattern data 1 in the memory 64. Then, in S21, which is executed when S23 described later is negative (see S23: No) and the processing returns to S15, the processor 62 sequentially stores in the memory 64 the divided record data different from the divided record data 1 newly generated from the divided pattern data other than the divided pattern data 1 newly selected for processing in S15. In this case, the processor 62 combines the newly generated divided record data with the rear end (the twelfth end in the vertical direction) of the record data already stored in the memory 64. For example, when the divided pattern data 2 is newly selected for processing in S15, the processor 62 combines the divided record data 2 with the rear end (the twelfth end in the vertical direction) of the record data (divided record data 1) already stored in the memory 64. When the divided pattern data 6 is newly selected for processing in S15, the processor 62 combines the divided record data 6 with the rear end (the twelfth end in the vertical direction) of the next record data already stored in the memory 64. In the aforementioned recording data, divided recording data 1 to 5 are combined vertically from the eleventh side to the twelfth side in the order of divided recording data 1, 2, 3, 4, 5.

When combining the newly generated divided record data with the rear end (the twelfth vertical end) of the record data already stored in memory 64, processor 62 aligns the front end (the eleventh vertical end) of the newly generated divided record data with the rear end (the twelfth vertical end) of the record data already stored in memory 64. Furthermore, in the above-mentioned case, processor 62 aligns the horizontal center position of the newly generated divided record data with the horizontal center position of the record data already stored in memory 64. A known image processing technique can be used to combine the divided record data with the record data. Therefore, a description of this image processing technique will be omitted.

After executing S21, the processor 62 determines whether all of the divided pattern data 1 to 6 separated from the pattern data in S13 have been selected as the processing targets of S17 to S21 (S23). If all of the divided pattern data 1 to 6 have not been selected (S23: No), the processor 62 returns the process to S15. Thereafter, the processor 62 repeats the process from S15 onwards. If all of the divided pattern data 1 to 6 have been selected (S23: Yes), the processor 62 transitions the process to S25.

At S25, the processor 62 causes the connection I/F 61 to output the recording data and medium information to the inkjet recording device 10. Accordingly, the connection I/F 61 outputs the recording data and medium information to the inkjet recording device 10. In the embodiment, the medium information specifies the recording medium 90. In the inkjet recording device 10, the processor 52 identifies the operation set by teaching using the medium information, and the mobile robot 40 executes this identified operation. Furthermore, the processor 52 controls the recording of the pattern. The inkjet head 20 ejects ink according to the recording data while moving and rotating relative to the three-dimensional curved surface 91 as described above.

In the embodiment, the inkjet recording device 10 records the entire pattern on the three-dimensional curved surface 91 by repeating the recording of the pattern on the three-dimensional curved surface 91 for each pattern portion obtained by dividing the entire pattern in the vertical direction (see Figs. 1, 4, and 10). The processor 62 divides the recording data vertically into six portions so that the recording of the pattern on the three-dimensional curved surface 91 is performed for each pattern portion divided in the above-mentioned manner, and causes the inkjet recording device 10 to sequentially output the divided portions of the recording data to the connection I/F 61. The division positions of the recording data in S25 are not related to the division positions C1, C2, C3, C4, and C5 of the pattern data and the vertical positions at which the divided recording data 1 to 6 are joined in S21. As described above, when the inkjet head 20 moves relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the number of nozzles 21 for ejecting ink may change. The division positions of the recording data in S25 may be appropriately determined according to the number of the nozzles 21. Such a recording data output method is a technology that has already been put to practical use. Therefore, further explanation regarding this will be omitted. After all the recorded data has been output, the processor 62 ends image processing.

Effects of the embodiment
According to the embodiment, the following effects can be obtained.

(1) The inkjet recording device 10 includes an inkjet head 20 and a moving robot 40 (see FIG. 1). The inkjet head 20 includes a plurality of nozzles 21 (see FIGS. 2 to 6). The plurality of nozzles 21 eject ink onto a three-dimensional curved surface 91. The moving robot 40 moves and rotates the inkjet head 20 relative to the three-dimensional curved surface 91 (see FIGS. 1, 4, and 5). The moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction. The moving robot 40 rotates the inkjet head 20 relative to the three-dimensional curved surface 91 in the first rotation direction, the second rotation direction, and the third rotation direction. When moving the inkjet head 20 relative to the three-dimensional curved surface 91 in the first coordinate axis direction, the moving robot 40 orthogonally ... When the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head 20 is rotated relative to the three-dimensional curved surface 91 in the first rotation direction without being rotated relative to the three-dimensional curved surface 91 in both the second rotation direction and the third rotation direction, so that the ejection surface 22 is parallel to the tangential plane T and the separation distance D1 between the reference position PA and the opposing position PB is constant (see FIGS. 4 and 5). When the inkjet head 20 moves relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head 20 ejects ink in the height direction from the multiple nozzles 21.

Therefore, the inkjet head 20 can be moved relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction while fixing the row direction and width direction with respect to the first coordinate axis direction and the second coordinate axis direction. The three-dimensional curved surface 91 and the multiple nozzles 21 can be moved relatively in parallel in both the first coordinate axis direction and the third coordinate axis direction (see FIG. 5). Ink can be landed at a desired position on the three-dimensional curved surface 91. The inkjet recording device 10 can record a pattern that matches the three-dimensional curved surface 91 (see FIGS. 1, 4, and 10). A high-quality pattern can be recorded on the three-dimensional curved surface 91.

(2) The mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P2 at position P0 (see FIG. 4), after moving the inkjet head 20 relative to the three-dimensional curved surface 91 to position P1 at the position in the second coordinate axis direction at position P0. In other words, the mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P2 from the position in the second coordinate axis direction at position P1 to the position in the second coordinate axis direction at position P2. The position in the second coordinate axis direction at position P1 is the same as the position in the second coordinate axis direction at position P0.

The mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P3 at position P2, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P4 (see FIG. 4). That is, the mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 from a position in the second coordinate axis direction at position P3 to a position in the second coordinate axis direction at position P4, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 from a position in the second coordinate axis direction at position P3 to a position in the second coordinate axis direction at position P4. The position in the second coordinate axis direction at position P3 is the same as the position in the second coordinate axis direction at position P2.

The mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P5 at position P4, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P6 (see FIG. 4). That is, the mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P5 to the position in the second coordinate axis direction at position P6, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P5 to the position in the second coordinate axis direction at position P6. The position in the second coordinate axis direction at position P5 is the same as the position in the second coordinate axis direction at position P4.

The mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P7 at position P6, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P8 (see FIG. 4). That is, the mobile robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P7 to the position in the second coordinate axis direction at position P8, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P7 to the position in the second coordinate axis direction at position P8. The position in the second coordinate axis direction at position P7 is the same as the position in the second coordinate axis direction at position P6.

The moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P10 in a state where the inkjet head 20 has been moved to position P9 relative to the three-dimensional curved surface 91 from position P8 in the second coordinate axis direction to position P9, and then moves the inkjet head 20 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P9 to a position in the second coordinate axis direction at position P10. The position in the second coordinate axis direction at position P9 is the same as the position in the second coordinate axis direction at position P8. The moving robot 40 then moves the inkjet head 20 relative to the three-dimensional curved surface 91 to position P11 in a state where the inkjet head 20 has been moved to position P9 relative to the three-dimensional curved surface 91 from the position in the second coordinate axis direction at position P8 to a position in the second coordinate axis direction at position P10.

Therefore, the position of the inkjet head 20 in the second coordinate axis direction relative to the three-dimensional curved surface 91 can be changed, and the inkjet head 20 can be repeatedly moved relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction. The pattern can be recorded on the entire three-dimensional curved surface 91 in multiple steps.

(3) When the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction at positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11, the set angle θA is maintained at a constant angle. The set angle θA is the angle between the second coordinate axis direction and the row direction (see FIG. 6). When recording a pattern on the three-dimensional curved surface 91, the set angle θA is set to different angles when moving to positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11. Therefore, the relative movement between the three-dimensional curved surface 91 and the inkjet head 20 can be made to follow the three-dimensional shape of the three-dimensional curved surface 91.

(4) In the information processing device 60, the processor 62 executes image processing (see FIG. 8). In the image processing, the processor 62 acquires pattern data (see S11 in FIG. 8). The pattern data includes a pattern having a shape corresponding to the planar shape of the three-dimensional curved surface 91 (see the upper part of FIG. 7 and the upper part of FIG. 9). The processor 62 acquires first size information of this pattern from the pattern data (see S17 in FIG. 8). The processor 62 acquires second size information of the three-dimensional curved surface 91 along the three-dimensional curved surface 91 (see S19 in FIG. 8). The processor 62 generates recording data by transforming the pattern data according to the size ratio between the first size information and the second size information (see S21 in FIG. 8). Therefore, it is possible to generate recording data that matches the three-dimensional shape of the three-dimensional curved surface 91. The inkjet recording device 10 can record a pattern that matches the three-dimensional curved surface 91 (see FIGS. 1, 4, and 10).

(5) In image processing, the processor 62 further divides the pattern data into divided pattern data 1 to 6 (see S13 in FIG. 8). In S17 in FIG. 8, the processor 62 acquires first size information of the pattern portion included in each divided pattern data of divided pattern data 1 to 6. The processor 62 acquires the horizontal and vertical sizes of the eleventh and twelfth side ends in the vertical direction as the first size information for the pattern portion included in each divided pattern data of divided pattern data 1 to 6. In S19 in FIG. 8, the processor 62 acquires second size information of each curved surface region Q1 to Q6 of the three-dimensional curved surface 91. The processor 62 acquires the first length and second length of the third and fourth side ends in the second coordinate axis direction as the second size information for each curved surface region Q1 to Q6.

8, the processor 62 generates divided recording data 1 to 6. The processor 62 obtains a first size ratio, a second size ratio, and a third size ratio for each combination of divided pattern data 1 and curved area Q1, divided pattern data 2 and curved area Q2, divided pattern data 3 and curved area Q3, divided pattern data 4 and curved area Q4, divided pattern data 5 and curved area Q5, and divided pattern data 6 and curved area Q6 (see formulas (1) to (3) above). The processor 62 generates divided recording data 1 by transforming divided pattern data 1 to match the first size ratio, second size ratio, and third size ratio of divided pattern data 1 and curved area Q1. The processor 62 generates divided recording data 2 by transforming divided pattern data 2 to match the first size ratio, second size ratio, and third size ratio of divided pattern data 2 and curved area Q2. The processor 62 transforms the divided pattern data 3 to match the first size ratio, the second size ratio, and the third size ratio of the divided pattern data 3 and the curved region Q3 to generate divided record data 3. The processor 62 transforms the divided pattern data 4 to match the first size ratio, the second size ratio, and the third size ratio of the divided pattern data 4 and the curved region Q4 to generate divided record data 4. The processor 62 transforms the divided pattern data 5 to match the first size ratio, the second size ratio, and the third size ratio of the divided pattern data 5 and the curved region Q5 to generate divided record data 5. The processor 62 transforms the divided pattern data 6 to match the first size ratio, the second size ratio, and the third size ratio of the divided pattern data 6 and the curved region Q6 to generate divided record data 6.

As a result, divided recording data 1 that matches the three-dimensional shape of curved area Q1 can be generated. Divided recording data 2 that matches the three-dimensional shape of curved area Q2 can be generated. Divided recording data 3 that matches the three-dimensional shape of curved area Q3 can be generated. Divided recording data 4 that matches the three-dimensional shape of curved area Q4 can be generated. Divided recording data 5 that matches the three-dimensional shape of curved area Q5 can be generated. Divided recording data 6 that matches the three-dimensional shape of curved area Q6 can be generated.

(6) In image processing, the processor 62 outputs recording data including divided recording data 1 to 6 to the inkjet recording device 10 (see S25 in FIG. 8). This allows the ink ejection in the inkjet recording device 10 to be performed using recording data that matches the three-dimensional shape of the three-dimensional curved surface 91 (see FIGS. 1 and 4). The recording data includes a pattern that matches the three-dimensional shape of the three-dimensional curved surface 91. The inkjet recording device 10 can record this pattern over the entire three-dimensional curved surface 91 (see FIG. 10).

<Modification>
The embodiment can also be as follows. Some of the configurations of the modified examples shown below can be appropriately combined and adopted. Below, we will explain the points that are different from the above, and will appropriately omit explanations of similar points.

(1) In image processing (see FIG. 8), the second length of the second size information is the length of the curved regions Q1 to Q6 along the curved regions Q1 to Q6 in the second coordinate axis direction at the center position of the curved regions Q1 to Q6 in the first coordinate axis direction (see the lower part of FIG. 7). In image processing, the second length may be a value calculated by the following formula (4). In formula (4), the "third length" is the length of each planar view region R1 to R6 in the second coordinate axis direction, and the "angle θB" is the inclination (inclination angle with respect to the second coordinate axis direction) of the following imaginary line connecting the third side end and the fourth side end in the second coordinate axis direction of each curved region Q1 to Q6. In the above-mentioned imaginary line, the third side end and the fourth side end in the second coordinate axis direction are located at the same position in the first coordinate axis direction as the third side end and the fourth side end in the second coordinate axis direction on this imaginary line. The third length is measured at the same position in the first coordinate axis direction as the third side end and the fourth side end in the second coordinate axis direction on this imaginary line.

Second length = third length ÷ cos θB (4)
The second length of the curved region Q1 is calculated from the third length of the planar view region R1 and the angle θB of the curved region Q1 by formula (4). The second length of the curved region Q2 is calculated from the third length of the planar view region R2 and the angle θB of the curved region Q2 by formula (4). The second length of the curved region Q3 is calculated from the third length of the planar view region R3 and the angle θB of the curved region Q3 by formula (4). The second length of the curved region Q4 is calculated from the third length of the planar view region R4 and the angle θB of the curved region Q4 by formula (4). The second length of the curved region Q5 is calculated from the third length of the planar view region R5 and the angle θB of the curved region Q5 by formula (4). The second length of the curved region Q6 is calculated from the third length of the planar view region R6 and the angle θB of the curved region Q6 by formula (4). Similarly to the above, when the planar shape of the three-dimensional curved surface 91 is divided into six equal parts in the second coordinate axis direction at the set interval D2 and the central position in the first coordinate axis direction is used as a reference, the third length of each of the planar view regions R1 to R6 coincides with the set interval D2. The second length calculated from the formula (4) can also be regarded as the length of the above-mentioned virtual straight line in each of the curved surface regions Q1 to Q6.

(2) In the information processing device 60, the processor 62 executes image processing (see FIG. 8) and generates recording data from the pattern data (see S11 to S23 in FIG. 8). After that, the processor 62 causes the connection I/F 61 to output the recording data and the medium information to the inkjet recording device 10 (see S25 in FIG. 8). The image processing may be executed in the inkjet recording device 10. In this case, the storage 53 stores the pattern data. The pattern data may be generated in advance in the information processing device 60, as described above. The control device 50 includes an operation device similar to the operation device 65. Furthermore, the control device 50 may include a display device similar to the display device 66. The processor 52 starts image processing when the operation device instructs the processor 52 to start image processing and the processor 52 acquires an execution command corresponding to the start command. The execution command includes information specifying the pattern data and the medium information. As described above, the image processing is performed on the pattern data and the recording medium specified by the two pieces of information.

The processor 52 obtains the pattern data from the storage 53 (see S11 in FIG. 8) and executes S13 to S23 in FIG. 8 in the same manner as above. S25 in FIG. 8 is omitted. If S23 in FIG. 8 is positive (see S23 in FIG. 8: Yes), the processor 52 ends the image processing. Thereafter, the processor 52 controls the recording of the pattern according to the recording data stored in the memory 54. It is assumed that the recording medium 90 is specified in the medium information. In this case, the processor 52 controls the recording of the pattern onto the recording medium 90.

(3) The following aspects are exemplified as the operation executed when the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction (see Figs. 4 and 5). In the above-mentioned aspect, when the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction, the moving robot 40 rotates the inkjet head 20 relative to the three-dimensional curved surface 91 in the first rotation direction without rotating the inkjet head 20 relative to the three-dimensional curved surface 91 in both the second rotation direction and the third rotation direction, so that the ejection surface 22 is parallel to the tangential plane T and the separation distance D1 is constant. That is, when the moving robot 40 moves the inkjet head 20 relative to the three-dimensional curved surface 91 in both the first coordinate axis direction and the third coordinate axis direction at positions P0-P1, P2-P3, P4-P5, P6-P7, P8-P9, and P10-P11, the setting angle θA (see Fig. 6) is kept constant.

It is also assumed that the three-dimensional curved surface of the recording medium has a more complex three-dimensional shape than the three-dimensional curved surface 91 of the recording medium 90 exemplified in the embodiment. In such a case, when the moving robot 40 moves the inkjet head 20 relative to this three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head 20 may be rotated relative to this three-dimensional curved surface in both the first rotation direction and the second rotation direction without rotating the inkjet head 20 relative to the three-dimensional curved surface in the third rotation direction, so that the ejection surface 22 is parallel to the tangential plane T and the separation distance D1 is constant. When the inkjet head 20 moves relative to the three-dimensional curved surface having a complex three-dimensional shape in both the first coordinate axis direction and the third coordinate axis direction for one rotation, this relative movement can be made to follow the three-dimensional shape of the complex three-dimensional curved surface.

LIST OF SYMBOLS 10 Inkjet recording device, 15 Placement base, 16 First support 17 Second support 20 Inkjet head, 21 Nozzle, 22 Discharge surface 23 Supply port, 24 Internal flow path, 25 Main flow section, 26 Branch section 30 Ink flow path, 31 Main tank, 32 Sub tank 33 First ink flow path, 34 Second ink flow path, 40 Mobile robot 50 Control device, 51 Connection I/F (connection interface), 52 Processor 53 Storage, 54 Memory, 60 Information processing device 61 Connection I/F (connection interface), 62 Processor 63 Storage, 64 Memory, 65 Operation device, 66 Display 90 Recording medium, 91 Three-dimensional curved surface, A1 First axis, A2 Second axis A3 Third axis, A4 Fourth axis, A5 第五軸、 Ａ６ 第六軸、 Ｂ ノズル領域 Ｃ１～Ｃ５ 分割位置、 Ｄ１ 離間距離、 Ｄ２ 設定間隔、 Ｄ３ 中心間距離 Ｎ１ 第一ノズル、 Ｎ２ 第二ノズル、 Ｐ０～Ｐ１１ 位置、 ＰＡ 基準位置 ＰＢ 対向位置、 Ｑ１～Ｑ６ 曲面領域、 Ｒ１～Ｒ６ 平面視領域、 Ｔ 接平面 θＡ 設定角

Claims (3)

an inkjet head including a plurality of nozzles for ejecting ink onto a three-dimensional curved surface of a recording medium on which a pattern is to be recorded;
a moving robot that moves and rotates the inkjet head relative to the three-dimensional curved surface,
The mobile robot includes:
moving the inkjet head relative to the three-dimensional curved surface in a first coordinate axis direction, a second coordinate axis direction perpendicular to the first coordinate axis direction in the same plane, and a third coordinate axis direction perpendicular to both the first coordinate axis direction and the second coordinate axis direction;
rotate the inkjet head relative to the three-dimensional curved surface in a first rotation direction about a first rotation axis along a row direction in which the plurality of nozzles are aligned, a second rotation direction about a second rotation axis along a width direction perpendicular to the row direction in the same plane, and a third rotation direction about a third rotation axis along a height direction perpendicular to both the row direction and the width direction;
when the inkjet head is moved relative to the three-dimensional curved surface in the first coordinate axis direction, the column direction is orthogonal to the first coordinate axis direction, and the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction;
when the inkjet head is moved relative to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction, the inkjet head is rotated relative to the three-dimensional curved surface in the first rotation direction without being rotated relative to the three-dimensional curved surface in both the second rotation direction and the third rotation direction, so that the ejection surface of the inkjet head, on which the plurality of nozzles are opened, is parallel to a tangent plane at a position facing the three-dimensional curved surface that is closest to a reference position of the ejection surface in the height direction, and a distance between the reference position and the facing position is constant,
The inkjet head ejects the ink in the height direction from the multiple nozzles when moving relatively to the three-dimensional curved surface in both the first coordinate axis direction and the third coordinate axis direction. The mobile robot includes :
a first movement of the inkjet head relative to the three-dimensional curved surface in the first coordinate axis direction , the first movement being for moving the inkjet head relative to the three-dimensional curved surface from a first side to a second side in the first coordinate axis direction, and a second movement of the inkjet head relative to the three-dimensional curved surface from the second side to the first side in the first coordinate axis direction,
a third movement of the inkjet head relative to the three-dimensional curved surface in the second coordinate axis direction, the third movement being for moving the inkjet head relative to the three-dimensional curved surface from a third side to a fourth side in the second coordinate axis direction;
the third movement is performed in a state where the inkjet head is moved relative to the three-dimensional curved surface to a movement end point on a first side in the first coordinate axis direction by the second movement,
The inkjet recording apparatus according to claim 1 , wherein the first movement is performed in a state in which the third movement is performed . The mobile robot includes:
while the first movement is being performed, the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction , while the second movement is being performed, the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction, and
in a first case in which the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction while the first movement is being performed , a set angle between the second coordinate axis direction and the column direction is maintained at a constant angle;
3. The inkjet recording device according to claim 2, wherein in a second case in which the inkjet head is moved relative to the three-dimensional curved surface in the third coordinate axis direction while the second movement is being performed , the set angle is maintained at a constant angle different from that in the first case.

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