JP2010067296A - Apparatus and method for detecting foreign substance in tape library - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus and method for detecting a foreign substance which detect the foreign substance in a tape library. <P>SOLUTION: The apparatus includes: a facing mirror 2a disposed along one edge of a casing floor surface; a facing mirror 2b disposed along the other edge of the casing floor surface, facing the facing mirror 2a in parallel; a projector which irradiates the facing mirror 2a with light; a light receiver 4 which receives the light reflected a plurality of times between the facing mirror 2a and the facing mirror 2b; and a detection unit 8 which compares the received light quantity of the light L received by the light receiver 4 with a predetermined light quantity. When the detection unit 8 compares the received light quantity from the projector 3 with the predetermined light quantity and determines the received light quantity to be lower than the predetermined light quantity, foreign substance detection operation of outputting a foreign substance detection signal is performed. When a robot unit 11 enters a foreign substance detection light shielding position 12, the foreign substance detection operation is suspended. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a foreign object detection device and a foreign object detection method for a tape library that is an external storage device of a computer system, and more particularly, to a foreign object detection device for a tape library capable of detecting foreign objects existing on the casing floor of the tape library. And a foreign object detection method.

  As an external recording device of a large-capacity computer system in recent years, a tape library that stores a large number of tape cartridges wound and stored with magnetic tape and selectively records data sent from a higher level on the tape cartridge has been adopted. Yes. The tape library includes a large number of slots arranged in a multi-tiered manner so as to individually store a large number of tape cartridges, a robot unit that selectively inserts and removes tape cartridges from the slots, and a tape that is removed by the robot unit. A tape drive (R / W unit) that records and reproduces data on the magnetic tape of the cartridge is housed in a housing.

  In this tape library, the robot unit transports the tape cartridge. The tape cartridge may be dropped into the housing due to some trouble of the robot unit, or an operator may add or replace the tape cartridge. When doing so, the tool may be left in the housing.

  When tape cartridges, tools, etc. are placed in the tape library housing in this way, the robot unit moves three-dimensionally between the slot and the tape drive within the narrow housing. There was a problem that the robot unit and the tape cartridge could be damaged.

As a document describing the technology related to the tape library described above, the following Patent Document 1 is cited. This Patent Document 1 authenticates a sensor for detecting opening / closing of a door of a housing and an input code. And a technique for determining that a foreign object has entered the housing by an unauthorized third party when the sensor detects that the door has been opened without a legitimate password being entered. Yes.
JP 2005-149535 A

  The technique described in Patent Document 1 described above determines that a foreign object has intruded when the door of the housing is opened in a state where a normal password is not input. There has been a problem that foreign matter such as a tape cartridge dropped from the robot unit cannot be detected, and therefore the robot unit or the like may be damaged.

  An object of the present invention is to provide a foreign object detection device and a foreign object detection method capable of detecting a foreign object in a tape library housing having a robot unit that moves in the housing.

To achieve the above object, the present invention provides a media storage shelf that stores a plurality of tape cartridges, a tape drive that records and reproduces data on a magnetic tape stored in the tape cartridge, and moves between the media storage shelf and the tape drive. A robot unit that transports the tape cartridge, a control unit that controls the operation of the tape drive and the robot unit, the media storage shelf, the tape drive, the robot unit, and the control unit. A foreign object detection device that performs a foreign object detection operation of a tape library including a housing that forms a foreign object detection light shielding position on a quadrilateral floor surface,
A first facing mirror disposed along one edge of the housing floor, a second facing mirror disposed along the other edge of the housing floor and parallel to the first facing mirror, A first projector for irradiating the first facing mirror with light, a receiver for receiving irradiation light from the first projector reflected between the first facing mirror and the second facing mirror a plurality of times, and the receiver A detection unit that compares the amount of received light with a predetermined light amount, and outputs a foreign object detection signal when the detection unit determines that the light reception amount is lower than the predetermined light amount. It is characterized by.

  In the foreign matter detection device according to the first aspect of the invention, the foreign matter detection device further includes an intrusion detection sensor that detects that the robot unit has entered the foreign matter detection light shielding position on the floor surface of the housing. When the control unit detects that the robot unit has entered the foreign object detection light shielding position by the intrusion detection sensor, the robot unit operates the robot unit to leave the foreign object detection light shield position. Is the second feature.

  In the foreign matter detection device according to the second aspect, the control unit may turn on a position where the robot unit enters the foreign matter detection light shielding position and shields an optical path of light emitted from a projector. Set a shielding position flag that sets the position not to be shut off as off, and when the shielding position flag is off, determine whether the robot unit enters the foreign object detection light shielding position by the next operation of the robot unit. When the next operation is determined to enter the foreign object detection light shielding position, the foreign object detection operation is performed until the shielding position flag is set to ON and the intrusion detection sensor detects that the robot unit has left the area. The third feature is to hold the.

  In the foreign matter detection device according to the third aspect, the control unit may turn on a position where the robot unit enters the foreign matter detection light shielding position and shields an optical path of light emitted from a projector. Set a shielding position flag that sets the position not to be shut off as off, and when the shielding position flag is on, determine whether the robot unit has left the foreign object detection light shielding position by the previous operation of the robot unit. When it is determined that the foreign object has been separated from the light shielding position by the previous operation, the shield position flag is set to OFF, and the foreign object detection is performed until the intrusion detection sensor detects that the robot unit has left the area. The fourth feature is that the operation is suspended.

  In the foreign matter detection device according to any one of the sixth to ninth aspects, the foreign matter detection device may include a second projector that makes a predetermined amount of light incident on the light receiver, and the control unit includes: A difference value between a first received light amount received when light is emitted from the first projector and a second received light amount when light is emitted from the second projector is calculated, and the difference value is based on a reference value serving as a reference. It is a fifth feature to determine that a failure has occurred in the first projector when low.

Furthermore, the present invention provides a media storage shelf for storing a plurality of tape cartridges, a tape drive for recording and reproducing data on a magnetic tape stored in the tape cartridge, and moving between the media storage shelf and the tape drive to move the tape cartridge. The robot unit for transporting, the controller for controlling the operation of the tape drive and the robot unit, the media storage shelf, the tape drive, the robot unit, and the control unit are housed, and the foreign object detection light shielding position where the robot unit enters A foreign matter detection method for a tape library, comprising: a housing formed on a quadrangular floor; and a foreign matter detection device for detecting the presence of foreign matter within the foreign matter detection light shielding position,
The foreign object detection device is disposed along a first facing mirror disposed along one end edge of the casing floor, and in parallel with the first facing mirror along the other end edge of the casing floor. Light reception for receiving irradiation light from a second facing mirror, a first projector that irradiates light to the first facing mirror, and a first projector that is reflected a plurality of times between the first facing mirror and the second facing mirror And a detection unit that compares the amount of light received by the light receiver with a predetermined amount of light,
The control unit is
The light irradiated from the first projector is reflected a plurality of times between the first facing mirror and the second facing mirror to enter the light receiver,
A sixth feature is that a foreign object detection operation is performed to determine whether or not the amount of received light incident on the light receiver is lower than a predetermined light amount, and to determine that a foreign object has been detected when it is determined to be low. To do.

  Further, the present invention provides the foreign object detection method of the sixth feature, wherein the foreign object detection device is provided with an intrusion detection sensor for detecting that the robot unit has entered the foreign object detection light shielding position on the floor surface of the housing, When the control unit detects that the robot unit has entered the foreign object detection light shielding position by the intrusion detection sensor, the robot unit operates the robot unit to leave the foreign object detection light shield position. The seventh feature is provided.

  In the foreign matter detection method according to the seventh aspect of the present invention, in the foreign matter detection method according to the seventh feature, the control unit turns on a position where the robot unit enters the foreign matter detection light shielding position and shields an optical path of light emitted from a projector. Set a shielding position flag that sets the position not to be shut off as off, and when the shielding position flag is off, determine whether the robot unit enters the foreign object detection light shielding position by the next operation of the robot unit. When the next operation is determined to enter the foreign object detection light shielding position, the foreign object detection operation is performed until the shielding position flag is set to ON and the intrusion detection sensor detects that the robot unit has left the area. It is an eighth feature that the process is suspended.

  Further, the present invention provides the foreign object detection method according to the eighth feature, wherein the control unit turns on a position where the robot unit enters the foreign object detection light shielding position and shields an optical path of light emitted from a projector. Set a shielding position flag that sets the position not to be shut off as off, and when the shielding position flag is on, determine whether the robot unit has left the foreign object detection light shielding position by the previous operation of the robot unit. When it is determined that the foreign object has been separated from the light shielding position by the previous operation, the shield position flag is set to OFF, and the foreign object detection is performed until the intrusion detection sensor detects that the robot unit has left the area. The ninth feature is that the operation is suspended.

  According to the present invention, in the foreign matter detection method according to any one of the above features, the foreign matter detection device includes a second projector that makes a predetermined amount of light incident on the light receiver, and the control unit emits light from the first projector. A difference value between a first received light amount received when irradiated and a second received light amount when light is emitted from the second projector is calculated, and when the difference value is lower than a reference value serving as a reference, the first projector It is a tenth feature to determine that a failure has occurred.

  A foreign matter detection apparatus and foreign matter detection method for a tape library according to the present invention includes first and second facing mirrors that optically sense a foreign matter detection light shielding position on a floor surface of a library housing in which foreign matter may exist. A light projector and a light receiver are provided, and the light irradiated from the light projector is reflected between the first facing mirror and the second facing mirror a plurality of times to enter the light receiving device, and the amount of light incident on the light receiving device is predetermined. It is determined whether or not the amount of light is low, and when it is determined to be low, a foreign object detection operation is performed to determine that a foreign object has been detected. Set the shielding position flag to be set as OFF, and determine whether the robot unit is positioned or not at the foreign object detection light shielding position by the next operation or the previous operation of the robot unit. The taper position flag is switched on and off, and the foreign object detection operation is suspended until the robot unit leaves the foreign object detection light shielding position. Alternatively, a misplaced foreign object can be detected.

  Hereinafter, a foreign material detection apparatus and a foreign material detection method for a tape library according to an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram for explaining the structure of a tape library to which the foreign object detection apparatus according to the present embodiment is applied, FIG. 2 is a diagram for explaining a detection optical element according to the present embodiment, and FIG. 3 is an electric diagram according to the present embodiment. FIG. 4 is a flowchart for explaining the circuit configuration, FIG. 4 is a flowchart showing the overall operation of the tape library according to this embodiment, FIG. 5 is a flowchart showing the startup operation of the tape library apparatus according to this embodiment, and FIG. 7 is a flowchart showing the foreign object detection operation according to the present embodiment, FIG. 8 is a flowchart showing the foreign object detection light shielding position monitoring process according to the present embodiment, and FIG. FIG. 10 is a flowchart showing a foreign object detection response operation according to this embodiment, and FIG. 11 is a library startup error response operation according to this embodiment. Flow diagram illustrating, FIG. 12 is a diagram for explaining the arrangement of the foreign object detection system according to this embodiment.

[Constitution]
As shown in FIG. 1, the tape library to which the foreign object detection device according to the present embodiment is applied includes a media storage unit 14 in which a large number of slots for storing tape cartridges are arranged in a grid in the vertical and horizontal directions, and a magnetic tape of the tape cartridge. A tape drive 13 for recording and reproducing data, a robot unit 11 for transporting the tape cartridge stored in the media storage unit 14 to and from the tape drive 13, and a robot control unit 10 for controlling the movement of the robot unit 11. And a foreign object detection device that is disposed on the floor surface 1 below the lowermost surface of the media storage unit 14 and detects a foreign object dropped or misplaced on the lower surface, and these mechanism circuits are integrally stored, The tape cartridge is composed of a housing (not shown) having a door that is opened and closed for an operator to replace the tape cartridge. It is. The foreign object detection device is disposed at the foreign object detection light shielding position 12 when the robot unit 11 on the quadrangular floor surface 1 of the housing is lowered to the lowest position in the Z direction.

  Although not shown in the drawings, the actual robot unit 11 is a robot arm that sandwiches and removes the rear end of the tape cartridge housed in the slot and rotates in the direction of the cassette insertion slot of the tape drive 13. The robot arm is moved three-dimensionally in the XYZ directions (X: lateral direction with respect to the slot surface in FIG. 1, Y: direction perpendicular to the slot surface, Z: vertical direction with respect to the slot surface) It is a mechanism to do.

  The foreign object detection device includes a light projector 3 that emits light L having a predetermined light flux width W, a light receiver 4 that receives light L emitted from the light projector 3, and light L emitted from the light projector 3. A pair of facing mirrors 2 a and 2 b that reciprocally reflect so as to reach the light receiver 4 are provided.

  As shown in FIGS. 12 and 2, the detailed configuration of the foreign object detection device includes a projector 3 disposed in a direction from one edge of the floor surface 1 (upper right corner in the figure) toward the floor surface, and a floor surface 1. A light receiver 4 installed in a direction from the other end edge (lower right corner in the figure) toward the inside of the floor surface, a half-mirror built-in prism 6 attached to the light-receiving surface side of the light receiver 4, and the half-mirror built-in prism 6, a reference projector 5 that emits light, a facing mirror 2 b disposed on a line connecting the projector 3 and the light receiver 4, and a distance along the lower edge of the media storage portion 14 and in parallel with the facing mirror 2 b. A foreign object detection signal by detecting the amount of light L received by the light receiver 4 and a light projection control unit 7 for controlling the light emission from the light projector 3 and the reference light projector 5. Detection unit that outputs When, and a library control unit 9 to enter a foreign object detection signal or the like detected by the detection unit 8 performs the robot controller 10. Other control.

  In this foreign object detection device, the light L (light flux width W) emitted from the projector 3 is arranged so as to form an angle θ with respect to the facing mirror 2a, and therefore, between the facing mirror 2a and the facing mirror 2b. Is reflected by the reflection width d and is received by the light receiver 4. The reason why the light L has a light beam width W and the light receiver 4 detects the amount of light received is that the foreign matter is detected by a decrease in the amount of received light when the foreign matter is blocked even by a part of the light beam having a width. It is. The reflection width d is preferably as small as possible in order to increase detection accuracy.

  As shown in FIG. 3, the circuit configuration of the foreign object detection device according to the present embodiment includes projectors 3 and 5 that emit light having a light flux width, and a projection control unit that instructs the projectors 3 and 5 to turn on and off the projectors individually. 7, a light receiving device 4 that detects the amount of received light, and a detection unit 8 that switches the light projection of the light projecting device 3 or 5 by the light projecting control unit 7 and inputs the amount of light received (level) from the light receiving device 4. In order to suppress a foreign object detection operation when the robot unit 11 is positioned at the foreign object detection light shielding position 12 with respect to the detection unit 8 as an input of a failure signal and a foreign object detection signal described later from the detection unit 8. A foreign object detection inhibition signal and a foreign object detection start signal for restarting foreign object detection when the robot unit 11 leaves the foreign object detection light shielding position 12 Composed of a.

  The library control unit 9 performs not only foreign object detection control, which is a feature of the present embodiment, but also control of the robot control unit 10 and the tape drive 13 for performing recording and reproduction of tape cartridge data according to commands from the host device. Is what you do. Further, the detection unit 8 and the library control unit 9 are equipped with a CPU and a memory, and operate according to a predetermined program. In the memory, the robot unit 11 is located at the foreign substance detection light shielding position 12 at the lowest position. Suppression flag for registering whether or not to detect the foreign object detection operation, detection flag for registering whether foreign object detection operation is possible, and light reception level for storing the amount of light received by the optical receiver The storage area and the shielding position flag for registering whether or not the robot unit 11 is located at the foreign substance detection light shielding position 12 at the lowest position are configured to be stored.

[Operation]
Next, the operation of the tape library including the foreign matter detection apparatus configured as described above will be described with reference to a flowchart.
[Whole tape library operation]
As shown in FIG. 4, the tape library according to the present embodiment performs an initialization operation step S100 for initializing the circuit devices of the apparatus and the foreign object detection device, and thereafter waits for a robot operation request from the host system as a normal operation. Step S300 for detecting foreign matter before the robot operation and determining whether or not a foreign matter has been detected; Step 400 for shifting to an operating foreign matter detection operation when it is determined that foreign matter has been detected in Step 300; Whether or not an obstacle has been detected when the robot is moved by initializing and moving the pot by operating the robot when it is determined at 300 that foreign matter is not detected and executing step S500 returning to step S200. Performs the judgment operation.

[Foreign object detection device test and foreign object detection when starting the tape library]
The tape library according to the present embodiment executes the initialization operation shown in FIG. This initialization operation includes a step S61 for performing initialization processing for initializing other circuit devices of the apparatus, and a step for determining whether or not the retraction is successful by retracting the robot from the shielding position and the media storage unit. S62, step S63 that shifts to the library activation error process when it is determined that the saving has failed in step S62, and a step that starts the foreign object detection process by the foreign object detection unit 8 when it is determined that the saving is successful in step S62. S64, detecting foreign matter at the time of activation of the apparatus, step S65 for determining whether or not a foreign matter has been detected, and detecting foreign matter at startup when it is determined in step S65 that a foreign matter has been detected (see FIG. 9 to be described later) When it is determined in step S66 to proceed to (Process) and in step S65 that no foreign matter is detected, The other circuit devices and mechanism units of the library device are operated, and step S67 for determining whether or not these startups are successful, and when the startup is determined to be unsuccessful in step S67, library startup error processing (FIG. 11), the process proceeds to the normal activation process (step S200 in FIG. 4). By this initialization operation, the tape library according to the present embodiment can detect the abnormality of the foreign object detection unit itself, and detect a fallen object or a misplaced foreign object when the apparatus is activated.

[Detecting foreign objects during normal library operation]
The tape library according to the present embodiment, following step S100 of the initialization operation, as shown in FIG. 4, a step S200 for waiting for a robot operation request from the host system, a step S300 for detecting a foreign object before the robot operation, a request In response to this, step S500 for executing the robot operation is repeated, and if a foreign object is detected in step S300, step S400 for stopping the tape library and notifying the detection of the foreign object is executed. By this operation, it is possible to perform an abnormal display and an emergency stop when a falling object occurs while the tape library apparatus is operating. Next, details of each step described above will be described.

[Operation at startup of step S64]
First, the detailed operation in step S64 (FIG. 5) at the time of start-up by the tape library according to the present embodiment is as follows. As shown in FIG. 6, the light L emitted from the projector 3 in step S02 is received by the light receiver 4, and this light reception is performed. The sensitivity is evaluated by determining the presence / absence of light reception sensitivity in step S03, and if it is determined in step S03 that no light reception is detected due to any abnormality in the reflection mirrors 2a, 2b, the projector 3, and the light receiver 4, step S04 is executed. To notify the detector failure and stop the activation of the library device.
Next, when it is determined in step S03 that there is light receiving sensitivity, the light projection of the reference projector 3 is stopped in step S05, and in step S06, the detection suppression flag for distinguishing the shielding by the robot from foreign object detection is set to off, and in step S07. The off flag is set to off in order to prevent multiple detection processes from being executed, the off position flag is set to indicate that the robot is in the occluded position in step S08, and the process proceeds to step S400 of normal activation in FIG. To do. Before the above steps are executed, the robot is evacuated in step S62 and the success of the robot evacuation is confirmed in step S63. Therefore, there is no contradiction in the processing contents of steps S06 and S08.

[Foreign matter detection]
As shown in FIG. 7, the foreign object detection operation during the start-up operation and the normal operation includes a step S <b> 11 in which the detection flag is set to “on” and a step of instructing the emission of the foreign object detection light L having the beam width W from the detection projector 3. S12, step S13 for recording the detection light reception level s, step S14 for instructing the reference projector 5 to emit reference light, step S15 for recording the reference light reception level t, the detection light reception level s and the reference light Step S16 for comparing the light reception level t, and whether or not the difference between the detected light reception level s and the reference light reception level t compared in step S16 is greater than or equal to a reference value. Step S17 which transfers to step S21 mentioned later is performed.
Next, in this operation, when it is determined in step S17 that the difference exceeds the reference value, step S18 for measuring the time before the change, and the time from the change measured in step S18 for a certain time or more Step S19 for determining whether or not it has continued, and when it is determined in step S19 that it has continued for a certain time or more, the state of the suppression flag is determined, and the detection suppression flag indicating that the robot is in the shielding position is “ When it is determined as “off”, it is determined that the foreign object is shielded, and the return status is set to “foreign object detection”. When it is determined in step S19 that the operation has not continued for a certain period of time, or in step S20. When the suppression flag indicating that the robot is in the shielding position is determined to be “on”, the detection flag is set to “o”. It is set to f ", to perform the step S21 is set to return status" normal ".
In the tape library according to the present embodiment, the foreign matter detection step S65 and the foreign matter detection step S300 during operation execute the tape library stop and foreign matter detection notification process according to the foreign matter detection according to the foreign matter detection status. The process proceeds to step S500 in which the robot operation 4 is performed.
With the above operation, even if the foreign object is smaller than the beam width W of the foreign object detection light L, the foreign object can be detected by reducing the amount of light received by the shielding, and the optical system is obtained by taking the difference from the reference light. It is possible to prevent malfunction due to a decrease in the amount of received light due to deterioration of the. Further, by detecting that there is no change in the difference for a certain period of time, it is possible to avoid a malfunction caused by incident external light.

[Robot motion]
As shown in FIG. 8, the robot operation executes step S71 of outputting a robot movement instruction to a robot control unit (not shown), and determines whether the shielding position flag indicating that the robot is in the foreign object detection light shielding position is on or off. If it is determined in S72 and it is determined that the shielding flag is off, it is checked in step 73 whether or not it will next enter the shielding position. If it is determined in step S75 that the shielding flag is entered, on is set in the detection suppression flag in step S77. At the same time, in step S79, “on” is set to the shielding position flag indicating that the robot is in the foreign object detection light shielding position.
If it is determined in step S72 that the shielding position flag indicating that the robot is in the foreign object detection light shielding position is on, whether or not the present operation has left the foreign object detection light shielding position after the previous operation in step S74. In step S76, when it is determined that the vehicle has left, the detection suppression flag is set to off in step S78, and the shielding position flag is set to off in step S80.
Following the above processing, the Z position of the robot is detected in step S81, and it is determined in step S82 whether or not the arrival at the target position is completed. If not, the process returns to step S72, and the above operation is performed. repeat. If it is determined in step S82 that it has reached, the process proceeds to step S200 and waits for the next operation instruction from the host system.
With the above operation, the tape library according to the present embodiment monitors the robot entering and leaving the foreign object detection light shielding position, and determines that the shield of the foreign object detection light due to the robot being at the foreign object detection light shield position is normal. By setting a detection suppression flag for this purpose, it is possible to prevent an erroneous operation of detecting the foreign object detection light shielding by the robot as a foreign object. The robot can reach the foreign object detection light shielding position only when there is no foreign object. Suppressing foreign object detection by the above operation does not cause a foreign object detection leak.

[Library startup error reception]
As shown in FIG. 11, the library activation error processing in step S63 and step S68 includes step S40 for accepting a library activation error, step S41 for urgently stopping the apparatus and ensuring the safety of the apparatus and the worker, and Step S42 for notifying the occurrence of the failure is executed, and the processing is stopped at step S43.

[Detector failure reception]
As shown in FIG. 9, the foreign object detector failure process in step S04 executes step S90 for accepting the detector failure, step S91 for stopping the apparatus activation, and step S92 for notifying the manager in charge of the occurrence of the failure. The processing is stopped at S93.

[Foreign matter detection reception]
As shown in FIG. 10, the foreign matter detection process in steps S66 and S400 executes step S94 for accepting foreign matter detection, step S95 for urgently stopping the activation of the device, and step S96 for notifying the manager in charge of the occurrence of a failure. The process is stopped in step S97.

  In particular, the foreign object detection device in the tape library according to the present embodiment is configured so that the foreign object detection device of the next robot unit when the shielding position flag for registering that the robot unit 11 is positioned at the foreign object detection light shielding position 12 is off before the foreign object detection is executed. It is determined whether or not the operation enters the foreign object detection light shielding position 12, and foreign object detection is executed when it is off. When the shielding position flag is on, the shielding position flag is set to on, and the robot unit 11 By performing foreign object detection after waiting for separation from the detection light shielding position 12, foreign object detection can be performed while preventing erroneous detection when the robot unit 11 is positioned at the foreign object detection light shielding position 12.

The figure for demonstrating the structure of the tape library to which the foreign material detection apparatus by one Embodiment of this invention is applied. The figure for demonstrating the detection optical element by this embodiment. The figure for demonstrating the electric circuit structure by this embodiment. The flowchart which shows the whole operation | movement of the tape library by this embodiment. The flowchart which shows the apparatus initialization operation | movement by this embodiment. The flowchart which shows the foreign material detection apparatus starting process by this embodiment. The flowchart which shows the foreign material detection operation | movement by this embodiment. The flowchart which shows the detection optical robot shielding monitoring process by this embodiment. The flowchart which shows the foreign material detector failure response operation by this embodiment. The flowchart which shows the foreign material detection corresponding | compatible operation | movement by this embodiment. The flowchart which shows the library starting error response operation | movement by this embodiment. The figure for demonstrating arrangement | positioning of the foreign material detection system by this embodiment.

Explanation of symbols

  1: floor surface, 2a: facing mirror, 2b: facing mirror, 3: projector, 4: light receiver, 5: reference projector, 6: prism with built-in half mirror, 7: projection control unit, 8: detection unit, 9: Library control unit, 10: robot control unit, 11: robot unit, 12: foreign object detection light shielding position, 13: tape drive, 14: media storage unit.

Claims (10)

A media storage shelf for storing a plurality of tape cartridges, a tape drive for recording and reproducing data on a magnetic tape stored in the tape cartridge, and a robot unit for moving the media storage shelf and the tape drive to transport the tape cartridge; A controller that controls the operation of the tape drive and the robot unit; the media storage shelf; the tape drive; the robot unit; and the controller; A foreign matter detection device for performing foreign matter detection operation of a tape library including a housing formed on the top,
A first facing mirror disposed along one edge of the housing floor, a second facing mirror disposed along the other edge of the housing floor and parallel to the first facing mirror, A first projector for irradiating the first facing mirror with light, a receiver for receiving irradiation light from the first projector reflected between the first facing mirror and the second facing mirror a plurality of times, and the receiver And a detection unit that compares the amount of received light with a predetermined amount of light, and outputs a foreign object detection signal when the detection unit determines that the amount of received light is lower than the predetermined amount of light. The foreign object detection device has an intrusion detection sensor that detects that the robot unit has entered a foreign object detection light shielding position on the floor surface of the housing,
The controller controls the robot unit to move away from the foreign object detection light shielding position when the intrusion detection sensor detects that the robot unit has entered the foreign object detection light shield position. The foreign object detection device according to 1.   The control unit sets a shielding position flag that sets the position where the robot unit enters the foreign object detection light shielding position and shields the optical path of the light emitted from the projector, and sets the position not blocked as off, When the shielding position flag is off, it is determined whether or not the robot unit enters the foreign object detection light shielding position by the next operation of the robot unit, and when it is determined that the robot unit enters the foreign object detection light shielding position by the next operation. The foreign object detection device according to claim 2, wherein the foreign object detection operation is suspended until the shielding position flag is set to ON and the intrusion detection sensor detects that the robot unit has left the area.   When the shielding position flag is on, the control unit determines whether the robot unit has separated from the foreign object detection light shielding position by the previous operation of the robot unit, and the foreign object detection light shielding position by the previous operation. 4. The foreign object detection operation is suspended until the shielding position flag is set to OFF when it is determined that the robot unit has left the vehicle, and the robot unit detects that the robot unit has left the region by the intrusion detection sensor. Foreign object detection device. The foreign object detection device has a second projector that enters a predetermined amount of light into the light receiver,
The control unit calculates a difference value between a first received light amount received when light is emitted from the first projector and a second received light amount when light is emitted from the second projector, and the difference value is The foreign object detection device according to claim 1, wherein when the reference value is lower than a reference value, it is determined that a failure has occurred in the first projector. A media storage shelf for storing a plurality of tape cartridges, a tape drive for recording and reproducing data on a magnetic tape stored in the tape cartridge, and a robot unit for moving the media storage shelf and the tape drive to transport the tape cartridge; A controller that controls the operation of the tape drive and the robot unit; the media storage shelf; the tape drive; the robot unit; and the controller; A foreign matter detection method for a tape library, comprising: a housing formed on the foreign matter detection device; and a foreign matter detection device for detecting the presence of foreign matter in the foreign matter detection light shielding position,
The foreign object detection device is disposed along a first facing mirror disposed along one end edge of the casing floor, and in parallel with the first facing mirror along the other end edge of the casing floor. Light reception for receiving irradiation light from a second facing mirror, a first projector that irradiates light to the first facing mirror, and a first projector that is reflected a plurality of times between the first facing mirror and the second facing mirror And a detection unit that compares the amount of light received by the light receiver with a predetermined amount of light,
The control unit is
The light irradiated from the first projector is reflected a plurality of times between the first facing mirror and the second facing mirror to enter the light receiver,
A foreign object detection method for determining whether or not the amount of light incident on the light receiver is lower than a predetermined light amount, and performing a foreign object detection operation for determining that a foreign object has been detected when it is determined that the received light quantity is low. The foreign object detection device is provided with an intrusion detection sensor for detecting that the robot unit has entered the foreign object detection light shielding position on the floor surface of the housing,
The controller controls the robot unit to move away from the foreign object detection light shielding position when the intrusion detection sensor detects that the robot unit has entered the foreign object detection light shield position. 6. The foreign matter detection method according to 6.   The control unit sets a shielding position flag that sets the position where the robot unit enters the foreign object detection light shielding position and shields the optical path of the light emitted from the projector, and sets the position not blocked as off, When the shielding position flag is off, it is determined whether or not the robot unit enters the foreign object detection light shielding position by the next operation of the robot unit, and when it is determined that the robot unit enters the foreign object detection light shielding position by the next operation. The foreign matter detection method according to claim 7, wherein the foreign matter detection operation is suspended until the shielding position flag is set to ON and the intrusion detection sensor detects that the robot unit has left the area.   When the shielding position flag is on, the control unit determines whether the robot unit has separated from the foreign object detection light shielding position by the previous operation of the robot unit, and the foreign object detection light shielding position by the previous operation. The foreign object according to claim 8, wherein when it is determined that the robot has left, the shielding position flag is set to OFF, and the foreign object detection operation is suspended until the intrusion detection sensor detects that the robot unit has left the area. Detection method. The foreign object detection device is provided with a second projector that makes a predetermined amount of light incident on the light receiver,
The control unit calculates a difference value between a first received light amount received when light is emitted from the first projector and a second received light amount when light is emitted from the second projector, and the difference value is The foreign object detection method according to claim 6, wherein when the reference value is lower than a reference value, it is determined that a failure has occurred in the first projector.

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