The Bank of Korea has decided to automate its cash storage.

The entrance to this warehouse is vault-style, with a reinforced door and security systems.

There are two floors, each with an input and output conveyor and AGVs that move the money pallets.

Each floor has two AGVs capable of picking and depositing pallets both on the ground and at various heights up to 6 meters. The pallets have different weights, depending on whether they contain paper money or coins.

Navigation is laser-guided; there is a main corridor with all the pallet racks to the right and left.

Virtual signals are exchanged with the conveyor as a handshake protocol to perform the picking and depositing operations correctly, especially since the conveyor is subject to a constantly closed fire door that must be opened during picking or depositing.

The missions and data exchange with the MES are carried out via the Easlylink protocol, over TCP/IP.

Commissioning lasted three weeks for the first floor and two weeks for the second.

There were no problems or unforeseen situations, except for the fact that the entire building was still a construction site, which posed logistical issues accessing the area.

The tests were conducted with fake money, for obvious reasons, then when the system went into production, real money has been introduced.

Managing the intersections and the logic to prevent the AGVs from getting stuck required significant in-house analysis and simulation before achieving a deadlock-free system.

A traffic management and control computer was installed for each floor, so they are two separate systems, where the AGVs cannot automatically switch between them.

AGV navigation type: Laser.

AGV system controller: Windows PC with cold backup, where SQL server is installed.

Charging concept: charging stations with contacts on the side of the AGV, when batteries are low, the vehicle is sent there to stay and charge, as well the AGV goes on charger when there are no transports to execute.

This AGV system is working on a single day shift.

Number of AGVs: 2

AGV manufacturer: AGVE

Function: AGV navigation software and AGV system manager development.

Year: 2022