Rail vehicle control method, device, apparatus, medium and program

Abstract

The embodiment of the present disclosure provides a rail vehicle control method and device, electronic equipment, readable storage medium and program, and relates to the field of rail vehicle control. The method comprises the following steps: when a rail guide vehicle (RGV) reaches a first turntable that needs to be turned, obtaining the direction information of the head of the RGV stored internally; determining the first angle that the head of the RGV needs to be adjusted according to the target position of the RGV; adjusting the direction of the head of the RGV by rotating the first turntable according to the direction information of the head of the RGV and the first angle; and updating the direction information of the head of the RGV according to the first angle. The method provided by the embodiment of the present disclosure can realize the control of the direction of the head of the RGV in the way of obtaining the direction of the head of the RGV by internal query.

Description

Technical Field

[0001] This disclosure relates to the field of rail vehicle control, and more particularly to a rail vehicle control method, apparatus, electronic device, readable storage medium, and program. Background Technology

[0002] Rail-guided vehicles (RGVs) typically rely on the forward and reverse rotation of motors to move forward and backward, an external turntable to adjust the vehicle's direction, and a gyroscope to determine the RGV's orientation. However, relying solely on a gyroscope to determine the vehicle's orientation is insufficient to meet the practical requirements of low cost, easy maintenance, and high reusability in industrial applications. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, readable storage medium, and program for controlling rail vehicles, relating to the field of rail vehicle control. It enables control of the RGV's heading direction by obtaining the RGV's heading direction through an internal query.

[0004] This disclosure provides a rail vehicle control method, including: when a rail-guided vehicle (RGV) arrives at a first turntable requiring a turn, acquiring internally stored RGV head direction information; determining a first angle that the RGV head needs to be adjusted based on the RGV's target position; adjusting the RGV head direction by rotating the first turntable based on the RGV head direction information and the first angle; and updating the RGV head direction information based on the first angle.

[0005] In one embodiment, the RGV's heading information includes a first value and a second value.

[0006] In one embodiment, the RGV's front direction includes a first direction, a second direction, a third direction, and a fourth direction; wherein, the first value of the first direction is 0 and the second value is 1; the first value of the second direction is 0 and the second value is -1; the first value of the third direction is -1 and the second value is 0; and the first value of the fourth direction is 1 and the second value is 0.

[0007] In one embodiment, obtaining the vehicle heading direction information of the RGV stored internally includes: obtaining the first and second values ​​of the first, second, third, or fourth heading direction of the RGV stored internally.

[0008] In one embodiment, updating the RGV's heading information based on a first angle includes: updating the RGV's heading information using a trigonometric function based on the first angle.

[0009] In one embodiment, the operation value is equal to the first angle multiplied by π and then divided by 180, and the updating the head direction information of the RGV according to the first angle using the trigonometric function comprises: obtaining the first value of the updated head direction information of the RGV according to the COS value and the SIN value of the first value, the second value and the operation value of the head direction information of the RGV; obtaining the second value of the updated head direction information of the RGV according to the SIN value and the COS value of the first value, the second value and the operation value of the head direction information of the RGV.

[0010] The embodiment of the present disclosure provides a rail vehicle control device, comprising: an acquisition module configured to acquire internally stored head direction information of a rail guided vehicle (RGV) when the RGV reaches a first turntable requiring turning; a determination module configured to determine a first angle that the head of the RGV needs to adjust according to a target position of the RGV; an adjustment module configured to adjust the head direction of the RGV by rotating the first turntable according to the head direction information of the RGV and the first angle; and an updating module configured to update the head direction information of the RGV according to the first angle.

[0011] The embodiment of the present disclosure provides a computer device, comprising a processor, a memory and an input / output interface, wherein the input / output interface is configured to receive and output data, the memory is configured to store a computer program, and the processor is configured to call the computer program to enable the computer device to execute the method of any one of the above embodiments.

[0012] The embodiment of the present disclosure provides a computer readable storage medium, which stores a computer program, and the computer program is adapted to be loaded and executed by a processor to enable a computer device having the processor to execute the method of any one of the above embodiments.

[0013] The embodiment of the present disclosure provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the method of any one of the above embodiments.

[0014] The rail vehicle control method provided by the present application can realize the control of the head direction of the RGV by acquiring the internally stored head direction information of the RGV, determining the first angle that the head of the RGV needs to adjust according to the target position of the RGV, adjusting the head direction of the RGV by rotating the first turntable according to the head direction information of the RGV and the first angle, and updating the head direction information of the RGV according to the first angle. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0016] Figure 1 is a flowchart of a rail vehicle control method provided by an embodiment of the present disclosure;

[0017] Figure 2 shows a schematic diagram of a specific application scenario of a rail guide vehicle RGV according to an embodiment of the present disclosure;

[0018] Figure 3 is a structural schematic diagram of a rail vehicle control device provided by an embodiment of the present disclosure;

[0019] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments only constitute some of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present disclosure.

[0021] In the embodiments of the present disclosure, based on programmable logic controller (PLC) technology, when the rail guide vehicle RGV reaches the first turntable that needs to be turned, the head direction information of the RGV stored internally is obtained: the first angle that the head of the RGV needs to be adjusted is determined according to the target position of the RGV; the head direction of the RGV is adjusted by rotating the first turntable according to the head direction information of the RGV and the first angle; and the head direction information of the RGV is updated according to the first angle, so that the head direction of the RGV can be obtained and adjusted by the internally stored software, thereby realizing the direction control of the RGV.

[0022] Firstly, some terms of the present disclosure will be described below:

[0023] The rail guide vehicle RGV, also known as "rail shuttle car", is commonly used in warehouses of various high-density storage modes. The car passage can be designed to be any length as needed, and no other equipment needs to enter the lane when transporting and moving goods, which is fast, safe and can effectively improve the operation efficiency of the warehouse system.

[0024] Programmable logic controller, a digital arithmetic controller with microprocessor for automation control, can load control instructions into memory for storage and execution at any time. Programmable controller is composed of CPU, instruction and data memory, input / output interface, power supply, digital analog conversion and other functional units. The early programmable logic controller only has the function of logic control, so it is named programmable logic controller. Later, with the continuous development, these originally simple computer modules have various functions including logic control, timing control, analog control, multi-machine communication, etc. The name is changed to programmable controller (Programmable Controller). However, because its abbreviation PC conflicts with the abbreviation of personal computer (Personal Computer), and due to the habit, people still often use the name programmable logic controller, and still use the abbreviation PLC.

[0025] Figure 1 is a flowchart of a rail vehicle control method provided by an embodiment of the present disclosure. The method provided by the embodiment of the present disclosure can be executed by any electronic device with computing processing capability (for example, PLC), and the present disclosure is not limited thereto.

[0026] As shown in Figure 1 , the method provided by the embodiment of the present disclosure can include the following steps.

[0027] In step S110, when the rail guide vehicle RGV reaches the first turntable that needs to be turned, the internally stored head direction information of the RGV is acquired.

[0028] In this step, the electronic device such as the PLC can obtain the internally stored head direction information of the RGV when the rail guided vehicle RGV reaches the first turntable that needs to be turned. The RGV usually does not have the ability to turn itself, only the ability to move forward or backward along the track under the drive of the motor. If the RGV needs to be turned, it needs to reach the turntable usually arranged at the track intersection, and the RGV is driven to rotate by the turntable to realize the turning. The first turntable of the present application can be any turntable on the RGV track. The internally stored head direction information of the RGV can be the head direction information of the RGV stored in the internal memory of the PLC. The head direction information of the RGV can include a first value and a second value, and the head direction of the RGV includes a first direction, a second direction, a third direction and a fourth direction, the first value of the first direction is 0 and the second value is 1; the first value of the second direction is 0 and the second value is -1; the first value of the third direction is -1 and the second value is 0; the first value of the fourth direction is 1 and the second value is 0. The head direction information of the RGV is, for example, the first direction (0, 1), the second direction (0, -1), the third direction (-1, 0) and the fourth direction (1, 0). The first direction (0, 1), the second direction (0, -1), the third direction (-1, 0) and the fourth direction (1, 0) may, for example, be points on the four coordinate axes in the direct coordinate system, the first value may, for example, represent the horizontal coordinate, and the second value may, for example, represent the vertical coordinate. Obtaining the internally stored head direction information of the RGV may, for example, be obtaining the first value and the second value of the first direction, the second direction, the third direction or the fourth direction of the head of the RGV stored in the PLC, for example, obtaining (0, 1), (0, -1), (-1, 0) or (1, 0).

[0029] In step S120, a first angle that the head of the RGV needs to be adjusted is determined according to the target position of the RGV.

[0030] In this step, the electronic device such as the PLC determines the first angle that the head of the RGV needs to be adjusted according to the target position of the RGV. The target position of the RGV may, for example, be the position where the RGV needs to carry the goods, or the destination position of the goods carried by the RGV. The first angle may, for example, be the angle that the RGV needs to be adjusted at the current first turntable to reach the target position. In the present application, the angle of counterclockwise rotation of the RGV is positive, and the angle of clockwise rotation of the RGV is negative. For example, if the RGV rotates counterclockwise by 90°, the first angle is 90°, and if the RGV rotates clockwise by 90°, the first angle is -90°.

[0031] In step S130, the head direction of the RGV is adjusted by rotating the first turntable according to the head direction information of the RGV and the first angle.

[0032] In this step, the electronic device such as PLC adjusts the heading direction of the RGV according to the heading direction information of the RGV and the first angle by rotating the first rotating disc. In this step, after the first angle is determined, the electronic device such as PLC can control the motor of the first rotating disc to rotate and in turn drive the first rotating disc to rotate by a corresponding angle, so as to realize the adjustment of the heading direction of the RGV. After the adjustment of the heading direction of the RGV is completed, the driving motor of the RGV is rotated, so as to drive the RGV to run along the track.

[0033] In step S140, the heading direction information of the RGV is updated according to the first angle.

[0034] In this step, the electronic device such as PLC updates the heading direction information of the RGV according to the first angle. In this step, after the adjustment of the heading direction of the RGV is completed, the electronic device such as PLC updates the heading direction information of the RGV according to the first angle and stores it, so as to be used to obtain the updated heading direction information of the RGV stored internally when the heading direction of the RGV needs to be adjusted next time. In one embodiment, the heading direction information of the RGV is updated according to the first angle using a trigonometric function; wherein the operation value is equal to the first angle multiplied by π and then divided by 180, for example, as shown in the following formula (1):

[0035] Operation value = first angle * π / 180 (1)

[0036] The updating of the heading direction information of the RGV according to the first angle using the trigonometric function includes: obtaining the first value of the updated heading direction information of the RGV according to the COS value and the SIN value of the first value, the second value and the operation value of the heading direction information of the RGV; obtaining the second value of the updated heading direction information of the RGV according to the SIN value and the COS value of the first value, the second value and the operation value of the heading direction information of the RGV. For example, the first value of the updated heading direction information of the RGV is determined according to the following formula (2):

[0037] rx = cx * COS (operation value) - cy * SIN (operation value) (2)

[0038] For example, the second value of the updated heading direction information of the RGV is determined according to the following formula (3):

[0039] ry = cx * SIN (operation value) + cy * COS (operation value) (3)

[0040] Wherein, rx and ry are the first value and the second value of the updated heading direction information of the RGV; cx and cy are the first value and the second value of the heading direction information of the RGV before updating.

[0041] Wherein, in the RGV's car head direction information is, for example, the first direction (0, 1), the second direction (0, -1), the third direction (-1, 0), the fourth direction (1, 0), according to the formula (1), (2) and (3) can obtain the corresponding results before and after the partial adjustment as shown in Table 1:

[0042] Table 1

[0043]

[0044] Wherein, in Table 1, one represents the first direction, two represents the second direction, three represents the third direction, and four represents the fourth direction.

[0045] Figure 1 The rail vehicle control method in the rail vehicle control method, by obtaining the internally stored RGV's car head direction information when the rail guide vehicle RGV reaches the first turntable that needs to be turned, determining the first angle that the RGV car head needs to be adjusted according to the target position of the RGV, adjusting the direction of the RGV's car head by rotating the first turntable according to the direction of the RGV's car head and the first angle, updating the direction of the RGV's car head according to the first angle, can realize the control of the direction of the RGV's car head by the way of obtaining the direction of the RGV's car head from the internal query.

[0046] The rail vehicle control method of the present disclosure will be described in detail below with specific examples.

[0047] Figure 2 A schematic diagram of a specific application scenario of a rail guide vehicle RGV according to an embodiment of the present disclosure is shown.

[0048] Reference Figure 2 , 201 is a master PLC, 2021 to 2024 are four RGVs, 2031 to 3039 are nine turntables, 2041 is an empty shelf track, 2042 to 2045 are loaded shelf tracks, 205 is a loaded shelf, and 206 is an empty shelf. The four RGVs move the loaded shelf 205 to the platform by division, and then move the empty shelf 206 to the empty shelf track 2041.

[0049] The present application Figure 2 In the example, each RGV is installed with a sub-PLC, which is mainly used for communication with the master PLC 201, receiving the command of the master PLC 201, and controlling the motor of the RGV to rotate forward or reverse to drive the RGV to move forward or backward. Each turntable is connected with the master PLC 201, and the master PLC 201 directly controls the motor of the turntable to rotate to control the rotation angle of the turntable. In other embodiments, each RGV and each turntable can also be installed with a PLC with control and communication functions, which communicate with each other and directly control the motor to rotate according to the communicated instructions, realizing the driving of the RGV and the rotation of the turntable, which is not limited by the present disclosure.

[0050] Reference Figure 2 For example, to complete the operation of RGV 2022 to load a load carrier 205 on a load carrier track 2043. The master PLC 201 issues a motor forward command to the PLC of the RGV 2022 to move the RGV 2022 to the turntable 2032 that needs to be turned. The master PLC 201 obtains the internally stored RGV head direction information, for example, in the fourth direction (1, 0), and according to the target position 2043 of the RGV 2022, it is determined that the first angle of the head of the RGV 2022 that needs to be adjusted is -90 degrees. The master PLC 201 directly controls the motor of the turntable 2032 to rotate clockwise by 90 degrees to complete the adjustment of the head direction of the RGV 2022. The master PLC 201 updates the head direction information of the RGV in the internal storage area to the second direction (0, -1) according to the first angle (-90 degrees) through formulas (1), (2) and (3). The master PLC 201 continues to issue a motor forward command to the PLC of the RGV 2022 to move the RGV 2022 to the turntable 2035 that needs to be turned. The master PLC 201 obtains the internally stored RGV head direction information as the second direction (0, -1), and according to the target position 2043 of the RGV 2022, it is determined that the first angle of the head of the RGV 2022 that needs to be adjusted is 90 degrees. The master PLC 201 directly controls the turntable 2035 to rotate counterclockwise by 90 degrees to complete the adjustment of the head direction of the RGV 2022. The master PLC 201 updates the head direction information of the RGV in the internal storage area to the fourth direction (1, 0) according to the first angle 90 degrees through formulas (1), (2) and (3). The master PLC 201 continues to issue a motor forward command to the PLC of the RGV 2022 to move the RGV 2022 to a load carrier 205 on the load carrier track 2043 to carry out the operation of a load carrier 205.

[0051] Figure 2 In the embodiment of the application, the master PLC obtains the head direction information of the RGV in the internal storage area when the RGV moves to the turntable that needs to be turned. According to the target position of the RGV, it is determined that the first angle of the head of the RGV that needs to be adjusted. The turntable is directly controlled to rotate by a corresponding degree to complete the adjustment of the head direction of the RGV. The head direction information of the RGV is updated in the internal storage area according to the first angle through formulas (1), (2) and (3), so that the control of the head direction of the RGV can be realized according to the internally queried head direction of the RGV.

[0052] Figure 3 is a structural schematic diagram of a track vehicle control device provided by an embodiment of the present disclosure.

[0053] As Figure 3As shown, the rail vehicle control device 300 provided by the embodiments of the present disclosure can include

[0054] The acquisition module 310 is configured to acquire internally stored head direction information of the RGV when the rail guide vehicle RGV reaches the first turntable that needs to be turned;

[0055] The determination module 320 is configured to determine a first angle that needs to be adjusted for the head of the RGV according to the target position of the RGV;

[0056] The adjustment module 330 is configured to adjust the head direction of the RGV by rotating the first turntable according to the head direction information of the RGV and the first angle;

[0057] The update module 340 is configured to update the head direction information of the RGV according to the first angle.

[0058] Figure 3 The rail vehicle control device, through the acquisition module, acquires internally stored head direction information of the RGV when the rail guide vehicle RGV reaches the first turntable that needs to be turned; through the determination module, determines a first angle that needs to be adjusted for the head of the RGV according to the target position of the RGV; through the adjustment module, adjusts the head direction of the RGV by rotating the first turntable according to the head direction information of the RGV and the first angle; and through the update module, updates the head direction information of the RGV according to the first angle, so that the control of the head direction of the RGV can be realized according to the way of obtaining the head direction of the RGV through internal query.

[0059] In one embodiment, the head direction information of the RGV includes a first value and a second value; the head direction of the RGV includes a first direction, a second direction, a third direction, and a fourth direction; the first value of the first direction is 0 and the second value is 1; the first value of the second direction is 0 and the second value is -1; the first value of the third direction is -1 and the second value is 0; and the first value of the fourth direction is 1 and the second value is 0; and the acquisition module 310 is further configured to acquire the first value and the second value of the first direction, the second direction, the third direction, or the fourth direction of the head of the RGV internally stored.

[0060] In one embodiment, the update module 340 is further configured to update the head direction information of the RGV using a trigonometric function according to the first angle.

[0061] In one embodiment, the operation value is equal to the first angle multiplied by π and then divided by 180; and the update module 340 is further configured to acquire a first value of the updated head direction information of the RGV according to the first value, the second value, and the COS value and the SIN value of the operation value of the head direction information of the RGV; and acquire a second value of the updated head direction information of the RGV according to the first value, the second value, and the SIN value and the COS value of the operation value of the head direction information of the RGV.

[0062] Referring to Figure 4 , Figure 4 is a structural schematic diagram of an electronic device 400 provided by an embodiment of the present disclosure. As shown in Figure 4 , the electronic device in the embodiment of the present disclosure can include one or more processors 401, a memory 402 and an input / output interface 403. The processor 401, the memory 402 and the input / output interface 403 are connected through a bus 404. The memory 402 is configured to store a computer program, the computer program including program instructions, and the input / output interface 403 is configured to receive and output data, such as for data interaction between a host and the electronic device, or for data interaction between virtual machines in the host; and the processor 401 is configured to execute the program instructions stored in the memory 402.

[0063] The processor 401 can perform the following operations:

[0064] When the rail-guided vehicle RGV reaches the first turntable that needs to be turned, the head direction information of the RGV stored internally is acquired; the first angle that needs to be adjusted for the head of the RGV is determined according to the target position of the RGV; the head direction of the RGV is adjusted by rotating the first turntable according to the head direction information of the RGV and the first angle; and the head direction information of the RGV is updated according to the first angle.

[0065] In some possible implementation manners, the processor 401 can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0066] The memory 402 can include read-only memory and random access memory, and provide instructions and data for the processor 401 and the input / output interface 403. A part of the memory 402 can also include non-volatile random access memory. For example, the memory 402 can also store device type information.

[0067] In specific implementation, the electronic device can execute the implementation manners provided by each step in the above embodiments through various function modules built in the electronic device. For details, refer to the implementation manners provided by each step in the above embodiments, which will not be described here.

[0068] The embodiment of the present disclosure provides an electronic device, including a processor, an input output interface, and a memory. The processor acquires a computer program in the memory, executes each step of the method shown in the above embodiments, and performs a transmission operation.

[0069] The embodiment of the present disclosure also provides a computer readable storage medium storing a computer program. The computer program is adapted to be loaded by the processor and execute the method provided by each step in the above embodiments. For details, refer to the implementation manners provided by each step in the above embodiments, which will not be described here. In addition, the beneficial effects of using the same method will not be described here. For technical details not disclosed in the embodiment of the computer readable storage medium involved in the present disclosure, refer to the description of the method embodiment of the present disclosure. As an example, the computer program can be deployed to execute on one electronic device, or on multiple electronic devices located in one place, or on multiple electronic devices distributed in multiple places and interconnected through a communication network.

[0070] The computer readable storage medium can be an internal storage unit of the device or the electronic device, such as a hard disk or a memory of the electronic device. The computer readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the computer readable storage medium can include both the internal storage unit and the external storage device of the electronic device. The computer readable storage medium is used to store the computer program and other programs and data required by the electronic device. The computer readable storage medium can also be used to temporarily store data that has been output or will be output.

[0071] The embodiment of the present disclosure also provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer readable storage medium. The processor executes the computer instructions to make the electronic device execute the method provided in various optional manners in the above embodiments.

[0072] The terms "first", "second", etc. in the specification and claims of the present disclosure and the drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment including a series of steps or units is not limited to the steps or units listed, but can optionally further include steps or units not listed, or can optionally further include other steps units inherent to the process, method, device, product or equipment.

[0073] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms in the description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0074] The method and related apparatus provided by the embodiments of the present disclosure are described with reference to the method flowchart and / or structural schematic diagram provided by the embodiments of the present disclosure. Each flow and / or block in the method flowchart and / or structural schematic diagram, and the combination of the flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor or other programmable transmission devices to produce a machine, so that the instructions executed by the computer or other programmable transmission devices produce a device implemented in the flow Figure 1 The functions specified in one flow or multiple flows and / or structural schematic Figure 1 The functions specified in one flow or multiple flows and / or structural schematic Figure 1 The functions specified in one flow or multiple flows and / or structural schematic Figure 1 The functions specified in one flow or multiple flows and / or structural schematic Figure 1 The functions specified in one flow or multiple flows and / or structural schematic

[0075] The above disclosure is merely the preferred embodiments of the present disclosure, and of course cannot be used to limit the scope of the present disclosure, so the equivalent changes made according to the claims of the present disclosure are still within the scope of the present disclosure.

Claims

1. A rail vehicle control method characterized by, The application relates to a method for adjusting the direction of a rail-guided vehicle (RGV) and a device thereof. When the RGV reaches a first rotating disc needing turning, a master PLC acquires the head direction information of the RGV stored in the RGV; the head direction information of the RGV comprises a first value and a second value; The master PLC determines a first angle needing adjustment of the head of the RGV according to the target position of the RGV; The master PLC adjusts the head direction of the RGV by rotating the first rotating disc according to the head direction information of the RGV and the first angle; The head direction information of the RGV is updated according to the first angle by using trigonometric functions, which comprises: The first value of the updated head direction information of the RGV is acquired according to the first value, the second value and the COS value and the SIN value of the operation value of the head direction information of the RGV; The second value of the updated head direction information of the RGV is acquired according to the first value, the second value and the SIN value and the COS value of the operation value of the head direction information of the RGV; The operation value is equal to the first angle multiplied by pi and then divided by 180.

2. The method of claim 1, wherein, The head direction of the RGV comprises a first direction, a second direction, a third direction and a fourth direction; The first value of the first direction is 0 and the second value is 1; the first value of the second direction is 0 and the second value is -1; the first value of the third direction is -1 and the second value is 0; and the first value of the fourth direction is 1 and the second value is 0.

3. The method of claim 2, wherein, The head direction information of the RGV stored in the RGV is acquired, which comprises: The first value and the second value of the first direction, the second direction, the third direction or the fourth direction of the head of the RGV stored in the RGV are acquired.

4. A rail vehicle control device characterized by comprising: The application relates to a method for adjusting the direction of a rail-guided vehicle (RGV) and a device thereof. When the RGV reaches a first rotating disc needing turning, a master PLC acquires the head direction information of the RGV stored in the RGV; the head direction information of the RGV comprises a first value and a second value; The master PLC determines a first angle needing adjustment of the head of the RGV according to the target position of the RGV; The master PLC adjusts the head direction of the RGV by rotating the first rotating disc according to the head direction information of the RGV and the first angle; The head direction information of the RGV is updated according to the first angle by using trigonometric functions, which comprises: The first value of the updated head direction information of the RGV is acquired according to the first value, the second value and the COS value and the SIN value of the operation value of the head direction information of the RGV; The second value of the updated head direction information of the RGV is acquired according to the first value, the second value and the SIN value and the COS value of the operation value of the head direction information of the RGV; The operation value is equal to the first angle multiplied by pi and then divided by 180.

5. Computer device, characterized in that The application relates to a method for adjusting the direction of a rail-guided vehicle (RGV) and a device thereof. The device comprises a processor, a memory and an input-output interface. The processor is connected with the memory and the input / output interface respectively, wherein the input / output interface is used for receiving and outputting data, the memory is used for storing a computer program, and the processor is used for calling the computer program to make the computer device execute the method in any one of claims 1-3.

6. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is adapted to be loaded and executed by the processor to make the computer device with the processor execute the method in any one of claims 1-3.

7. Computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1-3.

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