Printing apparatus, printing method, and non-transitory computer-readable recording medium

A printing method of a printing apparatus, the printing apparatus including a printer that performs printing on a printing medium and an optical sensor that outputs a detection signal while the printing apparatus moves relative to the printing medium, and the printing method comprising:

• determining whether the optical sensor is above a first surface or above a second surface of the printing medium, based on the detection signal output from the optical sensor, the first surface being a surface on which a moving amount of the printing apparatus with respect to the printing medium is acquired, and the second surface being a surface on which the moving amount of the printing apparatus is not accurately acquired based on the detection signal output from the optical sensor;
• and
• in a case where the determining determines that the optical sensor is above the second surface, acquiring an estimated value of the moving amount with respect to the printing medium, and controlling printing on the printing medium by the printer according to the acquired estimated value of the moving amount,
• wherein the estimated value of the moving amount is an average of moving amounts acquired based on the detection signal for a predetermined period of time while the processor determines that the optical sensor is above the first surface, the predetermined period of time being immediately before the optical sensor changes from being above the first surface to being above the second surface.

A non-transitory computer-readable recording medium recording therein a printing control program of a printing apparatus, the printing apparatus including a printer that performs printing on a printing medium and an optical sensor that outputs a detection signal while the printing apparatus moves relative to the printing medium, and the printing control program controlling the computer to perform processes comprising:

• determining whether the optical sensor is above a first surface or above a second surface of the printing medium, based on the detection signal output from the optical sensor, the first surface being a surface on which a moving amount of the printing apparatus with respect to the printing medium is acquired, and the second surface being a surface on which the moving amount of the printing apparatus is not accurately acquired based on the detection signal output from the optical sensor;
• and
• in a case where the determining determines that the optical sensor is above the second surface, acquiring an estimated value of the moving amount with respect to the printing medium, and controlling printing on the printing medium by the printer according to the acquired estimated value of the moving amount,
• wherein the estimated value of the moving amount is an average of moving amounts acquired based on the detection signal for a predetermined period of time while the processor determines that the optical sensor is above the first surface, the predetermined period of time being immediately before the optical sensor changes from being above the first surface to being above the second surface.