From 35a057367c0fc27d8481f5f7466dfcccacef4c90 Mon Sep 17 00:00:00 2001
From: backuppc <backuppc@mail.com>
Date: Mon, 9 Feb 2026 09:43:53 +0900
Subject: [PATCH] acs sequence

---
 Document/ACS_Sequence_Diagram.md | 70 ++++++++++++++++++++++++++++++++
 1 file changed, 70 insertions(+)
 create mode 100644 Document/ACS_Sequence_Diagram.md

diff --git a/Document/ACS_Sequence_Diagram.md b/Document/ACS_Sequence_Diagram.md
new file mode 100644
index 0000000..e2aa7ed
--- /dev/null
+++ b/Document/ACS_Sequence_Diagram.md
@@ -0,0 +1,70 @@
+sequenceDiagram
+    participant ACS
+    participant AGV
+    participant Buffer
+    participant Loader
+    participant Cleaner
+    participant Unloader
+
+    %% 1. Bring Empty Cart from Buffer to Loader
+    Note over ACS, Buffer: *. 버퍼에서 빈 카트 가져오기
+
+    ACS->>AGV: goto(Buffer1~6)
+    AGV->>Buffer: 도착 (Arrive)
+    ACS->>AGV: pickon enter (빈 카트 집기)
+    Buffer->>AGV: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickon exit
+    Note over ACS, Buffer: *. 버퍼에서 로더로 이동
+
+    ACS->>AGV: goto(Loader)
+    AGV->>Loader: 도착 (Arrive)
+    ACS->>AGV: pickoff enter(카트 내려 놓기)        
+    AGV->>Loader: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickoff exit(장비 퇴장)
+    
+    Note over Loader: 로더가 자재를 카트에 적재 (Loader puts Material into Cart)
+
+    ACS->>AGV: goto(Loader)
+    AGV->>Loader: 도착 (Arrive)
+    ACS->>AGV: pickon enter(Loader)
+    ACS->>AGV: pickon (적재된 카트 집기)
+    Loader->>AGV: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickon exit(장비 퇴장)
+
+    %% 2. Move Loaded Cart from Loader to Cleaner
+    Note over ACS, Loader: *. 로더에서 클리너로 이동 (Move Loaded Cart to Cleaner)
+
+    ACS->>AGV: goto(Cleaner)
+    AGV->>Cleaner: 도착 (Arrive)
+    ACS->>AGV: pickoff enter(Cleaner)
+    AGV->>Cleaner: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickoff exit(Cleaner)
+
+    Note over Cleaner: 클리닝 작업 (Cleaning Process)
+    ACS->>AGV: pickon enter(Cleaner)
+    Cleaner->>AGV: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickon exit(Cleaner)
+
+    %% 3. Move Cleaned Cart from Cleaner to Unloader
+    Note over ACS, Unloader: *. 클리너에서 언로더로 이동 (Move Cleaned Cart to Unloader)
+
+    ACS->>AGV: goto(Unloader)
+    AGV->>Unloader: 도착 (Arrive)
+    ACS->>AGV: pickoff enter(Unloader)
+    AGV->>Unloader: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickoff exit (클리닝된 카트 놓기)
+    
+    Note over Unloader: 언로딩 완료
+    ACS->>AGV: pickon enter(Unloader)
+    Unloader->>AGV: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickon exit (빈 카트 집기)
+
+    %% 4. Move Empty Cart from Unloader to Buffer
+    Note over ACS, Buffer: *. 언로더에서 버퍼로 빈 카트 회수
+
+    ACS->>AGV: goto(Buffer1~6)
+    AGV->>Buffer: 도착 (Arrive)
+    ACS->>AGV: pickoff Enter(빈 카트 놓기)
+    AGV->>Buffer: 카트 전달 (Transfer Cart)
+    ACS->>AGV: pickoff Exit(장비 이탈)
+    AGV-->>ACS: 사이클 완료 (Cycle Complete)
\ No newline at end of file