Conventional AGVs (Automated Guided Vehicles) excel at safely transporting items to their destinations. However, with the rise of small-batch, diverse production, challenges such as the need to reconfigure settings every time the layout changes and the requirement for manual labor for subsequent tasks like "loading and unloading" or "assembly" hinder the optimization of production lines. In other words, automating only the transportation does not lead to an overall improvement in productivity at the site. This is where the "collaborative robot arm-equipped AGV," which integrates transportation and work, comes into focus. In this article, we will use Marble Inc.'s self-developed product "ΣoneRobo" as an example to organize the basic knowledge of AGVs and their differences from AMRs, while introducing methods to achieve both responsiveness to process changes and work accuracy, thereby realizing true optimization of production lines. Please use this as a reference to solve the "troubles" at the site.