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公开(公告)号：US06570734B2
公开(公告)日：2003-05-27
申请号：US09875745
申请日：2001-06-07
IPC分类号： G11B1508
CPC分类号： G11B17/225 , G11B15/6835 , G11B27/002 , G11B27/36 , G11B2220/41
摘要： The automated library system contains multiple independent robots for concurrently manipulating multiple media cartridges. The library system comprises a two-dimensional array that contains media cartridge storage cells and media cartridge players. A system of rails is used to guide robotic pods through all of the locations in the array, which eliminates the need for any steering or guide mechanism on board the robotic pods, resulting in a reduction in the mass of the robotic pods. The rail system also constrains the movement of the robotic pods into horizontal and vertical movements, thereby simplifying the control algorithms for collision avoidance that are required by a typical random moveable object handling system based on horizontal, vertical and diagonal degrees of freedom. The robotic pods contain a moveable carriage that is capable of transporting robotic components, such as media cartridge pickers, bar code reading devices, and other task oriented sub-modules, in the storage library rail system.
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公开(公告)号：US20130317643A1
公开(公告)日：2013-11-28
申请号：US13480412
申请日：2012-05-24
CPC分类号： G11B15/6835 , G11B15/6825
摘要： Embodiments include systems and methods for targeting using storage magazines. Some embodiments operate in context of a data storage environment, in which the magazines are used to hold data cartridges, and the data cartridges are installed in, removed from, and ferried between the magazines by a robotic mechanism. Magazine implementations include integrated targeting features in the magazine base structure. For example, some side walls of the magazine slots are shaped for optical targeting, while other side walls of the magazine slots are shaped for lead-in (i.e., to minimize undesirable collisions or interference between the cartridges and the magazine slot walls). Some embodiments describe novel locating functionality in context of magazines with integrated targeting features. Other embodiments include other geometric magazine features.
摘要翻译： 实施例包括使用存储杂志进行瞄准的系统和方法。 一些实施例在数据存储环境的上下文中操作，其中使用这些杂志来保存数据盒，并且数据盒通过机器人机构安装在杂志之间，并且在杂志之间移动。 杂志实施包括杂志基础结构中的集成定位功能。 例如，杂志槽的一些侧壁被成形为用于光学瞄准，而钉仓狭槽的其他侧壁成形为用于引入（即，最小化不期望的碰撞或墨盒和盒式插槽壁之间的干扰）。 一些实施例描述了具有集成目标特征的杂志的上下文中的新颖定位功能。 其他实施例包括其他几何杂志特征。
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公开(公告)号：US20130221086A1
公开(公告)日：2013-08-29
申请号：US13408132
申请日：2012-02-29
IPC分类号： G06K5/00
摘要： Systems and methods are described for using topographic and/or contrast spot scanning to facilitate various types of functionality in context of a data storage library. A robotic mechanism includes a hand assembly that has one or more integrated spot scanners. The hand assembly is configured to travel in at least two directions and to rotate, thereby locating and/or pointing the spot scanner in desired locations throughout the data storage library. By sweeping the spot scanner across a scan window, contrast and/or topographic data can be acquired and decoded to generate a profile of a region. The profile can be interpreted to facilitate functions, such as calibration of robot location with respect to media cartridges, targeting, proximity detection, empty cell detection, etc.
摘要翻译： 描述了使用地形和/或对比度点扫描来促进数据存储库的上下文中的各种类型的功能的系统和方法。 机器人机构包括具有一个或多个集成点扫描仪的手组件。 手组件被配置成在至少两个方向上移动并旋转，从而将斑点扫描器定位和/或指向整个数据存储库中的所需位置。 通过在扫描窗口上扫描光点扫描器，可以获取和解码对比度和/或地形数据以生成区域的轮廓。 该简档可以解释为便于功能，例如相对于介质盒的机器人位置的校准，瞄准，接近检测，空单元检测等。
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公开(公告)号：US07057848B2
公开(公告)日：2006-06-06
申请号：US10626986
申请日：2003-07-25
IPC分类号： G11B15/60
CPC分类号： H04N1/401 , G11B15/68 , G11B17/225
摘要： A storage library for recording and retrieving information from storage media cartridges each having a label side includes a front side having an opening. Left and right slots are disposed proximate the left and right sides of the storage library for holding the storage media cartridges. The slots and the storage media cartridges are oriented so that each label side of the storage media cartridges is visible to an operator through the opening. Each of the slots are accessible to the operator via the opening for the operator to access the storage media cartridges being held by the slots. A media drive is disposed proximate the back side of the storage library and is operative to receive a storage media cartridge through a port. A robotic mechanism is disposed between the slots and is operative to move the storage media cartridges between the slots and the media drive.
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公开(公告)号：US07004392B2
公开(公告)日：2006-02-28
申请号：US10034065
申请日：2001-12-19
IPC分类号： G06K7/10
CPC分类号： G06K7/10633 , G06K2017/0074
摘要： A robot apparatus and a barcode scanner to be used for collecting positional data parallel to the scan direction in, for example, a library storage system is provided. In one embodiment, the robotic apparatus includes a barcode scanner having a scan path and an attenuation surface within the scanner scan path. The barcode scanner scans the target while the robotic apparatus is moved in a direction parallel with the scan path. Positional data is collected in conjunction with the readability limits of the barcode target. The central position of the target in a parallel direction to the scan path is determined based on the readability of the barcode target and the correlating positional data. The barcode scanner can also scan the target while the robotic apparatus is moved in a direction perpendicular with the scan path. Positional data is collected in conjunction with the readability limits of the barcode target. The central position of the target in a perpendicular direction to the scan path is determined based on the readability of the barcode scanner and the correlating positional data.
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36.发明授权Method and system for sharing robotic mechanisms between automated storage libraries 有权在自动存储库之间共享机器人机制的方法和系统公开(公告)号：US06736583B2
公开(公告)日：2004-05-18
申请号：US10231982
申请日：2002-08-30
IPC分类号： B65G104
CPC分类号： G11B15/6805 , G11B15/6835 , G11B17/225
摘要： A method and system for sharing robotic mechanisms between physically remote storage libraries in an automated storage library system includes routing robotic mechanism guide structures between the storage libraries. The guide structures run through robotic mechanism transfer ports located on the sides of the housing enclosures of the storage libraries. A robotic mechanism within an first storage library moves through the transfer port of the enclosure of the first storage library onto the guide structure. The robotic mechanism then moves out of the enclosure of the first storage library along the guide structure towards a second storage library. The robotic mechanism then moves along the guide structure through the transfer port of the enclosure of the second storage library and into the second storage library for performing operations such as accessing media objects within the second storage library.
摘要翻译： 用于在自动存储库系统中的物理远程存储库之间共享机器人机制的方法和系统包括在存储库之间布置机器人机构指导结构。 引导结构穿过位于存储库的外壳外壳侧面的机器人机构传送端口。 第一存储库内的机器人机构通过第一存储库的外壳的传送端口移动到引导结构上。 机器人机构然后沿着引导结构移动离开第一存储库的外壳朝向第二存储库。 机器人机构然后沿着引导结构移动通过第二存储库的机壳的传送端口并进入第二存储库，用于执行诸如访问第二存储库内的媒体对象的操作。
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公开(公告)号：US06499928B2
公开(公告)日：2002-12-31
申请号：US10106407
申请日：2002-03-26
IPC分类号： B65G6500
CPC分类号： G11B15/6835 , G11B15/6825 , G11B15/688 , G11B17/225 , Y10S198/95
摘要： A data storage library and method of operation are disclosed wherein access at least to part of at least one robotic mechanism from the data storage library's exterior is permitted. Access is accomplished through a service port in the library's housing. Access to the storage cells, and thus the data cartridges sitting therein, from the library's exterior is blocked. Blocking access to the storage cells may be provided by a geometry of the service port itself, or by a combination of a door and the robotic mechanism being serviced filling the opening created by the service port. For robotic mechanisms operating on a track, part of the track may be routed through the service port to bring the robotic mechanisms to the exterior of the library for maintenance purposes.
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公开(公告)号：US06409450B1
公开(公告)日：2002-06-25
申请号：US09481901
申请日：2000-01-12
IPC分类号： B65G6500
CPC分类号： G11B15/6835 , G11B15/6825 , G11B15/688 , G11B17/225 , Y10S198/95
摘要： A data storage library and method of operation are disclosed wherein access at least to part of at least one robotic mechanism from the data storage library's exterior is permitted. Access is accomplished through a service port in the library's housing. Access to the storage cells, and thus the data cartridges sitting therein, from the library's exterior is blocked. Blocking access to the storage cells may be provided by a geometry of the service port itself, or by a combination of a door and the robotic mechanism being serviced filling the opening created by the service port. For robotic mechanisms operating on a track, part of the track may be routed through the service port to bring the robotic mechanisms to the exterior of the library for maintenance purposes.
摘要翻译： 公开了一种数据存储库和操作方法，其中允许从数据存储库的外部访问至少一个机器人机构的至少一部分。 通过图书馆住房的服务端口实现访问。 从库的外部访问存储单元，从而存储在其中的数据盒被阻止。 存储单元的阻塞访问可以由服务端口本身的几何形状提供，或者由门与被服务的机器人机构的组合来填充由服务端口创建的开口。 对于在轨道上操作的机器人机构，轨道的一部分可以通过服务端口路由，以将机器人机构带到库的外部进行维护。
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