You don't have the hplip and hpijs packages installed, installing them should 
fix your issue.
> now they are on my system

On an Ubuntu 10.04 Desktop installation these should be installed by default, 
is the package ubuntu-desktop installed on your system?
> it was installed and it is installed

BUT, printer don't works!
it now says: *backend /usr/lib/cups/backend/hp does not exists*

but it is there:
r...@infrared:/usr/lib/cups/backend# ls -la
insgesamt 464
drwx------  2 root root  4096 2010-04-17 21:01 .
drwxr-xr-x 10 root root  4096 2010-03-18 01:49 ..
-rwxr-xr-x  1 root root  7250 2010-02-15 18:04 beh
-rwxr-xr-x  1 root root 44368 2010-04-09 13:25 bluetooth
-rwx------  1 root root 27072 2009-11-30 21:21 cups-pdf
-rwxr--r--  2 root root 18352 2010-04-09 19:04 dnssd
-rwx------  1 root root 18920 2010-04-12 12:48 hp
-rwxr-xr-x  1 root root  8393 2010-04-12 12:47 hpfax
-rwxr--r--  3 root root 48160 2010-04-09 19:04 http
-rwxr--r--  3 root root 48160 2010-04-09 19:04 ipp
-rwxr--r--  2 root root 44056 2010-04-09 19:04 lpd
-r-xr-xr-x  2 root root 30728 2010-04-09 19:04 parallel
-r-xr-xr-x  2 root root 10160 2010-04-09 19:04 scsi
-r-xr--r--  2 root root 30728 2010-04-09 19:04 serial
lrwxrwxrwx  1 root root    21 2010-04-10 09:54 smb -> ../../../bin/smbspool
-r-xr-xr-x  2 root root 26544 2010-04-09 19:04 snmp
-r-xr-xr-x  2 root root 34824 2010-04-09 19:04 socket
-r-xr--r--  2 root root 43016 2010-04-09 19:04 usb

-- 
printer stops working
https://bugs.launchpad.net/bugs/562463
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