Multiple independent intelligent pickers with dynamic routing in an automated data storage library
First Claim
1. An automated data storage library, comprising:
- a plurality of media storage slots for storing data storage media;
a plurality of read/write stations;
an input for receiving input commands for jobs to move media amongst said media storage slots and said read/write stations;
a library controller coupled to said input for identifying the start and end location of said received move jobs, and placing said move jobs in a job queue;
at least two pickers arranged alongside said media storage slots and said read/write stations;
each said picker having at least one gripper for accessing and delivering media at said media storage slots and said read/write stations;
a communication link for communicating with at least one other said picker; and
a picker processor coupled to said communication link;
each said picker receiving information from said at least one other picker over said communication link describing movement of said other picker for a current move job of said other picker;
each of said pickers selecting a move job from said job queue having both said start and said end locations accessible by said picker and which avoids interference with said movement of said at least one other picker;
said selecting picker processor, upon selecting said move job, determines a movement for said selected move job which avoids interference with said movement of said at least one other picker;
said selecting picker processor communicates information describing said movement to said at least one other picker over said communication link; and
said selecting picker, conducts said move job according to said processor determined movement.
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Accused Products
Abstract
Multiple intelligent pickers for an automated data storage library, the library having a library controller which identifies the start and end locations of the received move jobs, and places the move jobs in a job queue. The picker processor receives information over a communication link from other pickers describing movement information for the current move job of each of the other pickers. Upon completion of a move job, the picker communicates with the library controller, selecting a move job which avoids interference with the movement of the other pickers. The movement for the selected move job is determined so as to avoid interference with the stored movement profiles of the other pickers. A movement profile may be communicated to the other pickers over the communication link, and the move job is conducted according to the movement profile. Alternatively, movement information comprising the current location and vector are communicated.
70 Citations
28 Claims
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1. An automated data storage library, comprising:
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a plurality of media storage slots for storing data storage media;
a plurality of read/write stations;
an input for receiving input commands for jobs to move media amongst said media storage slots and said read/write stations;
a library controller coupled to said input for identifying the start and end location of said received move jobs, and placing said move jobs in a job queue;
at least two pickers arranged alongside said media storage slots and said read/write stations;
each said picker having at least one gripper for accessing and delivering media at said media storage slots and said read/write stations;
a communication link for communicating with at least one other said picker; and
a picker processor coupled to said communication link;
each said picker receiving information from said at least one other picker over said communication link describing movement of said other picker for a current move job of said other picker;
each of said pickers selecting a move job from said job queue having both said start and said end locations accessible by said picker and which avoids interference with said movement of said at least one other picker;
said selecting picker processor, upon selecting said move job, determines a movement for said selected move job which avoids interference with said movement of said at least one other picker;
said selecting picker processor communicates information describing said movement to said at least one other picker over said communication link; and
said selecting picker, conducts said move job according to said processor determined movement.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
subsequently receives present movement information of said at least one other picker over said communication link;
again determines, from said subsequently received other picker movement information, the current and projected locations of said at least one other picker;
determines whether said determined movement of said selecting picker potentially interferes with any of said again determined current and projected locations of said at least one other picker; and
upon determining potential interference, discontinuing said selected move job of said selecting picker.
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13. An intelligent picker for an automated data storage library, said library having a plurality of media storage slots for storing data storage media, a plurality of read/write stations, said media storage slots and said read/write stations arranged so as to be accessible to a plurality of said pickers, said library having a controller receiving input commands for jobs to move media amongst said media storage slots and said read/write stations, said library controller identifying the start and end locations of said received move jobs, and placing said move jobs in a job queue, said intelligent picker comprising:
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at least one gripper for accessing and delivering media at said media storage slots and said read/write stations;
a communication link for communicating with at least one other said picker; and
a picker processor coupled to said communication link;
said picker processor storing information received from said at least one other picker over said communication link describing movement of said other picker for a current move job of said other picker;
selecting one of said move jobs from said job queue having both said start and said end locations accessible by said picker and which avoids interference with said stored movement of said at least one other picker;
upon selecting said move job, determining a movement for said selected move job which avoids interference with said stored movement of said at least one other picker;
communicating information describing said movement to said at least one other picker over said communication link; and
conducting said move job according to said processor determined movement.- View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
subsequently receives present movement information of said at least one other picker over said communication link;
again determines, from said subsequently received other picker movement information, the current and projected locations of said at least one other picker;
determines whether said determined movement of said selecting picker potentially interferes with any of said again determined current and projected locations of said at least one other picker; and
upon determining potential interference, discontinuing said selected move job of said selecting picker.
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Specification