Processing system, processing method, command device, method and program for controlling processing system, and robot operation control program

Abstract

The present invention improves the efficiency of processing media when a process is automated in a processing system.　A processing system 1 comprises a printer 4 that performs a process for discharging ink onto a medium M, and a robot 5 that supplies the medium M to the printer 4 and retrieves the medium M processed by the printer 4, the processing system 1 also comprising a job management unit 91 that, upon setting of an automation setting period, which is a time band in which the printer 4 and the robot 5 are automatically operated, determines a processing order for a plurality of pieces of processing data created for each job in the automation setting period. The job management unit 91 determines the processing order on the basis of the number of copies of the medium M set in each job, the number of stocks of the medium M, and the processing time required for the processing of the medium M estimated for each piece of processing data.

Description

Processing system, processing method, command device, processing system control method and program, and robot operation control program

[0001] The present invention relates to a processing system, a processing method, a command device, a control method and program for a processing system, and a robot operation control program.

[0002] The processing system includes, for example, a droplet ejection device (e.g., a printer). The droplet ejection device performs a process of ejecting droplets onto media placed on a table. To perform processing using the droplet ejection device, it is necessary to supply the media to the table and then collect the processed media from the table. Deploying workers to supply and collect the media increases labor costs. To reduce labor costs, it has been proposed to automate the production of printed materials by using a robot that supplies and collects media in the processing system (see, for example, Patent Document 1).

[0003] JP 2012-183595 A

[0004] In an automated processing system, if the media stock runs out during unmanned operation, such as at night, the system cannot replenish media, and therefore printing processing cannot be carried out even if unprocessed print data remains, which can result in reduced processing efficiency.

[0005] Therefore, when processing is automated in a processing system, there is a demand for reducing the time during which media processing is unavailable, thereby improving media processing efficiency.

[0006] Furthermore, for example, when multiple droplet ejection devices are installed in a processing system, a situation may arise in which a robot is required to both supply and collect media simultaneously. However, a robot typically cannot accept another operation command until it has completed an operation based on one operation command. As a result, the robot may not be able to efficiently complete both supply and collection in a single operation, which may affect the media processing efficiency of the processing system.

[0007] In a processing system, a robot is required to efficiently supply and retrieve media to and from a droplet ejection device.

[0008] A processing system according to one aspect of the present invention is a processing system comprising: (1) a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, and comprises an order determination unit that, when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are operated automatically, determines the processing order of multiple processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

[0009] (2) The processing system of (1) further comprises an estimation unit that estimates the processing time based on the processing data, wherein the processing time includes the time required for the droplet ejection process on the medium by the droplet ejection device, and the processing data includes data regarding the operation of the ejection unit that ejects the droplets and data regarding an image formed by ejecting the droplets on the medium, and the estimation unit improves the estimation accuracy of the droplet ejection process time by machine learning at least one piece of data included in the processing data.

[0010] (3) The processing system of (1) further comprises an estimation unit that estimates the processing time based on the processing data, wherein the processing time includes the time required for the droplet ejection process on the medium by the droplet ejection device, and the processing data includes data regarding the operation of the ejection unit that ejects the droplets and data regarding an image formed by ejecting the droplets on the medium, and the estimation unit estimates the time required for the droplet ejection process based on a table that indicates the correspondence between at least one piece of data included in the processing data and the processing time of the medium by the droplet ejection device.

[0011] (4) In any of the processing systems (1) to (3), an estimation unit is provided that estimates the processing time based on the processing data, the processing time including transport time for the robot to supply the media to the droplet ejection device and collect the media from the droplet ejection device, the processing data including data regarding the robot's transport operation, and the estimation unit estimates the transport time based on the data regarding the transport operation.

[0012] (5) In the processing system of (4), the robot acquires the media stocked at a supply location and supplies it to the droplet ejection device, and is equipped with a sensor that can acquire information regarding the number of media stocked at the supply location.

[0013] (6) In the processing system of (5), the sensor can acquire at least one piece of information regarding the number of media stocked for each type at the supply location, the stock location, and the placement location in the droplet ejection device, and the robot acquires media of the type corresponding to the processing data from the supply location based on the information acquired by the sensor.

[0014] (7) In any of the processing systems (1) to (6), when the number of media stocked is insufficient for the total number of media processing times set in the plurality of processing data, the order determination unit extracts, for each type of media, a combination of processing data in which the total number of processing times is less than or equal to the number of media stocked, and places the processing order of the processing data constituting the combination with the largest total number of processing times first.

[0015] (8) In the processing system of (7), when there are multiple pieces of missing processing data whose stock quantity is insufficient compared to the processing quantity, the order determination unit compares the estimated processing times for each piece of missing processing data, and places the missing processing data with the longer processing time in the processing order before the missing processing data with the shorter processing time.

[0016] (9) In the processing system of (7), when there are multiple pieces of insufficient processing data whose stock number is insufficient compared to the processing number, the order determination unit compares the processing number of each piece of insufficient processing data and sets the processing order of the insufficient processing data with a larger processing number before the processing order of the insufficient processing data with a smaller processing number.

[0017] A processing system according to one aspect of the present invention is (10) a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, and comprises an order determination unit that, when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are operated automatically, determines a processing order for multiple processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the remaining amount of droplets in the droplet ejection device and the consumption amount of droplets required to process the media estimated for each of the processing data.

[0018] A processing system according to one aspect of the present invention is (11) a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, and comprises an order determination unit that, when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are operated automatically, determines a processing order for a plurality of processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the degree of association between each of the processing data and the processing failure estimated from historical information of processing failures that have occurred in the droplet ejection device.

[0019] (12) In any of the processing systems (1) to (11), the processing system has a notification unit that notifies of a defect that occurs in at least one of the droplet ejection device and the robot, and the notification unit issues the notification after the automation setting period has elapsed.

[0020] A control method for a processing system in one aspect of the present invention is (13) a control method for a processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, the control method comprising an order determination step of determining a processing order of multiple processing data created for each job to be executed during an automation setting period when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are operated automatically, and the order determination step determines the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

[0021] A control program for a processing system in one aspect of the present invention is (14) a control program for a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, wherein, when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are operated automatically, the program causes an electronic device to determine a processing order for multiple processing data created for each job to be executed during the automation setting period, and causes the electronic device to determine the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

[0022] Furthermore, a processing system according to one aspect of the present invention is (15) a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto a medium; and a robot that supplies and recovers the medium to and from the droplet ejection device in response to a supply request and a recovery request from the droplet ejection device, wherein, when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the robot, as a series of operations, supplies the medium to the droplet ejection device that outputs the supply request and then recovers the medium from the droplet ejection device that outputs the recovery request.

[0023] (16) In the processing system of (15), the robot supplies or recovers the media along a movement path that is set in advance for each droplet ejection device, and the robot performs the series of operations when the droplet ejection device that outputs either the supply request or the recovery request is located on the movement path to the droplet ejection device that outputs the other request.

[0024] (17) The processing system of (15) further comprises a path creation device that creates a movement path for the robot in the series of operations based on the positional relationship between the droplet ejection device that outputs either the supply request or the recovery request and the droplet ejection device that outputs the other request.

[0025] (18) In the processing system of (17), the droplet ejection device has a table on which multiple media can be placed, and the path creation device creates a movement path for the robot in the series of operations based on the positional relationship and the position of the media placement location on each droplet ejection device.

[0026] (19) In any of the processing systems (15) to (18), when the droplet ejection device outputs either the supply request or the recovery request, if there is a droplet ejection device that is expected to output the other request, the robot waits until the other request is output and then performs the series of operations.

[0027] (20) The processing system of (19) further comprises a determination device that determines whether the robot should wait for a certain time until the other request is output, based on data relating to the time required for processing by the droplet ejection device and the time required for the robot to operate.

[0028] (21) In the processing system of any one of (15) to (20), the droplet ejection device is provided with a table on which a plurality of media can be placed, and is capable of outputting the supply request and the recovery request for each medium placed on the table, and when there is a droplet ejection device that outputs both the supply request and the recovery request, the robot performs the series of operations by prioritizing that droplet ejection device.

[0029] (22) In any of the processing systems (15) to (21), the droplet ejection device comprises a table on which the media is placed, and a head unit disposed opposite the table and displacing relative to the table to eject the droplets onto the media placed on the table, and at least one of the supply request and the recovery request is composed of a signal notifying the relative displacement of the head unit with respect to the table.

[0030] (23) In any of the processing systems (15) to (22), the droplet ejection device performs a process of ejecting the droplets onto the medium based on a print job, and at least one of the supply request and the recovery request is composed of a signal notifying input or completion of the print job.

[0031] (24) In any of the processing systems (15) to (23), the droplet ejection device includes a first droplet ejection device that forms a first layer on the medium using the droplets, and a second droplet ejection device that forms a second layer on the medium using the droplets, and the robot supplies the medium collected from the first droplet ejection device that outputs the collection request to the second droplet ejection device that outputs the supply request as part of the series of operations.

[0032] (25) In the processing system of (24), the droplet ejection device has a table on which multiple media can be placed and is capable of outputting the supply request and the recovery request for each piece of media placed on the table, and the robot supplies the media recovered from a predetermined location on the table of the first droplet ejection device to a position on the table of the second droplet ejection device corresponding to the predetermined location.

[0033] (26) In any of the processing systems (15) to (25), a processing device is provided that performs pre-processing or post-processing of the media for the droplet ejection device, and the robot, together with the droplet ejection device, supplies and recovers the media from the processing device as part of the series of operations.

[0034] A processing method according to one aspect of the present invention is (27) a processing method in a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto a medium; and a robot that supplies and recovers media to and from the droplet ejection device in response to supply requests and recovery requests from the droplet ejection device, wherein, when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the robot, as a series of operations, supplies the media to the droplet ejection device that outputs the supply request, and then recovers the media from the droplet ejection device that outputs the recovery request.

[0035] A command device in one aspect of the present invention is (28) a command device in a processing system including a droplet ejection device that performs a process of ejecting droplets onto a medium, and a robot that supplies and recovers the medium to the droplet ejection device, the command device outputs an operation command to the robot in response to a supply request and a recovery request from the droplet ejection device, wherein when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the command device outputs a command to the robot to instruct a series of operations to supply the medium to the droplet ejection device that outputs the supply request and then recover the medium from the droplet ejection device that outputs the recovery request.

[0036] The robot operation control program in one aspect of the present invention is (29) an operation control program for a robot in a processing system including: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies and recovers media to and from the droplet ejection device in response to supply requests and recovery requests from the droplet ejection device, wherein, when an electronic device has a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the program outputs a command to the robot instructing it to perform a series of operations to supply the media to the droplet ejection device that outputs the supply request, and then recover the media from the droplet ejection device that outputs the recovery request.

[0037] According to the present invention, when processing is automated in a processing system, the time during which media processing is unavailable can be reduced, thereby improving media processing efficiency.

[0038] 12. A diagram showing an example of the configuration of a processing system according to an embodiment. A diagram explaining collaboration between a printer and a robot. A diagram explaining an inventory sensor. A diagram showing an example of the hardware configuration of an electronic device. A block diagram showing the configuration of a processing system. A diagram explaining an example of a job list. A flowchart explaining the processing flow of an electronic device. A flowchart explaining details of determining the job processing order in step S05 of FIG. 7. A diagram explaining a specific example of determining the job processing order. A diagram explaining a specific example of determining the job processing order. A block diagram showing the configuration of a processing system according to Modification 1. A flowchart explaining the processing flow of an electronic device according to Modification 1. A flowchart explaining details of determining the job processing order in step S104 of FIG. 12. A block diagram showing the configuration of a processing system according to Modification 2. A diagram showing an example of the configuration of a processing system 1. A diagram explaining the configuration of a printer and a robot. A schematic diagram explaining the operation of a printer in printing processing. A conceptual diagram explaining the movement path of a robot when supplying and collecting media. A diagram showing an example of the hardware configuration of an electronic device. A block diagram showing the functional configuration of an electronic device. A diagram explaining operation commands when a robot supplies and collects media as independent operations. A diagram explaining operation commands when a robot supplies and collects media as a series of operations. A flowchart showing processing of an electronic device according to an embodiment. FIG. 1 is a schematic diagram showing the configuration of a processing system according to Modification 1. FIG. 2 is a diagram explaining an example of output of a supply request and a collection request. FIG. 3 is a block diagram showing the functional configuration of an electronic device according to Modification 1. FIG. 4 is a diagram showing an example of creating a movement path for a robot to perform a series of operations. FIG. 5 is a flowchart showing the processing of an electronic device according to Modification 1. FIG. 6 is a diagram showing an example of operation when a robot supplies and collects media by prioritizing the same printer. FIG. 7 is a block diagram showing the functional configuration of an electronic device in a processing system according to Modification 2. FIG. 8 is a flowchart showing the processing of an electronic device according to Modification 2. FIG. 9 is a diagram showing an example of the configuration of a processing system according to Modification 3.

[0039] First Embodiment An embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of the configuration of a processing system 1 according to an embodiment. FIG. 1 is a schematic diagram illustrating the processing system 1 as viewed from above in the direction of gravity. FIG. 2 is a diagram illustrating the cooperation of a printer 4 and a robot 5. In FIG. 2, media M is hatched to make it easier to understand their positional relationship. FIG. 3 is a schematic diagram illustrating an inventory sensor 6. In FIG. 3, light-emitting elements 610A and 610B and light-receiving elements 620A and 620B are cross-hatched. Furthermore, the thickness of media MA and MB is exaggerated in FIG. 3.

[0040] 1, the processing system 1 includes, for example, a printer 4, which is an example of a droplet ejection device, a robot 5, and electronic equipment 9. The printer 4 performs a printing process by ejecting droplets onto a medium M placed on a table 42. In the embodiment, an example is shown in which the printing process is performed on two types of media M (MA, MB). Note that, unless a distinction is made between the media MA and MB, the media MA and MB are also collectively referred to as media M.

[0041] In the following explanation, the positional relationship will be described based on the X, Y, and Z directions in Figure 1. The Z direction is the direction along the direction of gravity, and is the direction from the front side to the back side of the paper in Figure 1. The X and Y directions are directions perpendicular to the Z direction. The X direction is the direction along the sub-scanning direction of the printer 4 (the up-down direction in the figure). The Y direction is the direction along the main scanning direction of the printer 4 (the left-right direction in the figure).

[0042] The robot 5 picks up the unprinted media M stored at the supply location and supplies them to the printer 4. The robot 5 also picks up the printed media M from the printer 4 and stores them at the recovery location. Note that in FIG. 1, the printed media M are cross-hatched. In FIG. 1, one printer 4 and one robot 5 are shown as an example. The processing system 1 may be equipped with multiple printers 4 and multiple robots 5.

[0043] The printer 4 and robot 5 are communicatively connected to the electronic device 9 via a LAN network or by wireless communication. The electronic device 9 can be located, for example, in an area A2 where workers (users) reside, separate from the processing area A1 where the printer 4 and robot 5 are located. The electronic device 9 is a device that comprehensively manages the progress of processing of the media M, and transmits data necessary for processing the media M to the printer 4 and robot 5.

[0044] The shape and material of the medium M used for printing are not limited to any particular one, and any material may be used as long as it can be printed on by the printer 4 and transported by the robot 5. The medium M can be made of, for example, plastic such as acrylic resin, paper, wood, ceramics, metal, food, leather, etc. In FIG. 1, a thin panel is shown as an example of the medium M.

[0045] As shown in Figure 1, in processing area A1, supply trays 7 (7A, 7B) are arranged at the supply location of media M (MA, MB), and collection trays 8 (8A, 8B) are arranged at the collection location. Media MA, MB before printing are stocked in multiple stacks in the Z direction on the upper surfaces 71, 71 of supply trays 7A, 7B, respectively (see Figure 3). Media MA, MB after printing are stocked in multiple stacks in the Z direction on the upper surfaces 81, 81 of collection trays 8A, 8B, respectively.

[0046] The supply tray 7 and recovery tray 8 for stocking media M shown in FIG. 1 are merely examples and can be modified as appropriate. For example, a supply box and recovery box for storing media M may be used instead of the supply tray 7 and recovery tray 8. Furthermore, a single belt conveyor may be provided across the processing area A1 in the Y direction, and the supply of media M before printing and the recovery of media M after printing may be performed using the same belt conveyor. When a belt conveyor is used, the supply tray 7 for media M before printing may be located upstream of the belt conveyor, and the recovery tray 8 for media M after printing may be located downstream. In this case, for example, a robot with a configuration similar to the robot 5 may be used to supply media M before printing from the supply tray 7 to the belt conveyor and to recover media M after printing from the belt conveyor to the recovery tray 8. Furthermore, the belt conveyor may be divided into upstream and downstream sections across the printer 4.

[0047] <Printer 4> The printer 4 is an example of a droplet ejection device, and performs a printing process by ejecting droplets of ink or other liquid onto the medium M. As shown in FIG. 1 , the printer 4 includes a table 42 on which the medium M is placed. The upper surface of the table 42 in the Z direction is a placement surface 42a for the medium M. As an example, the table 42 can be rectangular and extend along the Y and X directions when viewed from the Z direction. The table 42 can be large enough to accommodate multiple media M, for example.

[0048] The printer 4 includes a carriage 43 arranged above the table 42 facing the mounting surface 42 a, a guide bar 44 that supports the carriage 43 , and a printer cover 45 that covers the carriage 43 and the guide bar 44 from above.

[0049] When viewed from the Z direction, the guide bar 44 is provided across the table 42 in the Y direction. One end 44a and the other end 44b of the guide bar 44 in the Y direction each protrude beyond the table 42 in the Y direction.

[0050] A head 41 (ejection unit) that ejects ink is mounted on the carriage 43. By moving the carriage 43 in the Y direction along the guide bar 44, the head 41 mounted on the carriage 43 also moves in the Y direction.

[0051] The table 42 is provided so as to be movable in the Z direction and in a direction perpendicular to the Z direction (the X direction or the Y direction) by a drive mechanism (not shown). In the arrangement example of Fig. 1, the table 42 is movable in the X direction.

[0052] 2, the medium M is placed on the upper surface 42a of the table 42. The table 42 moves in the X direction to displace between a printing position XPa below the printer cover 45 and an offset position XPb that is a position away from the printer cover 45 when viewed in the Z direction.

[0053] With the table 42 positioned at offset position XPb, the robot 5 supplies the medium M to the table 42. After the medium M is supplied, the table 42 moves to printing position XPa. At printing position XPa, the medium M placed on the table 42 faces the head 41 with a small gap between them. The position of the table 42 in the Z direction is adjusted according to the thickness of the medium M and the position of the head 41 so that a gap between the media M and the head 41 can be secured.

[0054] The underside 41a of the head 41 is provided with a plurality of nozzles (not shown) for ejecting ink. When performing a printing process, the printer 4 ejects ink from the head 41 onto the medium M at the printing position XPa while moving the carriage 43 in the Y direction. After the head 41 has completed one reciprocating movement in the Y direction (one pass), the printer 4 moves the table 42 a predetermined distance in the X direction, and then ejects ink from the head 41 while moving the carriage 43 in the Y direction again. In other words, the printer 4 can print on the medium M by alternately repeating one reciprocating movement of the head 41 in the Y direction (one pass) and an operation of feeding the medium M a predetermined distance in the X direction.

[0055] When printing is complete, the table 42 moves from the printing position XPa to the offset position XPb. At the offset position XPb, the robot 5 retrieves the medium M on which printing has been completed from the table 42. Note that the printer 4 may also be configured such that the table 42 is fixed and the guide bar 44 moves in the X direction together with the head 41.

[0056] The ink used in the printer 4 is not limited to a specific type, but may be, for example, ultraviolet curable ink that is cured by ultraviolet light or heat curable ink that is cured by heat. In this case, although not shown, the carriage 43 of the printer 4 may be equipped with an ultraviolet irradiation device or a heating device for curing the ink ejected onto the medium M. Furthermore, the droplets ejected by the printer 4 are not limited to ink, and any droplets having a viscosity that allows them to adhere to the medium M may be used as appropriate.

[0057] The head 41 may eject ink of a single color, or may eject ink of multiple colors. The ink may be, for example, C (cyan), M (magenta), Y (yellow), or K (black) process color ink (hereinafter referred to as "color ink"). The ink may alternatively be special color ink such as LC (light cyan), LM (light magenta), Gy (gray), W (white), CL (clear), Pr (primer), O (orange), violet, metallic colors (gold, silver), or fluorescent colors.

[0058] 1, a maintenance unit 49 is provided at one end 44a of the guide bar 44. Although not shown, the maintenance unit 49 has a built-in device that flushes and cleans the nozzles of the head 41. When the carriage 43 moves to the one end 44a of the guide bar 44, the maintenance unit 49 flushes and cleans the head 41.

[0059] An ink supply device 48 is provided at the other end 44b of the guide bar 44. An ink tank 481 is built into the ink supply device 48. The ink tank 481 and the head 41 are connected via an ink tube (not shown), and ink is supplied from the ink tank 481 to the head 41.

[0060] 1, the printer 4 includes a controller 46 that controls the operation of each unit. The controller 46 is communicably connected to the electronic device 9. The controller 46 performs printing processing by controlling the operation of each unit of the printer 4 based on print data input from the electronic device 9. The controller 46 controls, for example, the ejection of ink by the head 41, the movement of the table 42, flushing and cleaning by the maintenance unit 49, and the supply of ink from an ink tank in the ink supply device 48 to the head 41.

[0061] <Robot 5> The robot 5 is not limited to a specific type as long as it is capable of acquiring and transporting media M. For example, a horizontally articulated robot (a so-called SCARA robot) or a vertically articulated robot, as shown in FIG. 1, can be used. A SCARA robot is composed of a combination of multiple arms that rotate horizontally. To ensure the safety of workers, the area including the rotation range of the robot's arms can be isolated by a safety fence or the like. Alternatively, a collaborative robot that can operate in the same space as workers can be used as the robot.

[0062] The robot 5 includes a base 51, an arm 52 supported by the base 51, an arm 53 supported by the arm 52, and an arm 54 supported by the arm 53. The arms 52, 53, and 54 each extend horizontally.

[0063] The base 51 is disposed, for example, on the floor surface F of an area surrounded by the printer 4, the supply table 7, and the recovery table 8. The base end of the arm 52 is supported on the upper surface of the base 51 so as to be rotatable about an axis Z1 along the Z direction. The base end of the arm 53 is supported on the tip of the arm 52 so as to be rotatable about an axis Z2 parallel to the axis Z1. The base end of the arm 54 is supported on the tip of the arm 53 so as to be rotatable about an axis Z3 parallel to the axes Z1 and Z2.

[0064] A shaft 55 extending in the Z direction passes through the tip of the arm 54. The shaft 55 is movable up and down by a drive mechanism (not shown). The robot 5 can move the shaft 55 in the X and Y directions by combining the rotation ranges of the arms 52, 53, and 54. The robot 5 is positioned so that the supply trays 7A and 7B, the collection trays 8A and 8B, and the table 42 of the printer 4 displaced to the offset position XPb (see FIG. 2) are located within the reachable range of the shaft 55.

[0065] 1, the robot 5 is arranged side by side in the X direction relative to the table 42 of the printer 4. The supply trays 7A and 7B are arranged side by side in the X direction opposite the maintenance unit 49 of the printer 4. The recovery trays 8A and 8B are arranged side by side in the X direction opposite the ink supply device 48 of the printer 4. The base 51 of the robot 5 is arranged between the supply trays 7A and 7B and the recovery trays 8A and 8B in the Y direction.

[0066] 2, a suction pad 56, for example, is provided at the bottom end of the shaft 55 as a mechanism for gripping the media M. The suction pad 56 can adhere to the media M by applying negative pressure while in contact with the surface of the media M. The suction pad 56 can also release the media M by applying positive pressure from the state in which it has adhered to the media M. Note that the mechanism for gripping the media M of the robot 5 is not limited to the suction pad 56, and other mechanisms may be used as appropriate, such as a mechanism for gripping the outer periphery of the media M with a hand unit having two or three claws.

[0067] 1, the robot 5 is equipped with a controller 50 that controls the operation of each part. Teaching data for automatically operating the robot 5 is set in the controller 50 through a prior teaching operation. The controller 50 is also connected to an electronic device 9 so as to be able to communicate with the electronic device 9. The controller 50 controls the operation of the robot 5 based on operation commands input from the electronic device 9.

[0068] 1, an inventory sensor 6 (6A, 6B) is provided on each of the supply trays 7A and 7B. The inventory sensor 6A detects the number of media MA stacked on the supply tray 7A. The inventory sensor 6B detects the number of media MB stacked on the supply tray 7B.

[0069] The inventory sensor 6 can be a distance sensor that measures the distance to an object. Examples of distance sensors that can be used include optical sensors, millimeter wave sensors, ultrasonic sensors, and stereo cameras. Using a distance sensor can acquire information such as the number of media M in stock, the location where the media M are in stock, and the location where the media M are released on the table 42 of the printer 4. In the following explanation, an example will be given in which the inventory sensor 6 is an optical sensor having a light-emitting unit 61 and a light-receiving unit 62.

[0070] As shown in Figure 3, the inventory sensor 6A is provided on the upper surface 71 of the supply table 7A. The light-emitting unit 61A and the light-receiving unit 62A of the inventory sensor 6A are provided on one side and the other side of the media MA. The light-emitting unit 61A and the light-receiving unit 62A have a light-emitting element 610A and a light-receiving element 620A disposed opposite each other.

[0071] The light-emitting element 610A and the light-receiving element 620A are oriented along the Z direction. The light-emitting element 610A emits detection light L toward the light-receiving element 620A. Because the media MA is positioned between the light-emitting element 610A and the light-receiving element 620A, part of the detection light L is blocked by the media MA. Therefore, the range in the Z direction where the light-receiving element 620A does not receive the detection light L corresponds to the stack height h1 of the media MA.

[0072] The light-emitting unit 61A and the light-receiving unit 62A are connected to each other via a controller 63A. The controller 63A controls the emission of detection light L by the light-emitting element 610A and the detection of detection light L by the light-receiving element 620A. The controller 63A is also connected to the electronic device 9 (see FIG. 1 ) so as to be able to communicate with the electronic device 9, and outputs the detection result of the light-receiving element 620A (the stack height of the media MA) to the electronic device 9.

[0073] As shown in Figure 3, the inventory sensor 6B is mounted on the upper surface 71 of the supply table 7B. The inventory sensor 6B has the same configuration as the inventory sensor 6A described above. The light-emitting unit 61B and the light-receiving unit 62B of the inventory sensor 6B are mounted on one side and the other side of the media MB. The light-emitting unit 61B and the light-receiving unit 62B have a light-emitting element 610B and a light-receiving element 620B mounted on opposite sides of each other.

[0074] The light-emitting element 610B and the light-receiving element 620B are oriented along the Z direction. The light-emitting element 610B emits detection light L toward the light-receiving element 620B. Because a medium MB is positioned between the light-emitting element 610B and the light-receiving element 620B, part of the detection light L is blocked by the medium MB. Therefore, the range in the Z direction where the light-receiving element 620B does not receive the detection light L corresponds to the stack height h2 of the media MB.

[0075] The light-emitting unit 61B and the light-receiving unit 62B are connected to each other via a controller 63B. The controller 63B controls the emission of detection light L by the light-emitting element 610B and the detection of detection light L by the light-receiving element 620B. The controller 63B is also connected to the electronic device 9 (see FIG. 1) so as to be able to communicate with the electronic device 9, and outputs the detection result (stack height of media MB) of the light-receiving element 620B to the electronic device 9.

[0076] As another example of the inventory sensor 6, a weight sensor may be used instead of a distance sensor. By installing a weight sensor on the upper surface 71 of the supply table 7 and dividing the total weight of the media M stacked on the upper surface 71 of the supply table 7 by the weight of one piece of media M, the number of media M in stock can be obtained.

[0077] <Electronic Device 9> Fig. 4 is a diagram showing an example of the hardware configuration of the electronic device 9. Fig. 5 is a block diagram showing the configuration of a processing system. Fig. 6 is a diagram showing an example of a job list. As shown in Fig. 4, the electronic device 9 has a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, an HDD (Hard Disk Drive) 904, a display 905, an input device 906, a communication I / F 907, and a media I / F 908. Each component is connected to each other via a bus.

[0078] The CPU 901 controls the entire electronic device 9. The CPU 901 can load an OS and various programs stored in the ROM 902 or HDD 904 into the RAM 903 and execute them. Alternatively, the CPU 901 can load a program stored in a storage medium RM into the RAM 903 via the media I / F 908 and execute it. The storage medium RM can be an optical storage medium, a magneto-optical storage medium, a magnetic storage medium, a conductive memory tape medium, a semiconductor memory, or the like. Note that the electronic device 9 may also include a GPU (Graphics Processing Unit) or the like as a processor in addition to the CPU 901. The CPU 901 performs processing in response to user operations via the input device 906 and displays the processing results on the display 905. The input device 906 can be, for example, a keyboard, a mouse, a touchpad, or the like.

[0079] The HDD 904 stores programs executed by the CPU 901, data used by the programs, etc. The communication I / F 907 outputs data received from other devices to the CPU 901 via a network NW such as the Internet or a LAN (Local Area Network). The communication I / F 907 also transmits data generated by the CPU 901 to other devices. The other devices may be devices such as the robot 5 and printer 4 that constitute the processing system 1, or devices external to the processing system 1. The CPU 901 may load required programs onto the RAM 903 from other devices via the network NW.

[0080] In this embodiment, the CPU 901 of the electronic device 9 executes an application program loaded onto the RAM 903, thereby realizing the functional configuration of the electronic device 9 shown in Fig. 5. In response to a user's operational input, the electronic device 9 displays on the display 905 a screen for inputting information necessary for managing the processing system 1. In response to a user's operational input, the electronic device 9 also controls the operation of the printer 4 and robot 5 for processing the media M.

[0081] As shown in Fig. 5, the electronic device 9 has, as its functional configuration, a job management unit 91 (sequence determination unit), a print data creation unit 92, an estimation unit 93, and a storage unit 94. Each functional unit performs processing in response to a user's operation input via an input device 906 (see Fig. 4), and displays the processing results on the screen of a display 905 (see Fig. 4). Each functional unit also obtains data required for processing from the storage unit 94, and temporarily stores the processing results in the storage unit 94 as needed. The storage unit 94 is composed of the ROM 902, RAM 903, HDD 904, etc. shown in Fig. 4.

[0082] The job management unit 91 creates data related to processing (processing data) for each job (processing to be performed on media) according to image data uploaded by the user, and registers this in a job list (see FIG. 6). The processing data includes image data to be printed by the printer 4 and various parameters required for the printer 4 and robot 5 to perform their respective processes. The job list displays information such as the image, media (type, size, etc.), number of copies to be printed, and processing time required to process the media (printing time, transport time) corresponding to each job.

[0083] The job management unit 91 also manages the operations of the printer 4 and the robot 5 to execute each job. When the user selects a job to be executed from the job list and inputs an instruction to start printing, the job management unit 91 outputs the image data of the specified job to the print data creation unit 92.

[0084] The print data creation unit 92 creates print data for controlling the operation of the printer 4. When uploading image data or inputting a command to start printing, the user can specify various print conditions (e.g., media type, size, number of copies to be printed, etc.) via the operation screen. The job management unit 91 outputs the specified print conditions together with the image data to the print data creation unit 92. The print data creation unit 92 creates print data according to the print conditions.

[0085] The print data creation unit 92 creates print data by performing RIP (Raster Image Processing) on ​​image data according to the specified printing conditions. RIP is a process for generating a raster image that specifies the ejection positions for ejecting ink of a color corresponding to the image data. In RIP, a raster image is generated by performing halftone processing on a grayscale image corresponding to each color of C, M, Y, and K color ink and spot color ink. Furthermore, various commands for controlling the printer 4 according to the specified printing conditions are added to the generated raster image, and print data is created.

[0086] The job management unit 91 communicates with the printer 4 and the robot 5 to send and receive data necessary to execute a job. The job management unit 91 outputs, for example, operation commands to the printer 4 and the robot 5. The operation commands can be, for example, commands to standby, start operation, end operation, interrupt, etc. The job management unit 91 sends print data created by the print data creation unit 92 to the printer 4. The job management unit 91 sends, for example, parameters for adjusting the operation of the robot 5 to the robot 5. The job management unit 91 receives, for example, notifications such as operation start, operation completion, and occurrence of an operation error, as well as status information, from the printer 4 and the robot 5.

[0087] The job management unit 91 also communicates with the inventory sensors 6A and 6B to obtain the stock count of media MA and MB. The stock count can be obtained, for example, by dividing the stack heights h1 and h2 of media MA and MB obtained by the inventory sensors 6A and 6B (see FIG. 3) by the thicknesses TA and TB of each specified sheet of media MA and MB.

[0088] The estimation unit 93 estimates the processing time required to process the media M and registers it in the job list. The processing time includes the printing time of the printer 4 (the time for the droplet ejection process) and the time for the robot 5 to transport the media M. The estimation unit 93 estimates the printing time based on the print data created by the print data creation unit 92. The estimation unit 93 estimates the transport time based on teaching data set in the robot 5.

[0089] The print data created by the print data creation unit 92 includes, for example, data related to the operation of the head 41 and data related to the image. (1) The data related to the operation of the head 41 may include, for example, the following data: Number of overcoats Number of passes Flushing and cleaning settings Print direction (bidirectional / unidirectional) Drying time per scan Ink ejection position and ejection mode (2) The data related to the image may include, for example, the following data: High-speed print settings Resolution Number of composite plates RIP data size Color settings (monochrome, full color, spot color) Print area Type of ink Ink drying conditions Type of media M used (material, size, etc.)

[0090] The estimation unit 93 may estimate the printing time using at least one of the data (1) and (2) above, or may estimate the printing time from a combination of multiple data. The estimation unit 93 may, for example, perform machine learning on statistical data showing the correlation between print data and printing time, and calculate an estimated value of the printing time from parameters included in the print data. Alternatively, a table 941 showing the correspondence between print data and printing time may be created from the statistical data, and stored in the storage unit 94 of the electronic device 9. In this case, the estimation unit 93 may acquire the parameters of the print data and acquire an estimated value of the printing time corresponding to the parameters by referring to the table 941. This reduces the calculation processing load on the estimation unit 93.

[0091] The teaching data for the robot 5 includes, for example, data related to the transport operation of the robot 5. The data related to the transport operation of the robot 5 may include, for example, the following data: Type of robot 5 Type of media M to be transported (material, size, weight, etc.) Movement path of the robot 5 Movement speed of the robot 5 Distance from the supply trays 7A, 7B to the table 42 Distance from the table 42 to the collection trays 8A, 8B Time required to pick up / release media M

[0092] The estimation unit 93 may estimate the transport time using at least one of the above data, or may estimate the transport time from a combination of multiple data. The estimation unit 93 may, for example, perform machine learning on statistical data indicating the correlation between teaching data and transport time, and calculate an estimated value of the transport time from parameters included in the teaching data. Alternatively, a table 942 indicating the correspondence between teaching data and transport time may be created from the statistical data and stored in the storage unit 94 of the electronic device 9. In this case, the estimation unit 93 may acquire the parameters of the teaching data and acquire an estimated value of the transport time corresponding to the parameters by referring to the table 942. This reduces the calculation processing load on the estimation unit 93.

[0093] 5, the electronic device 9 also includes an alarm unit 95 and a timer 96. The alarm unit 95 notifies the user when an operational error occurs in the printer 4 or the robot 5. Operational errors include, for example, running out of media M, running out of ink in the printer 4, or the robot 5 failing to pick up or release the media M. The alarm unit 95 may provide an alert by turning on or flashing a warning light or sounding an alarm. The alarm unit 95 may also be provided in the printer 4 or the robot 5.

[0094] The timer 96 manages the period (automation setting period) during which the printer 4 and robot 5 are automatically operated. The automation setting period can be set to a time period when the user is not present, such as at night. The user, for example, during the daytime, specifies the start and end times of the automation setting period in the timer 96 and also specifies jobs to be processed during the automation setting period to the job management unit 91. The job management unit 91 can start the printer 4 and robot 5 at the start time of the automation setting period and end the operation of the printer 4 and robot 5 at the end time of the automation setting period using the timer 96. Note that the job management unit 91 may continue operating the printer 4 and robot 5 even after the automation setting period has ended if processing of all jobs has not been completed. In this embodiment, if an operation error occurs in the printer 4 or robot 5 during the automation setting period, the notification unit 95 waits for the automation setting period to elapse before issuing a notification.

[0095] Fig. 7 is a flowchart illustrating the processing flow of the electronic device 9. Fig. 7 shows the processing of the electronic device 9 when the user specifies an automation setting period, selects a job to be executed during the automation setting period from the job list, and inputs a print instruction.

[0096] As shown in FIG. 7 , when the timer 96 detects that the start time of the automation setting period has arrived (step S01: Yes), the job management unit 91 acquires the image data and printing conditions of the job specified by the user (step S02). The job management unit 91 outputs the image data and printing conditions to the print data creation unit 92, causing the print data creation unit 92 to create print data (step S03). The job management unit 91 communicates with the inventory sensor 6 to acquire the number of media M in stock (step S04). The job management unit 91 compares the specified number of print copies (number of copies to be processed) with the number of media M in stock to determine the job processing order (step S05). The job management unit 91 causes the printer 4 and robot 5 to sequentially process each job according to the determined order (step S06). The printer 4 and robot 5 perform processing based on the data received from the job management unit 91. If an operational error occurs during processing, the printer 4 and robot 5 notify the job management unit 91 of the occurrence of the operational error. When the timer 96 detects that the end time of the automation setting period has arrived (step S07: Yes), the job management unit 91 ends the processing unless it has received a notification of an operation error from the printer 4 or the robot 5 (step S08: No). At this time, if the printer 4 or the robot 5 is operating, the job management unit 91 may stop the operation, or may continue the operation. If it has received a notification of an operation error from the printer 4 or the robot 5 (step S08: Yes), the job management unit 91 causes the notification unit 95 to notify the error (step S09) and ends the processing.

[0097] FIG. 8 is a flowchart illustrating the details of determining the job processing order in step S05 in FIG. 7. FIGS. 9 and 10 are diagrams illustrating a specific example of determining the job processing order. FIG. 9 is a diagram illustrating the comparison process in step S51 in FIG. 8. (a), (b), and (c) in FIG. 9 show different comparison patterns. FIG. 10 is a diagram illustrating an example of the combination extraction results in step S52 in FIG. 8. (a) in FIG. 10 shows the extraction result for the pattern (b) in FIG. 9. (b) in FIG. 10 shows the extraction result for the pattern (c) in FIG. 9.

[0098] As described above, if the automation setting period is set to nighttime or the like, the user will be absent, and even if the media M stock at the supply location runs out, it will not be possible to replenish it. If the media M runs out during the automation setting period, the printer 4 and robot 5 will be unable to perform any further processing, which may affect the processing efficiency during the automation setting period. Therefore, in this embodiment, the job processing order is determined so as to reduce the time during which media M cannot be processed, even if there is a high possibility that the media M stock will run out during the automation setting period.

[0099] As shown in FIG. 8 , the job management unit 91 compares the stock quantity Sn of media M for each type with the total number of print copies Total_n of the corresponding job (step S51). If the total number of print copies Total_n is equal to or less than the stock quantity Sn (step S51: Yes), there is no shortage of media stock to execute all jobs. In this case, there is no need to determine the processing order by taking into account the possibility of running out of media stock. Therefore, the job management unit 91 sets the processing order of the jobs in an arbitrary order (for example, in job number order) (step S58).

[0100] 9A, the stock quantity Sn_A of media MA is 50, and the total number of print copies Total_A of jobs No. 1 to No. 3 corresponding to media MA is 45 (Step S51: Yes). In other words, because there is no shortage of media MA in stock, jobs No. 1 to No. 3 can be set in any order (for example, in job number order). For example, the processing order can be determined as jobs No. 1, No. 2, No. 3.

[0101] If the total number of print copies, Total_n, is greater than the stock number Sn (step S51: No), there is an insufficient number of media stocked to execute all jobs. In the example shown in FIG. 9B, the stock number Sn_A of media MA is 50, while the total number of print copies, Total_A, of jobs No. 1 to No. 4 corresponding to media MA is 150 (step S51: No). In other words, there is an insufficient stock of media MA. Also, in the example shown in FIG. 9C, jobs No. 1 to No. 5 are specified, each using different types of media MA and MB. In this case, the job management unit 91 compares the stock number Sn with the total number of print copies, Total_n, of the corresponding jobs for each type of media. If the relationship Total_n > Sn holds for at least one type of media, the job management unit 91 determines No in step S51. In FIG. 9C, print data No. 1 using media MA is specified. The total number of print copies of print data No. 1, No. 2, and No. 4, Total_A, is 105, while the stock number of media MA, Sn_A, is 50. The total number of print copies of print data No. 3 and No. 5, which use media MB, Total_B, is 90, while the stock number of media MB, Sn_B, is 40. In other words, there is a shortage of stock of both media MA and media MB.

[0102] As shown in FIG. 8 , if the total number of print copies, Total_n, is greater than the stock number, Sn, (step S51: No), the job management unit 91 extracts a combination of jobs for each type of media M such that the total number of print copies, Sum, is less than or equal to the stock number, Sn, (step S52). In other words, the job management unit 91 extracts combinations of jobs that can be executed within the range of the stock number, Sn, for each type of media M. If one or more combinations are extracted in step S52 (step S52: Yes), the job management unit 91 selects from the extracted combinations the combination that results in the largest total number of print copies, Sum, or the largest total processing time (step S53). The job management unit 91 sets the processing order priority of jobs included in the combination selected in step S53 to 1 (step S54). Note that the smaller the number, the higher the priority.

[0103] 10A, in the pattern of FIG. 9B, there are three job combinations in which the number of print copies of medium MA is less than or equal to 50, which is the stock number of medium MA: Combination 1: Job No. 1 (Total Sum of print copies: 20) Combination 2: Job No. 3 (Total Sum of print copies: 5) Combination 3: Job No. 1 + Job No. 3 (Total Sum of print copies: 20 + 5 = 25) In this case, the job management unit 91 selects combination 3, which has the largest total Sum of print copies.

[0104] 9C, there are three job combinations in which the number of print copies of media MA is less than or equal to 50, which is the stock number, and the number of print copies of media MB is less than or equal to 40, which is the stock number: Combination 1: Job No. 1 + Job No. 3 (Total Sum of print copies: 35 + 20 = 55) Combination 2: Job No. 2 + Job No. 3 (Total Sum of print copies: 10 + 20 = 30) Combination 3: Job No. 1 + Job No. 2 + Job No. 3 (Total Sum of print copies: 35 + 10 + 20 = 65) In this case, the job management unit 91 selects combination 3, which has the largest total Sum of print copies.

[0105] When selecting the combination with the longest processing time, the job management unit 91 obtains the processing time of each job included in the extracted combination from the job list and calculates the total processing time. The job management unit 91 can select the combination with the longest total processing time and set the priority to 1. The job management unit 91 may combine selection based on the total number of copies to be printed and selection based on processing time. For example, if there are multiple combinations with the same total number of copies to be printed among the extracted combinations, the job management unit 91 can select the combination with the longest total processing time and set the priority to 1.

[0106] In this way, the job management unit 91 selects a combination of jobs that can print the maximum number of copies or the maximum printing time within the total number of media M during the automation setting period, and sets priorities so that the jobs included in that combination are placed higher in the processing order. For the remaining jobs not included in the selected combination, there is a high possibility that media M will run out during processing. The job management unit 91 sets priorities for the remaining jobs so that the downtime of the printer and robot during the automation setting period is kept as short as possible, even if media M runs out during processing.

[0107] 8, the job management unit 91 can set priorities for the remaining jobs (missing processing data) that were not selected in step S53, for example, so that the priority increases in descending order of the number of copies to be printed or the processing time (step S55). Note that in step S55, the job management unit 91 sets the priority of the missing processing data in the processing order to 2 or higher.

[0108] In the example shown in Fig. 9(b), the remaining jobs No. 2 and No. 4 that were not selected in step S53 have print copies of 65 and 60, respectively, and are short of the stock number (50 copies). As shown in Fig. 8, the job management unit 91 sets the priority of jobs No. 2 and No. 4 in the processing order to 2 or higher as insufficient processing data (step S55).

[0109] Here, job No. 2 (65 sheets) has a larger number of copies to be printed than job No. 4 (60 sheets). Therefore, the job management unit 91 can assign a priority of 2 to job No. 2 and a priority of 3 to job No. 4. By printing job No. 2, which requires the production of a larger number of copies, before job No. 4, this can contribute to improving the processing efficiency of media MA.

[0110] In step S55, job No. 2 and job No. 4 may be compared in terms of their processing times, and the priorities may be set to 2 and 3, respectively, based on the processing time. This ensures that even if the stock of media MA runs out during processing within the automation setting period, there is enough time for the printer 4 to stop. In the example shown in FIG. 9C, the remaining jobs No. 4 and No. 5, which were not selected in step S53, have print copies of 60 and 70 sheets, respectively, which are insufficient in terms of the stock (50 and 40 sheets). As shown in FIG. 8, the job management unit 91 sets the processing order priorities of jobs No. 4 and No. 5 to 2 or higher, as insufficient processing data (step S55).

[0111] For example, because job No. 5 (70 sheets) has a larger number of copies to be printed than job No. 4 (60 sheets), the priority of job No. 5 can be set to 2 and the priority of job No. 4 can be set to 3. By printing job No. 5, which requires the production of a larger number of copies, before job No. 4, this can contribute to improving the processing efficiency of media MA and MB.

[0112] Note that job No. 4 and job No. 5 may be compared in terms of their processing times, and the priorities may be set to 2 and 3, respectively, based on the processing time. This ensures that there is enough time for printer 4 to stop even if the stock of either media MA or MB runs out during processing within the automation setting period.

[0113] Furthermore, if no combinations are extracted in step S52 (step S52: No), the job management unit 91 can treat all jobs as jobs with insufficient processing data and set priorities starting from 1 in descending order of the number of copies to be printed or the length of processing time (step S57). For example, by setting priorities in descending order of processing time, it is possible to minimize the downtime of the printer 4 and robot 5 even if there is a high possibility that the media M will run out during the execution of the first job.

[0114] The job management unit 91 determines the job processing order based on the priorities set in steps S54 and S55, or step S57 (step S56). Specifically, the job management unit 91 processes jobs with lower priority numbers first. As described above, all jobs included in the combination selected in step S53 are set to priority 1 (see (b) and (c) in FIG. 9). However, the job management unit 91 can determine the processing order of jobs with the same priority in any order (for example, in order of job number).

[0115] As a result, in the example shown in Fig. 9(b), the processing order can be determined to be, for example, job No. 1, No. 3, No. 2, and No. 4. In the example shown in Fig. 9(c), the processing order can be determined to be, for example, job No. 1, No. 2, No. 3, No. 5, and No. 4.

[0116] In this way, when the stock quantity Sn of media M is insufficient for the total number of copies to be printed (see (b) and (c) of Figures 9A and 9B), the job management unit 91 can determine the job order so that the maximum number of prints can be made within the stock quantity Sn. Alternatively, the job order can be determined so that jobs with longer processing times are given priority for printing. This reduces the time during which media M cannot be processed within the automation setting period, thereby improving media M processing efficiency. Furthermore, even if the stock of media M runs out during the automation setting period, the printer 4 can be kept idle for a shorter period until the user replenishes media M. By shortening the idle time, the downtime until the printer 4 is restored to operation is shortened, thereby improving processing efficiency after the automation setting period has elapsed.

[0117] In this embodiment, if the printer 4 stops during execution of a job due to the stock of media M running out during the automation setting period, an operation error is notified to the job management unit 91 (step S08: Yes), but the error is not reported (step S09) until the end of the automation setting period (step S07: Yes).

[0118] For example, during unmanned nighttime operation or other periods during which the printer 4 is set to run automatically, leaving the warning light on or the alarm sounding continuously when no user is present in processing areas A1 and A2 (see FIG. 1) results in a loss of energy. Therefore, even if the printer 4 runs out of stock and stops, no notification is issued during the set automation period. Instead, a notification is issued after the set automation period has elapsed, when the user arrives at work and is present in processing areas A1 and A2. This shortens the time the warning light is on or the time the alarm sounds, thereby reducing energy loss.

[0119] As described above, the processing system 1 described in the embodiment has, for example, the following configuration: (1) The processing system 1 includes a printer 4 (droplet ejection device) that ejects ink (droplets) onto media M, and a robot 5 that supplies media M to the printer 4 and collects the media M processed by the printer 4. The processing system 1 includes a job management unit 91 (order determination unit) that, when an automation setting period, which is a time period during which the printer 4 and robot 5 are to be automatically operated, determines the processing order of multiple processing data created for each job (processing performed on media) during the automation setting period, and the job management unit 91 determines the processing order based on the number of print copies (number of processes) of media M set in each processing data, the stock number Sn of media M, and the processing time required to process media M estimated for each processing data.

[0120] For example, if the media M stock runs out during unattended overnight operation, it is not possible to replenish media M. As a result, printing cannot be performed even if unprocessed print data remains, potentially reducing processing efficiency. Furthermore, the droplet ejection device remains stopped until the user arrives at work and replenishes media M. This results in extended downtime for the printer 4, and it takes a long time to restart the printer. Therefore, the job management unit 91 is able to determine the processing order by referring to various conditions associated with the printing process. For example, if the media M stock is insufficient for the total number of copies to be printed, the processing order can be determined so that the maximum number of copies can be printed within the stock. Alternatively, if two print data sets have the same number of copies but require longer processing times, the print data with the longer processing times can be processed first. Note that one of the purposes of the job management unit 91 (order determination unit) here is to complete the remaining printing as quickly as possible on the next work day when media M runs out during unattended operation, etc. Therefore, for example, one possible method is for the job management unit 91 to calculate the processing time per portion of media M for each processing data item and then simply continue printing in order of the longest processing time per portion until the stock is depleted. This is because keeping the printer 4 and robot 5 running as long as possible with a limited number of media M shortens the printing time on the next workday. This reduces the time during which media M cannot be processed during the automation setting period, thereby improving media M processing efficiency. Furthermore, even if the media M stock runs out during the automation setting period, the printer 4 can be kept idle for a shorter period until the user replenishes media M. Reducing the idle time shortens the downtime required to restore the printer 4 to operation, thereby improving processing efficiency after the automation setting period has elapsed.

[0121] (2) The apparatus has an estimation unit 93 that estimates a processing time based on print data. The processing time includes the time it takes for the printer 4 to print on the medium M (the time it takes for the droplet ejection process). The processing data includes, as print data, data related to the operation of the head 41 (ejection unit) that ejects ink, and data related to the image formed by ejecting ink onto the medium M. The estimation unit 93 improves the accuracy of estimating the print time by performing machine learning on at least one piece of data included in the print data.

[0122] By performing machine learning, the accuracy of estimation by the estimation unit 93 can be improved, which contributes to improving the accuracy of determining the processing order.

[0123] (3) The apparatus has an estimation unit 93 that estimates a processing time based on print data. The processing time includes the time it takes for the printer 4 to print on the medium M (the time it takes for the droplet ejection process to be performed). The processing data includes, as print data, data related to the operation of the head 41 (ejection unit) that ejects ink, and data related to the image formed by ejecting ink onto the medium M. The estimation unit 93 estimates the printing time based on a table 941 that shows the correspondence between at least one piece of data included in the print data and the processing time for the medium M by the printer 4.

[0124] The estimation unit 93 only needs to refer to the table 941 to obtain an estimated value of the printing time, so a complex algorithm for the estimation process is not required, and the processing load on the electronic device 9 can be reduced.

[0125] (4) The printer 90 includes an estimation unit 93 that estimates a processing time based on print data. The processing time includes transport time for the robot 5 to supply the media M to the printer 4 and collect the media M from the printer 4. The processing data includes data related to the transport operation of the robot 5. The estimation unit 93 estimates the transport time based on the data related to the transport operation.

[0126] By including the transport time of the robot 5 in the processing time, the time required to process the media M can be estimated more accurately.

[0127] (5) The robot 5 acquires media M stocked on the supply table 7 (supply location) and supplies them to the printer 4. The supply table 7 is provided with an inventory sensor 6 (sensor) that can acquire information regarding the number of media M in stock.

[0128] This allows the number of media M in stock to be obtained more easily and accurately than, for example, when a user visually counts the number of stocks and inputs it into the electronic device 9, which contributes to the automation of the processing system 1.

[0129] (6) The inventory sensor 6 is a distance sensor. The inventory sensor 6 can acquire at least one piece of information: the number of media M stocked on the supply tray 7 for each type (media MA, MB), the stock location, and the release position (location) of the media M in the printer 4. Based on this information acquired by the inventory sensor 6, the robot 5 acquires the type of media M corresponding to the processing data from the supply tray 7.

[0130] Since the number of stocked media, stocked position, and release position can be determined for each type of media M (media MA, MB), the accuracy of estimating the transport time of the robot 5 is improved.

[0131] (7) When the stock quantity Sn of media M is insufficient for the total number of print copies Total_n of media M for multiple jobs, the job management unit 91 extracts a combination of jobs for each type of media M in which the total number of print copies Sum is less than or equal to the stock quantity Sn, and processes the job that constitutes the combination with the largest total Sum first.

[0132] Since the processing order can be determined so that the maximum number of prints can be made within the range of the stock number Sn of media M, this contributes to improving the processing efficiency of media M.

[0133] (8) When there are multiple jobs (missing processing data) for which the number of media M stocked is insufficient for the number of copies to be printed, the job management unit 91 compares the estimated processing times for these jobs and places the job with the longer processing time first in the processing order.

[0134] This ensures that the printer 4 can maintain its operating state for as long as possible even if the stock of media M runs out during the automation setting period. Therefore, the downtime until the user replenishes media M and returns the printer 4 to its operating state after the automation setting period has elapsed can be shortened.

[0135] (9) When there are multiple jobs (missing processing data) in which the number of media M stocked is insufficient for the number of copies to be printed, the job management unit 91 compares the number of copies to be printed between these jobs and processes jobs with a larger number of copies to be printed before jobs with a smaller number of copies to be printed.

[0136] This contributes to improving the processing efficiency of media M by printing jobs that require the production of a large number of copies first, even if the media M stock runs out during the automation setting period.

[0137] (12) A notification unit 95 is provided to notify an operational error (fault) occurring in at least one of the printer 4 and the robot 5. If a fault occurs within a set automation period, the notification unit 95 issues a notification after the set automation period has elapsed.

[0138] The notification means provided by the notification unit 95 include turning on a warning light, sounding an alarm, and the like. For example, during unmanned nighttime operation of the processing system 1, keeping the warning light on or sounding the alarm while there is no user in the processing area A1 or area A2 during a set automation period results in a loss of energy. Therefore, by doing as described above, the timing of the notification can be controlled. For example, during unmanned nighttime operation, by aligning the end of the set automation period with the user's arrival time at work, a notification is made when the user is present in the processing area A1 or area A2. This shortens the duration of the warning light and the duration of the alarm, thereby reducing energy loss.

[0139] The above-described effects can also be obtained by the control method and control program in the processing system 1. The control program for the processing system 1 can be executed by the electronic device 9, the controller 46 of the printer 4, the controller 50 of the robot 5, etc. The scope of the present invention also extends to the media M processed by the processing method of the processing system 1.

[0140] (Variation 1) In the above embodiment, the job management unit 91 determines the processing order based on the number of media M in stock, but the processing system of the present invention is not limited to this. For example, the job management unit 91 may determine the processing order based on the remaining amount of ink.

[0141] Fig. 11 is a block diagram showing the configuration of a processing system 1A according to Modification 1. Fig. 12 is a flowchart illustrating the processing flow of the electronic device 9 according to Modification 1. Fig. 13 is a flowchart illustrating the details of determining the job processing order in step S104 of Fig. 12. In the following description, components similar to those in the above embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0142] 11, the ink supply device 48 of the printer 4 includes an ink tank 481 that stores ink. The ink tank 481 is provided with a sensor 482 that detects the remaining amount of ink stored therein.

[0143] The estimation unit 93A may estimate ink consumption using at least one of the image data described above, or may estimate ink consumption from a combination of data related to multiple images. For example, the estimation unit 93A may perform machine learning on statistical data showing the correlation between print data and ink consumption, and calculate an estimated ink consumption value from parameters included in the print data. Alternatively, the estimation unit 93A may create a table 943 showing the correspondence between print data and ink consumption values ​​from the statistical data and store the table 94 in the storage unit 94 of the electronic device 9. In this case, the estimation unit 93A simply acquires the print data parameters and references the table 943 to obtain an estimated ink consumption value corresponding to the parameters. This reduces the computational load on the estimation unit 93A. In these cases, the estimation unit 93A can estimate ink consumption both when printing in normal print mode and when printing in ink-save mode. Note that ink-save mode is a print mode that consumes less ink than normal print mode. The job management unit 91 determines the processing order based on the remaining amount of ink in the printer 4 and the ink consumption amount estimated by the estimation unit 93A.

[0144] As shown in FIG. 12 , in the processing system 1A according to the first modification, the job management unit 91 acquires image data and printing conditions for a job specified by a user (step S101). The job management unit 91 outputs the image data and printing conditions to the print data creation unit 92, causing the print data creation unit 92 to create print data (step S102), and then acquires the remaining ink level detected by the sensor 482 from the printer 4 (step S103). The job management unit 91 compares the ink consumption amount with the remaining ink level to determine the job processing order (step S104). The user then specifies the start and end times of the automation setting period in the timer 96. When the timer 96 detects that the start time of the automation setting period has arrived (step S105: Yes), the job management unit 91 causes the printer 4 and robot 5 to sequentially process each job according to the determined order (step S106). The printer 4 and robot 5 then perform processing based on the data received from the job management unit 91. If an operation error occurs during processing, the printer 4 and the robot 5 notify the job management unit 91 of the occurrence of the operation error. When the timer 96 detects that the end time of the automation setting period has arrived (step S107: Yes), the job management unit 91 ends the processing unless it has received an operation error notification from the printer 4 or the robot 5 (step S108: No). At this time, if the printer 4 and the robot 5 are operating, the job management unit 91 may stop the operation or may continue the operation. If it has received an operation error notification from the printer 4 or the robot 5 (step S108: Yes), the job management unit 91 has the notification unit 95 notify the error (step S109) and ends the processing.

[0145] 13, the job management unit 91 causes the estimation unit 93A to estimate the ink consumption amount in normal printing mode for the jobs registered in the job list (step S401). The job management unit 91 compares the total ink consumption amount of all jobs (total consumption amount) with the remaining ink amount in the printer 4 obtained in step S103 (step S402). If the total ink consumption amount when printing in normal printing mode is less than or equal to the remaining ink amount (step S402: Yes), there is no ink shortage, and the job management unit 91 can set the jobs in any order (for example, in order of job number) (step S412).

[0146] If the total amount of ink consumed when printing in the normal print mode is greater than the remaining amount of ink (step S402: No), the job management unit 91 suggests to the user that they print in the ink-save mode (step S403). In step S403, the job management unit 91 allows the user to select whether or not to set the ink-save mode for each job. For example, the user can select the ink-save mode for jobs that do not require high print quality (e.g., color tone).

[0147] If there is a job for which ink-save mode was selected in step S403 (step S404: Yes), the job management unit 91 causes the estimation unit 93A to estimate the ink consumption of the job for which ink-save mode was selected (step S405). The job management unit 91 extracts a combination of jobs for which the total ink consumption (total consumption) of all jobs, including the job for which ink-save mode was selected, is equal to or less than the remaining ink amount. In other words, the job management unit 91 extracts a combination of jobs that can be executed within the remaining ink amount. If one or more combinations were extracted in step S406 (step S406: Yes), the job management unit 91 selects from the extracted combinations the combination with the largest number of print copies or the combination with the longest processing time (step S407). The job management unit 91 sets the processing order priority of the jobs included in the combination selected in step S407 to 1 (step S408).

[0148] In this way, the job management unit 91 first selects a job combination that allows printing the maximum number of copies or the maximum printing time within the remaining ink amount during the automation setting period, and then sets the priority so that the jobs included in that combination are prioritized. For the remaining jobs not included in the selected combination, there is a high possibility that ink will run out during processing. The job management unit 91 sets the priority of the remaining jobs so that the downtime of the printer and robot during the automation setting period is kept as short as possible, even if ink runs out during processing.

[0149] 13, the job management unit 91 can set priorities for the remaining jobs (missing processing data) that were not selected in step S407, for example, so that the priority increases in descending order of ink consumption, number of copies printed, or processing time (step S409). Note that in step S409, the job management unit 91 sets the priority in the processing order to 2 or higher.

[0150] If there are no jobs for which ink save mode has been selected (step S404: No), or if no job combinations for which ink save mode has been selected but the total ink consumption is less than the remaining ink amount (step S406: No), the job management unit 91 proceeds to step S411.

[0151] In step S411, the priority can be set for all jobs in order, starting from 1, for example, in descending order of ink consumption, number of copies printed, or processing time. For example, by setting the priority in descending order of processing time, the downtime of the printer 4 and robot 5 can be minimized even if there is a high possibility of ink shortage during execution of the first job.

[0152] The job management unit 91 determines the job processing order based on the priorities set in steps S408 and S409, or step S411 (step S410). Specifically, the job management unit 91 processes jobs with lower priority numbers first. As described above, all jobs included in the combination selected in step S407 are set to priority 1, but the job management unit 91 can determine the processing order for jobs with the same priority in any order (for example, in order of job number). The job management unit 91 causes the printer 4 and robot 5 to process each job sequentially according to the determined order (step S106).

[0153] This allows the job management unit 91 to determine the order of jobs so that the maximum number of prints can be performed within the remaining ink amount. Alternatively, the job order can be determined so that jobs with longer processing times are given priority for printing. This reduces the time during which media M cannot be processed within the automation setting period, improving the processing efficiency of media M. Furthermore, even if ink runs out within the automation setting period, the time the printer 4 is stopped until the user replenishes the ink can be shortened.

[0154] 12, in Modification 1, if the printer 4 stops due to a lack of ink during job execution within the automation setting period, an operation error is reported to the job management unit 91 (step S108: Yes), but the error is not reported (step S109) until the end of the automation setting period (step S107: Yes). This shortens the time that the warning light is on and the alarm sounds, thereby reducing energy loss.

[0155] As described above, the processing system 1A according to Variation 1 has, for example, the following configuration: (10) The processing system 1A includes: a printer 4 (droplet ejection device) that ejects ink (droplets) onto media M; and a robot 5 that supplies media M to the printer 4 and collects the media M processed by the printer 4. The processing system 1A includes a job management unit 91 (order determination unit) that, when an automation setting period, which is a time period during which the printer 4 and the robot 5 are to be automatically operated, determines the processing order of multiple processing data created for each job (processing performed on media M) during the automation setting period. The job management unit 91 extracts job combinations for which the ink consumption amount is less than or equal to the remaining ink amount based on the remaining ink amount in the printer 4 and the ink consumption amount estimated for each processing data, and prioritizes the processing order of jobs that constitute the combination with the largest number of print copies or the combination with the longest processing time.

[0156] This allows the job management unit 91 to determine the order of jobs so that the maximum number of prints can be performed within the remaining ink amount. Alternatively, the order of jobs can be determined so that jobs with longer processing times are given priority. This reduces the time during which media M cannot be processed within the automation setting period, improving the processing efficiency of media M. Furthermore, even if ink runs out within the automation setting period, the time the printer 4 is stopped until the user replenishes ink can be shortened. Note that the process of determining the order based on the number of media M in stock (FIG. 7, steps S04 and S05) described in the embodiment may be performed in combination with the process of variant 1, or may be omitted.

[0157] (Variation 2) In the above-described embodiment and Variation 1, the job management unit 91 determines the processing order based on the number of media M in stock and the amount of remaining ink, but the processing system of the present invention is not limited to these aspects. For example, if an error related to a processing defect, such as a printing error, occurs during processing, the printer 4 may stop. Therefore, the job management unit 91 may determine the processing order based on the history of processing defects that have occurred in the printer 4.

[0158] Fig. 14 is a block diagram showing an example of the configuration of a processing system 1B according to Modification 2. As shown in Fig. 14 , in Modification 2, the storage unit 94 of the electronic device 9 stores history information 944 of processing defects such as printing errors that have occurred in the printer 4 in the past.

[0159] The estimation unit 93B may estimate the degree of association between the print data and the processing defect by referring to the history information 944. For example, the estimation unit 93B may refer to the history information 944, perform machine learning on statistical data indicating the correlation between the print data and the processing defect, and estimate the degree of association of the processing defect from parameters included in the print data. Alternatively, a table 945 indicating the degree of association between the print data and the processing defect may be created from the statistical data and stored in the storage unit 94 of the electronic device 9. In this case, the estimation unit 93B may acquire the parameters of the print data and estimate the degree of association of the processing defect corresponding to the parameters by referring to the table 945. This reduces the calculation processing load on the estimation unit 93B.

[0160] The job management unit 91 compares the estimated correlation between the print data and processing errors for each job and can assign priorities starting from 1 to the jobs with the lowest correlation to the processing error. This allows jobs with the lowest correlation to the processing error to be processed first. This allows, for example, as much time as possible within the automation setting period until an error such as a printing error occurs and the printer 4 stops. This shortens the downtime required for the user to resolve the error after arriving at work and return the printer 4 to operating mode.

[0161] As described above, the processing system 1B according to Variation 2 has, for example, the following configuration: (11) The processing system 1B includes a printer 4 (droplet ejection device) that ejects ink (droplets) onto media M, and a robot 5 that supplies media M to the printer 4 and collects the media M processed by the printer 4. The processing system 1B also includes a job management unit 91 (order determination unit) that, when an automation setting period, which is a time period during which the printer 4 and the robot 5 are to be automatically operated, determines the processing order of multiple pieces of processing data created for each job (processing performed on media) during the automation setting period. The job management unit 91 prioritizes the processing order of jobs that are less likely to be associated with processing errors, based on the degree of association between each piece of processing data and a processing error estimated from history information 944 of processing errors that occurred in the printer 4.

[0162] This allows for as much time as possible within the automation setting period before a printing error or other problem occurs and the printer 4 shuts down. This reduces the downtime required for the user to resolve the error after returning to work and restore the printer 4 to operation. Note that the process of determining the order based on the number of media M stocked (FIG. 7, steps S04 and S05) described in the embodiment and the process of determining the order based on the amount of ink consumed (FIG. 12, steps S103 and S104) described in Modification 1 may be performed in combination with the process in Modification 2 or may be omitted.

[0163] (Other Examples) The job management unit 91 may also determine the processing order based on information about priority specified by the user. For example, the user may specify the delivery date of the media M to the delivery destination as information about priority. In this case, the job management unit 91 may compare the delivery dates specified for each job and set the priority from 1 in ascending order of delivery date. This allows jobs with the shortest delivery date to be processed first.

[0164] The above-described modifications can be applied not only to the embodiment but also to other modifications, and the present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the technical concept of the present invention.

[0165] Second Embodiment A second embodiment of the present invention will be described below with reference to the drawings. FIG. 15 is a diagram illustrating an example of the configuration of a processing system 101. FIG. 16 is a diagram illustrating the configuration of a printer 103 and a robot 105. In FIGS. 15 and 16, media M is cross-hatched. In FIG. 16, movement mechanisms 137, 137 of the printer 103 are hatched. As shown in FIG. 15, the processing system 101 includes, for example, printers 103A, 103B, and 103C, which are examples of droplet ejection devices, and a robot 105. In the following description, positional relationships will be described based on the X, Y, and Z directions in FIG. 15. The Z direction is a direction along the direction of gravity, extending from the front side to the back side of the paper in FIG. 15. The X and Y directions are directions perpendicular to the Z direction. The X direction is the up-down direction in the drawing, and the Y direction is the left-right direction in the drawing perpendicular to the X direction.

[0166] The printers 103A, 103B, and 103C perform printing by ejecting ink (droplets) onto the media M. The robot 105 supplies and collects media M from the printers 103 in response to supply and collection requests from the printers 103A, 103B, and 103C. In the example of FIG. 15 , the processing system 101 includes multiple printers 103A, 103B, and 103C. The robot 105 supplies and collects media M from each of the multiple printers 103A, 103B, and 103C. Note that the number of printers 103 and robots 105 is not limited to the illustrated example and can be changed as appropriate. For example, multiple robots 105 may be provided. In this case, for example, robots 105 corresponding to the number of printers 103 may be provided, and each robot 105 may supply and collect media M from one printer 103. Alternatively, the number of printers 103 and the number of robots 105 may be different. In this case, one robot 105 may supply and collect media M to and from multiple printers 103 , or multiple robots 105 may supply and collect media M to and from one printer 103 .

[0167] As shown in FIG. 15 , a processing area A1 where media M are printed is provided with a supply point 107 and a collection point 108 for media M. A robot 105 acquires pre-printed media M stored at the supply point 107 and supplies them to printers 103A, 103B, and 103C. The robot 105 also acquires post-printed media M from printers 103A, 103B, and 103C and stores them at the collection point 108. The supply point 107 and the collection point 108 may be provided with a stocker St that stacks and stocks media M in the Z direction. Instead of a stocker St, a belt conveyor capable of transporting media M may be provided at the supply point 107 or the collection point 108. By providing a belt conveyor at the supply point 107, pre-printed media M can be transported from other areas to the processing area A1. The other areas may be, for example, storage areas for media M or areas where media M are pre-processed for printing. By providing a belt conveyor at the collection point 108, the media M after printing can be transported from the processing area A1 to another area. The other area can be, for example, a storage room for the media M or an area where post-processing of the media M is performed.

[0168] 15 , the processing system 101 can include an electronic device 109 (command device). The electronic device 109 outputs operational commands to the printers 103A, 103B, and 103C and the robot 105, thereby performing overall management of the printing process of the media M in the processing system 101. The printers 103A, 103B, and 103C and the robot 105 are communicatively connected to the electronic device 109 via a LAN network or by wireless communication. The electronic device 109 can be located, for example, in an area A2 where a user resides, separate from the processing area A1 in which the printers 103A, 103B, and 103C and the robot 105 are located.

[0169] The shape and material of the medium M used in the printing process are not limited to any particular one, as long as they can be printed on by the printers 103A, 103B, and 103C and can be transported by the robot 105. The medium M can be made of, for example, synthetic resins such as acrylic, vinyl chloride, and polyester, paper, cloth (woven fabric and nonwoven fabric), wood, ceramics, metal, food, leather, etc. In FIG. 15 , a thin panel is shown as an example of the medium M. The image printed on the medium M includes, for example, characters, figures, patterns, colors, etc., and combinations thereof.

[0170] <Printers> Printers 103A and 103C are arranged in processing area A1 with the main scanning direction aligned with the X direction and the sub-scanning direction aligned with the Y direction. Printer 103B is arranged with the main scanning direction aligned with the Y direction and the sub-scanning direction aligned with the X direction. In FIG. 16, the X direction and Y direction are mentioned based on the arrangement of printer 103B, but by switching the X direction and Y direction, this can also be applied to the arrangement of printers 103A and 103C. In the following description, when referring to printers 103A, 103B, and 103C without distinguishing between them, they will simply be referred to as "printers 103."

[0171] As shown in FIG. 16 , the printer 103 includes a table 131 on which the medium M is placed, a carriage 134 disposed above the table 131, and a guide bar 136 supporting the carriage 134. The guide bar 136 extends horizontally in the Y direction above the table 131. When viewed from the Z direction, the guide bar 136 crosses the table 131 in the Y direction. The Y-direction ends of the guide bar 136 extend beyond the table 131 on the Y1 and Y2 sides, respectively. The guide bar 136 is provided with guide rails (not shown) along the Y direction, and the carriage 134 is driven by a drive mechanism (not shown) to move along the guide rails in the Y direction. A head 135 (head unit) that ejects ink is mounted on the carriage 134. By moving the carriage 134 in the Y direction, the head 135 mounted on the carriage 134 also moves in the Y direction.

[0172] The underside of the head 135 is provided with a plurality of nozzles N (see FIG. 17A ) for ejecting ink. The underside of the head 135 faces the table 131 in the Z direction with a small gap therebetween. This allows ink ejected from the nozzles N on the underside of the head 135 to land on the medium M placed on the table 131. The ink used in the printer 103 is not limited to a specific type, but may be, for example, ultraviolet-curable ink that is cured by ultraviolet light or heat-curable ink that is cured by heat. In this case, although not shown, the carriage 134 of the printer 103 may be equipped with an ultraviolet irradiation device or a heating device for curing the ink ejected onto the medium M. Furthermore, the droplets ejected by the printer 103 are not limited to ink; any droplets having a viscosity sufficient to adhere to the medium M may be used as appropriate. The head 135 may eject a single color of ink or multiple colors of ink. The ink may be, for example, C (cyan), M (magenta), Y (yellow), or K (black) process color ink (hereinafter referred to as "color ink"). Alternatively, the ink may be a special color ink such as LC (light cyan), LM (light magenta), Gy (gray), W (white), CL (clear), Pr (primer), O (orange), violet, metallic colors (gold, silver), or fluorescent colors.

[0173] 16, a maintenance station 141 is provided at the Y1-side end of the guide bar 136 that projects beyond the table 131. Although not shown, the maintenance station 141 has a built-in device that performs flushing and cleaning of the nozzles N (see FIG. 17(a)) of the head 135. When the carriage 134 moves to the maintenance station 141, the head 135 is flushed and cleaned.

[0174] An ink supply device 142 is provided at the Y2 side end of the guide bar 136 that protrudes beyond the table 131. Although not shown, an ink tank is built into the ink supply device 142. The ink tank and the head 135 are connected via an ink tube (not shown), and ink is supplied from the ink tank to the head 135.

[0175] Movement mechanisms 137, 137 are provided at the Y1-side and Y2-side ends of the table 131. The movement mechanisms 137, 137 are hatched in Fig. 16. The movement mechanisms 137, 137 move the guide bar 136, the maintenance station 141, and the ink supply device 142 together in the X direction. As the guide bar 136 moves in the X direction, the carriage 134 supported by the guide bar 136 and the head 135 mounted on the carriage 134 also move in the X direction.

[0176] The printer 103 includes a controller 130 that controls the operation of each unit. The controller 130 is communicably connected to the electronic device 109. The controller 130 performs printing by controlling the operation of each unit of the printer 103 based on print data input from the electronic device 109. The printer 103 can send a request to supply and collect media M to the electronic device 109. The electronic device 109 outputs an operation command to the robot 105 based on a request from the printer 103, allowing the printer 103 and the robot 105 to operate in coordination. The printer 103 may, for example, generate dedicated signals as supply and collection requests. Alternatively, signals notifying the status of the printer 103 may be treated as supply and collection requests.

[0177] FIG. 17 is a schematic diagram illustrating the operation of the printer 103 in a printing process. In FIG. 17, the X and Y directions are described based on the layout of the printer 103B, but by switching the X and Y directions, the layout can also be applied to the layouts of the printers 103A and 103C. In FIG. 17, one side in the X direction (the left side in the figure) is the X1 side, and the other side (the right side in the figure) is the X2 side. FIG. 17(a) shows a state in which the head 135 is at the home position Hp. FIG. 17(b) shows a state in which the head 135 is displaced from the home position Hp and performing a printing process.

[0178] The head 135 can be displaced in the X direction above the table 131 by movement mechanisms 137, 137 (see FIG. 16 ). As shown in FIG. 17A , when print data is input from the electronic device 109, the controller 130 of the printer 103 displaces the head 135 to the home position Hp and transitions to a standby state for printing. The home position Hp is set, for example, to a position that overlaps the X2-side end of the table 131 when viewed from the Z direction. The controller 130 of the printer 103 can send a signal to the electronic device 109 notifying the displacement of the printer 103 to the home position Hp as a supply request for the media M. Upon receiving the supply request, the electronic device 109 outputs an operation command to the robot 105. The robot 105 places the media M on the table 131 of the printer 103 based on the operation command. The placement location of the media M on the table 131 is set at a position away from the home position Hp of the table 131 on the X1 side when viewed from the Z direction, for example.

[0179] As shown in Figure 17 (b), when performing printing processing, the head 135 is displaced from the home position Hp to the X1 side. The head 135 is displaced to a position facing the medium M with a small gap in the Z direction. The head 135 ejects ink from the nozzles N while moving in the Y direction. After completing one reciprocating movement in the Y direction (one pass), the head 135 moves a predetermined distance in the X direction, and then moves again in the Y direction while ejecting ink from the nozzles N. In other words, the printer 103 can print on the medium M by alternately repeating one reciprocating movement of the head 135 in the Y direction (one pass) and an operation to feed the medium M a predetermined distance in the X direction.

[0180] When the printing process is completed, the head 135 moves to the X2 side and returns to the home position Hp. The controller 130 of the printer 103 sends a signal notifying the electronic device 109 of the movement of the head 135 to the home position Hp as a media M collection request. The electronic device 109, which receives the collection request, outputs an operation command to the robot 105. The robot 105 collects the media M from the table 131 based on the operation command. When the head 135 returns to the home position Hp, maintenance, etc. is performed by the maintenance station 141 (see FIG. 16 ) as necessary. When maintenance of the head 135 is completed, the controller 130 of the printer 103 sends a supply request for the next media M to the electronic device 109. In this way, the printer 103 can sequentially perform printing processes on the media M supplied to the table 131.

[0181] It should be noted that the head 135 may be any mechanism that can move relatively to the table 131. Therefore, the movement mechanisms 137, 137 of the printer 103 (see FIG. 16) may move the table 131 in the X direction instead of the guide bar 136. Alternatively, the movement mechanisms 137, 137 may move both the guide bar 136 and the table 131 in the X direction.

[0182] <Robot> The robot 105 is not limited to a specific type as long as it is capable of acquiring and transporting media M. For example, a horizontally articulated robot (a so-called SCARA robot) or a vertically articulated robot, as shown in FIG. 16 , can be used. A SCARA robot is configured by combining multiple arms that rotate horizontally. To ensure the safety of workers, the area including the rotation range of the arms of the robot 105 can be isolated by a safety fence or the like. Alternatively, the robot 105 can be a collaborative robot that can operate in the same space as workers.

[0183] 16 , the robot 105 includes a base 151, an arm 152 supported by the base 151, and an arm 153 supported by the arm 152. The arms 152 and 153 each extend horizontally. The base 151 is installed, for example, on the floor of the processing area A1. The base end of the arm 152 is supported on the upper surface of the base 151 so as to be rotatable about an axis Z1 along the Z direction. The base end of the arm 153 is connected to the tip of the arm 152 so as to be rotatable about an axis Z2 parallel to the axis Z1. A shaft 154 extending in the Z direction passes through the tip of the arm 153. The shaft 154 is movable up and down by a drive mechanism (not shown).

[0184] A mechanism for retrieving media M is provided at the lower end of the shaft 154. The mechanism for holding media M can be, for example, a suction pad 155 (see FIG. 17A). The suction pad 155 adheres to the media M by contacting the suction pad 155 with the surface of the media M and applying negative pressure. In addition, the suction pad 155 releases the media M by applying positive pressure to the suction pad 155 while it is holding the media M. Note that the mechanism for retrieving media M from the robot 105 is not limited to the suction pad 155, and other configurations can also be used as appropriate.

[0185] The robot 105 can move the tip of the arm 153 in the X and Y directions by combining the rotation angles of the arms 152 and 153. The robot 105 can then pick up or release media M by moving the shaft 154 at the tip of the arm 153 up and down at the desired position. As shown in FIG. 15 , in the processing area A1, printers 103A, 103B, and 103C, a supply point 107, and a recovery point 108 are located within the reach of the arms 152 and 153 of the robot 105. This allows the robot 105 to transport media M between the supply point 107, the recovery point 108, and each printer 103.

[0186] FIG. 18 is a conceptual diagram illustrating the path of movement of the robot 105 when supplying and collecting media M. As described above, the robot 105 can move in various directions by combining the rotation of multiple arms 152 and 153. However, in FIG. 18 , the path of movement of the robot 105 is simplified and shown by an arc-shaped virtual line. The range of rotation of the robot 105 may be limited to a predetermined angle, for example, to avoid interference with a cable connected to a power source. The robot 105 can move back and forth clockwise and counterclockwise between 0° (initial position) and a predetermined angle. As shown in FIG. 18 , the printers 103A, 103B, and 103C, the supply point 107, and the collection point 108 can be positioned so that they are located within the range of rotation of the robot 105. In the example of FIG. 18 , the supply point 107, the collection point 108, the printer 103A, the printer 103B, and the printer 103C are arranged in this order in a counterclockwise direction from the initial position. By arranging the robot 105 in this manner, the robot 105 can both supply and retrieve media M to the printer 103 along the same movement path.

[0187] For example, FIG. 18 shows a movement path R1 from the initial position to printer 103C and a movement path R2 from the initial position to printer 103B. When supplying media M to printer 103C, for example, the robot 105 moves counterclockwise from the initial position, stops at a supply point 107 on movement path R1, and acquires the media M. The robot 105 moves counterclockwise again on movement path R1, stops at printer 103C, and releases the media M. The robot 105 moves clockwise on movement path R1 and returns to the initial position. When retrieving media M from printer 103C, for example, the robot 105 moves counterclockwise from the initial position, stops at the printer 103C on movement path R1, and acquires the media M. The robot 105 moves clockwise on movement path R1, and stops at a retrieval point 108 and releases the media M. The robot 105 moves clockwise on movement path R1 and returns to the initial position.

[0188] In this way, by changing the stopping position of the robot 105 and the action performed at that stopping position along the same movement path R1, it is possible to both supply and collect media M for the printer 103C. Similarly, for the printer 103B, the robot 105 can both supply and collect media M along the same movement path R2. Although not shown in the figures, the robot 105 can also both supply and collect media M for the printer 103A along the same movement path.

[0189] The movement path shown in FIG. 18 is merely an example and can be changed as appropriate depending on the range in which the robot 105 can turn and the locations of the printers 103A, 103B, 103C, the supply location 107, and the collection location 108.

[0190] The robot 105 includes a controller 150 (see FIG. 16 ) that is communicatively connected to the control device 2. Teaching data is set in the controller 150 through a teaching operation in advance so that the robot 105 can supply and collect the media M.

[0191] The teaching data includes, for example, the following data: - Information about the media M (type, thickness, size, etc.) - Movement path of the robot 105 for each of the printers 103A, 103B, and 103C - Stop positions of the robot 105 (initial position, supply location 107, recovery location 108, printers 103A, 103B, and 103C) - Movement speed of the robot 105 - Acquisition position (height position) of the media M at the supply location 107 - Release position (height position) of the media M at the recovery location 108 - Acquisition and release positions (height positions) of the media M in the printers 103A, 103B, and 103C - Pressure setting of the suction pad 155 when acquiring the media M

[0192] The controller 150 of the robot 105 is also communicatively connected to the electronic device 109 (see FIG. 15 ). Operational commands are input to the controller 150 from the electronic device 109. When the electronic device 109 receives a supply request from the printer 103, it inputs an operational command to the robot 105 instructing it to supply media M. When the electronic device 109 receives a collection request from the printer 103, it inputs an operational command to the robot 105 instructing it to collect media M. The operational command includes parameters that specify teaching data set in the robot 105 according to the printer 103 that has output the supply or collection request. The robot 105 operates based on the teaching data specified by the parameters included in the operational command, thereby being able to supply or collect media M from the printer 103 that has output the notification.

[0193] <Electronic Device> Fig. 19 is a diagram showing an example of the hardware configuration of the electronic device 109. Fig. 20 is a block diagram showing the functional configuration of the electronic device 109. As shown in Fig. 19, the electronic device 109 has a CPU (Central Processing Unit) 911, a ROM (Read Only Memory) 912, a RAM (Random Access Memory) 913, an HDD (Hard Disk Drive) 914, a display 915 (display unit), an input device 916, a communication I / F 917, and a media I / F 918. Each component is connected to each other via a bus.

[0194] The CPU 911 controls the entire electronic device 109. The CPU 911 can load the OS and various programs stored in the ROM 912 or HDD 914 into the RAM 913 and execute them. Alternatively, the CPU 911 can load programs stored in the storage medium RM2 into the RAM 913 via the media I / F 918 and execute them. The storage medium RM2 can be an optical storage medium, a magneto-optical storage medium, a magnetic storage medium, a conductive memory tape medium, a semiconductor memory, or the like. Note that the electronic device 109 may also include a GPU (Graphics Processing Unit) or the like as a processor in addition to the CPU 911. The CPU 911 performs processing in response to user operations via the input device 916 and displays the processing results on the display 915. The input device 916 can be, for example, a keyboard, a mouse, a touchpad, or the like.

[0195] The HDD 914 stores programs executed by the CPU 911, data used by the programs, etc. The communication I / F 917 outputs data received from other devices to the CPU 911 via a network NW2 such as the Internet or a local area network (LAN). The communication I / F 917 also transmits data generated by the CPU 911 to other devices. The other devices may be devices such as the robot 105 and printer 103 that constitute the processing system 101, or devices external to the processing system 101. The CPU 911 may load required programs onto the RAM 913 from other devices via the network NW2.

[0196] In this embodiment, the CPU 911 of the electronic device 109 executes an application program loaded onto the RAM 913 to realize the functional configuration of the electronic device 109 shown in FIG.

[0197] As shown in Fig. 20, the electronic device 109 has, as its functional configuration, a job management unit 191, a print data creation unit 192, and an operation adjustment unit 193. Each functional unit performs processing in response to a user's operation input via an input device 916 (see Fig. 19), and displays the processing results on the screen of a display 915 (see Fig. 19). Each functional unit also obtains data required for processing from a storage unit 196, and temporarily stores the processing results in the storage unit 196 as needed. The storage unit 196 is composed of the ROM 912, RAM 913, HDD 914, etc. shown in Fig. 19. The storage unit 196 stores, as an example, a job list.

[0198] The job management unit 191 displays on the display 915 an operation screen that enables the user to upload image data to be printed on the medium M. The operation screen allows the user to input printing conditions that the user specifies when printing image data on the medium M. The user can specify, as printing conditions, for example, the type of medium M, the number of copies to be printed, the print quality (normal mode, high quality mode, ink saving mode, etc.), white printing, clear gloss finish, etc.

[0199] The job management unit 191 creates a print job in response to a user's operation via the operation screen and registers it in a job list. The print job contains image data uploaded by the user and the details of the print process according to the printing conditions specified by the user.

[0200] As described above, the processing system 101 may include multiple printers 103A, 103B, and 103C. In this embodiment, a single print job can be executed by multiple printers 103A, 103B, and 103C. The user may specify the printer that will perform the printing process as the printing conditions. Alternatively, the job management unit 191 may refer to the printing functions of each printer 103A, 103B, and 103C and select a printer that can execute the printing conditions specified by the user. For example, if a large number of copies are specified, the job management unit 191 can create a print job so that each of the multiple printers 103A, 103B, and 103C prints the same content on the medium M. Alternatively, if the printing conditions specified by the user cannot be executed by any one printer, the job management unit 191 can create a print job so that the same medium M is transferred between the multiple printers 103A, 103B, and 103C and printed.

[0201] When a user selects a print job to be executed from the job list, specifies the number of copies of media M to be printed, and inputs an instruction to start printing, the job management unit 191 manages the operation of the printer 103 and robot 105 to execute the print job for the specified number of copies. The job management unit 191 outputs image data of the specified print job to the print data creation unit 192, causing it to create print data. The job management unit 191 outputs the print job together with the print data to the printer 103, causing it to perform printing processing on the media M. The job management unit 191 outputs an operation command to the robot 105, causing it to supply and collect media M to the printer 103. The job management unit 191 communicates with the printer 103 and robot 105 to manage the progress of the print job, and updates the job list when the print job for the specified number of copies of media M is completed.

[0202] The print data creation unit 192 creates print data for controlling the operation of the printer 103. When uploading image data or inputting a command to start printing, the user can specify various print conditions via the operation screen. The job management unit 191 outputs the specified print conditions together with the image data to the print data creation unit 192. The print data creation unit 192 creates print data according to the print conditions.

[0203] The print data creation unit 192 creates print data by performing RIP (Raster Image Processing) on ​​image data according to the specified printing conditions. RIP is a process for generating a raster image that specifies the ejection positions for ejecting ink of a color corresponding to the image data. In RIP, a raster image is generated by performing halftone processing on a grayscale image corresponding to each color of C, M, Y, and K color ink or spot color ink. Furthermore, various commands for controlling the printer 103 according to the specified printing conditions are added to the generated raster image, and print data is created.

[0204] The job management unit 191 sends operation commands to the printer 103 and the robot 105, and receives various notifications from the printer 103 and the robot 105. As an example, the job management unit 191 receives a supply request and a collection request from the printer 103. The job management unit 191 basically accepts notifications from the printer 103 in the order in which they are received and outputs operation commands. When the job management unit 191 receives a supply request, it outputs an operation command to the robot 105 to supply media M. When the job management unit 191 receives a collection request, it outputs an operation command to the robot 105 to collect media M. In other words, the robot 105 performs the supply and collection of media M as independent operations.

[0205] As described above, because the processing system 101 includes multiple printers 103A, 103B, and 103C, notifications may be output from the multiple printers 103A, 103B, and 103C at the same time. When the job management unit 191 processes notifications in the order in which they are received, the printer 103 that outputs a notification later enters a standby state until the processing for the printer 103 that output a notification earlier is completed. If the standby state becomes long, there is a possibility that the processing efficiency of media M may not be sufficiently improved, even though multiple printers 103A, 103B, and 103C are provided. In this embodiment, when there is a printer 103 that outputs a supply request and a printer 103 that outputs a collection request, the job management unit 191 outputs an operation command to the robot 105 to supply and collect media M as a series of operations. A series of operations means that the robot 105 continuously supplies and collects media M without returning to its initial position and stopping midway through the operation. Specifically, after the robot 105 supplies media M to the printer 103 that issued the supply request, it retrieves the media M from the printer 103 that issued the retrieval request without returning to its initial position, thereby reducing the amount of time the printer 103 is in standby mode.

[0206] For example, the job management unit 191 can cause the robot 105 to perform a series of operations if it receives either a supply request or a collection request from one of the printers 103 and then receives the other request within a predetermined time. The predetermined time can be set, for example, taking into account the time required to supply and collect media M separately.

[0207] When the job management unit 191 causes the robot 105 to perform a series of operations, it causes the operation adjustment unit 193 to adjust parameters included in the operation command to the robot 105. As described above, the parameters included in the operation command specify teaching data that has been set in advance for the robot 105. The operation command may include parameters that specify, for example, the following: - The movement path of the robot 105 - The stopping positions of the robot 105 on the movement path (position information of the supply point 107, collection point 108, and printers 103A, 103B, and 103C) and the stopping order - The operation to be performed by the robot 105 at each stopping position (excluding the initial position) (acquisition or release of media M)

[0208] Figure 21 is a diagram illustrating the operation commands when the robot 105 performs independent operations to supply and collect media M. Figure 22 is a diagram illustrating the operation commands when the robot 105 performs a series of operations to supply and collect media M. For ease of explanation, the movement path of the robot 105 is shown as a straight line in Figures 21 and 22.

[0209] 21A shows the operation command when a supply request is input from printer 103C. In response to the supply request from printer 103C, job management unit 191 outputs an operation command including the following parameters: Movement path of robot 105: R1 Stopping positions and stopping order of robot 105 on movement path R1: (1) supply point 107, (2) printer 103C, (3) initial position Actions performed by robot 105 at each stopping position (excluding the initial position): (1) acquisition of media M at supply point 107, (2) release of media M at printer 103C

[0210] 21B shows the operation command when a collection request is input from printer 103B. In response to the collection request from printer 103B, job management unit 191 outputs an operation command including the following parameters: Movement path of robot 105: R2 Stopping positions and stopping order of robot 105 on movement path R2: (1) printer 103B, (2) collection point 108, (3) initial position Actions performed by robot 105 at each stopping position (excluding the initial position): (1) acquisition of media M by printer 103B, (2) release of media M at collection point 108

[0211] If the printer 103 that output the notification and the robot 105 operation (supply or collection of media M) corresponding to the content of the notification are the same, the parameters included in the operation command will be the same. Therefore, in the electronic device 109, for example, supply and collection operation commands corresponding to each of the printers 103A, 103B, and 103C can be set in advance. The job management unit 191 can select and output the operation command corresponding to the printer 103 that output the notification and the content of the notification from the pre-set operation commands.

[0212] The operation adjustment unit 193 adjusts the parameters of pre-set operation commands when causing the robot 105 to perform a series of operations. As shown in FIG. 21A, printer 103B is also located on movement path R1 from the initial position to printer 103C. In this case, the robot 105 can move back and forth along movement path R1 to supply media M to printer 103B, while retrieving media M from printer 103B located on movement path R1. In this way, if a printer 103 that outputs one of the supply and retrieval requests is located on the movement path to a printer 103 that outputs the other request, the robot 105 can supply and retrieve media M as a series of operations. In this case, the job management unit 191 causes the operation adjustment unit 193 to adjust the parameters of the operation commands. The operation adjustment unit 193 can adjust the parameters of the operation commands, for example, by adding the parameters of the operation commands corresponding to one request to the parameters of the operation command corresponding to the other request.

[0213] As shown in Fig. 22, the operation adjustment unit 193 adjusts the stop order by adding the parameters included in the operation command in Fig. 21(b) (acquisition of media M by printer 103B, release of media M at collection point 108) to the parameters of the operation command in Fig. 21(a). The job management unit 191 outputs an adjusted operation command to the robot 105 that includes the following parameters: Movement path of robot 105: R1 Stopping positions and stopping order of robot 105 on movement path R1: (1) supply point 107, (2) printer 103C, (3) printer 103B, (4) recovery point 108, (5) initial position Actions performed by robot 105 at each stopping position (excluding the initial position): (1) acquiring media M at supply point 107, (2) releasing media M at printer 103C, (3) acquiring media M at printer 103B, (4) releasing media M at recovery point 108 The robot 105 operates based on the adjusted operation commands to supply and recover media M as a series of operations. Specifically, the robot 105 moves from the initial position to the supply point 107 to acquire pre-printed media M, then moves to printer 103C to supply media M. The robot 105 moves directly to printer 103B to acquire post-printed media M without returning from printer 103C to the initial position. The robot 105 releases the medium M at the collection point 108 and returns to its initial position.

[0214] FIG. 23 is a flowchart illustrating processing by the electronic device 109 according to an embodiment. FIG. 23 illustrates processing by the electronic device 109 related to adjusting the operation of the robot 105 when a print job is being executed by each of the multiple printers 103A, 103B, and 103C in the processing system 101. As shown in FIG. 23 , when a supply request or a collection request is input from one of the printers 103 (step ST01: Yes), the job management unit 191 determines whether the other request is input within a predetermined time (step ST02). For example, the job management unit 191 can wait a predetermined time after the input of one request and then determine whether the other request is input. When one request is a supply request, if the other request, a collection request, is input within the predetermined time, the job management unit 191 determines Yes in step ST02. When one request is a collection request, if the other request, a supply request, is input within the predetermined time, the job management unit 191 determines Yes in step ST02. If one request is not input within a predetermined time after the other request is input, or if only a notification with the same content as one request is input, the job management unit 191 judges the result to be No in step ST02.

[0215] If the other request has not been input (step ST02: No), the job management unit 191 proceeds to step ST05. The job management unit 191 selects an operation command corresponding to the supply request or the collection request input in step ST01 and outputs it to the robot 105 (step ST05). If the other request has been input (step ST02: Yes), the job management unit 191 determines whether the printer 103 that output one request is located on the movement path to the printer 103 that output the other request (step ST03). For example, as shown in FIGS. 21A and 21B, if one request is input from printer 103C and the other request is input from printer 103B, printer 103B is located on the movement path R1 of printer 103C. In this case, the job management unit 191 determines Yes in step ST03. Also, for example, if one request is input from printer 103B and the other request is input from printer 103C, printer 103C is not located on the movement path of printer 103B. In this case, the job management unit 191 determines No in step ST03.

[0216] If the result of the determination in step ST03 is No, the job management unit 191 proceeds to step ST05. The job management unit 191 selects an operation command corresponding to the supply request or the collection request input in step ST01, and outputs the operation command to the robot 105 (step ST05).

[0217] If the job management unit 191 determines "Yes" in step ST03, it proceeds to step ST04 and causes the operation adjustment unit 193 to adjust the parameters of the operation commands. The operation adjustment unit 193 adjusts the parameters of the operation commands, for example, by adding the parameters of the operation command corresponding to one request to the parameters of the operation command corresponding to the other request. The job management unit 191 outputs the operation command adjusted by the operation adjustment unit 193 to the robot 105 (step ST05).

[0218] If all print jobs are not completed after outputting the operation command (step ST06: No), the job management unit 191 returns to step ST01 and performs the next notification process. If the job management unit 191 determines No in step ST03, an operation command related to only one of the requests is output in step ST05. In this case, when returning to step ST01, the job management unit 191 outputs an operation command related to the other request that was not processed in step ST05.

[0219] As described above, the processing system 101 described in the embodiment has, for example, the following configuration: (15) The processing system 101 includes a printer 103 (droplet ejection device) that ejects ink (droplets) onto media M, and a robot 105 that supplies and collects media M to and from the printer 103 in response to supply requests and collection requests from the printer 103. When there is a printer 103 that outputs a supply request and a printer 103 that outputs a collection request, the robot 105 performs a series of operations to supply media M to the printer 103 that outputs the supply request and then collect the media M from the printer 103 that outputs the collection request.

[0220] The electronic device 109 (command device) described in the embodiment has, for example, the following configuration: (28) In the processing system 101, the electronic device 109 outputs operational commands to the robot 105 in response to supply requests and collection requests from the printers 103. When there are printers 103 that output supply requests and printers 103 that output collection requests, the electronic device 109 outputs commands to the robot 105 for a series of operations to supply media M to the printer 103 that output the supply request and then collect media M from the printer 103 that output the collection request.

[0221] By configuring the processing system 101 and the electronic device 109 in this manner, the robot 105 can efficiently supply and retrieve media M to and from the printer 103. For example, if the processing system 101 includes multiple printers 103A, 103B, and 103C, situations may arise in which the robot 105 is required to both supply and retrieve media M. However, the robot 105 typically cannot accept another operation command until it completes an operation based on one operation command. Therefore, after operating based on an operation command corresponding to one request, the robot 105 must return to its initial position before operating based on the operation command corresponding to the other request. In this way, the robot 105 must return to its initial position and stop between supplying and retrieving media M, which lengthens the standby time of the printer 103 and potentially affects the efficiency of the printing process for the media M. In the processing system 101 of this embodiment, when there is a printer 103 that outputs a supply request and a printer 103 that outputs a collection request, the robot 105 performs a series of operations to supply media M to the printer 103 that outputs the supply request, and then collect the media M from the printer 103 that outputs the collection request. This allows the robot 105 to efficiently supply and collect media M from the printer 103 without having to return to its initial position and stop between supplying and collecting media M. Furthermore, reducing the time spent by the printer 103 improves the efficiency of the printing process for media M.

[0222] In the above embodiment, an example was described in which the supply request and the collection request were output from different printers 103B and 103C (see FIG. 22 ), but the form of the processing system of the present invention is not limited to this example. For example, the processing system 101 may be equipped with a printer 103 that can load multiple media M on the table 131. In this case, both the supply request and the collection request may be output from the same printer 103.

[0223] In the above embodiment, an example has been described in which the electronic device 109, as a command device, outputs operation commands to the robot 105 to perform a series of operations, but the form of the processing system of the present invention is not limited to this example. For example, the processing system 101 may perform printing processing by directly communicating between the controller 130 of the printer 103 and the controller 150 of the robot 105 without using the electronic device 109. In this case, for example, the controller 130 of one of the printers 103 may be configured as a command device, or the controller 150 of the robot 105 may be configured as a command device.

[0224] Furthermore, in the above-described embodiment, when causing the robot 105 to perform a series of operations, the job management unit 191 outputs a single operation command whose parameters have been adjusted by the operation adjustment unit 193. However, the form of the processing system of the present invention is not limited to this example. The number of operation commands corresponding to a series of operations of the robot 105 is not limited, as long as it is possible to reduce the time that the robot 105 spends returning to its initial position between supplying and collecting media M. For example, the operation adjustment unit 193 may adjust the parameters of both an operation command corresponding to either a supply request or a collection request, and an operation command corresponding to the other request, so that the robot 105 can perform a series of operations.

[0225] Furthermore, in the embodiment, the printer 103 is exemplified as the droplet ejection device, but the droplet ejection device is not limited to the printer 103. The droplet ejection device may be, for example, a dispenser capable of ejecting a fixed amount of liquid, or a coating device capable of ejecting a coating agent, etc. Furthermore, the processing system 101 may be equipped with a cutting plotter (cutting device) that cuts the medium M instead of the droplet ejection device. The cutting plotter can form a cut line in the medium M or a V-groove in the medium M by pressing a cutting tool (blade) against the medium M and moving it relative to the medium M. In other words, the printer 103 shown in the drawings referenced in this embodiment and in each modified example described below can be replaced with another droplet ejection device or a cutting plotter.

[0226] (16) The robot 105 supplies or collects media M along a movement path that is set in advance for each printer 103. If a printer 103 that outputs either a supply request or a collection request is located on the movement path to the printer 103 that outputs the other request, the robot 105 performs a series of operations.

[0227] The robot 105 moves along a movement path set in advance by teaching, supplying and collecting media M. When causing the robot 105 to perform a series of operations, the operation adjustment unit 193 can adjust the parameters simply by adding a stop position and operation of the robot 105 related to the printer 103 that output one request to the movement path to the printer 103 that output the other request. This simplifies the processing in the electronic device 109.

[0228] (22) The printer 103 includes a table 131 on which the medium M is placed, and a head 135 (head unit) that is disposed opposite the table 131 and ejects ink onto the medium M placed on the table 131 while displacing relative to the table 131. When the printer 103 displaces the head 135 to a home position Hp and becomes ready to print, it sends a supply request to the electronic device 109. When the printer 103 completes the printing process and displaces the head 135 to the home position Hp, it sends a collection request to the electronic device 109. In other words, in this embodiment, the supply request and collection request for the medium M can be configured using a signal that notifies the relative displacement of the head 135 with respect to the table 131.

[0229] The head 135 of the printer 103 typically moves to the home position Hp during standby and when printing is completed. By treating signals notifying the movement of the head 135 to the home position Hp as supply requests and retrieval requests, it is not necessary to generate dedicated signals for supply and retrieval requests, thereby reducing the processing load on the printer 103. Note that the signals treated as supply and retrieval requests are not limited to signals notifying the displacement of the head 135. (23) For example, at least one of the supply and retrieval requests can be configured as a signal notifying the input or completion of a print job. The electronic device 109 outputs a print job to the printer 103 each time it performs printing processing on the medium M. When a print job is input from the electronic device 109, the printer 103 returns an ACK (Acknowledgement) signal. This ACK signal may be treated as a supply request for the medium M. Furthermore, when printing processing on the medium M is completed, the printer 103 can send a signal notifying the completion of the print job as a retrieval request. The signal notifying the completion of the print job may be, for example, a signal notifying the displacement of the head 135 to the home position Hp, as described above. Alternatively, the electronic device 109 may send a signal to the printer 103 confirming the completion of the print job, and the response signal from the printer 103 may be treated as a request to collect the media M. In this case, the electronic device 109 may estimate, for example, from the print data, the time when the printing process of the printer 103 will end, and send a signal to the printer 103 confirming the completion of the print job near the end time. In this case, there is also no need to generate dedicated signals for the supply request and the collection request, and the processing load on the printer 103 can be reduced.

[0230] The effects described above also apply to the processing method in the processing system 101 and the operation control program for the robot 105. The present invention also applies to the media M processed (manufactured) by the processing method (manufacturing method) of the processing system 101.

[0231] (Variation 1) FIG. 24 is a schematic diagram showing the configuration of a processing system 101A according to Variation 1. FIG. 25 is a diagram illustrating an example of output of a supply request and a collection request. In FIG. 25, the X and Y directions are referenced based on the placement of printer 103B, but by switching the X and Y directions, this can also be applied to the placement of printers 103A and 103C. FIG. 26 is a block diagram showing the functional configuration of an electronic device 109 according to Variation 1. Note that in the variations described below, components similar to those in the embodiment are designated by the same reference numerals, and detailed description will be omitted. In the embodiment described above (see FIG. 15), an example was illustrated in which one medium M was placed on the table 131 of each printer 103A, 103B, and 103C. However, as shown in FIG. 24, the tables 131 of printers 103A, 103B, and 103C may be capable of holding multiple media M. 24 shows an example in which the table 131 of each of the printers 103A, 103B, and 103C is provided with four placement locations Pa, Pb, Pc, and Pd for media M. Figure 24 is merely an example, and the number of placement locations may differ for each of the printers 103A, 103B, and 103C. Furthermore, the number of placement locations for media M on the table 131 and the positions of each placement location can be changed as appropriate depending on the size of the media M used in the printing process.

[0232] As in the embodiment, the printer 103 performs printing by moving the head 135 (see FIG. 16) in the X and Y directions and sequentially facing the placement locations Pa to Pd of each medium M. The printer 103 may perform printing of the same content on the media M placed on all of the placement locations Pa to Pd, or may perform printing of different content on at least some of the placement locations from the other placement locations.

[0233] The printer 103 may simultaneously output requests to collect and supply media M for multiple placement locations Pa-Pd. In this case, the printer 103 may use the signal notifying the displacement of the head 135 to the home position Hp (see FIGS. 17A and 17B) as a request to collect and supply media M for all placement locations Pa-Pd, as in the embodiment.

[0234] Alternatively, the printer 103 may output at least one of a media M collection request and a media supply request for each of the placement locations Pa-Pd. As shown in FIG. 25 , for example, when print data is input to the printer 103, the printer 103 displaces the head 135 to the home position Hp. The printer 103 outputs a supply request for the placement locations Pa-Pd. The printer 103 displaces the head 135 from the home position Hp toward the X1 side and first performs printing on the media M at the placement locations Pc and Pd. The printer 103 then displaces the head 135 further toward the X1 side and performs printing on the media M at the placement locations Pa and Pb. The printer 103 outputs a media M collection request for the placement locations Pc and Pd when the head 135 has displaced in the X direction to a position away from the placement locations Pc and Pd. For example, the robot 105 extends the arms 152, 153 (see FIG. 16 ) so that they pass above the head 135 that is printing on the media M at the placement locations Pa and Pb, and then lowers the shaft 154 at the placement locations Pc and Pd. This allows the robot 105 to collect the media M without interfering with the head 135. When the printer 103 collects the media M at the placement locations Pc and Pd, it may output a request to supply the media M at the placement locations Pc and Pd. This allows the printer 103 to both collect the media M at the placement locations Pc and Pd and supply the next media M while printing on the media M at the placement locations Pa and Pb.

[0235] 25, when the head 135 finishes printing on the media M at the placement locations Pa and Pb and returns to the home position Hp, the printer 103 can output a request to collect the media M at the placement locations Pa and Pb. This allows the robot 105 to supply the next media to the placement locations Pa and Pb while the printer 103 is printing on the media M at the placement locations Pc and Pd. In this way, the processing system 101A can improve the efficiency of the printing process by quickly collecting the media M that have finished printing and supplying the next media M to each of the placement locations Pa to Pd of the printer 103.

[0236] As in Variation 1, when a collection request and a supply request are output for each of the media M placement locations Pa-Pd of the printer 103, the same printer 103 may output both a collection request and a supply request for the media M. As in the embodiment, teaching data for supplying and collecting the media M is set for the robot 105. As described above, the teaching data includes the stopping position of the robot 105 and the movement path of the robot 105. In Variation 1, the positions of the media M placement locations Pa-Pd of the printers 103A, 103B, and 103C are set as the stopping position of the robot 105. In addition, the movement path of the robot 105 is set for each of the media M placement locations Pa-Pd of the printers 103A, 103B, and 103C.

[0237] As shown in FIG. 26 , the electronic device 109 of Modification 1 includes a path creation unit 194 in addition to the functional configuration of the embodiment. As in the embodiment, if there is a printer 103 that outputs a media M supply request and a printer 103 that outputs a media M collection request, the job management unit 191 outputs an operation command to the robot 105 to supply and collect media M as a series of operations. As described above, in Modification 1, the same printer 103 may output both a supply request and a collection request. That is, the "printer 103 that outputs a media M supply request" and the "printer 103 that outputs a collection request" may be the same printer 103 or different printers 103. When a placement location corresponding to either a supply request or a collection request is located on the movement path of the placement location corresponding to the other request, the job management unit 191 causes the operation adjustment unit 193 to adjust the parameters of the operation command, as in the embodiment. This allows the robot 105 to supply and collect media M as a series of operations. Furthermore, if the placement location corresponding to one request is not located on the movement path of the placement location corresponding to the other request, the job management unit 191 causes the path creation unit 194 to create a movement path that includes the placement location corresponding to one request and the placement location corresponding to the other request. The operation adjustment unit 193 adjusts the parameters of the operation command using the movement path created by the path creation unit 194. This allows the robot 105 to supply and collect media M through a series of operations, regardless of the movement path set in advance.

[0238] As described above, in Variation 1, the movement path of the robot 105 is set for each media M placement location Pa-Pd of each printer 103A, 103B, and 103C, resulting in segmented movement paths. In this case, there is a possibility that a placement location for one media M corresponding to another request will not be located on the movement path. Even in such cases, Variation 1 allows the robot 105 to supply and retrieve media M in a single operation. Note that the creation of movement paths is not limited to cases where each printer 103A, 103B, and 103C has multiple media M placement locations Pa-Pd. Movement paths may also be created even when each printer 103A, 103B, and 103C can only place one media M, as in the embodiment.

[0239] If each of the printers 103A, 103B, and 103C can accommodate only one medium M, the path creation unit 194 can create a movement path based on, for example, the positional relationship between the printer 103 that output one request and the printer 103 that output the other request. If each of the printers 103A, 103B, and 103C has multiple media M placement locations Pa to Pd, the path creation unit 194 can create a movement path based on the positional relationship between the media M placement location of the printer 103 corresponding to one request and the media M placement location of the printer 103 corresponding to the other request, in addition to the positional relationship between the printers 103A, 103B, and 103C.

[0240] The path creation unit 194 can create a movement path so as to minimize the transport time or transport distance of the robot 105, for example. This can reduce unnecessary movement of the robot 105 and improve the effectiveness of the series of operations performed by the robot 105. The algorithm used by the path creation unit 194 to create a movement path can be set, for example, by machine learning in advance data related to the performance of the robot 105 and the printer 103 and data related to the layout of the processing system 101A. The path creation unit 194 may accumulate data on actual measurements obtained by performing printing processing in the processing system 101A and improve the accuracy of the data.

[0241] Alternatively, a table showing the movement path for performing a series of operations for each of the placement locations Pa to Pd of the printers 103A, 103B, and 103C may be created in advance and stored in the storage unit 196. In this case, the path creation unit 194 only needs to acquire the movement path by referring to the table, which simplifies the process of creating the path.

[0242] FIG. 27 is a diagram showing an example of creating a movement path for the robot 105 to perform a series of operations. FIG. 27 shows an example in which a supply request (one-sided request) is output from printer 103A for placement location Pa, and a collection request is output from printer 103B for placement location Pb. As shown in FIG. 27, placement location Pb of printer 103B is not located on the movement path from the initial position to placement location Pa of printer 103A. In this case, the path creation unit 194 creates a movement path R3 that includes placement location Pa of printer 103A and placement location Pb of printer 103B.

[0243] The operation adjustment unit 193 adjusts the parameters of the operation commands output to the robot 105 based on the movement path R3 created by the path creation unit 194 as follows: Movement path of the robot 105: R3 Stopping positions and stopping order of the robot 105 on the movement path R3: (1) supply point 107, (2) placement location Pa of the printer 103A, (3) placement location Pb of the printer 103B, (4) collection point 108, (5) initial position Actions performed by the robot 105 at each stopping position (excluding the initial position): (1) acquisition of media M at the supply point 107, (2) release of media M at placement location Pa of the printer 103A, (3) acquisition of media M at placement location Pb of the printer 103B, (4) release of media M at the collection point 108

[0244] Fig. 28 is a flowchart showing the processing of electronic device 109 according to Modification 1. Steps S11 and S12 in Fig. 28 are similar to the processing of steps ST01 and ST02 in Fig. 23, and therefore description thereof will be omitted.

[0245] In step S13, the job management unit 191 determines whether a placement location corresponding to one of the supply request and the collection request is located on the movement path of a placement location corresponding to the other request. If the job management unit 191 determines Yes in step S13, the process proceeds to step S15, where it causes the operation adjustment unit 193 to adjust parameters of the operation command corresponding to one of the requests, similar to the embodiment. If the job management unit 191 determines No in step S13, the process proceeds to step S14, where it causes the path creation unit 194 to create a movement path including the placement location corresponding to one request and the placement location corresponding to the other request. Subsequently, in step S15, the job management unit 191 causes the operation adjustment unit 193 to adjust parameters of the operation command. At this time, the operation adjustment unit 193 performs the adjustment based on the movement path created in step S14. The processing in steps S16 and S17 in FIG. 28 is the same as the processing in steps ST05 and ST06 in FIG. 23, and therefore a description thereof will be omitted.

[0246] Here, in step S12 of FIG. 28, if another request is input within a predetermined time, the job management unit 191 may proceed to step S13 without waiting for the predetermined time to elapse. Alternatively, the job management unit 191 may wait for the input of another request until the predetermined time has elapsed. In this case, multiple other requests may be input to the electronic device 109. If one of the multiple other requests is input from the same printer 103 as another request, the job management unit 191 can process the other request with priority. In other words, the robot 105 can perform a series of operations of supplying and collecting media M from the same printer 103 with priority.

[0247] FIG. 29 shows an example of the operation of the robot 105 when supplying and collecting media M, giving priority to the same printer 103. For example, if media M are printed on in the order of placement locations Pd, Pc, Pb, and Pa in printer 103A, printer 103A outputs collection requests for placement locations Pd, Pc, Pb, and Pa. Furthermore, printer 103A outputs supply requests for media M sequentially for the placement locations from which media M were collected. In other words, when media M are collected from placement location Pd of printer 103A, both supply and collection requests are output from printer 103A. In this case, the job management unit 191 of the electronic device 109 prioritizes processing the request from printer 103A, even if a supply or collection request has been output from a printer 103 other than printer 103A. This allows the robot 105 to supply and collect media M to the same printer 103A as a series of operations.

[0248] As shown in (a) of Figure 29, first, the robot 105 independently collects media M from placement location Pd of printer 103A in response to a collection request for media M from placement location Pd. As shown in (b) of Figure 29, the robot 105, as a series of operations, supplies media M to placement location Pd of printer 103A, and then collects media M from placement location Pc. As shown in (c) of Figure 29, the robot 105, as a series of operations, supplies media M to placement location Pc of printer 103A, and then collects media M from placement location Pb. Although not shown, as a further series of operations, the robot 105 supplies media M to placement location Pb of printer 103A, and then collects media M from placement location Pa. Finally, after supplying media M to placement location Pa of printer 103A, the robot 105 can respond to requests from the other printers 103B and 103C. In this way, by prioritizing the collection and supply of media M by the same printer 103A, the printer 103A can start the next printing process promptly after completing printing. This improves the efficiency of the printing process as a whole in the processing system 101A. Furthermore, by having the robot 105 perform a series of operations with priority given to the same printer 103A, the travel distance of the robot 105 in the series of operations can be reduced. This reduces the power consumption required for the operation of the robot 105. Furthermore, because the robot 105 moves by rotating its arm, a longer travel distance increases the likelihood of the media M becoming misaligned due to centrifugal force. Reducing the travel distance of the robot 105 reduces the likelihood of the media M becoming misaligned.

[0249] As described above, the processing system 101A according to the first modification has, for example, the following configuration: (17) In the processing system 101A, the electronic device 109 can function as a path creation device. The electronic device 109 includes a path creation unit 194 that creates a movement path for the robot 105 in a series of operations based on the positional relationship between the printer 103 that outputs either a request for supplying or a request for collecting media M and the printer 103 that outputs the other request.

[0250] With this configuration, the robot 105 is not limited to a movement path set in advance as teaching data, and can perform a series of operations to supply and collect the media M. Also, by creating a movement path based on the positional relationship of the printer 103, unnecessary movement of the robot 105 can be reduced.

[0251] (18) The printer 103 may include a table 131 on which multiple media M can be placed. The path creation unit 194 of the electronic device 109 can create a movement path based on the relative positions of the printer 103 that outputs one request and the printer 103 that outputs the other request, and the positions of the placement locations Pa to Pd for the media M on each printer 103.

[0252] For example, if multiple printers 103A, 103B, and 103C each have multiple placement locations Pa-Pd for media M, the path creation unit 194 can create a movement path based on the placement locations Pa-Pd for media M on each printer 103A, 103B, and 103C, allowing for more precise path creation. Furthermore, by having the robot 105 efficiently supply and collect media M to and from the placement locations Pa-Pd for media M on each printer 103A, 103B, and 103C, the advantage of the printer 103 being able to print multiple media M at one time can be fully utilized.

[0253] (21) The printer 103 includes a table 131 on which multiple media M can be placed, and is capable of outputting a supply request and a collection request for each media M placed on the table 131. If there is a printer 103 that outputs both a supply request and a collection request, the robot 105 prioritizes that printer 103 and performs a series of operations.

[0254] By having the robot 105 perform a series of operations of supplying and collecting media M to the same printer 103 with priority, the printer 103 can start the next printing process immediately after completing printing, thereby improving the efficiency of the printing process in the processing system 101A. Furthermore, by reducing the distance traveled by the robot 105 in a series of operations, power consumption can be reduced and the possibility of misalignment of the media M can be reduced.

[0255] (Variation 2) Figure 30 is a block diagram showing the functional configuration of the electronic device 109 in a processing system 101B according to Variation 2. As shown in Figure 30, the electronic device 109 (estimation device, determination device) according to Variation 2 includes an estimation unit 195 in addition to the functional configuration described in the embodiment and Variation 1. In the embodiment, an example was described in which the job management unit 191, when either a request for supplying or a request for collecting media M is input, determines whether the other request is input within a predetermined time. In Variation 2, when either a request for supplying or a request for collecting media M is input, the job management unit 191 causes the estimation unit 195 to estimate the printer 103 that will output the other request.

[0256] The estimation unit 195 communicates with each of the printers 103A, 103B, and 103C, for example, to acquire status information for each of the printers 103A, 103B, and 103C. The status information may be, for example, the progress status of the printing process in each of the printers 103A, 103B, and 103C. The estimation unit 195 estimates the printer 103 that will output the other request based on the status information for each of the printers 103A, 103B, and 103C. For example, if the status of a printer 103 indicates that it is in the process of printing, the estimation unit 195 estimates that printer 103 is the printer 103 that will output a collection request. Furthermore, the estimation unit 195 estimates the time from when the printer 103 finishes the printing process to when it will output a collection request based on the progress status of the printing process. For example, if the status of a printer 103 indicates that the printing process has been completed and that the head 135 is undergoing maintenance, the estimation unit 195 estimates that printer 103 is the printer 103 that will output a supply request. Furthermore, the estimation unit 195 estimates the time until the printer 103 outputs a supply request based on the progress of the maintenance.

[0257] The job management unit 191 determines whether to wait until the other request is input based on the estimation result of the estimation unit 195. The job management unit 191 can make this determination based on, for example, data regarding the time required for printing processing by each of the printers 103A, 103B, and 103C, and data regarding the time required for the robot 105 to supply and collect media M to and from the printers 103A, 103B, and 103C. The job management unit 191 can determine to wait, for example, if waiting until the other request is input and then performing a series of operations to supply and collect media M is more efficient than performing each of the operations individually without waiting for the other request to be input.

[0258] An example of a determination made by the job management unit 191 will be described. For example, a supply request is input to the electronic device 109 from printer 103A as one of the requests. The estimation unit 195 also estimates that a collection request will be output from printer 103B as the other of the requests after time T1 has elapsed. In this case, the job management unit 191 estimates the total time T2 required to supply media M to printer 103A and collect media M from printer 103B separately. The job management unit 191 also estimates the total time T3 required to wait for time T1 and then supply media M to printer 103A and collect media M from printer 103B as a series of operations. For example, if time T3 is shorter than time T2, the job management unit 191 can determine to wait until the other request is input. By performing such a determination process, the job management unit 191 can wait for the input of another request and have the robot 105 perform a series of operations, within a range that does not affect the processing efficiency of the entire processing system 101B.

[0259] Necessary data can be learned in advance through machine learning for the estimation process in the estimation unit 195 and the determination process in the job management unit 191. Similarly, actual measurement data obtained by performing printing processes in the processing system 101B can be accumulated to improve the accuracy of each process. Furthermore, a table listing the time required for printing processes for each of the printers 103A, 103B, and 103C and the time required for the operation of the robot 105 may be created in advance and stored in the storage unit 196.

[0260] FIG. 31 is a flowchart showing the processing of the electronic device 109 according to Modification 2. As shown in FIG. 31 , when the job management unit 191 receives either a supply request or a collection request from one of the printers 103 (step S21: Yes), the job management unit 191 causes the estimation unit 195 to estimate the printer 103 that will output the other request (step S22). Based on the estimation result of the estimation unit 195, the job management unit 191 determines whether to wait until the other request is input (step S23). If the job management unit 191 determines not to wait (step S23: No), the process proceeds to step S28. The job management unit 191 selects an operation command corresponding to the supply request or collection request input in step S21 and outputs it to the robot 105 (step S28). If the job management unit 191 determines to wait (step S23: Yes), the job management unit 191 waits until the other request is input (step S24). When the other request is input (step S24: Yes), the job management unit 191 performs the processes of steps S25 to S29. Steps S25 to S29 are the same as the processes of steps S13 to S17 (see FIG. 28) in Modification 1, and therefore a description thereof will be omitted.

[0261] In step S22 of FIG. 31 , the estimation unit 195 may estimate multiple printers 103 as the printer 103 that will output the other request. In this case, the job management unit 191 may select, for example, the printer 103 estimated by the estimation unit 195 that has the shortest time until the other request is output, and make the determination in step S23. Alternatively, if there is a printer 103 estimated by the estimation unit 195 that is the same as the printer 103 that outputs one of the requests, the job management unit 191 may select that printer 103 and make the determination in step S23. This allows the robot 105 to prioritize the same printer 103 and perform a series of operations to supply and collect media M, as in Modification 1 (see FIG. 29 ). Also, while FIG. 31 illustrates an example in which the processing of Modification 2 is applied to the processing of Modification 1 (see FIG. 28 ), the processing of Modification 2 may also be applied to the processing of the embodiment (see FIG. 23 ).

[0262] As described above, the processing system 101B according to the second modification has the following configuration. (19) When a printer 103 outputs either a supply request or a collection request, if there is a printer 103 that is estimated to output the other request, the robot 105 can wait until the other request is output and then perform a series of operations. Specifically, the estimation unit 195 (estimation device) of the electronic device 109 estimates the printer 103 that will output the other request, for example, based on the status information of each printer 103.

[0263] This increases the number of times that the robot 105 performs a series of operations to supply and retrieve media M, thereby reducing the distance and number of movements of the robot 105. This reduces the power consumption required for the operation of the robot 105 and reduces the occurrence of misalignment of the media M.

[0264] (20) The job management unit 191 of the electronic device 109 (determination device) determines whether the robot 105 should wait for the time required for output of the other request based on data regarding the time required for processing by the printer 103 and the time required for the operation of the robot 105.

[0265] This allows the job management unit 191 to select to wait for the input of the other request when, for example, this will appropriately contribute to the efficiency of the print processing in the processing system 101B.

[0266] (Variation 3) FIG. 32 is a diagram showing an example configuration of a processing system 101C according to Variation 3. As shown in FIG. 32, the processing system 101C according to Variation 3 can include a processing device 106 that performs pre-processing or post-processing for the printer 103. FIG. 32 shows, as an example, a coating device that performs a coating process on the media M. The processing device 106 is not limited to a coating device and may be, for example, a pen plotter, a cutting plotter, a foil stamping device, or the like. Like the printer 103, the processing device 106 is communicatively connected to the electronic device 109. The processing device 106 receives data necessary for processing the media M from the electronic device 109. The processing device 106 also outputs requests to supply and collect the media M to the electronic device 109. The job management unit 191 of the electronic device 109 outputs operation commands to the robot 105 in response to the requests input from the processing device 106. The robot 105 supplies and collects the media M from the processing device 106 in response to the operation commands.

[0267] In addition, in Modification 3, an example will be described in which the same medium M is transferred between printer 103A (first printer), printer 103B (second printer), and processing device 106, and each device performs processing to produce a single product. For example, printers 103A and 103B can be configured to have at least some different printing functions. For example, printer 103A can be configured to eject CMYK color inks, while printer 103B can be configured to eject spot color inks. In Modification 3, a variety of print contents that cannot be achieved with a single printer 103 can be achieved by combining multiple printers 103 and processing devices 106.

[0268] As an example, the printer 103A ejects ink onto the medium M to form a first layer. The printer 103B ejects ink onto the medium M to form a second layer. The first layer and the second layer may or may not overlap at least partially. The processing device 106 can perform, for example, a coating process on the medium M on which the first and second layers have been formed.

[0269] The robot 105 transfers media M between the printers 103A, 103B and the processing device 106. As in the embodiment, the robot 105 operates in response to requests to supply and collect media M from the printers 103A, 103B and the processing device 106. Furthermore, if there is a printer 103 or processing device 106 that outputs a supply request and a printer 103 or processing device 106 that outputs a collection request, the robot 105 can supply and collect media M as a series of operations, as in the embodiment.

[0270] The robot 105 first supplies the media M from the supply point 107 to the printer 103A. When the printing process for the first layer is completed in the printer 103A, the robot 105 retrieves the media M from the printer 103A and supplies it to the printer 103B. Here, if the printers 103A and 103B can each hold multiple media M, the robot 105 can transfer the media M between the same placement points of the printers 103A and 103B. For example, the robot 105 can place a media M placed at placement point Pa of the printer 103A at the corresponding placement point Pa of the printer 103B. The robot 105 can also place media M placed at placement points Pb, Pc, and Pd of the printer 103A at the corresponding placement points Pb, Pc, and Pd of the printer 103B.

[0271] For example, if different images are to be printed on media M at each of the placement locations Pa-Pd of printers 103A and 103B, it is desirable to keep the placement of media M the same between the multiple printers 103A and 103B. When different images are to be printed on media M at each of the placement locations Pa-Pd of printers 103A and 103B, the print data input to printer 103 links the position information of each of the multiple media M with the image data to be printed at each position. If the placement of media M is changed between printers 103A and 103B, the link between the position information and image data of the multiple media M must be changed to match each printer 103. By keeping the placement of media M the same between printers 103A and 103B, the link between the position information and image data of the multiple media M can be made the same. This reduces the processing load on the print data creation unit 192 of electronic device 109.

[0272] Once printing of the second layer is complete in printer 103B, robot 105 retrieves media M from printer 103B and supplies them to processing device 106. If processing device 106 has multiple media M placement locations Pa-Pd, like printer 103, robot 105 can transfer media M so that the media placement in processing device 106 is the same as in printers 103A and 103B. Although not shown in Figure 32, once post-processing is complete in processing device 106, robot 105 retrieves media M from processing device 106 and releases them to collection location 108.

[0273] As described above, the processing system 101C according to Modification 3 can have, for example, the following configuration: (24) The printer 103 includes a printer 103A (first printer) that forms a first layer of ink on the medium M, and a printer 103B (second printer) that forms a second layer of ink on the medium M. As a series of operations, the robot 105 supplies the medium M collected from the printer 103A that outputs a collection request to the printer 103B that outputs a supply request.

[0274] In this way, a variety of print contents can be realized by performing printing processes on printer 103A and printer 103B separately to produce a single product. Also, by transferring media M between printer 103A and printer 103B as a series of operations by robot 105, it is possible to efficiently supply and collect media M, as in the embodiment.

[0275] The number of ink layers formed on the medium M is not limited to two. For example, the processing system 101C may be provided with three or more printers 103, and three or more ink layers may be formed on the medium M. Furthermore, the number of ink layers formed on the medium M does not have to match the number of printers 103. For example, after forming a second layer on the medium M with the printer 103B, the medium M may be transferred back to the printer 103A and a third layer may be formed.

[0276] (25) Printers 103A and 103B each have a table 131 on which multiple media M can be placed, and can output a supply request and a collection request for each media M placed on table 131. Robot 105 collects media M from placement locations Pa, Pb, Pc, and Pd (predetermined locations) on table 131 of printer 103A and supplies them to corresponding placement locations Pa, Pb, Pc, and Pd on table 131 of printer 103B.

[0277] In this way, by making the arrangement of media M the same between the multiple printers 103A and 103B, it is possible to make the link between the position information of each medium M and the image data to be printed on each medium M the same among the multiple printers 103. This makes it possible to reduce the processing load on the print data creation unit 192 of the electronic device 109.

[0278] (26) The processing system 101C may include a processing device 106 that performs pre-processing or post-processing of the media M for the printer 103. The robot 105, together with the printer 103, supplies and collects the media M from the processing device 106 as a series of operations.

[0279] By including the processing device 106 in the processing system 101C, various processes can be performed on the media M according to the user's needs. Furthermore, by having the robot 105 perform a series of operations on the processing device 106 in addition to the printer 103, the processing efficiency of the entire processing system 101C can be improved. Note that the processing device 106 only needs to perform pre-processing or post-processing for at least one printer. Therefore, the processing device 106 can perform processing between the printing processes of multiple printers. For example, the processing device 106 may perform processing between the printing processes of printer 103A and printer 103B.

[0280] The above-described modified examples may not only be applied to the embodiment, but also at least a part of the content of each may be applied to other modified examples.

[0281] The present invention is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the technical concept of the present invention.

[0282] 1, 1A, 1B Processing system 4 Printer 5 Robot 6 (6A, 6B) Inventory sensor (sensor) 7 (7A, 7B) Supply table (supply point) 9 Electronic device 41 Head (ejection unit) 46 Controller 48 Ink supply device 50 Controller 91 Job management unit (sequence determination unit) 92 Print data creation unit 93, 93A, 93B Estimation unit 94 Memory unit 95 Notification unit 96 Timer 482 Sensor 941 Table 942 Table 943 Table 944 History information 945 Table M (MA, MB) Media 101, 101A, 101B, 101C Processing system 103 (103A, 103B, 103C) Printer 105 Robot 106 Processing device 107 Supply point 108 Collection location 109 Electronic device (command device, path creation device, estimation device, determination device) 131 Table 135 Head (head unit) 191 Job management unit 193 Operation adjustment unit 194 Path creation unit 195 Estimation unit Pa, Pb, Pc, Pd Placement location

Claims

1. A processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media that has been processed by the droplet ejection device, wherein when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are to operate automatically, the processing system further comprises an order determination unit that determines the processing order of multiple processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

2. A processing system according to claim 1, further comprising an estimation unit that estimates the processing time based on the processing data, wherein the processing time includes the time required for the droplet ejection process by the droplet ejection device onto the medium, and the processing data includes data relating to the operation of an ejection unit that ejects the droplets and data relating to an image formed by ejecting the droplets onto the medium, and wherein the estimation unit improves the accuracy of estimating the time for the droplet ejection process by machine learning at least one piece of data included in the processing data.

3. A processing system according to claim 1, further comprising an estimation unit that estimates the processing time based on the processing data, wherein the processing time includes the time required for the droplet ejection process on the medium by the droplet ejection device, and the processing data includes data relating to the operation of the ejection unit that ejects the droplets and data relating to an image formed by ejecting the droplets onto the medium, and wherein the estimation unit estimates the time required for the droplet ejection process based on a table that indicates the correspondence between at least one piece of data included in the processing data and the processing time for the media by the droplet ejection device.

4. A processing system according to claim 1, further comprising an estimation unit that estimates the processing time based on the processing data, wherein the processing time includes transport time for the robot to supply the media to a droplet ejection device and recover the media from the droplet ejection device, the processing data includes data regarding the robot's transport operation, and the estimation unit estimates the transport time based on the data regarding the transport operation.

5. A processing system according to claim 4, wherein the robot acquires the media stocked at a supply location and supplies it to the droplet ejection device, and is equipped with a sensor capable of acquiring information regarding the number of media stocked at the supply location.

6. A processing system as claimed in claim 5, characterized in that the sensor is capable of acquiring at least one piece of information regarding the number of each type of media stocked at the supply location, the stock location, and the placement location in the droplet ejection device, and the robot acquires media of a type corresponding to the processing data from the supply location based on the information acquired by the sensor.

7. A processing system according to any one of claims 1 to 6, wherein, when the number of media stocked is insufficient for the total number of media processing times set in the plurality of processing data, the order determination unit extracts, for each type of media, a combination of processing data in which the total number of processing times is less than or equal to the number of media stocked, and prioritizes the processing order of the processing data that constitutes the combination in which the total number of processing times is greatest.

8. A processing system according to claim 7, characterized in that when there are multiple pieces of missing processing data where the stock quantity is insufficient compared to the processing quantity, the order determination unit compares the estimated processing times for each piece of missing processing data, and places the missing processing data with the longer processing time in the processing order before the missing processing data with the shorter processing time.

9. A processing system according to claim 7, characterized in that when there are multiple pieces of insufficient processing data whose stock number is insufficient compared to the processing number, the order determination unit compares the processing numbers of each piece of insufficient processing data, and sets the processing order of the insufficient processing data with a larger processing number before the processing order of the insufficient processing data with a smaller processing number.

10. A processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, wherein when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are to operate automatically, the processing system further comprises an order determination unit that determines the processing order of multiple processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the remaining amount of droplets in the droplet ejection device and the amount of droplet consumption required to process the media, estimated for each of the processing data.

11. A processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, wherein when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are to be operated automatically, the processing system further comprises an order determination unit that determines a processing order for a plurality of processing data created for each job to be executed during the automation setting period, and the order determination unit determines the processing order based on the degree of association between each of the processing data and the processing failure, which is estimated from history information of processing failures that have occurred in the droplet ejection device.

12. A processing system as set forth in any one of claims 1, 10 and 11, further comprising an alarm unit that notifies of a defect occurring in at least one of the droplet ejection device and the robot, wherein the alarm unit issues an alarm after the automation setting period has elapsed.

13. A control method for a processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, the control method comprising an order determination step of determining a processing order for a plurality of processing data created for each job to be executed during an automation set period when an automation set period is set, which is a time period during which the droplet ejection device and the robot are to be operated automatically, wherein the order determination step determines the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

14. A control program for a processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies the media to the droplet ejection device and collects the media processed by the droplet ejection device, the control program for the processing system comprising: when an automation setting period is set, which is a time period during which the droplet ejection device and the robot are to be operated automatically, causing an electronic device to determine the processing order of multiple processing data created for each job to be executed during the automation setting period, and causing the electronic device to determine the processing order based on the number of media to be processed set in each of the processing data, the number of media in stock, and the processing time required to process the media estimated for each of the processing data.

15. A processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies and recovers the media to and from the droplet ejection device in response to supply requests and recovery requests from the droplet ejection device, wherein, when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the robot, as a series of operations, supplies the media to the droplet ejection device that outputs the supply request, and then recovers the media from the droplet ejection device that outputs the recovery request.

16. A processing system according to claim 15, wherein the robot supplies or recovers the media along a movement path set in advance for each droplet ejection device, and the robot performs the series of operations when a droplet ejection device that outputs either the supply request or the recovery request is located on the movement path to the droplet ejection device that outputs the other request.

17. A processing system according to claim 15, characterized in that it comprises a path creation device that creates a movement path for the robot in the series of operations based on the positional relationship between the droplet ejection device that outputs either the supply request or the recovery request and the droplet ejection device that outputs the other request.

18. A processing system according to claim 3, wherein the droplet ejection device is provided with a table on which multiple media can be placed, and the path creation device creates a movement path for the robot in the series of operations based on the positional relationship and the position of the media placement location on each droplet ejection device.

19. A processing system as claimed in claim 15, characterized in that when the droplet ejection device outputs either the supply request or the recovery request, if there is a droplet ejection device that is expected to output the other request, the robot waits until the other request is output and then performs the series of operations.

20. A processing system according to claim 19, characterized in that it comprises a determination device that determines whether the robot will wait for a certain time until the other request is output, based on data relating to the time required for processing by the droplet ejection device and the time required for the robot to operate.

21. A processing system according to claim 15, wherein the droplet ejection device is provided with a table capable of placing multiple media thereon and is capable of outputting the supply request and the recovery request for each piece of media placed on the table, and when there is a droplet ejection device that outputs both the supply request and the recovery request, the robot performs the series of operations by prioritizing that droplet ejection device.

22. A processing system according to claim 15, wherein the droplet ejection device comprises a table on which the media is placed, and a head unit disposed opposite the table and displacing relative to the table to eject the droplets onto the media placed on the table, and wherein at least one of the supply request and the recovery request is composed of a signal notifying the relative displacement of the head unit with respect to the table.

23. A processing system according to claim 15, wherein the droplet ejection device performs a process of ejecting the droplets onto the media based on a print job, and at least one of the supply request and the recovery request is composed of a signal notifying the input or completion of the print job.

24. A processing system according to claim 15, wherein the droplet ejection device comprises a first droplet ejection device that forms a first layer on the medium using the droplets, and a second droplet ejection device that forms a second layer on the medium using the droplets, and the robot, as part of the series of operations, supplies the media collected from the first droplet ejection device that outputs the collection request to the second droplet ejection device that outputs the supply request.

25. A processing system according to claim 24, wherein the droplet ejection device is provided with a table on which a plurality of media can be placed, and is capable of outputting the supply request and the recovery request for each piece of media placed on the table, and the robot supplies the media recovered from a predetermined location on the table of the first droplet ejection device to a position on the table of the second droplet ejection device corresponding to the predetermined location.

26. A processing system according to claim 15, further comprising a processing device that performs pre-processing or post-processing of the media for the droplet ejection device, and the robot, together with the droplet ejection device, supplies and recovers the media from the processing device as part of the series of operations.

27. A processing method for a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies and recovers media to and from the droplet ejection device in response to supply requests and recovery requests from the droplet ejection device, wherein, when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the robot supplies the media to the droplet ejection device that outputs the supply request, and then recovers the media from the droplet ejection device that outputs the recovery request, as a series of operations.

28. In a processing system comprising a droplet ejection device that performs a process of ejecting droplets onto media, and a robot that supplies and recovers the media to the droplet ejection device, a command device that outputs operation commands to the robot in response to supply requests and recovery requests from the droplet ejection device, wherein when there is a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the command device outputs a command to the robot to instruct a series of operations to supply the media to the droplet ejection device that outputs the supply request, and then recover the media from the droplet ejection device that outputs the recovery request.

29. A robot operation control program for a processing system comprising: a droplet ejection device that performs a process of ejecting droplets onto media; and a robot that supplies and recovers media to and from the droplet ejection device in response to supply requests and recovery requests from the droplet ejection device, wherein, when an electronic device has a droplet ejection device that outputs the supply request and a droplet ejection device that outputs the recovery request, the robot is caused to output a command instructing a series of operations to supply the media to the droplet ejection device that outputs the supply request, and then recover the media from the droplet ejection device that outputs the recovery request.

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