Drawing apparatus and method for controlling drawing by drawing apparatus

A drawing apparatus comprising:

• a drawing head on which at least one drawing tool is mounted, the drawing tool applying a drawing on a drawing subject;
• an imaging unit which acquires a subject image by imaging the drawing subject;
• and
• an illumination device comprising at least one light source configured to radiate light on an area of the drawing subject where the drawing is applied;
• wherein
• the drawing tool includes at least a specific drawing tool that applies the drawing by using a specific ink which is a colorless ink or a specific color ink which has substantially the same color as the drawing subject;
• and
• in a case where the drawing on a drawn area of the drawing subject is applied by the specific drawing tool, the imaging unit acquires the subject image by imaging the drawn area where the light radiated from the light source is specularly reflected.

A method for controlling drawing by a drawing apparatus, the drawing apparatus comprising:

• a drawing head on which at least one drawing tool is mounted, the drawing tool applying a drawing on a drawing subject;
• an imaging unit which acquires a subject image by imaging the drawing subject;
• and an illumination device comprising at least one light source configured to radiate light on an area of the drawing subject where the drawing is applied;
• wherein
• the drawing tool includes a first drawing tool that applies the drawing by using a first type ink which is a colorless ink or a specific color ink which has substantially the same color as the drawing subject, and a second drawing tool that applies the drawing by using a second type ink which is not the colorless ink and not the specific color ink;
• the method for controlling drawing comprising:
• a step of applying the drawing on the drawing subject by using the drawing tool mounted on the drawing head;
• and
• a step of acquiring the subject image using the imaging unit by imaging the area of the drawing subject where the drawing is applied, after the drawing has been applied on the drawing subject;
• wherein
• in a case where the drawing on a first drawn area of the drawing subject is applied by the first drawing tool, the step of acquiring the subject image comprises a step of acquiring the subject image using the imaging unit by imaging the first drawn area where the light radiated from the light source is specularly reflected.

A method for controlling drawing by a drawing apparatus, the drawing apparatus comprising:

• a drawing head on which at least one drawing tool is mounted, the drawing tool applying a drawing on a drawing subject;
• an imaging unit which acquires a subject image by imaging an area of the drawing subject where the drawing is applied;
• and
• an illumination device comprising at least one light source configured to radiate light on an area of the drawing subject where the drawing is applied;
• wherein
• the drawing tool includes at least a specific drawing tool that applies the drawing by using a specific ink which is a colorless ink or a specific color ink which has substantially the same color as the drawing subject;
• the method for controlling drawing comprising:
• a step of applying the drawing on a drawn area of the drawing subject by the specific drawing tool mounted on the drawing head by using the specific ink;
• and
• a step of acquiring the subject image using the imaging unit by imaging the drawn area where the light radiated from the light source is specularly reflected.