CN-121973179-A - Multi-mechanical arm tape library and tape moving method and electronic equipment

Abstract

The present disclosure provides a multi-robot tape library and tape moving method, an electronic device, and a readable storage medium. The multi-mechanical arm tape library comprises a tape library control module, a task scheduling module, a plurality of cabinets, a first mechanical arm, a second mechanical arm, a first mechanical arm control module, a second mechanical arm control module, a first horizontal track and a first vertical track corresponding to the first mechanical arm, and a second horizontal track and a second vertical track corresponding to the second mechanical arm, wherein the first horizontal track and the second horizontal track are positioned in preset positions in the plurality of cabinets in parallel and extend along the arrangement direction of the cabinets of the plurality of cabinets. The magnetic tape moving method comprises the steps of obtaining moving source coordinates and moving destination coordinates of a target magnetic tape according to a magnetic tape moving instruction, selecting a target mechanical arm from a first mechanical arm and a second mechanical arm according to magnetic tape slot position coordinates in the moving source coordinates and the moving destination coordinates, and controlling the target mechanical arm to move the target magnetic tape. The present disclosure can promote usability of a tape library.

Inventors

• FAN XIAOJIN

Assignees

• 北京百度网讯科技有限公司

Dates

Publication Date

20260505

Application Date

20251215

Claims (15)

1. 1. A multi-robot tape library, comprising: The system comprises a tape library control module, a task scheduling module, a plurality of cabinets, a first mechanical arm and a corresponding first mechanical arm control module thereof, a second mechanical arm and a corresponding second mechanical arm control module thereof, a first horizontal rail and a first vertical rail corresponding to the first mechanical arm, and a second horizontal rail and a second vertical rail corresponding to the second mechanical arm; The first horizontal rail and the second horizontal rail are positioned at preset positions in the plurality of cabinets in parallel and extend along the cabinet arrangement direction of the plurality of cabinets.
2. 2. The multi-robotic arm tape library of claim 1, wherein the tape library control module is to: receiving a tape moving instruction sent by a host to the multi-mechanical arm tape library; and acquiring the moving source coordinate and the moving destination coordinate of the target magnetic tape according to the magnetic tape moving instruction.
3. 3. The multi-robotic arm tape library of claim 1, wherein the task scheduling module is to: after receiving the moving source coordinates and the moving destination coordinates sent by the tape library control module, selecting a target mechanical arm from the first mechanical arm and the second mechanical arm; And sending the moving source coordinates and the moving destination coordinates to a mechanical arm control module corresponding to the target mechanical arm, so that the mechanical arm control module can control the target mechanical arm to move the target magnetic tape according to the moving source coordinates and the moving destination coordinates.
4. 4. The multi-robot tape library of claim 3, wherein the task scheduling module, when selecting a target robot from the first and second robots, is to: acquiring available states of the first mechanical arm and the second mechanical arm; and selecting the target mechanical arm from the first mechanical arm and the second mechanical arm according to the available state.
5. 5. The multi-robot tape library of claim 4, wherein the task scheduling module, when selecting the target robot from the first and second robots according to the availability status, is to: and responding to the determination that the available state comprises a fault state and a normal state, and selecting the mechanical arm in the normal state as the target mechanical arm.
6. 6. The multi-robot tape library of claim 4, wherein the task scheduling module, when selecting the target robot from the first and second robots according to the availability status, is further configured to: acquiring task states of the first mechanical arm and the second mechanical arm in response to determining that the available states are all normal states; responsive to determining that the task states are idle states, obtaining a first tape slot bit region of the target tape; And taking the mechanical arm corresponding to the first magnetic belt slot position area as the target mechanical arm.
7. 7. The multi-robot tape library of claim 6, the task scheduling module further to: In response to determining that the task state comprises a busy state and an idle state, taking the mechanical arm in the busy state as a candidate mechanical arm; responsive to determining that the robotic arm corresponding to the first tape slot region is the candidate robotic arm, obtaining a second tape slot region of the target tape; and taking the mechanical arm corresponding to the second tape slot position area as the target mechanical arm.
8. 8. The multi-robot tape library of claim 1, the robot control module to: after the moving source coordinates and the moving destination coordinates sent by the task scheduling module are received, the target mechanical arm is controlled to move on a horizontal track and/or a vertical track corresponding to the moving source coordinates, so that a target magnetic tape is taken out from a slot corresponding to the moving source coordinates, and the target magnetic tape is placed in the slot corresponding to the moving destination coordinates.
9. 9. A tape moving method includes, According to the tape moving instruction, a moving source coordinate and a moving destination coordinate of the target tape are obtained; Selecting a target mechanical arm from a first mechanical arm and a second mechanical arm according to the magnetic belt slot position coordinates in the moving source coordinates and the moving destination coordinates, wherein the first mechanical arm and the second mechanical arm correspond to different horizontal tracks; and after the target mechanical arm is controlled to take out the target magnetic tape from the slot position corresponding to the moving source coordinate, the mechanical arm is controlled to put the target magnetic tape into the slot position corresponding to the moving target coordinate.
10. 10. The method of claim 9, wherein the selecting the target robot from the first and second robots based on the tape slot coordinates of the move source coordinates and the move destination coordinates comprises: acquiring available states of the first mechanical arm and the second mechanical arm; acquiring task states of the first mechanical arm and the second mechanical arm in response to determining that the available states are all normal states; Determining a first tape slot location area according to the tape slot location coordinates in response to determining that the task states are idle states; and selecting the mechanical arm corresponding to the first magnetic belt slot position area as the target mechanical arm.
11. 11. The method of claim 10, further comprising, And responding to the determination that the available state comprises a fault state and a normal state, and selecting the mechanical arm in the normal state as the target mechanical arm.
12. 12. The method of claim 10, further comprising, In response to determining that the task state comprises a busy state and an idle state, taking the mechanical arm in the busy state as a candidate mechanical arm; Responsive to determining that the robotic arm corresponding to the first tape slot position region is the candidate robotic arm, determining a second tape slot position region according to the tape slot position coordinates; and selecting the mechanical arm corresponding to the second tape slot position area as the target mechanical arm.
13. 13. An electronic device, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 9-12.
14. 14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 9-12.
15. 15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 9-12.

Description

Multi-mechanical arm tape library and tape moving method and electronic equipment Technical Field The present disclosure relates to the field of data processing technologies, and in particular, to the field of data storage technologies. A multi-robot tape library and tape moving method, an electronic device and a readable storage medium are provided. Background Tape library products are widely used in archival storage, backup storage, and other scenarios due to their low cost and scalability. In the prior art, scalable tape libraries typically employ a single track dual-robotic design, i.e., two robotic arms (e.g., robotic arm a and robotic arm B) share a single horizontal track to move within multiple cabinets in the tape library. However, in the practical use process, the following problems are encountered that 1) the mechanical arm A can obstruct the operation of the mechanical arm B, the mechanical arm B needs to wait when executing a tape moving instruction, and 2) if the mechanical arm A fails and is clamped in the middle of a track, the tape positioned at part of the slot positions can not be obtained, so that data reading and writing can not be performed. The above problems greatly reduce the usability of the tape library, so how to improve the usability of the tape library is a technical problem to be solved. Disclosure of Invention According to a first aspect of the disclosure, a multi-mechanical arm tape library is provided, which comprises a tape library control module, a task scheduling module, a plurality of cabinets, a first mechanical arm and a corresponding first mechanical arm control module thereof, a second mechanical arm and a corresponding second mechanical arm control module thereof, a first horizontal rail and a first vertical rail corresponding to the first mechanical arm, and a second horizontal rail and a second vertical rail corresponding to the second mechanical arm, wherein the first horizontal rail and the second horizontal rail are positioned at preset positions in the plurality of cabinets in parallel and extend along the arrangement direction of the cabinets of the plurality of cabinets. According to a second aspect of the present disclosure, there is provided a tape moving method, including acquiring a moving source coordinate and a moving destination coordinate of a target tape according to a tape moving instruction, selecting a target mechanical arm from a first mechanical arm and a second mechanical arm according to a tape slot position coordinate in the moving source coordinate and the moving destination coordinate, the first mechanical arm and the second mechanical arm corresponding to different horizontal tracks, and controlling the target mechanical arm to put the target tape into a slot position corresponding to the moving destination coordinate after the target mechanical arm is taken out from the slot position corresponding to the moving source coordinate. According to a third aspect of the present disclosure there is provided an electronic device comprising at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor for execution by the at least one processor to enable the at least one processor to perform the method as described above. According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method as described above. According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method as described above. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification. Drawings The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein: FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure; FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure; FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure; FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure; FIG. 5 is a block diagram of an electronic device for implementing a tape moving method of an embodiment of the present disclosure. Detailed Description Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be consider