| 摘要 |
In an automated storage and retrieval library system, a library controller is directed to examine a command queue, as well as the state of the grippers and the state of the data drive units. In general, upon completion of the examination, the controller determines whether an additional command, currently in the queue, can be executed in conjunction with (that is, before, during or after) execution of the current command, thereby optimizing the utilization of the accessor. For example, if the accessor is to execute an exchange command, a move command might be in the queue which requires moving a cartridge from the area in which the accessor will be located after the exchange is made but before the exchanged cartridge is moved to a new location. In such an event, the controller will direct that the move command be overlapped with the second half of the exchange command by using the empty gripper. Execution of other commands can be overlapped with the first half of exchange commands or can be performed in conjunction with move commands.
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