Abstract
無人搬運車系統(AGVS)近年來已廣泛應用於製造系統之物料搬運系統，本 論文將無人搬運車系統分為四個模組：(一)引導路徑 (Guide path)、( 二)車體、(三)通訊系統、(四)系統控制器。目前有關無人搬運車的研究 ，多將重點放在系統硬體控制以及系統設計管理之上，但對於系統控制器 的設計卻甚少探討。本研究引用Lin (1992)所提之「監控工作站」之觀念 ，將之應用於設計無人搬運車系統控制器，發展出無人搬運車監控工作站 。並以此無人搬運車監控工作站為核心，分別將系統的硬體以及系統設計 管理加以整合，以期達到對內有效管理、即時監控車輛，對外與製造系統 通訊協調之功能。本研究的目的在於將以往有關無人搬運車系統之研究， 透過無人搬運車監控工作站之研發，加以連接整合，以發展一個在整合環 境下的無人搬運車系統。本研究分別提出以集中式控制及分散式系統為基 礎之無人搬運車監控工作站。這兩種架構雖然原設計理念不同，適用的環 境也不同，但是所具備的基本功能：有效的管理與即時的監控，卻是相同 的。在經由虛擬車輛（Virtual Vehicle）測試後，該監控工作站即可與 製造現場連線測試。 AGVSs (Automated Guided Vehicle Systems) have been widely applied in manufacturing systems because of the advantages such as reducing labor force, improving productivity and quality, reducing products damage,...etc. In this research, we classify an AGVS into four components: guide path, AGV, communication system and system controller. Most of the past research about AGVSs focuses on system hardware control, system design and system management. However, only little research is available about the development of AGV system controllers. In this research an AGV system controller is developed based on the concept of CWS (Control WorkStation). The AGV CWS can manage vehicles effectively and monitor them at real time. Moreover, it can exchange information and coordinate with the manufacturing environment. Two approaches, centralized and distributed, are used to design AGV CWSs. The centralized AGV CWS has been successfully implemented at the NTHU.