CN107608359A - A kind of flexible control method of AGV and system - Google Patents
A kind of flexible control method of AGV and system Download PDFInfo
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- CN107608359A CN107608359A CN201710998186.8A CN201710998186A CN107608359A CN 107608359 A CN107608359 A CN 107608359A CN 201710998186 A CN201710998186 A CN 201710998186A CN 107608359 A CN107608359 A CN 107608359A
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Abstract
The invention discloses a kind of flexible control methods of AGV and system, to solve the problems, such as that prior art can not accurately control AGV when AGV de-orbits.This method includes：S1, when detect AGV depart from planned orbit when, APP to central control system send correction request；S2, when receiving that the central control system returns after allowing the instruction of correction, the setting-out manipulation page of the AGV show to user；S3, user is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；S4, by the relative coordinate real-time delivery to the AGV.The present invention manipulates guiding by APP setting-out, can accurately, quickly manipulate the AGV of derailing, and no matter deviates much, can accurately allow AGV to return rails.
Description
Technical field
The present invention relates to AGV technical fields, more particularly to a kind of flexible control methods of AGV and system.
Background technology
AGV is " automatical pilot transportation vehicle ", refers to magnetically or optically wait homing guidance device equipped with electricity, it can be along regulation
Guide path traveling, there is the transport vehicle of safeguard protection and various transfer functions, AGV belongs to the model of wheeled mobile robot
Farmland, the main three technologies of AGV：Hinge arrangement, engine split technology and energy back.
The carrier of driver is not required in commercial Application, using chargeable battery as its power resources.It is general to can pass through
Computer sets up its course to control its course and behavior, or using electromagnetic path, and electromagnetic path pastes what floor
On, automatic guided vehicle then follows message caused by electromagnetic path to move and act.
Current AGV is mainly by scanning Quick Response Code on ground or the line of magnetic induction come location navigation, and central control system is again
Go to carry out AGV some scheduling controllings, travelled between guarantee AGV unobstructed.Under some scenes, keeper wants AGV can take off
From rail running, and the actions such as some advances, left-hand rotation, right-hand rotation are carried out because central control system can only dispatch AGV, and AGV is derailing
Shi Wufa correction navigation, causes keeper can not accurately control AGV traveling in the case of AGV derailings.
Publication No. CN105388899A patent provides a kind of AGV Navigation Control sides based on image in 2 D code label
Method, it is to carry out as follows：1st, the range size of each pixel in the scan image of two-dimension code label scanner is obtained；2、
Corresponding ID number and image in 2 D code label are obtained in image own coordinate according to the scan image of two-dimension code label scanner
Pose in system；3rd, AGV dollies receive the guidance path instruction that control centre is sent；4th, AGV dollies instruct according to guidance path
Local Navigation coordinate system is established successively, and calculates initial pose of the AGV dollies in Local Navigation coordinate system；5th, plan successively
Arc track of the AGV dollies between two image in 2 D code labels；6th, the control of AGV dollies is calculated according to the arc radius of planning
Amount so that AGV dollies travel each image in 2 D code label into guidance path command sequence successively, to complete guidance path
Instruction.The present invention can reduce production cost, reduce field conduct difficulty and improve guiding flexible.But the invention can not be
Accurate control AGV traveling in the case of AGV derailings.
The content of the invention
The technical problem to be solved in the present invention purpose is to provide a kind of flexible control methods of AGV and system, to solve
The problem of prior art accurately can not control AGV when AGV de-orbits.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of flexible control methods of AGV, including step：
S1, when detect AGV depart from planned orbit when, APP to central control system send correction request；
S2, when receiving that the central control system returns after allowing the instruction of correction, the setting-out behaviour of the AGV show to user
Control the page；
S3, user is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S4, by the relative coordinate real-time delivery to the AGV.
Further, in addition to step：
When the acquisition AGV sails back the information of the planned orbit, correction is completed.
Further, in addition to step：
Whether the account for judging the APP is to log in for the first time, if so, opening bluetooth and typing AGV information.
Further, step S2 is specifically included：
When obtain allow correction instruction after, judge the AGV whether with the APP by bluetooth connection, if so, to
Family shows the setting-out manipulation page.
Further, in addition to step：
When detecting that the AGV and APP disconnects bluetooth connection, bluetooth connection is re-started.
A kind of AGV flexible control systems, including：
Request module, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module, for when receiving that the central control system returns after allowing the instruction of correction, show to user described in
The AGV setting-out manipulation page；
Computing module, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module, for by the relative coordinate real-time delivery to the AGV.
Further, in addition to：
Module is completed, for when the acquisition AGV sails back the information of the planned orbit, completing correction.8. according to power
Profit requires a kind of AGV flexible control systems described in 6, it is characterised in that also includes：
Recording module, for judging whether the account of the APP is to log in for the first time, if so, opening bluetooth and typing AGV
Information.
Further, the display module specifically includes：
Bluetooth unit, for after the instruction for allowing correction is obtained, judging whether the AGV with the APP passes through bluetooth
Connection, if so, if so, showing that the setting-out manipulates the page to user.
Further, in addition to：
Reconnection connection module, for when detecting that the AGV and APP disconnects bluetooth connection, re-starting bluetooth company
Connect.
It is of the invention compared with traditional technology, have the following advantages：
1. the present invention is manipulated by setting-out and guided, the AGV of derailing can accurately, be quickly manipulated.
2. it is much no matter the present invention deviates, accurately AGV can be allowed to return to track.
Brief description of the drawings
Fig. 1 is the flexible control method flow charts of a kind of AGV that embodiment one provides；
Fig. 2 is the APP setting-outs manipulation page schematic diagram that embodiment one provides；
Fig. 3 is the flexible control method flow charts of a kind of AGV that embodiment two provides；
Fig. 4 is the flexible control method flow charts of a kind of AGV that embodiment three provides；
Fig. 5 is the flexible control method flow charts of a kind of AGV that example IV provides；
Fig. 6 is APP, central control system and AGV that example IV provides connection diagram；
Fig. 7 is a kind of AGV flexible control systems structure chart that embodiment five provides；
Fig. 8 is a kind of AGV flexible control systems structure chart that embodiment six provides；
Fig. 9 is a kind of AGV flexible control systems structure chart that embodiment seven provides；
Figure 10 is a kind of AGV flexible control systems structure chart that embodiment eight provides.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Current AGV in the application, can run into following two scenes：
1. when newly-increased transportation base, because AGV needs ground to index pathfinding, so control room needs to rearrange magnetic strength
Line or newly-increased Quick Response Code terrestrial reference are answered, while changes the execution logic of scheduling system.In some cases, if line between website
Road produces conflict, it may be necessary to plans AGV travel routes again.
But it is interim during some newly-increased transportation bases, and do not need prolonged application rewiring is past into production environment
Toward the substantial amounts of time cost of needs and financial cost.The maintenance for dispatching system can also be increased simultaneously.And the execution of variation route
May impression to the operation that production line has been put into, bring higher risk.
2. when controlling internal home network bad, AGV accurate scheduling may be had an impact, now, AGV may be
Planned orbit is completely offset from when traveling.Even if now signal returns good, but AGV impenetrably navigate by face,
Now need central control system individually to send driving instruction to AGV, slowly return AGV just.In the situation that signal is fully disconnected, also need
Manpower is wanted to move on to AGV on running rail.
But the fixed instruction such as send and advance, turn left, turning right during the groundwork of central control system to AGV, and AGV
Can not accurately it be controlled when forward distance and direction, AGV navigation and correction is by the line of magnetic induction on ground.If now lean on
Central control system returns the AGV for sailing out of track just, only one behavior worked hard but get little result during meeting.Meanwhile if central control system and AGV are complete
Full disconnection, it can only now be moved, do not made excuses by manpower.
For the various shortcoming of conventional method under both the above scene, the present invention designs a kind of single-point, accurately controls AGV's
Method, this method departs from Traditional control AGV thought, should not against ground route guidance, but by the method for cell phone application
Method departs from Traditional control AGV thought, not against area navigation, but by APP bluetooth connection AGV, by finger in APP
The index of middle setting-out track, coordinate value is transmitted to AGV, it is believed that accurate control AGV travel route.In the embodiment of the present invention
APP is the APP for controlling AGV.
For scene 2, the present invention provides various embodiments.
Embodiment one
A kind of flexible control methods of AGV are present embodiments provided, as shown in figure 1, including step：
S11：When detecting that AGV departs from planned orbit, APP sends correction request to central control system；
S12：When receiving after allowing the instruction of correction of central control system return, the setting-out for showing AGV to user manipulates the page；
S13：User is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S14：By relative coordinate real-time delivery to AGV.
The present embodiment manipulates page transmission when detecting that AGV departs from planned orbit, by the APP setting-outs of mobile terminal and sat
Mark is to AGV, to realize that control AGV is accurately travelled.It is more convenient compared to traditionally being moved by central control system or manpower
And use manpower and material resources sparingly.
In the present embodiment, step S11 is when detecting that AGV departs from planned orbit, and APP sends correction to central control system please
Ask.
Specifically, user first opens AGV controller APP, register account number, perfect information.One account needs correspondingly in theory
One central control system.APP each account can AGV information corresponding to typing.
When APP detects the AGV derailings of typing, correction request command is sent to the central control system of APP connections, and report
Specifically which platform AGV needs to rectify a deviation.An AGV can only be reported in the same time.
In the present embodiment, step S12 be when receive central control system return allow rectify a deviation instruction after, shown to user
The AGV setting-out manipulation page.
Specifically, after central control system receives the correction request of APP transmissions, judge to need the AGV that rectifies a deviation whether out of control
Scope, if so, then sending allows the instruction of correction to APP；Otherwise, the instruction of refusal correction is sent to APP.
If central control system allows to rectify a deviation, the instruction for allowing correction is back to APP.APP receives permitting for central control system return
Perhaps after the instruction rectified a deviation, the page is manipulated into setting-out.The setting-out manipulation page refers to that user can manipulate AGV by mobile finger
Track the page.
In the present embodiment, step S13 is to obtain user to manipulate the touch information of the page in setting-out and calculate relative coordinate.
Specifically, after APP enters the setting-out manipulation page, the finger of user is placed in screen, and forward rail is needed according to AGV
Mark slowly moves finger.APP can obtain touch information of the finger in the setting-out manipulation page, and touch-control letter is calculated according to touch information
Relative coordinate of the manner of breathing for AGV.User neatly can carry out setting-out operation in the setting-out manipulation page.As shown in Fig. 2 user
Place a finger in screen, need forward track slowly to move finger according to AGV.
In the present embodiment, step S14 is by relative coordinate real-time delivery to AGV.
Specifically, APP can be by relative coordinate real-time delivery of the finger in mobile phone screen to AGV.AGV is by receiving not
The coordinate value of disconnected change calculates the distance for needing to advance and direction.
Embodiment two
A kind of flexible control methods of AGV are present embodiments provided, as shown in figure 3, including step：
S21：When detecting that AGV departs from planned orbit, APP sends correction request to central control system；
S22：When receiving after allowing the instruction of correction of central control system return, the setting-out for showing AGV to user manipulates the page；
S23：User is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S24：By relative coordinate real-time delivery to AGV；
S25：When acquisition AGV sails back the information of planned orbit, correction is completed.
It is with the difference of embodiment one, in addition to step S25.
It is made up of specifically, setting planned orbit the Quick Response Code that can recognize that on the ground, when AGV is sailed back at recognizable Quick Response Code
When, report central control system, central control system record simultaneously feeds back to APP, when APP learns that AGV sails back planned orbit, then disconnect and
AGV connection, complete correction.
The present embodiment manipulates the page by setting-out, departs from the form of central control system, passes through APP controls AGV travel route.
And it is only limitted to advance compared to instruction of traditional central control system to AGV, turns left, turn right etc., page is manipulated by APP setting-out
Face, it can accurately control AGV driving trace.
Embodiment three
A kind of flexible control methods of AGV are present embodiments provided, as shown in figure 4, including step：
S31：Whether the account for judging APP is to log in for the first time, if so, opening bluetooth and typing AGV information；
S32：When detecting that AGV departs from planned orbit, APP sends correction request to central control system；
S33：When receiving after allowing the instruction of correction of central control system return, the setting-out for showing AGV to user manipulates the page；
S34：User is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S35：By relative coordinate real-time delivery to AGV；
S36：When acquisition AGV sails back the information of planned orbit, correction is completed.
It is with embodiment one, two differences, in addition to step S31.
Specifically, when APP detects that account logs in, determine whether to log in for the first time, if so, bluetooth need to be opened, scan
Neighbouring AGV, and by AGV essential information, such as title, MAC Address typing APP.Also AGV MAC Address can be manually entered
To add.After logging in, the AGV of the corresponding account typing of APP controls.
Example IV
A kind of flexible control methods of AGV are present embodiments provided, as shown in figure 5, including step：
S41：Whether the account for judging APP is to log in for the first time, if so, opening bluetooth and typing AGV information；
S42：When detecting that AGV departs from planned orbit, APP sends correction request to central control system；
S43：When obtain allow correction instruction after, judge AGV whether with APP by bluetooth connection, if so, showing to user
Show that setting-out manipulates the page；
S44：When detecting that AGV and APP disconnects bluetooth connection, bluetooth connection is re-started；
S45：User is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S46：By relative coordinate real-time delivery to AGV；
S47：When acquisition AGV sails back the information of planned orbit, correction is completed.
The present embodiment is that the step S12 specifically includes step S43 with the difference of embodiment one, two, three.
Specifically, after APP receives the instruction for allowing correction, the AGV of input system is highlighted, shows this
AGV is in and treats correction state.Now APP is asked the user whether to open bluetooth, and the AGV and APP are passed through into bluetooth connection.Such as Fig. 6
Shown, APP is connected by Wi-Fi with central control system, is connected by bluetooth with AGV.After connection, APP enters the setting-out manipulation page,
User is placed a finger in screen, needs forward track slowly to move finger according to AGV, finger is manipulated page by APP in setting-out
The coordinate value real-time delivery in face is to AGV.
The present embodiment and the difference of embodiment one, two, three, are also resided in, in addition to step S44.
If during APP manipulation AGV travelings, i.e., in setting-out operating process, detect that AGV to be rectified a deviation and APP breaks
Bluetooth connection is opened, then re-starts bluetooth connection, continues through bluetooth connection manipulation AGV driving trace.
Intelligent control APP in the present embodiment, record management AGV and bluetooth connection function is realized, communicated with AGV.It is logical
Cross bluetooth connection, can remote control AGV, it is more convenient.
Embodiment five
A kind of AGV flexible control systems are present embodiments provided, as shown in fig. 7, comprises：
Request module 51, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module 52, for when receiving after allowing the instruction of correction of central control system return, AGV picture to be shown to user
Line manipulates the page；
Computing module 53, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module 54, for by relative coordinate real-time delivery to AGV.
The present embodiment manipulates page transmission when detecting that AGV departs from planned orbit, by the APP setting-outs of mobile terminal and sat
Mark is to AGV, to realize that control AGV is accurately travelled.It is more convenient compared to traditionally being moved by central control system or manpower
And use manpower and material resources sparingly.
In the present embodiment, request module 51 is used for when detecting that AGV departs from planned orbit, and APP is sent to central control system
Correction request.
Specifically, user first opens AGV controller APP, register account number, perfect information.One account needs correspondingly in theory
One central control system.APP each account can AGV information corresponding to typing.
When APP detects the AGV derailings of typing, request module 51 sends correction request to the central control system of APP connections
Order, and report to be specifically which platform AGV needs to rectify a deviation.An AGV can only be reported in the same time.
In the present embodiment, display module 52 is used for when receiving after allowing the instruction of correction of central control system return, to user
Show the AGV setting-out manipulation page.
Specifically, after central control system receives the correction request of APP transmissions, judge to need the AGV that rectifies a deviation whether out of control
Scope, if so, then sending allows the instruction of correction to APP；Otherwise, the instruction of refusal correction is sent to APP.
If central control system allows to rectify a deviation, the instruction for allowing correction is back to APP.APP receives permitting for central control system return
Perhaps after the instruction rectified a deviation, display module 52 enters the setting-out manipulation page.The setting-out manipulation page refers to that user can be by mobile hand
Refer to manipulate the page of AGV track.
In the present embodiment, computing module 53 is used to obtain user in the touch information of the setting-out manipulation page and calculated relative
Coordinate.
Specifically, after APP enters the setting-out manipulation page, the finger of user is placed in screen, and forward rail is needed according to AGV
Mark slowly moves finger.APP can obtain touch information of the finger in the setting-out manipulation page, and computing module 53 is according to touch information meter
Calculate relative coordinate of the touch information relative to AGV.User neatly can carry out setting-out operation in the setting-out manipulation page.Such as figure
Shown in 2, user is placed a finger in screen, needs forward track slowly to move finger according to AGV.
In the present embodiment, transfer module 54 is used for relative coordinate real-time delivery to AGV.
Specifically, transfer module 54 can be by relative coordinate real-time delivery of the finger in mobile phone screen to AGV.AGV passes through
The continually changing coordinate value received calculates the distance for needing to advance and direction.
Embodiment six
A kind of AGV flexible control systems are present embodiments provided, as shown in figure 8, including：
Request module 61, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module 62, for when receiving after allowing the instruction of correction of central control system return, AGV picture to be shown to user
Line manipulates the page；
Computing module 63, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module 64, for by relative coordinate real-time delivery to AGV；
Module 65 is completed, for when acquisition AGV sails back the information of planned orbit, completing correction.
It is with the difference of embodiment five, in addition to completes module 65.
It is made up of specifically, setting planned orbit the Quick Response Code that can recognize that on the ground, when AGV is sailed back at recognizable Quick Response Code
When, central control system is reported, central control system record simultaneously feeds back to APP, when APP learns that AGV sails back planned orbit, completion module
65 disconnect the connection with AGV, complete correction.
The present embodiment manipulates the page by setting-out, departs from the form of central control system, passes through APP controls AGV travel route.
And it is only limitted to advance compared to instruction of traditional central control system to AGV, turns left, turn right etc., page is manipulated by APP setting-out
Face, it can accurately control AGV driving trace.
Embodiment seven
A kind of AGV flexible control systems are present embodiments provided, as shown in figure 9, including：
Recording module 71, for judging whether APP account is to log in for the first time, if so, opening bluetooth and typing AGV
Information；
Request module 72, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module 73, for when receiving after allowing the instruction of correction of central control system return, AGV picture to be shown to user
Line manipulates the page；
Computing module 74, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module 75, for by relative coordinate real-time delivery to AGV；
Module 76 is completed, for when acquisition AGV sails back the information of planned orbit, completing correction.
It is with embodiment five, six differences, in addition to recording module 71.
Specifically, when APP detects that account logs in, determine whether to log in for the first time, if so, bluetooth need to be opened, scan
Neighbouring AGV, and recording module 71 is by AGV essential information, such as title, MAC Address typing APP.Also AGV can be manually entered
MAC Address add.After logging in, the AGV of the corresponding account typing of APP controls.
Embodiment eight
A kind of AGV flexible control systems are present embodiments provided, as shown in Figure 10, including：
Recording module 81, for judging whether APP account is to log in for the first time, if so, opening bluetooth and typing AGV
Information；
Request module 82, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module 83, for when receiving after allowing the instruction of correction of central control system return, AGV picture to be shown to user
Line manipulates the page；
Reconnection connection module 84, for when detecting that AGV and APP disconnects bluetooth connection, re-starting bluetooth connection；
Computing module 85, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module 86, for by relative coordinate real-time delivery to AGV；
Module 87 is completed, for when acquisition AGV sails back the information of planned orbit, completing correction.
The present embodiment is that the display module 83 specifically includes with the difference of embodiment five, six, seven：
Bluetooth unit 83a, when obtain allow correction instruction after, judge AGV whether with APP by bluetooth connection, if so,
The setting-out manipulation page is shown to user；
Specifically, after APP receives the instruction for allowing correction, the AGV of input system is highlighted, shows this
AGV is in and treats correction state.Now APP is asked the user whether to open bluetooth, and the AGV and APP are passed through into bluetooth connection.Such as Fig. 6
Shown, APP is connected by Wi-Fi with central control system, is connected by bluetooth with AGV.After connection, APP enters the setting-out manipulation page,
User is placed a finger in screen, needs forward track slowly to move finger according to AGV, finger is manipulated page by APP in setting-out
The coordinate value real-time delivery in face is to AGV.
The present embodiment and embodiment five, six, its difference, are also resided in, in addition to reconnection connection module 84.
If during APP manipulation AGV travelings, i.e., in setting-out operating process, detect that AGV to be rectified a deviation and APP breaks
Bluetooth connection is opened, then reconnection connection module 84 re-starts bluetooth connection, continues through bluetooth connection manipulation AGV driving trace.
Intelligent control APP in the present embodiment, record management AGV and bluetooth connection function is realized, communicated with AGV.It is logical
Cross bluetooth connection, can remote control AGV, it is more convenient.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
1. a kind of flexible control methods of AGV, it is characterised in that including step：
S1, when detect AGV depart from planned orbit when, APP to central control system send correction request；
S2, when receiving that the central control system returns after allowing the instruction of correction, the setting-out manipulation page of the AGV show to user
Face；
S3, user is obtained in the touch information of the setting-out manipulation page and calculates relative coordinate；
S4, by the relative coordinate real-time delivery to the AGV.
2. the flexible control methods of a kind of AGV according to claim 1, it is characterised in that also including step：
When the acquisition AGV sails back the information of the planned orbit, correction is completed.
3. the flexible control methods of a kind of AGV according to claim 1, it is characterised in that also including step：
Whether the account for judging the APP is to log in for the first time, if so, opening bluetooth and typing AGV information.
4. the flexible control methods of a kind of AGV according to claim 1, it is characterised in that step S2 is specifically included：
When obtain allow correction instruction after, judge the AGV whether with the APP by bluetooth connection, if so, showing to user
Show the setting-out manipulation page.
5. the flexible control methods of a kind of AGV according to claim 4, it is characterised in that also including step：
When detecting that the AGV and APP disconnects bluetooth connection, bluetooth connection is re-started.
A kind of 6. AGV flexible control systems, it is characterised in that including：
Request module, for when detecting that AGV departs from planned orbit, APP to send correction request to central control system；
Display module, for when receiving after allowing the instruction of correction of the central control system return, showing the AGV's to user
Setting-out manipulates the page；
Computing module, for obtaining user in the touch information of the setting-out manipulation page and calculating relative coordinate；
Transfer module, for by the relative coordinate real-time delivery to the AGV.
7. a kind of AGV flexible control systems according to claim 6, it is characterised in that also include：
Module is completed, for when the acquisition AGV sails back the information of the planned orbit, completing correction.
8. a kind of AGV flexible control systems according to claim 6, it is characterised in that also include：
Recording module, for judging whether the account of the APP is to log in for the first time, if so, opening bluetooth and typing AGV letter
Breath.
9. a kind of AGV flexible control systems according to claim 6, it is characterised in that the display module specifically includes：
Bluetooth unit, for after the instruction for allowing correction is obtained, judge the AGV whether with the APP by bluetooth connection,
If so, if so, show that the setting-out manipulates the page to user.
10. a kind of AGV flexible control systems according to claim 9, it is characterised in that also include：
Reconnection connection module, for when detecting that the AGV and APP disconnects bluetooth connection, re-starting bluetooth connection.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110333718A (en) * | 2019-06-28 | 2019-10-15 | 苏州上善知源汽车电子有限公司 | The safe driving method of long-range control vehicle |
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