EP3106312B1 - Dispositif et procédé d'impression - Google Patents

Dispositif et procédé d'impression Download PDF

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Publication number
EP3106312B1
EP3106312B1 EP15172896.1A EP15172896A EP3106312B1 EP 3106312 B1 EP3106312 B1 EP 3106312B1 EP 15172896 A EP15172896 A EP 15172896A EP 3106312 B1 EP3106312 B1 EP 3106312B1
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EP
European Patent Office
Prior art keywords
printing
image
point group
group data
distance image
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EP15172896.1A
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German (de)
English (en)
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EP3106312A1 (fr
Inventor
Yasutoshi Nakamura
Jun Ueda
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Roland DG Corp
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Roland DG Corp
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Priority to ES15172896.1T priority Critical patent/ES2669603T3/es
Priority to EP15172896.1A priority patent/EP3106312B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/28—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for printing downwardly on flat surfaces, e.g. of books, drawings, boxes, envelopes, e.g. flat-bed ink-jet printers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J11/00—Devices or arrangements  of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
    • B41J11/008—Controlling printhead for accurately positioning print image on printing material, e.g. with the intention to control the width of margins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J11/00—Devices or arrangements  of selective printing mechanisms, e.g. ink-jet printers or thermal printers, for supporting or handling copy material in sheet or web form
    • B41J11/20—Platen adjustments for varying the strength of impression, for a varying number of papers, for wear or for alignment, or for print gap adjustment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects

Definitions

  • the present invention relates to a printing device and a printing method.
  • a printing head is moved, for example, in two directions perpendicular to each other in a plane with respect to a printing subject placed on a table.
  • Such a flatbed-type printing device is used for performing printing on, for example, a printing subject such as a substantially rectangular business card, greeting card or the like.
  • a printing subject such as a substantially rectangular business card, greeting card or the like.
  • the term "printing subject” is a "substantially rectangular sheet-type or plate-type printing subject such as a substantially rectangular business card, greeting card or the like", unless otherwise specified.
  • the printing subject For performing printing on a printing subject by use of a flatbed-type printing device, the printing subject is placed on a table and then printing is performed. For accurate printing, the printing subject needs to be placed accurately at a predetermined position. This requires, for example, measuring the size of the printing subject beforehand, so that the position at which the printing subject is to be placed is determined accurately.
  • Japanese Laid-Open Patent Publication No. 2007-136764 A further example of a flatbed-type printing device is disclosed in US 2014/333946 A1 .
  • a jig that can be secured to a table and accommodate a plurality of printing subjects is produced.
  • the jig is secured to the table and a plurality of printing subjects are accommodated in the jig, and each of the plurality of printing subjects is accommodated at a predetermined position in the jig. This allows the printing to be performed at predetermined positions of the printing subjects.
  • the above-described technology requires producing a jig in accordance with the shape or the size of a printing subject. This causes a problem that the production of a jig is time-consuming, which imposes a heavy load on the operator. In addition, even in the case where printing is to be performed on a small number of printing subjects, a jig needs to be produced. This increases the cost.
  • Preferred embodiments of the present invention provide a printing device and a printing method capable of performing printing easily at a desired position of a printing subject at low cost with no use of a jig, without imposing a heavy load on an operator.
  • a printing device is a printing device that acquires three-dimensional information on at least one printing subject having a three-dimensional shape and prints a predetermined printing image as a two-dimensional image on the at least one printing subject.
  • the printing device includes a table that allows at least one printing subject to be placed thereon; a projection device that projects a predetermined pattern to the at least one printing subject placed on the table; an image capturing device that captures an image of the at least one printing subject having the predetermined pattern projected thereon; three-dimensional information acquirer that acquires a spatial code image from the image captured by the image capturing device and acquires the three-dimensional information on the at least one printing subject from the acquired spatial code image; a recognizer that recognizes a position and a posture of each of the at least one printing subject from the acquired three-dimensional information; a disposer that disposes the printing image on each of the at least one printing subject by use of the position and the posture thereof; and a printing data generator that generates printing data representing the printing image disposed by the disposer.
  • a printing method according the present invention is set out in claim 7.
  • the printing device 10 is a so-called flatbed-type inkjet printer.
  • the printing device 10 includes a base member 12, a table 14 including a top surface 14a, a movable member 18 including a rod-shaped member 16, a printing head 20, a standing member 22 standing on a rear portion of the base member 12, a projector 24, a camera 26, and a microcomputer 300.
  • An overall operation of the printing device 10 is controlled by the microcomputer 300.
  • a structure of the microcomputer 300 will be described later.
  • the table 14 is located on the base member 12.
  • the top surface 14a of the table 14 is flat.
  • a printing subject 200 is to be placed on the top surface 14a of the table.
  • the table 14 is movable in a Z-axis direction by a moving mechanism (not shown). This allows the printing subject 200 placed on the top surface 14a of the table 14 to be moved in the Z-axis direction.
  • the range in which the table 14 is movable up and down matches, for example, a range of thickness of the printing subject 200 on which printing can be performed by the printing device 10.
  • the moving mechanism that moves the table 14 in the Z-axis direction may be a known mechanism, for example, a combination of a gear and a motor. An operation of the moving mechanism is controlled by the microcomputer 300.
  • the printing subject 200 is placed on the top surface 14a of the table 14.
  • the printing subject 200 may have any shape with which the printing subject 200 can be placed on the table 14 with a predetermined gap from the printing head 20.
  • a printing surface of the printing subject 200 may have any of various shapes, for example, may be flat, curved to be protruded upward, curved to be protruded downward, concaved and convexed with piercing edges, or concaved and convexed without piercing edges.
  • a difference between top and bottom levels of the printing surface is within a maximum difference with which ink may be applied normally to the printing surface by the printing head 20.
  • the base member 12 is provided with guide grooves 28a and 28b extending in a Y-axis direction.
  • the movable member 18 is driven by a driving mechanism (not shown) to move in the Y-axis direction along the guide grooves 28a and 28b.
  • the driving mechanism may be a known mechanism such as, for example, a combination of a gear and a motor.
  • the rod-shaped member 16 extends in an X-axis direction above the table 14.
  • a Z axis is a vertical axis
  • an X axis is perpendicular to the Z axis
  • a Y axis is perpendicular to the X axis and the Z axis.
  • the printing head 20 is an ink head that injects ink by an inkjet system.
  • the "inkjet system” refers to a printing system of any of various types of conventionally known inkjet technologies.
  • the “inkjet system” encompasses various types of continuous printing systems such as a binary deflection system, a continuous deflection system and the like, and various types of on-demand systems such as a thermal system, a piezoelectric element system and the like.
  • the printing head 20 is structured to perform printing on the printing subject 200 placed on the table 14.
  • the printing head 20 is provided on the rod-shaped member 16.
  • the printing head 20 is provided so as to be movable in the X-axis direction. This will be described in more detail.
  • the printing head 20 is engaged with guide rails (not shown) provided on a front surface of the rod-shaped member 16 and is slidable with respect to the guide rails.
  • the printing head 20 is provided with a belt (not shown) movable in the X-axis direction.
  • the belt is rolled up by a driving mechanism (not shown) and thus is moved.
  • the driving mechanism may be a known mechanism such as, for example, a combination of a gear and a motor.
  • the projector 24 projects a predetermined pattern to the entirety of the top surface 14a of the table 14.
  • the projector 24 is secured to the standing member 22.
  • An operation of the projector 24 is controlled by the microcomputer 300.
  • the projector 24 projects a gray code pattern extending in a vertical direction and a gray code pattern extending in a horizontal direction to the top surface 14a of the table 14, and also projects a binary pattern when a phase shift spatial coding method (described later) is used.
  • the "binary pattern” is a projection pattern including a slit-shaped light-transmissive area and a slit-shaped light-non-transmissive area, each having a certain width and extending in a direction perpendicular to a width direction, located alternately and repeatedly.
  • the camera 26 is secured to the standing member 22.
  • the camera 26 is located so as to capture an image of the entirety of the top surface 14a of the table 14 in a direction different from a direction in which the projector 24 projects the patterns.
  • An operation of the camera 26 is controlled by the microcomputer 300.
  • the microcomputer 300 controls the overall operation of the printing device 10 as described above, and also recognizes the position or posture of each of a plurality of printing subjects 200 placed on the table 14 to generate printing data usable to print a printing image, input by an operator, at a predetermined position of each printing subject 200.
  • the posture of the printing subject 200 is a three-dimensional inclination.
  • the microcomputer 300 a known microcomputer including, for example, a CPU, a ROM and a RAM is usable.
  • Software is either stored or read into the microcomputer 300, and the microcomputer 300 executes the software to define and operate as each of the functional elements described below.
  • the microcomputer 300 includes a controller 302 that controls the overall operation of the printing device 10, a recognizer 304 that recognizes the position or posture of each of the plurality of printing subjects 200 placed on the table 14, a printing data generator 306 that generates printing data usable to perform printing on the plurality of printing subjects 200, a storage 308 that stores the generated printing data and various other types of information, and a display 310 that causes images of the plurality of printing subjects 200 placed on the table 14 and various other images to be displayed on a display screen (not shown).
  • the controller 302 drives the moving mechanism (not shown) to control various operations, for example, to control the printing head 20 to move in the X-axis direction, to control the movable member 18 to move in the Y-axis direction, and to move the table 14 in the Z-axis direction.
  • the movement of the table 14 in the Z-axis direction is controlled by a Z-axis direction movement controller (adjustment unit) 312 of the controller 302.
  • the Z-axis direction movement controller 312 acquires height information (Z coordinate value) on the greatest height of the printing subjects 200 from three-dimensional information on the printing subjects 200 acquired by the recognizer 304, and controls the table 14 to move up and down based on the height information.
  • the recognizer 304 includes a three-dimensional information acquirer 314, a point group data generator 316, a cluster generator 318, a source point group data generator 320, a distance image generator 322, a first transformation matrix calculator 324, and a second transformation matrix calculator 326.
  • the three-dimensional information acquirer 314 acquires three-dimensional information on the printing subjects 200 placed on the table 14.
  • the point group data generator 316 generates point group data on the printing subjects 200 from the acquired three-dimensional information.
  • the cluster generator 318 generates a plurality of clusters representing the printing subjects 200 from the point group data.
  • the source point group data generator 320 sets each of the generated clusters as target point group data, and generates source point group data from one piece of data among the target point group data.
  • the distance image generator 322 generates a source distance image, which is a two-dimensional image, from the source point group data, and generates a target distance image, which is a two-dimensional image, from the target point group data. This will be described in detail later.
  • the first transformation matrix calculator 324 calculates a first transformation matrix usable to rotate the source distance image by an angle such that the source distance image is closest to the target distance image.
  • the second transformation matrix calculator 326 calculates, from the calculated first transformation matrix, a second transformation matrix usable to make the source point group data and the target point group data to be close to each other more accurately.
  • Images of a plurality of gray code patterns, projected by the projector 24 to the top surface 14a of the table 14 having the plurality of printing subjects 200 placed thereon, are captured by the camera 26.
  • the three-dimensional information acquirer 314 acquires a spatial code image from each of the captured gray code patterns by a known spatial coding method, and synthesizes the acquired spatial code images to acquire the three-dimensional information (point group) on the printing subjects 200.
  • the three-dimensional information acquirer 314 may acquire the three-dimensional information by a known phase shift spatial coding method instead of the spatial coding method.
  • the phase shift spatial coding method is performed as follows .
  • a binary pattern is projected by the projector 24 while being shifted by a predetermined moving distance, and an image of the binary pattern is captured by the camera 26 each time the binary pattern is shifted.
  • the three-dimensional information acquirer 314 synthesizes the captured images to acquire phase shift code images .
  • images of a plurality of binary patterns projected by the projector 24 to the top surface 14a of the table 14 having the plurality of printing subjects 200 placed thereon are captured by the camera 26.
  • the three-dimensional information acquirer 314 acquires a spatial code image from each of the captured binary patterns.
  • the three-dimensional information acquirer 314 acquires three-dimensional information on the printing subjects 200 from the acquired phase shift code images and the acquired spatial code images, in other words, by synthesizing phase shift code values and spatial code values.
  • the three-dimensional information acquired by the phase shift spatial coding method has a higher resolution than that of the three-dimensional information acquired by the spatial coding method. More specifically, the phase shift code values acquired by the phase shift spatial coding method is a value obtained as a result of the spatial code value acquired by the spatial coding method being divided more finely. As a result, the posture of the printing subjects 200 is recognized with higher precision. Acquisition of the three-dimensional information by the spatial coding method is known and will not be described herein. Acquisition of the three-dimensional information by the phase shift spatial coding method may be performed by a technology disclosed in, for example, Japanese Patents Nos. 4944435 and 4874657 , and will not be described herein.
  • the point group data generator 316 transforms the three-dimensional information in a camera coordinate system that is acquired by the three-dimensional information acquirer 314 into values in a printing coordinate system.
  • the point group data representing only the printing subjects 200 is calculated by the following expression by use of a 4 ⁇ 4 transformation matrix H R2P (described later) calculated by a calibration performed on the camera 26 and the table 14.
  • s M ⁇ P H R 2 P ⁇ M ⁇ R
  • the cluster generator (divider) 318 divides the point group data representing the plurality of printing subjects 200 placed on the table 14 into a plurality of pieces of point group data each representing one printing subject 200 by use of the Euclidean Cluster Extraction algorithm to generate clusters each representing each printing subject 200.
  • the Euclidean Cluster Extraction algorithm is a conventionally known technology ( R. B. Rusu and S. Cousins, 3D is here: Point Cloud Library (PCL) , In IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9-13 2011 ), and will not described herein.
  • the source point group data generator (setter) 320 copies one cluster among the plurality of clusters representing the plurality of printing subjects 200, and sets the copied cluster as source point group data. All the plurality of clusters are each set as target point group data. This will be described more specifically, with respect to FIG. 4A . As shown in FIG. 4A , for example, the point group data in an upper left area is copied to generate source point group data, and the four pieces of point group data are each set as target point group data. At this point, the coordinate values of the source point group data are transformed into relative coordinate values from a start point of the display area. In this manner, all the pieces of point group data including the point group data from which the copying was performed are each set as target point group data. Thus, each cluster is made a target at which the printing image is to be disposed.
  • the source point group data may be selected arbitrarily from the plurality of pieces of target point group data.
  • the distance image generator 322 generates a source distance image and a target distance image, each of which is two-dimensional data, respectively from the source point group data and the target point group data generated by the source point group data generator 320.
  • a source distance image and a target distance image each of which is two-dimensional data, respectively from the source point group data and the target point group data generated by the source point group data generator 320.
  • an X coordinate and a Y coordinate of source point group coordinates which are three-dimensional coordinates of the source point group data
  • are transformed into an X coordinate and a Y coordinate which are two-dimensional coordinates of the source distance image to be generated.
  • the Z coordinate of the source point group coordinates is represented as a gray value.
  • the (x, y) coordinates are transformed into values with which an average inter-point distance of the point group data is 1 pixel.
  • the range of gray values i.e., the range from the minimum value to the maximum value among the Z values of the point group data in all the clusters is the range of 0 to 255. In other words, among the gray values, i.e., the Z coordinate values Zs, corresponding to the XY coordinate values of the source point group data, the minimum value is 0, and the maximum value is 255.
  • an X coordinate and a Y coordinate of target point group coordinates which are three-dimensional coordinates of the target point group data
  • an X coordinate and a Y coordinate which are two-dimensional coordinates of the target distance image to be generated.
  • the Z coordinate of the target point group coordinates is represented as a gray value.
  • the (x, y) coordinates are transformed into values with which an average inter-point distance of the point group data is 1 pixel.
  • the target distance image is generated by transforming the three-dimensional coordinates of the target point group data into two-dimensional coordinates by the following expression.
  • the range of gray values i.e., the range from the minimum value to the maximum value among the Z values of the point group data in all the clusters is the range of 0 to 255.
  • the minimum value is 0, and the maximum value is 255.
  • the first transformation matrix calculator (first calculator) 324 moves the source distance image generated from the source point group data, such that the center of gravity of the source distance image overlaps the center of gravity of the each of target distance images generated from each piece of the target point group data.
  • the first transformation matrix calculator 324 rotates each of the post-movement source distance images one degree by one degree to acquire a normalized cross correlation for each target distance image .
  • An angle at which the normalized cross correlation is highest is set as the rotation angle of the source distance image.
  • the first transformation matrix calculator 324 calculates a first transformation matrix usable to rotate the source distance image at the above rotation angle on each target distance image.
  • an affine transformation matrix Ts usable to move the center of gravity (ugs, vgs) of the source distance image to the origin is represented by the following expression.
  • the first transformation matrix calculator 324 rotates the source distance image one degree by one degree in this example, but the present invention is not limited to this.
  • the first transformation matrix calculator 324 may rotate the source distance image in units of a predetermined degree, for example, two degrees by two degrees, or three degrees by three degrees.
  • T s 1 0 ⁇ ugs 0 1 ⁇ vgs 0 0 1
  • Tt 1 0 ugt 0 1 vgt 0 0 1
  • R( ⁇ ) usable to rotate the source distance image by angle ⁇ is represented by the following expression.
  • R ⁇ cos ⁇ ⁇ sin ⁇ 0 sin ⁇ cos ⁇ 0 0 0 1
  • the coordinate values of the source distance image are transformed by the following expression by use of the calculated A( ⁇ ) to acquire the source distance image in a state of being rotated by angle ⁇ .
  • u s ' v s ' 1 T A ⁇ ⁇ u s v s 1 T
  • the degree of closeness between the post-coordinate-transformation source distance image (i.e., the source distance image in a state of being rotated by angle ⁇ ) and the target distance image is evaluated with a robust normalized cross-correlation coefficient RNCC.
  • the robust normalized cross-correlation coefficient RNCC is represented by the following expression.
  • the first transformation matrix A 33 is represented by the following expression.
  • the position at which each printing subject is to be disposed is acquired by acquiring angle ⁇ .
  • a 33 a 11 a 12 a 13 a 21 a 22 a 23 0 0 1
  • the second transformation matrix calculator (second calculator) 326 calculates, from the first transformation matrix A 33 , a second transformation matrix usable to make the source point group data close to the target point group data with higher precision.
  • the second transformation matrix is calculated for each piece of target point group data. This will be described specifically.
  • the first transformation matrix A 33 calculated by the first transformation matrix calculator 324 is expanded to a 4 ⁇ 4 matrix usable to perform transformation into three-dimensional coordinates to acquire a transformation matrix A 44 .
  • the transformation matrix A 44 is represented by the following expression.
  • a 44 a 11 a 12 0 a 13 / s a 21 a 22 0 a 23 / s 0 0 1 0 0 0 0 1
  • translation components a 13 and a 23 are transformed by an extent corresponding to the transformation scale s (i.e., scale factor s) usable to perform transformation from the three-dimensional coordinate system to the two-dimensional coordinate system.
  • the transformation matrix A 44 usable to make the source point group data close to the target point group data as shown in FIG. 5B .
  • a transformation matrix A ICP usable to make the source point group data close to the target point group data more accurately is calculated by use of the ICP (Interactive Closest Point) algorithm.
  • the ICP algorithm is a conventionally known technology ( Paul J. Besl and Neil D. McKay, A method for registration of 3-d shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 14, No. 2, pp. 239-256, February 1992 ) , and will not be described herein.
  • the transformation matrix A 44 is an optimal solution among solutions obtained by rotating the source distance image discretely one degree by one degree. Therefore, it is difficult to accurately match the source point group data transformed by use of the transformation matrix to each target point group data.
  • the posture of the entire three-dimensional component which is diverted due to the actual disposing method or the dispersion of the shape, is optimized by the ICP algorithm. As a result, as shown in FIG. 6 , more accurate position matching suitable to the actual shape is performed.
  • the result of transformation of the two-dimensional component of the source point group data performed by use of the transformation matrix A 44 is set as an initial value.
  • the rough transformation matrix A 44 and the transformation matrix A ICP calculated by use of the ICP algorithm are multiplied to calculate a second transformation matrix A 3D usable to accurately match the source point group data to each target point group data.
  • the second transformation matrix A 3D is represented by the following expression.
  • a 3 D A ICP ⁇ A 44
  • the printing data generator 306 includes a third transformation matrix calculator (third calculator) 328, a printing image disposer (disposer) 330, and a printing data generator 332.
  • the third transformation matrix calculator 328 calculates a third transformation matrix usable to dispose a printing image, input onto the source distance image, on each target distance image.
  • the printing image disposer 330 disposes the printing image, input onto the source distance image, on each target distance image by use of the third transformation matrix.
  • the printing data generator 332 generates printing data based on the printing image disposed on the target distance image. This will be described in more detail.
  • the third transformation matrix calculator 328 calculates the third transformation matrix usable to dispose the printing image, input onto the source distance image by the operator, on each target distance image in accordance with the position or posture of the printing subject 200, by use of the transformation matrix calculated by the second transformation matrix calculator 326.
  • the source distance image which is a two-dimensional image
  • the target distance image which is also a two-dimensional image, as follows. As shown in FIG. 7 , the source distance image is transformed into the source point group data, and then the source point group data is transformed into the target point group data. Then, the target point group data is transformed into the target distance image.
  • each of pixels in the two-dimensional image is disposed in a three-dimensional space.
  • the three-dimensional coordinates of each pixel is acquired by the following expression.
  • X s Y s Z s 1 1 / s 0 0 0 0 1 / s 0 0 0 0 0 0 0 0 0 1 u s v s 0 1
  • the transformation matrix A ICP includes slight movement or rotation in the Z axis direction (three-dimensional coordinate transformation) due to a slight error in the shape or position of each actual printing subject 200.
  • the two-dimensional image is generated from the three-dimensional coordinates of the target point group data by the following expression.
  • u t v t 0 1 s 0 0 0 0 s 0 0 0 0 0 0 0 0 0 1 A 3 D 1 / s 0 0 0 0 1 / s 0 0 0 0 0 0 0 0 0 1 u s v s 0 1
  • the three 4 ⁇ 4 transformation matrices may be summarized into one 4 ⁇ 4 matrix as follows.
  • H 44 h 11 h 12 0 h 14 h 21 h 22 0 h 24 0 0 0 0 0 0 0 1
  • the above expression represents an affine transformation matrix of the two-dimensional coordinates, and therefore may be represented by a 2 ⁇ 3 matrix as follows. This is set as the third transformation matrix.
  • u t v t h 11 h 12 h 14 h 21 h 22 h 24 u s v s
  • the printing image disposer 330 transforms the printing image, disposed on the source distance image displayed on the display screen by the operator, by use of the third transformation matrix to dispose the printing image on each target distance image in accordance with the position or posture of the target distance image. More specifically, the printing image is disposed on each target distance image by use of the third transformation matrix, such that the position and posture of the printing image disposed on the source distance image match those of each target distance image.
  • the printing data generator 332 generates printing data based on the printing image disposed on each target distance images by the printing image disposer 330.
  • the storage 308 stores the printing data generated by the printing data generator 306 and also stores, for example, various types of information necessary to perform the printing on the printing subjects 200.
  • the display 310 causes the display screen to display the images acquired by the recognizer 304 as well as various types of images and information.
  • the display 310 also changes the content to be displayed based on information input by the operator pressing an operation button (not shown).
  • desired printing is performed on the printing subjects 200 having a three-dimensional shape as follows.
  • camera calibration and calibration on the camera 26 and the top surface 14a (printing coordinate system) of the table 14 are performed on the printing device 10 at a predetermined timing, for example, at the time of shipping of the printing device 10 from the plant or at the time of exchange of the camera 26.
  • the camera calibration is performed independently from the printing device 10 by use of a separate LCD (liquid crystal display).
  • the camera 26 is installed in the printing device 10, and the installation calibration is performed to find the position relationship and the posture relationship between the camera 26 and the top surface 14a of the table 14. This will be described more specifically.
  • an image of a checkered pattern is captured in the entirety of the angle of view of the camera 26, and a camera parameter is calculated by use of the Zhang technique.
  • Used as the checkered pattern is not the checkered pattern drawn on the top surface 14a of the table 14, but is a checkered pattern displayed on the LCD.
  • a method for calculating the camera parameter by use of the Zhang technique is disclosed in, for example, Japanese Patent No. 4917351 and will not be described herein.
  • Calculated by the camera calibration are a camera inside parameter (Ac), a camera outside parameter ([Rc, Tc]), a projector inside parameter (Ap), and a projector outside parameter ([Rp, Tp]).
  • an affine transformation matrix H R2P usable to transform the three-dimensional coordinate system of the camera 26 into the printing coordinate system of the printing device 10 is calculated.
  • a sheet is bonded to the top surface 14a of the table 14, and a checker pattern showing an actual printing range is printed on the sheet by the printing device 10 .
  • each of squares in the checker pattern is gray or white and preferably has a size of 20 ⁇ 20 mm.
  • the checker pattern preferably has an overall size of, for example, 300 ⁇ 280 mm.
  • a gray code pattern extending in a u direction (vertical direction) and a gray code pattern extending in a v direction (horizontal direction) are projected to the sheet having the checker pattern printed thereon.
  • a u-direction spatial code image and a v-direction spatial code image are acquired from captured images of the gray code patterns.
  • Checker intersection coordinates are determined at a sub pixel precision on the camera-captured images, and projector image coordinates (u-direction spatial code value and v-direction spatial code value) corresponding to the checker intersection coordinates are determined.
  • three-dimensional coordinates M of checker intersections are determined. More specifically, a simultaneous equation of an expression showing the relationship between the camera coordinate system and the three-dimensional coordinate system, and an expression showing the relationship between the projector coordinate system and the three-dimensional coordinate system, is set.
  • the three-dimensional coordinates are determined from the checker intersection coordinates (uc, vc) and the projector image coordinates u p .
  • the affine transformation matrix H R2P usable to transform the determined three-dimensional coordinate values of the checker intersections into known coordinate values on the checker pattern is determined by a least square method. More specifically, the affine transformation matrix H R2P , which is a 4 ⁇ 4 transformation matrix usable to transform three-dimensional coordinates M R in a measurement coordinate system of the camera 26 into three-dimensional coordinates M P in the printing coordinate system of the printing device 10, is determined.
  • n groups of M R and M P are applied to the following expression to find, by a nonlinear least square method (Levenberg-Marquardt method) , the affine transformation matrix H R2P with which the value obtained by the following expression is minimized.
  • "R" and "T” in the affine transformation matrix H R2P are determined.
  • ⁇ i 0 n ⁇ M ⁇ P ⁇ H R 2 P ⁇ M ⁇ R ⁇ 2
  • R is a 3 ⁇ 3 rotation matrix, and the number of element is “9” .
  • the elements that are actual targets of optimization are three elements of rx, ry, and rz.
  • T is a three-dimensional translation vector, and the degree of freedom is "3".
  • R cos ⁇ I + 1 ⁇ cos ⁇ rr T + sin ⁇ 0 ⁇ r z r y r z 0 ⁇ r x ⁇ r y r x 0
  • FIG. 10 is a flowchart showing the printing data generation process in detail.
  • a three-dimensional information acquisition process is performed (step S1002).
  • the three-dimensional information acquisition process is performed as shown in FIG. 11 .
  • three-dimensional information on each printing subject 200 is acquired by the phase shift spatial coding method (step S1102).
  • step S1102 the three-dimensional information on each of the plurality of printing subjects 200 placed on the table 14 is acquired by the three-dimensional information acquirer 314.
  • step S1104 the acquired three-dimensional coordinates are transformed into values in the printing coordinate system.
  • step S1104 the three-dimensional coordinates in the camera coordinate system acquired by the process of step S1102 are transformed into values in the printing coordinate system by the point group data generator 316.
  • step S1106 three-dimensional information on the height of elements other than the top surface 14a of the table 14, in other words, three-dimensional information representing only the printing surfaces of the printing subjects 200, is acquired (step S1106).
  • step S1004 described later
  • FIG. 12 is a flowchart showing the posture recognition process in detail.
  • the posture recognition process is performed as follows. First, the point group data acquired by the process of step S1002 is divided into a plurality of pieces of point group data each representing one printing subject 200 (step S1202). A reason for performing this is that the point group data acquired by the process of step S1002, which is three-dimensional information, does not show the printing subject 200 to which each point belongs.
  • the point group data which is three-dimensional information representing the plurality of printing subjects 200 placed on the table 14, is divided to generate clusters each representing the printing subject 200 by the cluster generator 318. In this case, each cluster represents one printing subject 200.
  • source point group data and target point group data are set (step S1204) .
  • one of the plurality of clusters is copied to be set as the source point group data, and all the clusters are each set as the target point group data, by the source point group data generator 320.
  • distance images each of which is two-dimensional information
  • step S1206 distance images, each of which is a two-dimensional image in which the Z coordinate is represented by a gray value, are generated from the source point group data and the target point group data by the distance image generator 322.
  • a source distance image is generated from the source point group data
  • target distance images are each generated from the target point group data.
  • the source distance image and the target distance images thus generated may be displayed on the display screen at this point.
  • step S1208 the source distance image and the target distance images are matched to each other.
  • the source distance image is moved such that the center of gravity of the source distance image overlaps the center of gravity of each target distance image by the first transformation matrix calculator 324.
  • the source distance image is rotated one degree by one degree to acquire a normalized cross correlation for each target distance image .
  • An angle at which the normalized cross correlation is highest is acquired as a rotation angle of the source distance image.
  • the first transformation matrix A33 usable to rotate the source distance image by the above rotation angle on each target distance image is calculated by the first transformation matrix calculator 324.
  • the three-dimensional coordinates of the source point group data are transformed (step S1210) .
  • the first transformation matrix A33 is expanded to a 4 ⁇ 4 matrix for transformation of three-dimensional coordinates to acquire the transformation matrix A44 by the second transformation matrix calculator 326.
  • the transformation matrix A44 is used to transform only a two-dimensional component of the three-dimensional coordinates of the source point group data, and thus the source point group data is made close to the target point group data.
  • step S1212 the transformation matrix usable to transform the three-dimensional coordinates of the source point group data is optimized (step S1212).
  • the transformation matrix AICP is calculated by use of the ICP algorithm, and the transformation matrix A44 and the transformation matrix AICP are multiplied to acquire the second transformation matrix A3D, by the second transformation matrix calculator 326.
  • the second transformation matrix A3D acquired by the process of step S1212 is used to calculate a transformation matrix usable to transform the source distance image (two-dimensional image) into the target distance image (two-dimensional image) (step S1214).
  • step S106 the transformation matrix usable to transform the three-dimensional coordinates of the source point group data is optimized.
  • the second transformation matrix A3D acquired by the process of step S1212 is used by the third transformation matrix calculator 328 to calculate the third transformation matrix usable to dispose the printing image, which is a two-dimensional image input onto the source distance image by the operator, on each target distance image in accordance with the position or posture of the corresponding printing subject 200.
  • step S1006 an image that allows the printing image to be input by the operator is displayed on the display screen (step S1006).
  • the source distance image generated by the process of step S1206 is displayed on the display screen by the distance image generator 322 in a state where the printing image can be input by the operator.
  • the source distance image is displayed in a state where the printing image can be disposed or edited by the operator.
  • the operator disposes a desired printing image at a desired position or a desired angle on the source distance image displayed on the display screen.
  • Such a printing image may be generated by the operator by use of predetermined software, or image data input beforehand may be used as such a printing image.
  • step S1008 When the source distance image is displayed on the display screen, it is determined whether or not the printing image has been disposed on the source distance image by the operator (step S1008). Any of various techniques is usable to determine whether or not the printing image has been disposed on the source distance image by the operator. For example, a complete button usable to input information that the disposing of the printing image has been completed may be provided, and it may be determined that the disposing of the printing image has been finished by the complete button being clicked. When it is determined in the process of step S1008 that the printing image has not been disposed on the source distance image by the operator, the process of step S1008 is repeated.
  • step S1008 when it is determined in the process of step S1008 that the printing image has been disposed on the source distance image by the operator, the printing image disposed on the source distance image is disposed on each target distance image by use of the third transformation matrix calculated by the process of step S1214 (step S1010) .
  • the target distance image is set to be displayed on the display screen, a state where the printing image is disposed on the target distance image may be displayed by the process of step S1010.
  • step S1012 printing data is generated based on a plurality of the printing images disposed on each target distance image.
  • step S1012 the printing data is generated by the printing data generator 332 based on the plurality of printing images disposed on each target distance image.
  • the operator issues an instruction to start the printing by, for example, pressing the operation button.
  • the coordinate value representing a greatest height in the three-dimensional information acquired by the process of step S1104 i. e., the highest Z coordinate value
  • the table 14 is moved in the Z-axis direction based on the coordinate value, by the Z-axis direction movement controller 312.
  • the table 14 is moved in the Z-axis direction such that the acquired Z coordinate value representing the greatest height and the Z coordinate value of the position of the printing head 20 (since the printing head 20 does not move in the Z-axis direction, the Z coordinate value of the print head 20 is kept the same) have a predetermined gap therebetween that allows the printing head 20 to perform the printing properly.
  • the printing head 20 is moved in the X-axis direction and the Y-axis direction to perform the printing on the printing surface of each printing subject 200 based on the printing data, under the control of the controller 302.
  • the printing device 10 in this preferred embodiment acquires three-dimensional information on the plurality of printing subjects 200 placed on the table 14, and recognizes the position and posture of each printing subject 200 from the acquired three-dimensional information.
  • the third transformation matrix is acquired that is usable to dispose the printing image, which is a two-dimensional image input onto the source distance image by the operator, on each printing subject 200 in accordance with the position and posture of the printing subject 200.
  • the third transformation matrix is used to dispose the printing image on each target distance image.
  • the printing image is disposed on each printing subject 200 for printing, regardless of the position or posture of the printing subject 200 placed on the table 14.
  • the work of determining the position of each printing subject 200 is made unnecessary, and thus the printing is performed easily. Since it is not necessary to produce a jig in accordance with the shape or size of the printing subject unlike with the conventional technology, the load on the operator is not increased. Since there is no cost of designing or producing the jig, the printing is performed at lower cost than with the conventional technology.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (11)

  1. Dispositif d'impression (10) qui acquiert des informations tridimensionnelles sur au moins un sujet d'impression (200) ayant une forme tridimensionnelle et imprime une image d'impression prédéterminée sous la forme d'une image bidimensionnelle sur le au moins un sujet d'impression (200), le dispositif d'impression (10) comprenant :
    une tête d'impression (20) qui effectue une impression sur le au moins un sujet d'impression (200) ;
    une table (14) qui permet de placer le au moins un sujet d'impression (200) sur celle-ci ;
    un projecteur (24) qui projette un motif prédéterminé sur le au moins un sujet d'impression (200) placé sur la table (14) ;
    un générateur d'image qui capture une image du au moins un sujet d'impression (200) ayant le motif prédéterminé projeté sur celui-ci ;
    un dispositif d'acquisition d'informations tridimensionnelles (314) qui acquiert une image de code spatial à partir de l'image capturée par le dispositif de capture d'image et acquiert les informations tridimensionnelles sur le au moins un sujet d'impression (200) à partir de l'image de code spatial acquise ;
    un dispositif de reconnaissance (304) qui reconnaît une position et une posture de chacun des au moins un sujet d'impression (200) à partir des informations tridimensionnelles acquises ;
    le dispositif d'impression (10) étant caractérisé par
    un dispositif de disposition (330) qui dispose l'image d'impression sur chacun des au moins un sujet d'impression (200) en fonction de la position et de la posture de celui-ci ; et
    un générateur de données d'impression (306) qui génère des données d'impression représentant l'image d'impression disposée par le dispositif de disposition (330).
  2. Dispositif d'impression (10) selon la revendication 1, comprenant en outre :
    un dispositif d'ajustement qui acquiert des informations de hauteur sur une hauteur la plus grande du au moins un sujet d'impression (200) à partir des informations tridimensionnelles et ajuste un espace entre la table (14) et la tête d'impression (20) en utilisant des informations de hauteur acquises.
  3. Dispositif d'impression (10) selon la revendication 1 ou 2, dans lequel :
    le projecteur (24) projette un motif binaire en tant que motif prédéterminé sur le au moins un sujet d'impression (200) tout en décalant le motif binaire ;
    le générateur d'image capture une image du motif binaire projeté chaque fois que le motif binaire est décalé ; et
    le dispositif d'acquisition d'informations tridimensionnelles (314) acquiert une image de déphasage formée par une synthèse des images du motif binaire capturé chaque fois que le motif binaire est décalé, et acquiert les informations tridimensionnelles à partir d'une image de synthèse formée par une synthèse de l'image de déphasage acquise et de l'image de code spatial.
  4. Dispositif d'impression (10) selon l'une quelconque des revendications 1 à 3, dans lequel :
    le au moins un sujet d'impression (200) comprend une pluralité de sujets d'impression (200), et le dispositif de reconnaissance (304) comprend :
    un diviseur (318) qui divise des données de groupe de points en tant qu'informations tridimensionnelles sur la pluralité de sujets d'impression (200) placés sur la table (14) en une pluralité de données de groupe de points, chacune représentant l'un de la pluralité de sujets d'impression (200) ;
    un dispositif de réglage (320) qui définit, en tant que premières données de groupe de données, des données de groupe de points sur l'un de la pluralité de sujets d'impression (200) sur lesquels l'opérateur est autorisé à entrer l'image imprimée, parmi la pluralité pièces de données de groupe de points, et définit chacune de la totalité de la pluralité de pièces de données de groupe de points en tant que secondes données de groupe de points ;
    un générateur d'image de distance (322) qui génère une première image de distance en tant qu'informations bidimensionnelles à partir des premières données de groupe de points, et génère une seconde image de distance en tant qu'informations bidimensionnelles à partir des secondes données de groupe de points ;
    un premier calculateur qui calcule une première matrice de transformation utilisable pour rendre la première image de distance proche de la seconde image de distance ;
    un deuxième calculateur qui développe la première matrice de transformation en une matrice de transformation utilisable pour effectuer une transformation en coordonnées tridimensionnelles, et calcule une deuxième matrice de transformation utilisable pour transformer les premières données de groupe de points de sorte que les premières données de groupe de points soient proches des secondes données de groupe de points ; et
    un troisième calculateur qui calcule, à partir de la deuxième matrice de transformation, une troisième matrice de transformation utilisable pour disposer l'image d'impression, entrée sur la première image distante, sur la seconde image distante ; et
    le dispositif de transformation (330) transforme l'image d'impression sur la première image de distance en utilisant la troisième matrice de transformation et dispose l'image d'impression sur la seconde image de distance.
  5. Dispositif d'impression (10) selon l'une quelconque des revendications 2 à 4, dans lequel :
    la tête d'impression (20) est une tête à jet d'encre qui injecte de l'encre par un système à jet d'encre.
  6. Dispositif d'impression (10) selon la revendication 4 ou 5, dans lequel pour calculer la première matrice de transformation, le premier calculateur modifie la première image de distance de sorte qu'un centre de gravité de la première image chevauche un centre de gravité de la seconde image de distance, et fait tourner la première image de distance en unités d'un angle prédéterminé de telle sorte que la première image de distance est proche de la seconde image de distance.
  7. Procédé d'impression par l'intermédiaire duquel des informations tridimensionnelles sur au moins un sujet d'impression (200) ayant une forme tridimensionnelle qui est placé sur une table (14) sont acquises, et une image d'impression prédéterminée sous la forme d'une image bidimensionnelle est imprimée sur le au moins un sujet d'impression (200), le procédé d'impression comprenant :
    la projection d'un motif prédéterminé sur le au moins un sujet d'impression (200) placé sur la table (14) ;
    la capture d'une image du au moins un sujet d'impression (200) ayant le motif prédéterminé projeté sur celui-ci ;
    l'acquisition d'une image de code spatial à partir de l'image capturée, et l'acquisition d'informations tridimensionnelles sur le au moins un sujet d'impression (200) à partir de l'image de code spatial acquise ;
    la reconnaissance d'une position et d'une posture de chacun des au moins un sujet d'impression (200) à partir des informations tridimensionnelles acquises ;
    la disposition de l'image d'impression sur chacun des au moins un sujet d'impression (200) en fonction de la position et de la posture de ceux-ci ; et
    la génération de données d'impression sur l'image d'impression disposée sur le au moins un sujet d'impression (200) ;
    le procédé d'impression étant caractérisé par
    l'acquisition d'informations de hauteur sur une hauteur la plus grande du au moins un sujet d'impression (200) à partir des informations tridimensionnelles ; et
    l'ajustement, par l'utilisation des informations de hauteur acquises, d'un espace entre la table (14) et une tête d'impression (20) qui effectue une impression sur le au moins un sujet d'impression (200).
  8. Procédé d'impression selon la revendication 7, dans lequel :
    un motif binaire en tant que motif prédéterminé est projeté sur le au moins un sujet d'impression (200) tout en étant décalé ;
    une image du motif binaire est capturée chaque fois que le motif binaire est décalé ; et
    une image de déphasage formée par une synthèse des images du motif binaire capturée chaque fois que le motif binaire est décalé est acquise, et les informations tridimensionnelles sont acquises à partir d'une image de synthèse formée par une synthèse de l'image de déphasage acquise et du code spatial image.
  9. Procédé d'impression selon la revendication 7 ou 8, dans lequel :
    le au moins un sujet d'impression (200) comprend une pluralité de sujets d'impression (200) ;
    des données de groupe de points en tant qu'informations tridimensionnelles sur la pluralité de sujets d'impression (200) placés sur la table (14) sont divisées en une pluralité de pièces de données de groupe de points, chacune représentant l'un de la pluralité de sujets d'impression (200) ;
    des données de groupe de points sur l'un de la pluralité de sujets d'impression (200) sur lesquels l'opérateur est autorisé à entrer l'image d'impression, parmi la pluralité de groupes des données, sont définies en tant que premières données de groupe de points, et chacune de la pluralité de pièces de données de groupe de données est définie en tant que secondes données de groupe de points ;
    une première image de distance en tant qu'informations bidimensionnelles est générée à partir des premières données de groupe de points, et une seconde image de distance en tant qu'informations bidimensionnelles est générée à partir des secondes données de groupe de points ;
    une première matrice de transformation utilisable pour rendre la première image de distance proche de la seconde image de distance est calculée ;
    la première matrice de transformation est développée en une matrice de transformation utilisable pour effectuer une transformation en coordonnées tridimensionnelles, et une deuxième matrice de transformation utilisable pour transformer les premières données de groupe de points de telle sorte que les premières données de groupe de points soient proches des secondes données de groupe de points est calculée ; et
    une troisième matrice de transformation utilisable pour disposer l'image d'impression, entrée sur la première image de distance, sur la seconde image de distance est calculée à partir de la deuxième matrice de transformation ; et
    l'image d'impression sur la première image de distance est transformée par l'utilisation de la troisième matrice de transformation, et l'image d'impression est disposée sur la seconde image de distance.
  10. Procédé d'impression selon l'une quelconque des revendications 7 à 9, dans lequel :
    la tête d'impression (20) est une tête à jet d'encre qui injecte de l'encre par un système à jet d'encre.
  11. Procédé d'impression selon la revendication 9 ou 10, dans lequel, pour calculer la première matrice de transformation, la première image de distance est déplacée de sorte qu'un centre de gravité de la première image de distance chevauche un centre de gravité de la seconde image de distance, et la première image de distance est tournée en unités d'un angle prédéterminé de telle sorte que la première image de distance est proche de la seconde image de distance.
EP15172896.1A 2015-06-19 2015-06-19 Dispositif et procédé d'impression Not-in-force EP3106312B1 (fr)

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US10759190B2 (en) 2017-10-31 2020-09-01 Nike, Inc. Image registration for printing
JP2023145192A (ja) * 2022-03-28 2023-10-11 富士フイルムビジネスイノベーション株式会社 情報処理装置及び情報処理プログラム

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JP2007136764A (ja) 2005-11-16 2007-06-07 Yoshida Industry Co Ltd Ｕｖ硬化型インクジェットプリンターに用いる立体形状印刷物用印刷治具、立体形状印刷物の印刷方法、並びに立体形状印刷物
JP4944435B2 (ja) 2005-12-07 2012-05-30 ローランドディー．ジー．株式会社 三次元形状の測定方法およびその装置
JP4874657B2 (ja) 2006-01-18 2012-02-15 ローランドディー．ジー．株式会社 三次元形状の測定方法およびその装置
JP4917351B2 (ja) 2006-05-16 2012-04-18 ローランドディー．ジー．株式会社 ３次元形状測定装置におけるキャリブレーション方法
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JP6058465B2 (ja) * 2013-05-13 2017-01-11 ローランドディー．ジー．株式会社 印刷装置および印刷方法
WO2014207007A1 (fr) * 2013-06-26 2014-12-31 Oce-Technologies B.V. Procédé de production d'impressions sur une imprimante à plat, appareil et programme informatique associés

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