JP7699991B2 - Recording device, control method, and program - Google Patents

Description

This disclosure relates to a recording device, a control method, and a program.

Printers have been developed that eject ink from a row of nozzles in a print head as the head is moved manually to record images.

Patent document 1 describes a portable image forming device that has a roller unit on its bottom surface that has two rotatable roller parts that rotate together on the same axis, and records images as it is moved in the scanning direction.

JP 2019-155889 A

There may be a difference in the diameter of the two roller parts in a roller unit. Also, when two roller units are arranged so that the axis of the roller unit is perpendicular to the scanning direction, there may be a difference in the perpendicularity between the two roller units. For this reason, a recording device such as that described in Patent Document 1 may move in a curved direction rather than a straight line, and the shape of the recording area, which is the area scanned by the nozzle row of the print head on the recording medium, may become fan-shaped rather than rectangular. If the recording area becomes fan-shaped, when the recording device is moved in a direction intersecting the scanning direction to perform the next recording scan, a positional deviation in the scanning direction may occur between the recording area from the previous recording scan.

The recording device disclosed herein is a handheld recording device that has a recording means extending along a first direction and is moved in a scanning direction intersecting the first direction to record an image in a recording area that is an area scanned by the recording means on a recording medium to record one scan's worth of image, the recording device having two position information sensors arranged at two different positions in the first direction, two rollers arranged at two different positions in the first direction, and a control means for controlling the recording device, wherein the control means is characterized in that when, after completion of a first scan, a second scan following the first scan is performed by moving the recording means by a predetermined movement amount in the first direction, the control means determines whether the shape of the recording area is a convex sector shape or a concave sector shape based on the movement amount of the two position information sensors associated with the first scan, estimates a positional deviation amount in the scanning direction of a second recording area corresponding to the second scan relative to a first recording area corresponding to the first scan based on the determination and the movement amount of the two position information sensors associated with the first scan, and controls the second scan based on the estimated positional deviation amount.

The technology disclosed herein can reduce the effects of misalignment in the scanning direction that occurs between scans in a handheld recording device.

FIG. 1 is a diagram showing a configuration of a portable printer. FIG. 1 is a block diagram showing a system configuration of a portable printer. FIG. 2 is a diagram illustrating each function in image processing. FIG. 2 is a schematic diagram showing a printing area when printing is performed by scanning once in the scanning direction. FIG. 4 is a diagram illustrating state transitions of a position information sensor. 11A and 11B are schematic diagrams showing a comparative example of a printing area when printing is performed by unidirectional scanning; FIG. 11 is a diagram showing a flow of a process for recording while suppressing the maximum amount of positional deviation between scans. 11 is a diagram for explaining calculation of a maximum positional deviation amount dm. FIG. 11 is a schematic diagram of a printing area when printing is performed while suppressing the maximum positional deviation amount. FIG. 11 is a schematic diagram of a printing area when printing is performed while suppressing the maximum positional deviation amount. FIG. FIG. 11 is a diagram showing a flow of a process for recording while suppressing the maximum amount of positional deviation between scans. FIG. 11 is a schematic diagram for explaining an example of image deformation. FIG. 11 is a schematic diagram for explaining an example of image deformation. 11A and 11B are schematic diagrams showing a comparative example of a printing area when printing is performed by reciprocating scanning. FIG. 11 is a diagram showing a flow of a process for recording while suppressing the maximum amount of positional deviation between scans. 11 is a schematic diagram of a printing area when printing is performed while suppressing the maximum positional deviation amount. FIG. 1A and 1B are schematic diagrams for explaining deviation of an inkjet landing position. FIG. 11 is a diagram showing a flow of a process for recording while suppressing the maximum amount of positional deviation between scans. FIG. 11 is a schematic diagram for explaining a transition position to the next scan.

Embodiments of the technology disclosed herein are described below with reference to the drawings. However, the components described in the following embodiments are merely examples, and the scope of the technology disclosed herein is not limited to only the components described in the following embodiments.

First Embodiment
A recording device that applies a recording material such as toner or ink to a recording medium such as paper for recording is generally configured so that a print head applies the recording material onto the recording medium transported by a paper feed/discharge mechanism. Recording devices with such a paper feed/discharge mechanism tend to be large in size, so stationary models have been the norm. However, due to the recent spread of smart devices and the like, small and lightweight recording devices have been developed.

In this embodiment, we will describe a manual scanning handheld recording device that performs recording in the same way as a recording device with a paper feed/ejection mechanism by manually moving the recording medium in the transport direction and in a scanning direction that intersects the transport direction in a recording device with a paper feed/ejection mechanism.

[Portable Printer Configuration]
FIG. 1 is a diagram for explaining the configuration of a portable printer 100, which is a manual scanning handheld type recording apparatus according to this embodiment.

Figure 1(a) is a bottom view of the portable printer 100. The bottom surface of the portable printer 100 is the surface that faces a recording medium such as paper and comes into contact with the recording medium. The print head 101 is an inkjet head that ejects ink as droplets to record an image, and is provided with an ink ejection nozzle row 102 (hereinafter simply referred to as a nozzle row) that ejects ink as a recording means. The nozzle row 102 shown in Figure 1(a) is a plurality of physical ejection openings from which ink arranged in a row is ejected. Figure 1(a) shows an example in which there is only one nozzle row 102, but in practice, it is common to provide nozzle rows for the number of colors used.

The portable printer 100 of this embodiment is described as an inkjet printer equipped with an inkjet head, but it may also be a printer with other recording means to which the technology disclosed herein can be applied, such as a thermal transfer type or an ink ribbon type.

Two position information sensors 103a and 103b are arranged on the bottom surface of the portable printer 100 to obtain information on relative positions on the recording medium. The position information sensor 103a is arranged at the top in the direction in which the nozzle row 102 of the print head 101 extends, and the position information sensor 103b is arranged at the bottom in the direction in which the nozzle row 102 of the print head 101 extends. The upper nozzles in the nozzle row 102 are the nozzles that record the upper part of the image to be recorded.

The position information sensors 103a and 103b are similar to the optical sensors used in mice and the like. The position information sensors 103a and 103b shine light onto the recording medium on which the portable printer 100 is placed, and read the state of that area as a pattern. The amount of movement of the portable printer 100 is calculated by continuously capturing how the pattern changes in response to the movement of the portable printer 100.

The coordinates shown in FIG. 1 indicate the movement coordinates of the portable printer 100. The Y direction of the coordinates is parallel to the direction in which the nozzle rows 102 are arranged. The X direction is perpendicular to the direction in which the nozzle rows 102 are arranged. Position information (amount of movement) in the X and Y directions is obtained by reading the position information sensors 103a and 103b.

To assist the portable printer 100 in moving in the X direction, roller units 104a and 104b are arranged on both ends of the bottom surface of the print head 101 in the X direction. Each of the roller units 104a and 104b has two roller units. That is, the roller unit 104a has roller units 108a and 108b, and the roller unit 104b has roller units 108c and 108d. The roller units 108a-d assist the printer in moving in the X direction by rotating in contact with the recording medium. The portable printer 100 of this embodiment has roller units 108a-d, but it may be configured without roller units 108a-d as long as the printer is movable in the X direction and in the Y direction described below.

Figure 1(b) is a top view showing the configuration of the top surface of the portable printer 100. The top surface is the surface that comes into contact with the portable printer 100 and the user's hand. On the top surface of the portable printer 100, there are arranged a power button 105 for switching the power of the portable printer 100 ON and OFF, and a control button 106 for switching between starting and stopping recording, etc. Also arranged is an LED 107 for notifying the user of the power status, recording status, errors, etc. In this embodiment, the portable printer 100 records by the user manually moving the portable printer 100 in the +X direction while it is grounded to the recording medium.

After one scan's worth of printing is completed, the user moves the portable printer 100 in the -Y direction by a distance equal to the length d of the nozzle row 102 shown in FIG. 1A to perform a line feed, thereby moving on to the next scan. The movement in the -Y direction by the length d is performed, for example, by the user moving the portable printer 100 until the position information sensors 103a and 103b detect a movement in the -Y direction by the distance d. Alternatively, the portable printer 100 may have a line feed mechanism (not shown) that assists the movement in the -Y direction, and the user may operate the line feed mechanism to perform the movement. The portable printer 100 can form an image on the printing medium in the same printing procedure as a printer with a paper feed/discharge mechanism, by the user repeatedly performing scanning in the X direction and line feeds in the -Y direction.

[Configuration of control unit]
2 is a diagram for explaining the hardware configuration of the control unit of the portable printer 100 of this embodiment. The control unit 200 of the portable printer has a CPU 201, an image processing accelerator 202, a data transfer I/F 203, a RAM 204, a ROM 205, and a head controller 206.

The CPU 201 performs data calculation processing. The image processing accelerator 202 is a block specialized for image processing calculations of the portable printer 100, and performs data calculation processing in cooperation with the CPU 201. The data transfer I/F 203 exchanges data with devices external to the portable printer 100, such as a personal computer device (PC) or a smartphone. The RAM 204 is used as a temporary storage area when the CPU 201 and the image processing accelerator 202 perform calculations. The ROM 205 holds parameters used by the CPU 201 and the image processing accelerator 202 when performing calculations. Parameters read from the ROM 205 may be expanded in the RAM 204. The head controller 206 controls the ejection of ink by the print head 101.

When the power button 105 is pressed by the user, the supply of power to the control unit 200 is switched on or off. Pressing the control button 106 is also transmitted to the control unit 200, which in turn causes the print head 101 to start or stop recording depending on the recording status. The CPU 201 causes the LED 106 to light up in a specified pattern or emit light in a specified color depending on the power status, recording status, error, etc.

The origin is the position coordinates of the portable printer 100 when the control button 106 is pressed in a state in which recording can be started. The CPU 201 calculates the amount of movement by continuously acquiring position information from the position information sensors 103a and 103b in response to the movement of the portable printer 100.

[Image processing functional configuration]
3 is a diagram showing the functional configuration of the control unit 200 related to image processing. An input unit 301 acquires image data and print settings received via a data transfer I/F 203 as input data. The acquired input data is output to an image processing accelerator 202.

The image processing accelerator 202 has a scaling unit 302, a color correction unit 303, a color separation unit 304, an output tone correction unit 305, and a quantization processing unit 306.

The scaling unit 302 scales the input image based on the print size set by the user. The print size is the size of the image formed on the recording medium. The color correction unit 303 converts the color space of the image data into a color space specific to the portable printer 100. The color separation unit 304 separates the color-corrected data into gradation data corresponding to the ink colors. The output gradation correction unit 305 corrects the characteristics that arise when the print head applies ink to the recording medium. The quantization processing unit 306 performs a predetermined quantization process on the gradation data corresponding to each ink color, converting it into quantized data of several bits.

The image data is converted into print data for each ink color by the magnification unit 302, color correction unit 303, color separation unit 304, output tone correction unit 305, and quantization processing unit 306 performing their respective processes. Then, the print head 101 ejects dots based on the print data to record an image on the recording medium.

The image data that is processed in this embodiment is data for an image in which the size in the Y direction of the image has been divided in advance to the length of the nozzle row 102 used in printing one scan. Therefore, image processing is performed on the image divided to correspond to each scan. Alternatively, after performing the above-mentioned image processing on the data for the entire image, the data may be divided so that the size in the Y direction is the length of the nozzle row 102 to generate print data for one scan.

In addition, although the present embodiment shows an example in which image processing is performed by the portable printer 100 itself, a PC, a smartphone, or the like may perform at least a part of the image processing. In that case, the input unit 301 may acquire the post-image processing data together with the print settings as input data. In addition, the contents of the image processing are not limited to those described above, and any correction processing may be added.

[Comparative Example of Recording Area]
4 is a schematic diagram showing a printing area when the portable printer 100 scans once on a printing medium. The printing area is an area scanned by the print head 101 (nozzle array 102) to print an image for one scan on the printing medium based on print data.

Figure 4(a) is a diagram showing the recording area 401 when the portable printer 100 is moved straight in the X direction at the start of recording. As shown in Figure 4(a), the recording area 401 in this case is a rectangular area.

Figure 4(b) shows an example in which the portable printer 100 is not moved straight in the X direction at the start of recording, but is moved in a curved manner, resulting in a sector-shaped recording area. There may be a difference in the diameter of the upper roller parts 108a, 108c and the lower roller parts 108b, 108d arranged on the roller units 104a, 104b. There may also be a difference in the perpendicularity between the two roller units 104a, 104b arranged to extend perpendicularly to the scanning direction (X direction). In addition, the portable printer 100 may be moved with a part that touches the desk, such as an elbow, as a fulcrum when operated by a person, regardless of whether or not there is a roller part. In such a case, the portable printer 100 may not move straight in the X direction at the start of recording, but may move in a curved manner.

When the portable printer 100 is moved in a curved manner, the printing area, which should be rectangular, becomes a sector-shaped area like printing area 402 in FIG. 4B. Note that when the portable printer 100 is moved in a curved manner, the printing area may become a convex sector-shaped area like printing area 402, or it may become a concave sector-shaped area.

The amount of movement of the portable printer 100 is continuously calculated based on the detection results of the position information sensors 103a and 103b. In other words, the change in the pattern over a short distance obtained by the position information sensors 103a and 103b with a short time difference is detected as a difference in position, and the amount of movement is obtained.

Figure 5 shows the difference in state transition of the position information sensor 103a. Figure 5(a) is a diagram showing the change in position of the position information sensor 103a when the portable printer 100 is moved in a curved manner. When moved in a curved manner, even if the difference in the pattern change is obtained, the difference in position in the Y direction is often not obtained, and only the difference in position in the X direction is detected. On the other hand, Figure 5(b) is a diagram showing the change in the position information sensor 103a when the portable printer is moved straight ahead at an angle. In this case, the difference in position in both the X direction and the Y direction is detected.

When the portable printer 100 is moved in a curved manner to become the recording area 402 in FIG. 4(b), the state transition of the position information sensors 103a and 103b becomes the state in FIG. 5(a). Therefore, in both FIG. 4(a) and (b), the Y component of the position information acquired from the position information sensors 103a and 103b is 0. In this way, when the portable printer 100 is moved in a curved manner, the position information in the X direction and Y direction with the recording start position as the origin cannot be acquired correctly. The amount of movement in the X direction acquired by the portable printer 100 is information on the distance (hereinafter referred to as the distance) indicating the path traveled by the position information sensors 103a and 103b.

Figure 6 is a schematic diagram for explaining the printing area when printing is performed by scanning once in the scanning direction (X direction) shown in Figure 4, and then the operation of moving from the position where printing of the main scan started in a direction perpendicular to the scanning direction by the length d of the nozzle row 102 and printing again in the scanning direction is repeated. Printing areas 601 to 606 are the printing areas for the second scan and onwards.

Figure 6(a) is a diagram showing the print area when the first and second scans are moved straight in the X direction at the start of printing, as in Figure 4(a). In Figure 6(a), there is no misalignment between the print area of the previous scan and the print area of this scan, and the image is printed according to the image data.

On the other hand, FIG. 6(b) is a diagram showing a comparative example of the printing area when the portable printer 100 moves in a curved manner after the first and second scans, as in FIG. 4(b). As shown in FIG. 6(b), when the portable printer 100 moves in a curved manner, the positional deviation from the printing area of the previous scan increases with each scan, and the amount of positional deviation from the printing area of the previous scan is maximum at the end of the printing area when printing is completed. In other words, at the end of the printing area, a positional deviation of the distance dm indicated by the thick line in FIG. 6(b) occurs. If a positional deviation occurs between the printing areas of each scan, there is a risk that the desired image will not be obtained on the printing medium.

As described above, the position information sensors 103a and 103b obtain the travel distance as the amount of movement in the X direction. For this reason, for example, in a portable printer equipped with only one position information sensor, it is difficult to estimate the amount of positional deviation dm from the previous printing area based on only the amount of movement obtained from the position information sensor. On the other hand, in this embodiment, two position information sensors are provided, so that it is possible to estimate the amount of positional deviation between the printing area of the previous scan and the current printing area, as described below.

As shown in FIG. 1A, it is preferable to place the position information sensor 103a and the position information sensor 103b at positions separated from each other in the Y direction, which is a direction intersecting the scanning direction. For example, as shown in FIG. 1A, the position information sensor 103a is placed so as to be located further in the +Y direction than the roller portions 108a and 108c. The position information sensor 103b is placed so as to be located further in the -Y direction than the roller portions 108b and 108d. By placing the position information sensor 103a and the position information sensor 103b at a sufficient distance in this manner, it becomes easier to estimate the shape of the recording area on the recording medium corresponding to the recording scan. The estimation of the shape of the recording area will be described later.

[Recording process that suppresses maximum positional deviation between scans]
Fig. 7 is a flowchart for explaining the process of recording while suppressing the influence of misalignment between scans in this embodiment. The series of processes shown in the flowchart in Fig. 7 are performed by the CPU 201 of the control unit 200 expanding the program code stored in the ROM 203 into the RAM 202 and executing it. In addition, some or all of the functions of the steps in Fig. 7 may be realized by hardware such as an ASIC or an electronic circuit. Note that the symbol "S" in the explanation of each process indicates a step in the flowchart, and the same applies to the subsequent flowcharts.

In S701, the input unit 301 acquires image data via the data transfer I/F 203. The acquired image data is converted into print data by the image processing accelerator 202 as described with reference to FIG. 3, and the print data is acquired. The input unit 301 may acquire the print data via the data transfer I/F 203.

In S702, the CPU 201 detects that the control button 106 has been pressed, and then causes the print head 101 to execute one scan's worth of recording processing via the head controller 206. The print head 101 executes one scan's worth of recording processing as movement in the X direction is detected by the position information sensors 103a and 103b. The recording of one scan's worth in this step is performed based on the print data acquired in S701. Of the loop processes from S702 to S709, the scan for recording in the current loop process is called the main scan.

In S703, the CPU 201 obtains the travel distances of the two position information sensors 103a and 103b when the main scan recording is completed based on the detection results of the two position information sensors 103a and 103b.

Figure 8 is a diagram for explaining the recording area of the main scan. As shown in Figure 8, in this step, the travel distance la of the position information sensor 103a when the main scan is performed, and the travel distance lb of the position information sensor 103b when the main scan is performed are acquired.

For ease of explanation, S703 is described as the next step after S702, but the travel distance la and the travel distance lb may be obtained each time scanning is performed in S702. Then, it may be determined whether the recording scan is complete based on the travel distance la and the travel distance lb.

In S704, the CPU 201 determines whether the shape of the recording area is a convex sector shape or a concave sector shape.

Figure 8(a) is a diagram for explaining the printing area when the main scan is performed to form a convex fan-shaped printing area, and the travel distance of the position information sensor. Printing area 801 is the printing area of the main scan. The printing areas 802-804 from the next scan onwards when printing from the next scan onwards is performed without correcting the start position as in the comparative example of Figure 6(b) are shown by dashed lines.

Figure 8(b) is a diagram for explaining the printing area when the main scan is performed to form a concave fan-shaped printing area, and the travel distance of the position information sensor. Printing area 810 is the printing area of the main scan, and printing areas 821-823 from the next scan onwards when the start position is not corrected are shown by dashed lines.

The method for determining the shape of the recording area is to compare the path distance la of the position information sensor 103a with the path distance lb of the position information sensor 103b, and if the path distance la is greater, determine the shape to be a convex sector. If the path distance lb is greater, determine the shape to be a concave sector. If a preliminary operation has been performed to determine in advance whether the recording area is a convex sector or a concave sector, the shape of the recording area does not need to be determined in this step, and the determined shape of the recording area can be obtained.

In S705, the CPU 201 acquires the length ls from the position information sensor 103a to the position information sensor 103b, and the length d of the nozzle row 102. This information can be measured at the factory for each printer body to reduce the amount of correction error caused by misalignment of the sensor installation position.

In S706, the CPU 201 calculates (estimates) the maximum positional deviation amount dm between the printing area of the main scan and the printing area of the next scan. The method for calculating the maximum positional deviation amount differs depending on whether the shape of the scanning area is a convex sector shape or a concave sector shape, so the calculation is performed using a method according to the determination made in S704.

First, a method for calculating the maximum positional deviation amount in the case of a convex sector shape will be described. The CPU 201 calculates the radius r shown in FIG. 8(a) from formula (1). The radius r in the case of a convex sector shape is the radius of the arc drawn by the position information sensor 103b during main scanning.

Then, the CPU 201 calculates the maximum positional deviation amount dm using equation (4) based on the difference between the distance lc of the upper side of the recording area in this scan and the distance ld of the lower side of the recording area. The right-hand side of equation (4) is obtained by subtracting equation (3) for calculating distance ld from equation (2) for calculating distance lc.

As shown in FIG. 8, distance lc is the travel distance to the top end of nozzle row 102 of print head 101, and distance ld is the travel distance to the bottom end of nozzle row 102 of print head 101. As shown in FIG. 8, b in equations (2) and (3) is the length from the bottom end of nozzle row 102 of print head 101 to position information sensor 103b. Note that equation (4) is an equation obtained assuming that the scanning trajectories of distance lc and distance ld are approximately equal.

Next, a method for calculating the maximum positional deviation amount in the case of a concave sector shape will be described. The CPU 201 calculates the radius r shown in FIG. 8(b) from equation (5). In the case of a concave sector shape, the radius r is the radius of the arc drawn by the position information sensor 103a during main scanning.

The CPU 201 then calculates the maximum positional deviation amount dm from equation (8) based on the difference between the distance lc of the upper edge of the printing area and the distance ld of the lower edge of the printing area. The right-hand side of equation (8) is obtained by subtracting equation (6) for calculating distance lc from equation (7) for calculating distance ld. As shown in FIG. 8, a is the length from the upper end of the nozzle row 102 of the print head 101 to the position information sensor 103a. Equation (8) is obtained assuming that the scanning trajectories of distance lc and distance ld are approximately equal.

The maximum positional deviation amount dm may be calculated by first calculating the distance lc of the upper side and the distance ld of the lower side of the printing area in this scan, and then calculating the difference between them.

The arrangement of the position information sensors 103a and 103b may be changed so that the path distance of one of the position information sensors 103a and 103b is the same as the distance lc and the path distance of the other is the same as the distance ld. In this case, the maximum position deviation amount dm may be calculated from the difference between the two path distances obtained from the position information sensors 103a and 103b.

Then, the CPU 201 calculates the offset amount of the start position of the next scan from the maximum positional deviation amount dm between the printing area of this scan and the printing area of the next scan. In this embodiment, the offset amount is set to half the maximum positional deviation amount dm (dm/2).

In S707, if the shape of the printing area is a convex sector shape, the CPU 201 sets the X-direction position of the start position of the next scan to a position shifted a predetermined amount in the direction opposite to the scanning direction from the X-direction position of the start position of the main scan. In this embodiment, it is set to a position shifted by the offset amount calculated in S704. If the shape of the printing area is a concave sector shape, the X-direction position of the start position of the next scan is set to a position shifted in the scanning direction from the X-direction position of the start position of the main scan by the offset amount calculated in S704.

In S708, the CPU 201 performs processing to notify the user of the start position of the next scan.

When the portable printer 100 is moved during the main scan recording process (S702) so that the print head 101 scans to the end position of the main scan recording area, the CPU 201 notifies the user via the LED 106 that the end position has been reached.

Having been notified of the end position, the user moves the portable printer 100 in the direction opposite to the scanning direction of the main scan. At this time, the amount of movement is calculated based on the detection results of the position information sensors 103a and 103b. Then, in this step, when the CPU 201 determines that the X-direction position of the print head 101 has moved until it reaches the X-direction position at the start position of the next scan, it issues a notification via the LED 106 indicating that it is possible to proceed to the next scan. If the offset amount determined in S706 is 0, the user will be notified that it is possible to proceed to the next scan once it has moved to the start position of the main scan. If the offset amount has been determined, the user will be notified that it is possible to proceed once it has moved to a position shifted by the offset amount from the start position of the main scan.

When the user is notified that it is possible to proceed to the next scan, he or she operates the portable printer 100 to move the portable printer 100 by the length d of the nozzle row 102 in a direction perpendicular to the scanning direction. When the user performs this operation, the portable printer moves to the start position of the printing area for the next scan.

Figure 9(a) is a diagram for explaining the printing area when it is a convex sector shape and has been moved to the start position of the next scan by the above process. Printing area 801 in Figure 9(a) is the printing area for the main scan, and is illustrated diagrammatically to correspond to printing area 801 in Figure 8(a). Printing areas 902-904 are printing areas that correspond to printing areas 802-804 of the comparative example in Figure 8(a).

The print area 902 is the print area of the next scan when the processing of this embodiment is performed. The start position 806 of the print area 902 is shifted by an offset amount dm/2 from the start position 805 of the print area 801 of the main scan. In the comparative example of FIG. 6B, the maximum positional deviation between the main scan and the next scan is dm, but in this embodiment, as shown in FIG. 9A, the maximum positional deviation between the main scan and the next scan is suppressed to dm/2. In this manner, in this embodiment, the start position of the next scan is set based on dm, and the portable printer is controlled to move to that position, thereby suppressing the maximum actual positional deviation amount. As a result, a print area can be formed more accurately for the image data.

Figure 9(b) is a diagram for explaining the printing area when it is a concave sector shape and has been moved to the start position of the next scan by the above process. Printing area 810 in Figure 9(a) is the printing area for this scan, and is illustrated diagrammatically to correspond to printing area 810 in Figure 8(b). Printing areas 921-922 are printing areas that correspond to printing areas 821-823 of the comparative example in Figure 8(b).

The printing area 921 is the printing area of the next scan when processing in this embodiment is performed. Even when the printing area is a concave sector shape, the start position 820 of the printing area 921 is shifted by an offset amount dm/2 from the start position 811 of the printing area 810 of the main scan. In this way, even when the printing area is a concave sector shape, it is possible to suppress the maximum actual positional deviation amount.

In the above explanation, the offset amount of the start position of the next scan is set to half the maximum positional deviation amount dm to suppress positional deviation so that there is no positional deviation at the center position of the scanning area between the main scan and the next scan. In reality, there are areas in the printing area where no ink is ejected and no image is printed, and images are not necessarily printed in all of the printing area scanned by the print head 101 (nozzle array 102) in the main scan. For this reason, the offset amount may be changed depending on the positional relationship of the image in the area scanned by the nozzle array 102 in the main scan.

In addition, as a method of notifying the user of the transition to the next scan, the method in which the CPU 201 notifies the user via the LED 106 has been described, but the method of notifying the user is not limited to the method via the LED 106. Any means capable of notifying the user may be used as the notification method. For example, a display may be provided on the portable printer 100, and the CPU 201 may notify the user by displaying a screen on the display. Notification may also be made by sound such as a buzzer, or by vibration of the portable printer 100 itself. Notification may also be made via a host such as a PC or smart device, rather than by the portable printer 100 itself.

In S709, the CPU 201 determines whether there is a next scan. If there is not, the process ends. If there is a next scan, the process returns to S702 and continues the recording process. Note that, for convenience of explanation, the determination of whether there is a next scan is described as being made after notification of the transition information for the next scan, but, for example, the determination of whether there is a next scan may be made after S703, in which case, if the result is NO, S704 to S708 may be skipped and the process may end.

In the above explanation, the travel distances la and lb for one scan are obtained from the position information sensors 103a and 103b, and the corresponding offset amount is calculated. In other words, the offset amount is calculated at a timing between the completion of the main scan and the start of the next scan. If the offset amount cannot be calculated at this timing, the offset amount for the start position of the next scan may be calculated from the travel distance obtained from the position information sensors 103a and 103b during the main scan.

Specifically, steps S702 and S703 are executed in parallel, and in step S703, the CPU 201 acquires the travel distances of each of the position information sensors 103a and 103b during the period from the start of printing to the current time point during the main scan. Then, in step S706, the CPU 201 calculates the radius r, and estimates the distance lc of the upper side and the distance ld of the lower side of the printing area from the radius r and the image size to be printed during the main scan. The CPU 201 may then calculate the maximum positional deviation amount dm based on the estimated distances lc and ld to determine the offset amount. Alternatively, the offset amount may be calculated based on the maximum scanning amount that is preset for the main scan before the start of the main scan.

For example, when one scan's worth of image has been recorded halfway, the travel distances of the position information sensors 103a and 103b are acquired. Then, distances lc and ld are calculated from the acquired travel distances, and the offset amount may be determined by considering the absolute value of the difference between the calculated distances lc and ld multiplied by two as the maximum position deviation amount dm.

As described above, according to this embodiment, even if an image is recorded during multiple scans while the portable printer is moving in a curved manner, the effects of misalignment of the recording area that occurs between scans can be suppressed.

In the method described above, if the printing area is a convex sector shape, the start position shifts to the left with each scan, as shown in Figure 9(a). For this reason, if printing is continued by scanning multiple times, depending on the size of the printing medium or the size of the printable area within the printing medium, the printing may go beyond the printable area. For this reason, the start position of printing by the first scan may be adjusted. In addition, if the printing area is a concave sector shape, the start position shifts to the right with each scan, as shown in Figure 9(b).

Figure 10 is a diagram for explaining the start position of the main scan, which is different from that of Figure 9(a). The portable printer 100 is placed at position 1005 in Figure 10, and the portable printer 100 is moved in the opposite direction to the scanning direction for recording. Then, when the portable printer 100 has moved by θ/2, which is half the angle θ of the arc drawn by the main scan recording, the CPU 201 notifies the user and stops the movement of the portable printer 100. As shown in Figure 10, the position of the print head 101 of the portable printer 100 when it is stopped based on the notification from the CPU 201 may be the start position 1006 for recording the main scan. The recording area 1001 is the recording area that the print head 101 scans for recording by scanning from the start position 1006. The recording areas 1002 to 1004 are the recording areas for the next scan and onwards.

If the print area 1001 of the main scan is the same size as the print area 801 in FIG. 8A, the portable printer 100 may be moved from the position 1005 in the direction opposite to the scan direction until the travel distance obtained from the position information sensor 103a becomes la/2. Even in this case, the portable printer 100 can be moved so that the print head 101 is located at the start position 1006. As described above, the distance of the upper side and the distance of the lower side of the print area, or the offset amount, can be measured or calculated in advance and stored in the ROM 205. Therefore, it is possible to control the movement to the start position 1006 by estimating θ or the distance la from the information stored in the ROM 205. This makes it possible to prevent the portable printer 100 from going beyond the determined area.

In the above description, an example in which two position information sensors are arranged has been described, but three or more position information sensors may be provided. In this case, the offset amount may be obtained by calculating the maximum position deviation amount dm based on the position information of at least two of the three or more position information sensors, or the maximum position deviation amount dm may be calculated using the position information of all of the position information sensors.

Second Embodiment
In this embodiment, in addition to the method of setting the start position of the next scan based on the offset amount described in the first embodiment, a method of suppressing the effects of misalignment between scans by modifying the image to be recorded on the recording medium will be described. This embodiment will be described focusing on the differences from the first embodiment. Portions not specifically mentioned have the same configuration and processing as the first embodiment.

Figure 11 is a flowchart for explaining the process of this embodiment for performing printing while suppressing the effects of misalignment between scans. The processes of S1101 to S1109 are similar to those of S701 to S709, so their explanation is omitted.

If it is determined in S1109 that there is a next scan, the process proceeds to S1110, where the CPU 201 performs deformation of the image data to be printed in the next scan based on the offset amount calculated in S1106.

Figure 12 is a diagram for explaining an example of the image deformation method of this embodiment. Figure 12 (a) is an image indicated by the print data used for recording in the next scan. That is, if the recording area is rectangular as in Figure 4 (a), the image formed on the recording medium will also be rectangular as in Figure 12 (a). Also, in Figure 12, the image in the print data is assumed to be an image in which the recording area is entirely black, and the actual recording area obtained as a result of the recording scan is assumed to be a convex sector shape.

Figure 12(b) is a diagram showing the image of Figure 12(a) after it has been deformed in this step. As shown in Figure 12(b), in S1110, the CPU 201 deforms the image by deforming the length of the top side so that each of the left and right sides of the top side of the image is compressed by dm/2, which is the offset amount calculated in S1106, and by deforming the image so that the bottom side is not compressed. In the case of a convex sector shape, the image is deformed by assuming that the length of the bottom side of the image is equal to the distance lb of the bottom side of the recording area.

If the printing area is a concave sector shape, the length of the bottom side is modified so that each side of the bottom side is compressed by dm/2, which is the offset amount calculated in S1106, and conversely, the image is modified so that the top side is not compressed.

As shown in FIG. 12(a), the width W of the image before deformation is the length in the scanning direction of a rectangular recording area when that recording area is formed on the recording medium. The height d of the image before deformation is the length d of the nozzle row 102 of the print head 101. In this case, the width W' after deformation at a position at height y from the bottom edge of the image is calculated using formula (9).

To reflect this in the data so that the image has a width of W', simply add a margin A (white) calculated using equation (10) to the left and right of the image at a height of y from the bottom edge of the image.

Figure 12(c) is a diagram of an image recorded on a recording medium using the image deformed in S1110. In this way, by deforming the image used for recording in each scan in terms of data, it is possible to suppress misalignment of the image recorded on the recording medium. As a result, the image can be more appropriately recorded on the recording medium, like the image indicated by the print data.

Figure 13 shows an example of image deformation in which the image formed on the recording medium becomes rectangular when the recording area is a convex sector shape. Using Figure 13, we will explain examples of other image deformation methods that can be executed in S1110.

Fig. 13(a) is a diagram of an image 1301 indicated by print data used for printing in one scan. Image 1305 in Fig. 13(c) is a diagram of an image obtained after image deformation has been performed on the data for image 1301 in Fig. 13(a). Fig. 13(b) is a diagram showing image 1302 formed on a print medium by printing one scan using the image in Fig. 13(c).

The dotted area in FIG. 13B is the print area 1303 of the main scan, which corresponds to the print area 801 in FIG. 8A. As shown in FIG. 13B, the print area 1303 scanned by the print head 101 (nozzle array 102) for printing is assumed to be a convex fan-shaped area like the print area 801 in FIG. 8. When printing is performed based on the image-deformed image 1305 shown in FIG. 13C, the print head 101 (nozzle array 102) scans the print area 1303 shown by the dotted line, and a rectangular image 1302 shown by the solid line is printed on the print medium. In FIG. 13C, the dotted rectangular area 1307 corresponds to the convex fan-shaped print area 1303 in FIG. 13B. When the print area is a convex fan-shaped area as shown in the image 1305, the image on the data needs to be deformed to a concave shape in order to print a rectangular image on the print medium.

An example of a method for calculating pixel data at each pixel position in the image shown in FIG. 13(c) will be described. When calculating pixel data at position 1306 in FIG. 13(c), first, position 1304 on the recording area 1303 in FIG. 13(b) corresponding to position 1306 is determined. Then, it is calculated which position in the rectangular image 1302 the position 1304 corresponds to. Then, the position in the image 1301 corresponding to position 1304 in the image 1302 is determined. Since the image 1302 in FIG. 13(b) corresponds to the image 1301 before the image deformation, the position in the image 1301 corresponding to position 1304 in the image 1302 can be determined. Then, the pixel data at the determined position of the image 1301 is determined as the pixel data of position 1306. In this way, by calculating pixel data corresponding to each position of the image shown in FIG. 13(c), an image deformed as shown in FIG. 13(c) can be generated in order to record the rectangular image 1302 shown in FIG. 13(b).

When performing the image deformation of FIG. 13, the amount of movement of the portable printer 100 to move to the next scan may also be changed. For example, to continuously print the rectangular image 1302 shown in FIG. 13(b) in the next scan, d' shown in FIG. 13(b) may be calculated during printing in the main scan, and the portable printer 100 may be moved by d' in a direction perpendicular to the scanning direction to move to the next scan.

As described above, according to this embodiment, the effect of misalignment in the scanning direction that occurs between scans can be suppressed by deforming the image to be recorded on the recording medium.

In the above explanation, a method was shown in which the start position of the next scan is changed based on the offset amount, and the image is also deformed. Alternatively, the start position of the next scan may not be changed, and only the image to be printed in the next scan may be deformed. In other words, in the flowchart of FIG. 11, S1107 may be skipped. Even with just the image deformation process, it is possible to suppress the misalignment of the image between the main scan and the next scan.

Third Embodiment
In the above embodiment, a portable printer that records an image by unidirectional scanning has been described. In this embodiment, a recording scan is performed in the scanning direction (+X direction), and then the nozzle array 102 moves in a direction perpendicular to the scanning direction by the length d of the nozzle array 102, and scans in the opposite direction (-X direction) to record an image, thereby performing recording by reciprocating scanning.

Figure 14 is a diagram for explaining a comparative example when the portable printer 100 prints an image by reciprocating scanning. Figure 14 is a diagram showing a printing area when the printing area is a convex fan shape but the starting position is not changed based on the offset amount. Printing area 1401 is the printing area of the first scan. Printing areas 1402-1403 of the second and subsequent scans are shown as areas surrounded by dotted lines. As shown in Figure 14, when an image is printed by reciprocating scanning, the positional deviation amount between the printing area based on the previous scan at the end of the printing area is dm, and the maximum positional deviation occurs at the end. Therefore, in this embodiment, a method of suppressing the maximum positional deviation amount between scans even when an image is printed by reciprocating scanning will be described. This embodiment will be described mainly with respect to the differences from the first embodiment. Parts not specifically mentioned have the same configuration and processing as the first embodiment.

Figure 15 is a flowchart for explaining the process of printing while suppressing the effects of misalignment between scans in this embodiment. Steps S1501 to S1506 are similar to steps S701 to S706, so their explanation is omitted.

In S1507, it is determined whether the printing area determined in S1504 was a convex sector shape. If it is a convex sector shape (YES in S1507), in S1508 the CPU 201 changes the transition position (line feed position) to the next scan based on the offset amount. Note that if the transition position is not changed in this step, the end position of the printing area for this scan is set as the transition position to the next scan.

Figure 16 is a diagram for explaining the print area when printing is performed by reciprocating scanning using the method of this embodiment. Figure 16 (a) is a diagram when the print area is a convex fan shape. The print area 1601 is the area scanned by the print head 101 (nozzle array 102) when printing in the main scan. The print area 1602 is the area scanned by the nozzle array 102 in the next scan. The comparative example of Figure 14 is an example in which the end position 1405 of the print area 1401 of the main scan is set as the transition position for the next scan. On the other hand, in this embodiment, as shown in Figure 16 (a), the position obtained by adding the offset amount dm/2 to the end position 1603 of the print area of the main scan is changed to the transition position 1604 for the next scan.

Figure 16B shows the case where the printing area is a concave sector shape. When the printing area is a concave sector shape (S1507 is NO), the transition position is not changed, and the end position 1622 of the printing area 1610 of the current scan becomes the transition position. Meanwhile, in S1509, the CPU 201 changes the start position of the printing area 1620 of the next scan based on the offset amount. In this embodiment, the position obtained by adding the offset amount dm/2 to the position 1623 after the line break in the next scan becomes the start position 1621 of the printing area 1620 of the next scan.

Then, in S1510, the CPU 201 notifies the user of the transition to the next scan. If the printing area is a convex sector shape, even if the portable printer 100 is moved so that the print head 101 (nozzle row 102) is positioned at the end position 1603 of the printing area of this scan, the user is notified that transition to the next scan is not possible. In other words, the user is prompted to move the portable printer 100 further in the scanning direction from the end position 1603. Then, when the portable printer 100 is moved so that the print head 101 (nozzle row 102) is positioned to the transition position 1604 calculated in S1508, the user is notified via the LED 106 that transition to the next scan is possible.

The portable printer 100 is moved by a person to record an image. Therefore, if the portable printer 100 is moved for the main scan until the print head 101 is positioned at the end position 1603 of the recording area 1601, the user may determine that the main scan is completed and proceed to the operation for the next scan. In other words, since the user is aware of the image to be recorded, there is a risk that the portable printer 100 may proceed to the next scan when the image is recorded. As a result, the portable printer 100 will not be able to record the next scan from the set start position. On the other hand, in this embodiment, the user is notified via the LED 106, so that a line feed can be started at a position that takes the offset amount into consideration, even when recording by reciprocating scanning.

On the other hand, if the printing area is a concave sector shape, in S1510, the CPU 201 notifies the portable printer 100 that it is possible to proceed to the next scan when the print head 101 (nozzle array 102) is moved so that it is positioned at the end position 1622 of the printing area of this scan.

The user, who is notified via the LED 106 that transition is possible, operates the portable printer 100 to move it to the position for the next scan. As a result, in this embodiment, as shown in FIG. 16, the maximum positional deviation from the printing area of the previous scan is suppressed to dm/2 from dm in the comparative example.

The method of notifying that transition is not possible using LED 106 may be different from the method of notifying that transition to the next scan is possible. For example, in this embodiment, the notification that transition is not possible is a monochrome flashing pattern.

Next, in S1511, the CPU 201 determines whether there is a next scan. If there is a next scan, the process proceeds to S1502, where the CPU 201 performs printing processing by the next scan. If the start position is not changed, the position after transition to the next scan is set as the start position of the next scan. Therefore, in the case of a convex sector shape, the start position 1605 of the printing area, which is the position where printing of the next scan starts, is the position after the line feed. In the case of a concave sector shape, the start position 1621 is the position advanced by the offset amount from the position after the line feed.

As described above, according to this embodiment, even when printing is performed by reciprocating scanning, it is possible to suppress image position shifts between the main scan and the next scan.

Fourth Embodiment
In this embodiment, a method of notifying the user of a transition to the next scan is described, taking into consideration the impact deviation of ink dots when printing by reciprocating scanning. The present embodiment will be described, focusing on the differences from the third embodiment. Portions not specifically mentioned have the same configuration and processing as the third embodiment. That is, as in the third embodiment, a case will be described where the portable printer 100 of this embodiment prints by reciprocating scanning.

In an inkjet printer, which records by scanning a print head that ejects ink as droplets to record an image, the print head moves relative to the recording medium from the time the ink is ejected from the nozzles of the print head until it lands on the recording medium. This causes the landing position of the ink to shift in the scanning direction.

Figure 17 is a diagram for explaining the deviation of the ink landing position in an inkjet printer. As shown in Figure 17(a), the amount of deviation xd of the landing position in the scanning direction is determined in principle by the conditions of the movement speed S of the print head 101 during printing, the speed V of the ejected droplets, and the distance D from the nozzle row that ejects the ink to the recording medium. Considering the droplet speed V of a typical inkjet printer, the distance D to the recording medium, and the moving speed S at which a person moves the portable printer 100, the amount of deviation xd of the ink landing position is about 100 μm.

For example, the portable printer 100 moves at a moving speed S from the start position 1600 of the recording area 1601 in FIG. 16A to a transition position 1604, which is further in the scanning direction than the end position 1603. The portable printer 100 also moves at the moving speed S in the next scan. In this case, as shown in FIG. 17B, at the end position 1603 of the recording area 1601 of the main scan, the landing position is shifted by xd×2 (200 μm) from the position corresponding to the end position 1603 in the recording area 1602 of the next scan. For this reason, there is a risk that the image recorded by the next scan will be shifted from the image recorded on the recording medium by the main scan, resulting in an inappropriate image not being formed. Therefore, in this embodiment, a method of changing the transition position to the next scan taking into account the landing position shift will be described.

Figure 18 is a flowchart for explaining the process of printing while suppressing the effects of misalignment between scans in this embodiment. Steps S1801 to S1807 are similar to steps S1501 to S1507, and therefore their explanations are omitted. Steps S1810 to S1812 are similar to steps S1509 to S1511, and therefore their explanations are omitted.

If the printing area is a convex sector shape (S1807: YES), in S1808, the CPU 201 changes the transition position for the next scan to a position shifted a predetermined amount in the scanning direction of the main scan from the end position of the printing area of the main scan, taking into account the offset amount and the impact position shift.

Figure 19 is a diagram for explaining the transition position changed by the method of this embodiment. Figure 19(a) is a diagram for explaining the transition position after the change when the printing area is a convex sector shape, and printing area 1902 is the printing area for the next scan. The transition position 1905 is changed to a position further moved in the scanning direction from the end position 1903 of the printing area 1901 of the main scan by a distance obtained by adding the offset amount dm/2 and the sum xd x 2 of the landing position deviation amount xd of the main scan and the landing position deviation amount xd of the next scan.

If the printing area is a concave sector shape (S1807 is NO), in S1809, the CPU 201 changes the transition position to the next scan to a position shifted in the scanning direction of the main scan by an amount xd x 2, which takes into account the deviation in the landing position, from the end position of the printing area of the main scan.

As described above, in this embodiment, the user is notified that transition to the next scan is not possible until the print head 101 reaches a position that takes into account the impact position shift, and is notified that transition to the next scan is possible when the print head 101 reaches a position that takes into account the impact position shift. As a result, it becomes possible to record an image that takes into account the impact position shift between scans.

This embodiment is also applicable to rectangular printing areas as shown in FIG. 6A, where there is no need to calculate the offset amount. When the printing area is rectangular, the flow chart in FIG. 18 returns NO in S1807 and proceeds to S1809. As shown in FIG. 19B, the CPU 201 changes the transition position for the next scan from the end position 1911 of the printing area 1910 of the main scan to position 1912 obtained by adding xd×2, which is the sum of the landing position shift amount xd of the main scan and the landing position shift amount xd of the next scan. The printing area 1920 is the printing area for the next scan.

Even in this case, it is possible to prevent the image from being printed properly due to the misalignment of the landing position between scans. Note that if the printing area is rectangular, the offset amount is 0, so steps S1805 to S1806 and S1810 may be skipped.

<Other embodiments>
In the above embodiment, an example is shown in which the process proceeds to the next scan when the printing of the main scan is completed. This embodiment can also be applied to cases in which the process proceeds to the next scan after the portable printer 100 has been moved an extra amount outside the printing area of the main scan. For example, the offset amount may be determined by adding or subtracting the amount of extra movement to a value half the maximum positional deviation amount dm.

In the above-described embodiment, the offset amount or image deformation amount of the start position of the next scan is set to half the maximum positional deviation amount dm between scans, but the offset amount or image deformation amount is not limited to that value. For example, the offset amount or image deformation amount of the start position of the next scan may be changed depending on the image data ratio of the left and right areas in the recording area of the current scan.

The present disclosure can also be realized by supplying a program that realizes one or more of the functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that realizes one or more of the functions.

100 Portable printer 101 Print head 103a Position information sensor 103b Position information sensor 201 CPU

Claims (18)

a recording means extending along a first direction;
a handheld recording device which is moved in a scanning direction intersecting the first direction to record an image in a recording area where the recording means scans a recording medium to record an image for one scan,
Two position information sensors arranged at two different positions in the first direction;
Two rollers disposed at two different positions in the first direction;
a control unit for controlling the recording device,
The control means
When a second scan following the first scan is performed by moving the recording means by a predetermined movement amount in the first direction after the completion of the first scan,
determining whether the shape of the recording area is a convex sector shape or a concave sector shape based on the amount of movement of the two position information sensors associated with the first scan;
a positional deviation amount in the scanning direction of a second printing area corresponding to the second scan relative to a first printing area corresponding to the first scan is estimated based on the determination and movement amounts of the two position information sensors related to the first scan, and the second scan is controlled based on the estimated positional deviation amount. The control means
2. The recording apparatus according to claim 1, wherein the amount of positional deviation is estimated based on the amount of movement of the two position information sensors during the period from the start to the end of the first scan. The control means
2. The recording apparatus according to claim 1, wherein the amount of positional deviation is estimated based on the amount of movement of the two position information sensors during the period from the start of the first scan to just before the end of the first scan. 4. The recording apparatus according to claim 1, wherein the control means estimates an amount corresponding to a difference between a distance between an upper side and a distance between a lower side of the first recording area as the amount of positional deviation. The control means
5. The recording apparatus according to claim 1, wherein an offset amount is determined based on the amount of positional deviation, and a start position of the second recording area is set based on the offset amount. 6. The recording apparatus according to claim 5, wherein the offset amount is half the amount of the positional deviation. The control means
The recording means acquires an image to be recorded, and performs a process of modifying the image based on the offset amount;
The recording means is
7. The recording apparatus according to claim 5, further comprising: a recording unit configured to record on the recording medium based on the transformed image. the scanning direction of the first scan and the scanning direction of the second scan are the same direction,
The control means
When the first recording area has a shape in which the upper side is longer than the lower side, a start position of the second recording area is set to a position shifted by the offset amount in a direction opposite to the scanning direction from a start position of the first recording area;
8. The recording device according to claim 5, wherein when the first recording area has a shape in which the bottom side is longer than the top side, the start position of the second recording area is set to a position shifted in the scanning direction by the offset amount from the start position of the first recording area. The control means
9. The recording apparatus according to claim 5, further comprising: a control unit that controls a user to move the recording apparatus until the recording means is positioned at a start position of the set second recording area after the first scan is completed. a first scanning direction that is the scanning direction of the first scan is opposite to a second scanning direction that is the scanning direction of the second scan,
The control means
8. The printing apparatus according to claim 1, wherein a transition position from the first scan to the second scan is set at a position shifted a predetermined amount in the first scanning direction from an end position of the first printing area. the recording means is a plurality of ejection openings for ejecting a recording material;
11. The recording apparatus according to claim 10, wherein the predetermined amount is a value based on a landing deviation amount of the recording material discharged from the discharge port. The control means
12. The recording apparatus according to claim 11, wherein, when the first recording area has a shape in which an upper side is longer than a lower side, the predetermined amount is a sum of a value based on the amount of positional deviation and a value based on the amount of impact deviation. The method further includes a notification means for notifying a user,
The control means
The recording device according to any one of claims 10 to 12, characterized in that the notification means is controlled to notify the user that transition to the second scan is not possible until the recording means is moved to the transition position, even after the recording of an image by the first scan is completed, and to notify the user to prompt transition to the second scan when the recording means is moved to the transition position. The recording device according to claim 13, characterized in that when the notification means issues a notification urging the user to transition to the second scan, the user operates the recording device to move the recording device by the specified movement amount in the first direction. the rollers that rotate by contacting the recording medium to assist the movement of the recording device are disposed in one direction and the other direction in the first direction,
one of the two position information sensors is disposed in the one direction further than the roller disposed in the one direction,
15. The recording apparatus according to claim 1, wherein the other of the two position information sensors is disposed in the other direction further than the roller disposed in the other direction. The control means calculates a maximum positional deviation amount based on a difference between a distance to an upper side of a recording area and a distance to a lower side of the recording area, and controls the start of recording by the second scan from a position shifted by half the maximum positional deviation amount.
16. The recording apparatus according to claim 1 , a recording means extending along a first direction;
Two position information sensors arranged at two different positions in the first direction;
having
A method for controlling a handheld recording device which records an image in a recording area, which is an area scanned by the recording means on a recording medium to record an image for one scan by moving the recording means in a scanning direction intersecting the first direction, comprising the steps of:
When a second scan following the first scan is performed by moving the recording means by a predetermined movement amount in the first direction after the completion of the first scan,
determining whether the shape of the recording area is a convex sector shape or a concave sector shape based on the amount of movement of the two position information sensors associated with the first scan;
a step of estimating an amount of positional deviation in the scanning direction of a second printing area corresponding to the second scan relative to a first printing area corresponding to the first scan based on the determination and movement amounts of the two position information sensors related to the first scan, and controlling the second scan based on the estimated amount of positional deviation. A program for causing a computer to execute the control method according to claim 17 .

Images