Barcode dual laser scanner targeting

A library storage system, the system comprising:

• a plurality of storage cells, wherein at least one of the plurality of storage cells has an associated target comprised of a first and a second component wherein the first and second components;
• and
• a robot having:
• a first barcode scanner affixed to the robot, wherein the first barcode scanner has a first scan path oriented in a first direction for reading the first component of the target;
• a second barcode scanner affixed to the robot, wherein the second barcode scanner has a second scan path oriented in a second direction that is substantially orthogonal to the first direction for reading the second component of the target;
• a positional encoding device for determining the location of the first and second scan paths with respect to the first and second components of the target.

A method for determining the position of a robot relative to a target, the method comprising:

• translating a robot in a first direction, wherein the robot has a first and second barcode scanner, wherein each of the first and second barcode scanners have a scan path wherein the scan path for the first barcode scanner is oriented substantially in the first direction and the scan path for the second barcode scanner is oriented substantially in a second direction wherein the second direction is substantially perpendicular to the first direction,
• while translating the robot in the first direction, determining with the second barcode scanner the positions at which the target first becomes readable and then again becomes unreadable to the second barcode scanner;
• translating the robot in the second direction;
• while translating the robot in the second direction,
• determining with the first barcode scanner the positions at which the target first becomes readable and then again becomes unreadable to the first barcode scanner;
• and
• determining the center of the target from measurements taken by the first and second barcode scanners.

A system for determining the position of a robot relative to a target, the system comprising:

• first means for translating a robot in a first direction, wherein the robot has a first and second barcode scanner, wherein each of the first and second barcode scanners have a scan path wherein the scan path for the first barcode scanner is oriented substantially in the first direction and the scan path for the second barcode scanner is oriented substantially in a second direction wherein the second direction is substantially perpendicular to the first direction,
• second means, while translating the robot in the first direction, for determining with the second barcode scanner the positions at which the target first becomes readable and then again becomes unreadable to the second barcode scanner;
• third means for translating the robot in the second direction;
• fourth means, while translating the robot in the second direction, for determining with the first barcode scanner the positions at which the target first becomes readable and then again becomes unreadable to the first barcode scanner;
• and
• fifth means determining the center of the target from measurements taken by the first and second barcode scanners.