Patent ID: 6535790
Filing Date: 2003-03-18
Classification: B65G,G11B

Abstract:
An automated library system with retrieving and repositing robot comprising:a bookrack in which are formed a plurality of shelf sections having shelf section identification information indicated thereon, in which library books having book identification information indicated thereon are stored upright in shelf sections prescribed therefor, said bookrack being provided such that library staff and library patrons may directly access and manually remove said library books at will; a host computer including an input unit for inputting, from a book checkout counter, requested book identification information for books requested by library patrons for reading or borrowing, a memory unit for storing book-to-shelf-section identification information cross-reference data which relates accessing book identification information to corresponding prescribed shelf sections, a computation unit for searching for said requested book's prescribed shelf section storage location information by comparing said requested book identification information inputted by said input unit with said book-to-shelf-section cross-reference data, and an output unit for outputting, along with said requested book identification information, the requested book's prescribed shelf section storage location information obtained as a result of said search; and a retrieving and repositing robot that moves itself around the periphery of said bookrack, including a carriage that moves itself around the periphery of said bookrack, a hand mechanism, a control unit for controlling three-dimensional motion of said hand mechanism opposite said bookrack, and a mobile computer for performing guidance control of said carriage and the three-dimensional motion of said hand mechanism, based on requested book identification information and requested book prescribed shelf section storage location information output from said host computer, said hand mechanism further including an identification information recognition unit for detecting shelf section identification information indicated on said bookrack as well as book identification information indicated on said library books, and recognizing a requested book's prescribed shelf section storage location, and a requested book present at that prescribed shelf section storage location, a book pullout mechanism for pulling-out a requested book from a row of books in a shelf section, and a book-holding mechanism for removing the pulled-out book by grasping said book across the thickness direction thereof, wherein said hand mechanism, control unit, and mobile computer are mounted, along with a mobile electrical power supply, on said carriage.