Management apparatus and management method

A management apparatus is for managing a storage medium. The apparatus includes a rack including a cell which has a first opening and a second opening, a robot for inserting or ejecting the storage medium with respect to the cell through the first opening, and a controller for executing a process. The process includes driving the robot to start inserting or ejecting the storage medium with respect to the cell, detecting a failure in inserting or ejecting the storage medium, stopping the robot from inserting or ejecting the storage medium for a given time upon detecting the failure, and driving the robot to restart inserting or ejecting the storage medium with respect to the cell after the stopping the robot from inserting or ejecting the storage medium for the given time.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority of the prior Japanese Patent Application No. 2010-087551, filed on Apr. 6, 2010, the entire contents of which are incorporated herein by reference.

FIELD

The embodiments discussed herein are related to a management apparatus and a management method.

BACKGROUND

A management system that manages cartridges as storage media is proposed.

As a management system, a system of the type including an access (take-in/take out) port through which an arbitrary cartridge is put into and ejected from a rack, the rack in which the cartridges are contained, an access (take-in/take-out) device that puts an arbitrary cartridge into the rack and ejects an arbitrary cartridge from the rack on the basis of an instruction, and a control device that controls the operation of the access device is proposed. In addition, a management device that retains information on a rack in which cartridges are contained is proposed.

In a management system as mentioned above, in taking a desired cartridge out of a rack, a user inputs the identification information of the desired cartridge into a management device, and a library management device refers to information on the storage position of the desired cartridge on the basis of the input identification information to acquire information on the storage position of the cartridge and sends the acquired information to an access device.

Then, the access device moves around in the rack, takes out the cartridge which is at the storage position concerned, and carries the cartridge to an access port. Then the user accepts the cartridge so carried through the access port.

Japanese Laid-open Patent Publication No. 2001-225917 is an example of the above mentioned system.

In addition to the above mentioned system configured to take in/out the desired cartridge using the access device, a mechanism that takes in and takes out an arbitrary cartridge by hand is also proposed. A mechanism as mentioned above may have such a drawback that management of cartridges is complicated.

SUMMARY

According to an aspect of the invention, a management apparatus for managing a storage medium, the apparatus includes a rack including a cell which has a first opening and a second opening, a robot for inserting or ejecting the storage medium with respect to the cell through the first opening, and a controller for executing a process including driving the robot to start inserting or ejecting the storage medium with respect to the cell, detecting a failure in inserting or ejecting the storage medium, stopping the robot from inserting or ejecting the storage medium for a given time upon detecting the failure, and driving the robot to restart inserting or ejecting the storage medium with respect to the cell after the stopping the robot from inserting or ejecting the storage medium for the given time.

DESCRIPTION OF EMBODIMENTS

Next, a plurality of embodiments will be described with reference to the accompanying drawings.

First, a control device according to an embodiment will be described and then the embodiment will be more specifically described.

FIG. 1is a diagram illustrating an example of a general configuration of a control device according to a first embodiment.

A control device (a computer)1according to the first embodiment controls the operation of a mount mechanism2.

The mount mechanism2takes an arbitrary storage medium3out of a containing unit4that includes a plurality of cells4ain which the respective storage media3are contained and mounts the storage medium3so taken-out onto a drive device5.

In the example illustrated inFIG. 1, the control device1, the mount mechanism2, the containing unit4and the drive device5are housed in one case6.

As an example of the storage medium3, for example, a magnetic tape or the like may be given.

Each cell4ahas openings on the inner and outer sides of the case6and has different access surfaces. A user is allowed to take out an arbitrary storage medium3contained in an arbitrary cell4aand to put an arbitrary storage medium3into an arbitrary cell4athrough the outer side opening. Likewise, the mount mechanism2is allowed to take out an arbitrary storage medium3contained in an arbitrary cell4aand to put an arbitrary storage medium3into an arbitrary cell4athrough the inner side opening under the control of the control device1.

The control device1includes an execution unit1aand a judgment unit1b.

The execution unit1amakes the mount mechanism2execute a process of taking an arbitrary storage medium3out of an arbitrary cell4aand a process of putting an arbitrary storage medium3into an arbitrary cell4ain execution of a mounting process of mounting an arbitrary storage medium3onto the drive device5.

The judgment unit1bjudges whether conflict has occurred in access to storage media3contained in cells4awhile the mounting process is being executed.

As a first example of the conflict in access to storage media3contained in cells4a, for example, conflict which would occur in the case that when the mount mechanism2tries to take an arbitrary storage medium3out of an arbitrary cell4a, a user also tries to take that storage medium3out of that cell4asimultaneously may be given. As a second example of the conflict in access to storage media3contained in cells4a, for example, conflict which would occur in the case that when the mount mechanism2tries to put one storage medium3into an arbitrary cell4a, the user also tries to put another storage medium3into that cell4asimultaneously may be given.

In the case that the execution unit1ahas judged that the conflict in access to storage media3has occurred, the execution unit1akeeps the mount mechanism2from executing the mounting process for a predetermined time period. For example, in the case that the conflict which has been described as the first example of the conflict has occurred in taking out an arbitrary storage medium3, the execution unit1akeeps the mount mechanism2from executing the process of taking out an arbitrary storage medium3. In the case that the conflict which has been described as the second example of the conflict has occurred in putting an arbitrary storage medium3into an arbitrary cell4a, the execution unit1akeeps the mount mechanism2from executing the process of putting an arbitrary storage medium3into that cell4a. By keeping the mount mechanism2from executing the process in the above mentioned manner, the execution unit1agives priority to the user in execution of the process.

Then, after the mount mechanism2has been kept from executing the process for the predetermined time period, the judgment unit1bagain judges whether the conflict in access to storage media3is occurring. In the case that the conflict in access to storage media3is occurring, the judgment unit1binforms, for example, a host (a high-order) device that manages the control device1of occurrence of an error.

On the other hand, in the case that the conflict in access to storage media3does not occur, the mount mechanism2executes a desired operation in accordance with an instruction from the execution unit1a.

Owing to the above mentioned operations, the conflict which would occur between the user and the mount mechanism2may be avoided and hence the operability of the user may be increased.

Incidentally, the execution unit1aand the control unit1bmay be implemented by functions that a CPU (Central Processing Unit) included in the control device1has.

Next, the control device according to the embodiment will be more specifically described by giving a library system including a library management device as an example.

FIG. 2is a diagram illustrating an example of a library system according to a second embodiment.FIG. 3is a side view of the library system according to the second embodiment taken along the III-III line inFIG. 2.

A library system100includes a library management device (a control device)10, a rack20, a robot (a mount mechanism)30and a drive device40.

The library management device10is connected with a host device (not illustrated in the drawing) over a network.

The library management device10that receives a request to take out an arbitrary cartridge50that contains a storage medium from the host device controls the robot30to move to the drive device40.

The rack20includes a plurality of cells21which are arranged in a matrix so as to contain the cartridges50therein.

Each cell21is configured to be opened toward the front side (the front surface side of the rack20) in the drawing from which the user may be accessible to it and toward the rear side (the rear surface side of the rack20) in the drawing from which the robot30may be accessible to it. One cartridge50is contained in one cell21. That is to say, each cell21has openings on the front side and the rear side of the rack20.

In the example illustrated inFIG. 2, the robot30(not illustrated in the drawing) is disposed on the rear surface side of the rack20.

Incidentally, although in the example illustrated inFIG. 2, one rack20is illustrated, the library system100may be configured to include the plurality of racks20.

The user is allowed to insert an arbitrary cartridge50directly into an arbitrary cell21and to take out an arbitrary cartridge50contained in an arbitrary cell21.

Likewise, the robot30is allowed to insert an arbitrary cartridge50into an arbitrary cell21and to take out an arbitrary cartridge50contained in an arbitrary cell21.

As described above, the library system100according to the second embodiment is configured to allow the user to gain access directly to an arbitrary cell21in place of provision of a Cartridge Access Station (CAS) that puts an arbitrary cartridge50into an arbitrary cell21and ejects an arbitrary cartridge50from an arbitrary cell21.

Each cartridge50includes a storage medium. For example, still image data, moving image data, private information such as a housekeeping book, health maintenance data and the like, and other various kinds of information are stored in the storage medium.

In addition, a bar code used to identify the kind of each cartridge50using a computer is affixed to each cartridge50. Each cartridge50includes a CM (Cartridge Memory) in which information indicating a position at which each piece of data recorded in each cartridge50is recorded, the use history of each cartridge50, an error log and other user areas are recorded. Provision of the CM may make it possible to check up information such as the index, the use status and the like of each cartridge50in a short time period with no physical contact with an arbitrary cartridge50using an RF interface after an arbitrary cartridge50has been loaded onto the drive device40.

In addition, a ravel indicating information that the user uses in order to identify the kind or the like of each cartridge50is affixed to each cartridge50.

Further, each cartridge50includes an engaging part that the robot30uses in order to take out each cartridge50.

FIG. 3illustrates an example of one column of cells21contained in the rack20. Each shaded block indicates each cartridge50.

As illustrated in the example inFIG. 3, the robot30includes a support31that moves on a rail (not illustrated in the drawing) which is disposed in a column direction (an X-axis direction) of the rack20and extends in a row direction (a Y-axis direction) of the rack20, and a hand33which is attached to the support31to be movable in the Y-axis direction.

The robot30operates such that the hand33nips an arbitrary cartridge50on the basis of an instruction given from the library management device10to put the cartridge50out of an arbitrary cell21and/or to put the cartridge50into an arbitrary cell21.

Specifically, the robot30operates to move the support31to a row where the cell21that contains a cartridge50to be taken out is present in accordance with the instruction from the library management device10.

Then, the robot30operates such that the hand33moves upward and downward along the support31so as to reach the cell21so instructed and takes an arbitrary cartridge50into/out of one cell21using a picker (which will be described later) which is disposed on the leading end of the hand33.

The robot30operates to put an arbitrary cartridge50into the rack20such that the ravel (hereinafter, referred to as a “ravel surface”) affixed to the cartridge50is situated on its front surface side and the bar code affixed to the cartridge50is situated on the side of the robot30(the rear surface side of the cartridge50). By putting each cartridge50into the rack20in the above mentioned manner, the user is allowed to readily grasp the contents of each cartridge50simply by looking at the ravel on it when the user tries to manually take out the cartridge50.

The drive device40records data in the storage medium included in an arbitrary cartridge50which has been carried using the robot30or reproduces the data stored in the storage medium.

In the library system100so configured as mentioned above, when an arbitrary cartridge50including the storage medium into which data is to be recorded or from which data is to be reproduced is designated by the host device, the library management device10specifies one cartridge50from within the cartridges50contained in the respective cells21. Then, the specified cartridge50is nip-held using the hand33of the robot30, is carried to the drive device40and is mounted onto the drive device40.

After data has been recorded into the storage medium in the specified cartridge50or reproduced from the storage medium using the drive device40, the cartridge50which is mounted onto the drive device40is nip-held using the hand33of the robot30, is taken out of the drive device40and is inserted into a designated place in an arbitrary cell21.

Next, a configuration of the library management device will be described.

FIG. 4is a diagram illustrating an example of a hardware configuration of the library management device.

The library management10is generally controlled using a CPU (Central Processing Unit)101. A RAM (Random Access Memory)102and a plurality of pieces of peripheral equipment are connected with the CPU101via a bus108.

The RAM102is used as a main memory of the library management device10. At least part of OS (Operating System) programs and application programs that the CPU101executes is temporarily stored in the RAM102. In addition, various kinds of data desirable for execution of processes using the CPU101are stored in the RAM102.

As the plurality of pieces of peripheral equipment which are connected with the bus108, for example, an HDD (Hard Disk Drive)103, a graphic processor104, an input interface105, an optical driver106, and a communication interface107are included.

The HDD103magnetically writes data into a built-in disk and reads data out of the disk. The HDD103is used as a secondary memory of the library management device10. OS programs, application programs and various kinds of data are stored in the HDD103. Incidentally, a semiconductor memory such as a flash memory or the like may be used as the secondary memory.

A monitor104ais connected with the graphic processor104. The graphic processor104makes the monitor104adisplay an image on its screen in accordance with an instruction from the CPU101. As examples of the monitor104a, a display using a CRT (Cathode Ray Tube), a liquid crystal display and the like may be given.

A keyboard105aand a mouse105bare connected with the input interface105. The input interface105sends signals which are sent from the keyboard105aand the mouse105bto the CPU101. The mouse105bis given as an example of a pointing device and other pointing devices may be used in place of the mouse105b. As examples of other pointing devices, a touch panel, a tablet, a touch pad, a track ball and the like may be given.

The optical driver106reads data which is recorded in an optical disc200utilizing laser light or the like. The optical disc200is a portable recording medium in which data is recorded to be readable by reflection of light. As examples of the optical disc200, a DVD (Digital Versatile Disc), a DVD-RAM, a CD-ROM (Compact Disc Read Only Memory), a CD-R (Recordable)/RW (Re Writable) and the like may be given.

The communication interface107is connected with a network60. The communication interface107sends data to another computer or another piece of communication equipment and receives data from the above mentioned computer or communication equipment over a network60.

Owing to provision of a hardware configuration as described above, processing functions of the second embodiment may be implemented. Functions which will be described hereinbelow are included in the library management device10having a hardware configuration as described above.

FIG. 5is a block diagram illustrating an example of functions of the library management device.

The library management device10includes a main control unit110, a robot control unit120, a storage unit130, and a host interface (I/F)140.

The main control unit110generally controls the operation of the library management device10. The main control unit110controls, for example, so as to display information received from the robot control unit120on the monitor104aand to instruct the robot control unit120to perform an operation on the basis of information received from the keyboard105aor the mouse105b.

The robot control unit120controls the operations of an X-axis motor32athat drives the robot30when the robot30is moved in the X-axis direction, a Y-axis motor32bthat drives the robot30when the robot30is moved in the Y-axis direction, and a Z-axis motor32cthat drives the robot30when the robot30is moved in a Z-axis direction. The Z-axis direction is a direction through both the openings of the cell.

Specifically, the robot control unit120receives an instruction to take out one cartridge50which is given from the main control unit110and controls movement of the robot30to one cell21concerned in response to the instruction.

In addition, the robot control unit120is connected with the hand control unit121. The robot control unit120sends various instructions to the hand control unit121. In addition, the robot control unit120receives various pieces of information from the hand control unit121and sends the received information to the main control unit110.

The Z-axis motor32cmay be, for example, a servo motor. The Z-axis motor32cincludes a motor main body41and an encoder42that detects the number of rotations of the motor main body41. The encoder42outputs an encoder signal to the main control unit110on the basis of the detected number of rotations the motor main body41. The encoder signal includes, for example, pulse signals of the number corresponding to the number of rotations of the motor main body41. The main control unit110calculates a distance over which the hand33has been moved in the Z-axis direction on the basis of the encoder signal sent from the encoder42. In the case that the distance over which the hand33has been moved in the Z-axis direction is shorter than a distance which is determined in advance, it is judged that the operation of one cartridge50by a user conflicts with the operation of another cartridge50using the robot30. Specifically, when a number of pulses in the encoder signal does not increase even though a current value of the motor main body41increases, it may be judged that the operation of one cartridge50.

That is, in the above mentioned situation, in the case that while the user is manually inserting one cartridge50into an arbitrary cell21, the hand33also tries to insert another cartridge50into that cell21, an inserting operation performed using the hand33is hindered by an inserting operation performed by the user and hence it may become difficult for the hand33to insert the cartridge50into that cell21over a distance which is determined in advance. Likewise, in the case that while the user is manually drawing one cartridge50out of an arbitrary cell21, the hand33also tries to draw that cartridge50out of that cell21, a drawing-out operation performed using the hand33is hindered by a drawing-out operation performed by the user and it may become difficult for the hand33to draw the cartridge50out of that cell21over a distance which is determined in advance.

Thus, conflict which would occur in the operations of cartridges50between the user and the hand33may be readily detected by comparing a distance over which the hand33has been moved with the distance which is determined in advance. Incidentally, a distance over which the hand33is moved in the Z-axis direction and which is desirable when the hand33takes an arbitrary cartridge50out of an arbitrary cell21and a distance over which the hand33is moved in the Z-axis direction and which is desirable when the hand33inserts an arbitrary cartridge50into an arbitrary cell21are stored in advance in the storage unit130. Thus, the main control unit110judges whether conflict occurs with reference to data stored in the storage unit130.

In this embodiment, conflict is detected by comparing the distance over which the hand33has been moved with the distance which is determined in advance. However, conflict may be detected by comparing the number of rotations the motor main body41with the number which is determined in advance. In this case, the number which is determined in advance is stored in the storage unit130in advance. Thus, the main control unit110also judges whether conflict occurs with reverence to data stored in the storage unit130.

The hand control unit121is connected with the hand33.

The hand33includes a P (picker) motor33a, a bar code reader33b, and a CM (cartridge memory) reader33c.

The hand control unit121drives the P motor33ain accordance with a drive instruction given from the robot control unit120. Owing to the above mentioned operation, the hand33is allowed to nip an arbitrary cartridge50or to release the nipped cartridge50.

In addition, the hand control unit121operates the bar code reader33band the CM reader33cin accordance with a read instruction given from the robot control unit120. Then, the hand control unit121sends bar code information that the bar code reader33bhas read and CM information that the CM reader33chas read to the robot control unit120.

For example, in the case that the robot30has received an instruction to read the bar code affixed to an arbitrary cartridge50from the hand control unit121, the bar code is read using the bar code reader33b. The robot30sends the read bar code information to the hand control unit121. As a result, the library management device10is allowed to identify that cartridge50on the basis of the information which has been read using the bar code reader33b.

Information indicating, for example, the kind of each cartridge50in correspondence with the position where each cartridge50is contained is stored in the storage unit130. The information is collected, for example, by a method of controlling the robot30using the main control unit110to scan all the cells21in the rack20thereby to make the CM reader33cread the CM information of each cartridge50or the like.

The host interface140is connected with a host device300over a network.

Incidentally, the main control unit110, the robot control unit120, the hand control unit121, and the host interface140may be implemented using functions that the CPU101includes. In addition, the storage unit130may be implemented using one area in the RAM102.

Next, the structure of each cell21will be described.

FIG. 6AtoFIG. 6Care diagrams illustrating examples of the structure of each cell21.

FIG. 6Ais a diagram (a front view) of each cell21viewed from its front surface side toward its rear surface side.

A door211is attached to the cell21.

Intrusion of dust and dirt into the library system100may be reduced by attaching the door211to each cell21. Thus, failures of the robot30may be reduced.

In addition, through-holes211athrough which the picker of the hand33passes are formed at two positions in the door211. In the case that the hand33tries to take out an arbitrary cartridge50contained in an arbitrary cell21, the picker of the hand33passes through the through-holes211a. Incidentally, a method of taking out an arbitrary cartridge50will be described later.

In a state in which any cartridge50is not inserted into an arbitrary cell21, the user is allowed to visually confirm the front surface of the door211of the cell21.

FIG. 6Bis a diagram of each cell21viewed from its side surface.

The door211rotates about a fulcrum A. The rotation of the door211may be controlled using the main control unit110. In addition, a stopper (a lock mechanism)212for restricting the rotation of the door211toward the rear surface side of the cell21is disposed on the rear surface side of the door211.

The stopper212may be situated at a position (an engagement position) where the stopper212engages with the door211and at a position (a release position) where the stopper212does not engage with the door211under the control of the main control unit110.

In the case that the stopper212is situated at the engagement position, when the user inserts an arbitrary cartridge50into an arbitrary cell21from its front surface side, the cartridge50may be prevented from falling down to the rear surface side of the cell21.

In the case that the stopper212is situated at the release position as illustrated in the example inFIG. 6C, the rotation of the door211toward the rear surface side of the cell21is allowed.

Owing to provision of the door211and the stopper212, contact of the user with the robot30may be reduced to prevent the user from being injured.

Next, reading of data stored in a CM (cartridge memory)50awill be described.

FIG. 7AandFIG. 7Bare diagrams illustrating examples of reading of data stored in the CM50a.

The CM50ais in the form of a plate and is disposed on an end surface (a ravel surface)50bof each cartridge50to which the ravel is affixed at an inclination angle of 45° viewed from its side surface. As a result, data reading from both of the side of the end surface50band the lower surface side of the cartridge50is allowed.

For example, as an example in which the data stored in the CM50ais read from the side of the end surface50b, a case in which the data is read using the CM reader33cattached to the robot30as illustrated in the example inFIG. 7Amay be given.

In addition, as an example in which the data stored in the CM50ais read from the lower surface side of each cartridge50, a case in which the data is read using the CM reader53which is provided on each cell21corresponding to a position at which the CM50ais situated when an arbitrary cartridge50has been put into an arbitrary cell21may be given.

Incidentally, as illustrated in the examples inFIG. 7AandFIG. 7B, recessed parts51with which the picker of the hand33engages are formed in the both side parts of each cartridge50.

Next, insertion of an arbitrary cartridge50into an arbitrary cell21will be described.

FIG. 8AtoFIG. 8Care diagrams illustrating examples of a manner of inserting an arbitrary cartridge50into an arbitrary cell21.

First, operations of respective parts performed when an arbitrary cartridge50is inserted into an arbitrary cell21from the front surface side of the cell21will be described.

As the user inserts an arbitrary cartridge50into an arbitrary cell21from the front surface side (see the examples inFIG. 8AandFIG. 8B), the end surface50bof the cartridge50comes into abutment against the door211at a position where the entire of the cartridge50has been inserted into the cell21. When the cartridge50is pushed into the cell21toward its rear surface side in the above mentioned state, the stopper212comes into abutment against the door211. As a result, further movement of the cartridge50toward the rear surface side of the cell21is restricted (see the example inFIG. 8C).

Next, a manner of taking out an arbitrary cartridge50from the rear surface side of an arbitrary cell21using the robot30will be described with reference toFIG. 8DtoFIG. 8F.

The main control unit110refers to the information stored in the storage unit130and specifies one cell21in which a cartridge50to be taken out using the robot30is disposed on the basis of the information indicating the kinds of the respective cartridges50in correspondence with the positions where the respective cartridges50are contained.

Then, the main control unit110controls to move the stopper212of the specified cell21to the release position (see the example inFIG. 8D). Then, the robot30opens the door211, draws the cartridge50out of the cell21and takes the cartridge50out of the cell21(see the example inFIG. 8E) under the control of the main control unit110. Incidentally, a method of drawing out an arbitrary cartridge will be described later.

Then, after the cartridge50has been entirely drawn out of the cell21, the door211goes back to its original position. The main control unit110confirms that the cartridge has been drawn out of the cell21using the robot30with reference to position sensor information that the robot30retains and then returns the stopper212to the engagement position (see the example inFIG. 8F).

Next, a direction in which the robot30draws an arbitrary cartridge50out of an arbitrary cell21will be described.

FIG. 9AtoFIG. 9Dare diagrams illustrating examples of the method of drawing an arbitrary cartridge50out of an arbitrary cell21using the robot30.

As illustrated in the example inFIG. 9A, protruded pickers33dthat engage with the recessed parts51in each cartridge50are disposed on the both end parts of the hand33.

The hand33is configured to change its width (the length in a transversal direction inFIG. 9).

FIG. 9Aillustrates a state in which the hand33is widened to have a width W1.

In the case that the robot30draws an arbitrary cartridge50out of an arbitrary cell21, first, the robot30makes the hand33draw near the cartridge50and inserts the hand33into the cell21through the through-holes211a.

Then, as illustrated in the example inFIG. 9B, the robot30makes the pickers33dposition in the recessed parts51in the cartridge50.

Then, as illustrated in the example inFIG. 9C, the pickers33dare inserted into the recessed parts51while changing the width W of the hand33so as to nip-hold the cartridge50using the hand33.FIG. 9Cillustrates a state in which the hand is narrowed to have a width W2which is narrower than the width W1.

Then, as illustrated in the example inFIG. 9D, the hand33is moved in a direction going away from the cell21in a state in which the hand33keeps nip-holding the cartridge50. As a result, the door211is pushed by the cartridge50and is opened toward the rear surface side of the cell21and the cartridge50is drawn out of the cell21.

In addition, as another method of drawing an arbitrary cartridge50out of an arbitrary cell21using the robot30, a method in which a second hand mechanism for opening the door211is provided in addition to the hand33and an arbitrary cartridge50is drawn out of an arbitrary cell21using the hand33simultaneously with opening of the door211using the second hand mechanism may be given by way of example.

Next, a manner of inserting an arbitrary cartridge50into an arbitrary cell21using the robot30will be described.

FIG. 10AtoFIG. 10Dare diagrams illustrating examples of a manner of inserting an arbitrary cartridge50into an arbitrary cell21using the robot30.

The main control unit110specifies an arbitrary cell21into which an arbitrary cartridge50is to be inserted using the robot30.

Then, the main control unit110controls to move the stopper212of the specified cell21from the engagement position to the release position (see the examples inFIG. 10AandFIG. 10B). Then, the main control unit110controls to move the hand33which is in a state in which it nip-holds the cartridge50to the specified cell21and to make the hand33insert the cartridge50into the cell21. When the cartridge50comes into abutment against the door211, the door211rotates toward the front surface side of the cell21. As a result, the cartridge50is allowed to move toward the front surface side of the cell21(see the example inFIG. 10C).

Then, the end surface50cof the cartridge50is inserted to the depth of the leading end of the cell21and when the hand33is drawn out of the cell21, the door211goes back to its original position. The main control unit110confirms that the hand33has been drawn out of the cell21and returns the stopper212to the engagement position (see the example inFIG. 10D).

In the case that the user intends to take out an arbitrary cartridge50which is disposed in an arbitrary cell21, the user is allowed to take out the cartridge50as it is (see an example inFIG. 10E).

Incidentally, such a situation (conflict in access to the cartridges50) may sometimes occur that the user and the robot30try to take out the cartridges50which are disposed in one cell21simultaneously.

In the above mentioned case, conflict is avoided by performing processes as follows.

FIG. 11is a diagram illustrating an example of a flowchart of a conflict avoiding process executed in taking out the cartridges50.

The robot control unit120controls the robot30such that its hand33is situated at the position of an instructed cell21(which has been instructed to draw a cartridge50out of it) in accordance with an instruction from the main control unit110. Then, the process proceeds to step S2.

The robot control unit120sends an instruction to the hand control unit121to try to draw the cartridge50out of the instructed cell21using the hand33. Then, the process proceeds to step S3.

The robot control unit120judges whether the robot30has succeeded in drawing out the cartridge50. Judgment is made, for example, by detecting the value of a torque sensor of the hand33. In the case that the robot control unit120judges that drawing-out of the cartridge50has been successfully performed (Yes at step S3), the robot control unit120decides that conflict does not occur and terminates execution of the process illustrated inFIG. 11. On the other hand, in the case that the robot control unit120judges that the robot30has failed at drawing out the cartridge50(No at step S3), the process proceeds to step S4.

Incidentally, although in the second embodiment, it is judged that the cause for a failure in drawing out the cartridge50lies in occurrence of conflict and execution of the process has been terminated, judgment is not limited to the above. That is, another criterion may be prepared and whether the cause for a failure in drawing out the cartridge50lies in occurrence of conflict or another factor may be judged on the basis of the criterion.

The robot control unit120controls the hand33to stop in the front of the instructed cell21and keeps the hand33waiting for a fixed time period. Owing to the above mentioned operation, it may become possible to avoid conflict by giving priority to the user in drawing out an arbitrary cartridge50. After the fixed time period has elapsed, the process proceeds to step S5.

The robot control unit120judges whether a cartridge50is present in the instructed cell21. Judgment may be made, for example, on the basis of a result of detection performed using the CM reader33c. In the case that any cartridge50is not present in the instructed cell21(No at step S5), the robot control unit120judges that the cartridge50has been drawn out of the cell21by the user when it has kept the hand33from drawing out the cartridge50at step S4and terminates execution of the process of avoiding conflict to be executed in taking out the cartridges50. On the other hand, in the case that it is judged that a cartridge50is present in the instructed cell21(Yes at step S5), the process proceeds to step S6.

The hand33tries to draw the cartridge50out of the instructed cell21in accordance with an instruction given from the robot control unit120to the hand control unit121. Then, the process proceeds to step S7.

The robot control unit120judges whether the cartridge50has been successfully drawn out of the instructed cell21. In the case that it is judged that drawing-out of the cartridge50has been successfully performed (Yes at step S7), the robot control unit120decides that conflict does not occur and terminates execution of the conflict avoiding process to be executed in taking out the cartridges50. On the other hand, in the case that the robot control unit120judges that the robot30has failed at drawing out the cartridge50(No at step S7), the process proceeds to step S8.

The robot control unit120decides that abnormality has occurred in the instructed cell21and sends the main control unit110a notification that abnormality has occurred. Then, execution of the conflict avoiding process to be executed in taking out the cartridges50is terminated. The main control unit which has received the notification makes the monitor104adisplay a screen indicating that abnormality has occurred.

Explanation of the conflict avoiding process to be executed in taking out the cartridges50has been concluded as mentioned above.

Incidentally, in the second embodiment, in the case that execution of drawing-out of the cartridge50from the instructed cell21has been tried two times and has ended in failure two times, it is judged that abnormality has occurred. However, the number of times is not limited to two and execution of drawing-out of the cartridge50may be tried three or more times.

Next, a management information changing process will be described.

The management information changing process is executed using the library management device10every time one cartridge50is taken out of the drive device40.

FIG. 12is a diagram illustrating an example of a flowchart of a management information changing process.

The main control unit110controls the robot to draw one cartridge50out of the drive device40. Then, the process proceeds to step S12.

The main control unit110judges whether another cartridge50is present in an arbitrary cell21in which the cartridge50which has been drawn out of the drive device40has been ever contained before it is carried to the drive device40. In the case that another cartridge50is not present in the cell21(No at step S12), the main control unit110terminates execution of the management information changing process. On the other hand, in the case it is judged that another cartridge50is present in the cell21(Yes at step S12), the process proceeds to step S13.

The main control unit110judges whether a cell21containing no cartridge is present in the rack. In the case that it is judged that the cell21containing no cartridge is present in the rack (Yes at step S13), the process proceeds to step S14. On the other hand, in the case that the cell21containing no cartridge is not present in the rack (No at step S13), execution of the process illustrated inFIG. 12is terminated.

The main control unit110instructs the robot control unit120to insert the cartridge50which has been drawn out of the drive device40into the cell21containing no cartridge. Then, the process proceeds to step S15.

The main control unit110updates management information. Specifically, the main control unit110reads the bar code of the cartridge50which has been drawn out of the drive device40and rewrites the information which is stored in the storage unit130in a state in which the kinds of the cartridges50are indicated in correspondence with the positions where the cartridges50are contained on the basis of the information in the bar code so read. Then, the main control unit110makes the monitor104adisplay a screen indicating that the position where the cartridge50is contained has been changed. By displaying the above mentioned screen, the main control unit110informs the user of change of the position where the cartridge50is contained. Then, the main control unit110terminates execution of the management information changing process.

The management information changing process has been described as mentioned above.

Next, a conflict avoiding process to be executed in inserting the cartridges50into an arbitrary cell will be described.

This process is executed using the library management device10in the case that both the user and the robot try to insert cartridges50into one cell21.

FIG. 13is a diagram illustrating an example of a flowchart of the conflict avoiding process to be executed in inserting the cartridges50.

The main control unit110which has received an instruction to draw a cartridge50out of the drive device40and to insert the drawn-out cartridge50into a predetermined cell21from the host device300instructs the robot30to draw the cartridge50out of the drive device40.

Then, the main control unit110controls to situate the robot30that holds the cartridge50which has been drawn out of the drive device40in the front of a cell21which has been instructed from the host device300so as to insert the cartridge50into it. Then, the process proceeds to step S22.

The main control unit110controls the robot30so as to try to insert the cartridge50into the cell21so instructed from the host device300so as to insert the cartridge50into it. Then, the process proceeds to step S23.

The main control unit110judges whether insertion of the cartridge50into the cell21so instructed from the host device300has been successfully performed. When cartridge insertion has been successfully performed (Yes at step S23), execution of the conflict avoiding process to be executed in inserting the cartridges50is terminated. On the other hand, when cartridge insertion has not been successfully performed (No at step S23), the process proceeds to step S24.

In the case that insertion of the cartridge50into the cell21has not been successfully performed, the robot control unit120keeps the robot30waiting for a fixed time period. Owing to the above mentioned operation, conflict which would occur in the case that the user tries again to insert an arbitrary cartridge50into that cell21while the robot control unit120is keeping the robot30waiting may be avoided. Then, the process proceeds to step S25.

The main control unit110judges whether a cartridge50is present in the instructed cell21(which has been instructed from the host device300so as to insert the cartridge50into it). In the case that the cartridge50is present in the instructed cell21(Yes at step S25), the processes at step S13and succeeding steps of the management information changing process are executed. On the other hand, when any cartridge50is not present in the instructed cell21(No at step S25), the process proceeds to step S26.

The robot control unit120controls the robot30so as to try to insert a cartridge50into the instructed cell21. Then, the process proceeds to step S27.

The robot control unit120judges whether insertion of the cartridge50into the instructed cell21has been successfully performed. When cartridge insertion has been successfully performed (Yes at step S27), execution of the conflict avoiding process to be executed in inserting the cartridges50is terminated. On the other hand, when cartridge insertion has not been successfully performed (No at step S27), the process proceeds to step S28.

In the case that insertion of the cartridge50into the cell21has not been successfully performed, the robot control unit120judges that abnormality has occurred in the instructed cell21and sends the main control unit110a notification that abnormality has occurred. Then, execution of the conflict avoiding process to be executed in inserting the cartridges50is terminated. The main control unit110that has received the notification controls the monitor104ato display a screen indicative of occurrence of abnormality.

Explanation of the conflict avoiding process to be executed in inserting the cartridges50has been concluded.

As described above, the library management device10according to the second embodiment is configured to execute the conflict avoiding process to be executed in taking out the cartridges50and the conflict avoiding process to be executed in inserting the cartridges50. As a result, it may become possible to avoid conflict which may occur between the user and the robot30and hence the operability of the user who utilizes the library system100may be increased.

In addition, owing to provision of the rack20having different access surfaces, one for the user and the other for the robot30, the user is allowed to freely insert an arbitrary cartridge50into an arbitrary cell21while the robot30is working.

In addition, the access surface for the user is different from that for the robot30, so that contact between the user and the robot30may be avoided and hence the user is allowed to gain access to each cell21more safely.

Further, safety may be further increased by disposing the door211on each cell21.

In addition, the user is allowed to manually put an arbitrary cartridge50into an arbitrary cell21, so that the cartridges50may be readily put in order, for example, by classifying positions where the cartridges50are contained in accordance with applications of the respective cartridges50. For example, in the case that a series of data is separately stored in the plurality of cartridges50, data missing and data duplication may be visually grasped by putting the cartridges50that hold the series of data in the rack in a mass.

In addition, owing to provision of the rack20, use of the CAS may be eliminated and hence the operability of the user may be increased.

For example, in a library system including the CAS, in the case that data which is stored in a plurality of cartridges50and is of the size which is so large as not to be retained in the CAS at one time is to be backed-up or restored, it may be unavoidable to divide the cartridges50to be put into the CAS into groups, or to temporarily stop the operation of the library management device and then to open the door of the rack in which the cartridges50are contained to gain access to an arbitrary cell. However, in the library system100according to the second embodiment, it may become possible to put the plurality of cartridges50into the respective cells21without stopping the operation of the library management device10.

In addition, the user is allowed to gain access to each cartridge50from the side opposite to the side on which the robot30is disposed with the rack20interposed between them and hence each cartridge50may be readily put into each cell21and put out of each cell21.

In addition, in the case that the library system100is to be commonly used by a plurality of users, for example, the library system100may be used in the following manner.

The range of cells used may be determined on a user by user basis or on a section by section basis.

It may be also possible to determine the range of cells used on an application (kind of data) by application basis, or on a date (or year and month) by date basis. As examples of kinds of data, for example, document data, still image data, moving image data, voice data, housekeeping book data, health maintenance data and the like may be given.

Next, a library system according to a third embodiment will be described.

In the following, different points of the library system according to the third embodiment from those of the library system according to the second embodiment will be described and description of the same points as those in the second embodiment will be omitted.

FIG. 14AtoFIG. 14Fare diagrams illustrating examples of a cell according to the third embodiment.

As illustrated in the example inFIG. 14A, a cell21aaccording to the third embodiment includes a door213disposed on its front surface side, and a stopper214for restricting rotation of the door213toward its rear surface side.

The door213rotates about a fulcrum (not illustrated in the drawing) as in the case of the door211.

The stopper214may be situated at a position (an engagement position) where it engages with the door213and a position (a release position) where it does not engage with the door213.

The transversal length of the cell21ais made longer than that of each cartridge50such that the door213may be closed in a state in which each cartridge50is contained in each cell21a.

Next, insertion of an arbitrary cartridge50into an arbitrary cell21awill be described.

First, operations of respective parts performed when an arbitrary cartridge50is inserted into an arbitrary cell21afrom the font surface side of the cell21awill be described.

In inserting an arbitrary cartridge50into an arbitrary cell21afrom the front surface side of the cell21a, the stopper214is situated at the release position (seeFIG. 14A). When a user inserts the cartridge50into the cell21afrom the front surface side of the cell21a(seeFIG. 14B), the door213is pushed into the cell21toward its rear surface side.

Then, when the entire of the cartridge50is positioned within the cell21a, an end surface50bof the cartridge50comes into abutment against the door211. The stopper212is in abutment against the door211, so that further movement of the cartridge50toward the rear surface side of the cell21ais restricted. In the above mentioned situation, the door213goes back to its original position by gravity (seeFIG. 14C).

Next, taking-out of an arbitrary cartridge50using the robot30will be described.

The main control unit110specifies a cell21ain which a cartridge50to be taken out using the robot30is disposed on the basis of information in which the kinds of respective cartridges50are indicated in correspondence with the positions where the respective cartridges50are contained.

Then, the main control unit110controls the stopper212of the specified cell21aso as to move to the release position (seeFIG. 14D). Simultaneously with controlling the stopper212to move to the release position or before controlling the stopper212to move to the release position, the main control unit110controls the stopper214so as to move to the engagement position. Owing to the above mentioned operations, conflict which would occur between the user and the robot30may be avoided.

Then, the robot30rotates the door211and draws the cartridge50out of the cell21a(seeFIG. 14E).

After the cartridge50has been drawn out of the cell21a, the door211goes back to its original position by gravity. The main control unit110confirms that the cartridge50has been drawn out of the cell21aand then controls the stopper212so as to return to the position where it engages with the door211(seeFIG. 14F).

Incidentally, in the example illustrated inFIG. 14AtoFIG. 14F, the main control unit110controls such that the user is permitted to open the door211to take out an arbitrary cartridge50until the robot30starts taking out of the cartridge50. However, a manner of controlling the operations of respective parts is not limited to the above and a controlling operation may be performed such that after the user has inserted an arbitrary cartridge50into an arbitrary cell21aonce, taking-out of that cartridge50by the user is forbidden (locked).

Next, an example of a method of controlling the doors211and213will be described in detail.

FIG. 15is a diagram illustrating an example of a manner of controlling the doors211and213.

A door control table215illustrated inFIG. 15is stored in, for example, the HDD103and the main control unit110is allowed to read it to be used.

In the door control table215, as states of access to each cell21a, four access states, that is, “Before Insertion of Cartridge”, “After Insertion of Cartridge”, “Access to Cartridge from Robot”, and “After Bringing-back of Cartridge to Cell Using Robot” are indicated.

In addition, two control modes are set in the door control table215. The main control unit110is allowed to select one of the above mentioned two control modes. One mode is a mode (a first mode) in which the user is allowed to freely take out a cartridge50that the user has put into an arbitrary cell21aand the other mode is a mode (a second mode) in which the user is not allowed to freely take out a cartridge50that the user has put into an arbitrary cell21a.

Incidentally, in the example of the table illustrated inFIG. 15, “Front Door” indicates the door211and “Rear Door” indicates the door213. “Unlocked” in the column for the front door indicates that the stopper212is situated at the release position, and “Locked” in the column for the front door indicates that the stopper212is situated at the engagement position. Likewise, “Unlocked” in the column for the rear door indicates that the stopper214is situated at the release position, and “Locked” in the column for the rear door indicates that the stopper214is situated at the engagement position.

In the first mode, the door213is locked only when the robot30gains access to an arbitrary cartridge50. Owing to the above mentioned operation, conflict which would occur in taking out a cartridge50may be avoided.

On the other hand, in the second mode, the door213is locked when an arbitrary cartridge50is inserted into an arbitrary cell21a. Owing to the above mentioned operation, security of the cartridges50may be increased.

According to the library system of the third embodiment, the same effects as those obtained by the library system of the second embodiment may be obtained.

Then, according to the library system of the third embodiment, after an arbitrary cartridge50has been inserted into an arbitrary cell21a, the stopper214of the cell into which the cartridge50has been inserted is moved to the engagement position to lock the door213by setting the mode to the second mode. Thus, the possibility that a third person opens the door without leave to take the cartridge50away may be avoided and hence the safety in management of the cartridges50may be increased.

In addition, conflict which would occur between the user and the robot30may be readily avoided.

Next, a library system according to a fourth embodiment will be described.

In the following, different points of the library system according to the fourth embodiment from those in the library system according to the third embodiment will be described and description of the same parts as those in the third embodiment will be omitted.

FIG. 16is a diagram illustrating an example of a library system according to the fourth embodiment.

The library system according to the fourth embodiment includes a touch panel71and a cartridge ejection part72.

FIG. 17is a diagram illustrating an example of a display image on the touch panel71.

On the touch panel71, an operable area71aindicating a state in which the cartridges50are contained in the respective cells21aand an area in which the user is allowed to take an arbitrary cartridge50into an arbitrary cell21aand out of an arbitrary cell21a. In the example illustrated inFIG. 17, a shaded part indicates the area where any cartridge50is not contained.

Each grid displayed on the touch panel71corresponds to each cell21a.

The operable area71amay be configured such that, for example, different areas are allocated to different users or different sections of a company. As an alternative, the operable area71amay be configured such that an area to be used is determined in accordance with the application of each piece of data or the date (or year and month) of each piece of data.

The user is allowed to change the position where each cartridge50is disposed in the operable area71aby operating the touch panel71.

Description will be further made returning to the example inFIG. 16.

The cartridge ejection part72is a part through which each cartridge50is ejected. The cartridge50to be ejected may be carried to the cartridge ejection part72and then may be taken out of the library system under the operation of the touch panel71by the user.

The library system according to the fourth embodiment is configured such that in the case that the user designates an arbitrary cartridge50by operating the touch panel71or inserts an arbitrary cartridge50into an arbitrary cell21a, a pop-up menu is displayed on the touch panel71in response to the above mentioned operation.

FIG. 18is a diagram illustrating an example of a pop-up menu.

The content of an arbitrary cartridge50which has been designated under the operation of the touch panel71or the directory structure of data stored in an arbitrary cartridge50which has been inserted into an arbitrary cell21ais displayed on a pop-up menu73.

In the case that the cartridge50so inserted is to be taken out of the cell21a, an instruction to eject the cartridge50is sent to the main control unit110by selecting “Eject Cartridge” on the pop-up menu73.

The main control unit110specifies the cartridge50that stores data on a selected file. Next, the cell21athat contains the specified cartridge50is specified. Then, the hand33of the robot30is actuated under the instruction of the main control unit110to nip-hold the cartridge50which is contained in the specified cell21a. The robot30carries the nip-held cartridge50to the cartridge ejection part72.

According to the library system of the fourth embodiment, the same effects as those obtained by the library system according to the third embodiment may be obtained.

In addition, according to the library system of the fourth embodiment, in which cell21ain the library system a cartridge50that a user wishes to obtain is contained may be more readily grasped.

Next, following altered embodiments will be described in addition to the above mentioned first to fourth embodiments.

FIG. 19AandFIG. 19Bare diagrams illustrating examples of the library system according to altered embodiments.

A display unit that displays various kinds of information may be provided on the door213of each cell21a.

FIG. 19Ais a diagram illustrating an example of the library system according to one altered embodiment in which a display unit is provided on the door213of each cell21a.

An LED74is an example of the display unit and displays information indicating the presence/absence of the respective cartridges50in the respective cells21aand information indicating that the cell21athat the user intends to operate is which one.

Specifically, in the case that a cartridge50is contained in a cell21a, the LED74of the cell21ais turned on. In the case that any cartridge50is not contained in a cell21a, the LED74of the cell21ais turned off. In addition, when one cell21ais selected under the operation of the touch panel71, the LED74of the selected cell (the cell that the user intends to operate)21ais turned on and off.

FIG. 19Bis a diagram illustrating an example of the library system according to another altered embodiment in which a touch panel is provided on the door213of each cell21a.

Information indicating the contents of data in each cartridge50which is contained in each cell21ais displayed on a touch panel75in addition to the information indicating the presence/absence of the respective cartridges50in the respective cells21aand the information indicating that the cell21athat the user intends to operate is which one. In the example illustrated inFIG. 19B, the ravel name and the file name of the data in each cartridge50are displayed as examples of the above mentioned information.

In addition, in the case that information other than the above is to be looked at, if the user touches a part on which “UP” or “DOWN” is displayed, the display on the screen will be changed so as to allow the user to look at information other than the above. In addition, if the user touches a part on which “EJECT” is displayed, the main control unit110will start execution of an operation of ejecting the cartridge50concerned.

Although the control program, the control method and the control device of the invention have been described on the basis of the embodiments illustrated in the drawings, the invention is not limited to the above and configurations of respective units may be replaced by arbitrary configurations having the same functions. In addition, other arbitrary structures and steps may be added to the invention.

In addition, the invention may be a combination of two or more arbitrary configurations (characteristics) included in the above mentioned embodiments.

Incidentally, the above mentioned processing functions may be implemented using a computer. In the above mentioned case, a program in which processing contents of functions that the library management device10includes are described is provided. The above mentioned processing functions may be implemented using the computer by executing the above mentioned program using the computer. The program in which the processing contents are described may be recorded in a computer readable storage medium. As examples of the computer readable storage medium, for example, a magnetic recording device, an optical disc, a magnetic-optical recording medium, a semiconductor memory and the like may be given. As examples of the magnetic recording device, for example, a hard disc drive (HDD), a flexible disc (FD), a magnetic tape and the like may be given. As example of the optical disc, for example, a DVD, a DVD-RAM, a CD-ROM, a CD-R/RW and the like may be given. As examples of the magnetic-optical recording medium, for example, an MD and the like may be given.

In the case that a program is to be made commercially available, a portable recording medium, for example, such as a DVD, a CD-ROM or the like in which the program is recorded is marketed. As an alternative, the program may be recorded in a memory of a server computer and may be transferred from the server computer to another computer over a network.

A computer used to execute a library management program stores the program which is, for example, recorded in a portable recording medium or the program which is transferred from a server computer in its memory. Then, the computer reads the program out of its memory to execute processes according to the program. As an alternative, the computer may read a program directly out of a portable recording medium and execute processes according to the program. In addition, every time a program is transferred from a server computer, the computer may execute processes according to the received program each time.