Rail-guided vehicle direction identification method and device, computer device and storage medium

Abstract

The application relates to a rail-guided vehicle direction identification method and device, computer equipment and a storage medium. It belongs to the technical field of industrial internet. The method comprises the following steps: after the rail-guided vehicle drives onto a turntable and turns through the turntable, the first vehicle head direction of the rail-guided vehicle before turning is acquired, and the rotation information of the turntable is acquired, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for driving the rail-guided vehicle; and the second vehicle head direction of the rail-guided vehicle after turning is determined according to the first vehicle head direction and the rotation information. Compared with the traditional method of identifying the vehicle head direction of the rail-guided vehicle by using a gyroscope, the application has lower cost, and even if the rail-guided vehicle is restarted after power failure, the vehicle head direction of the rail-guided vehicle can be known, and the stability is higher than that of the gyroscope.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial internet, in particular to a rail guided vehicle direction identification method and device, computer equipment and storage medium. BACKGROUND

[0002] Rail guided vehicles (RGV) are widely used in the industrial field, mainly applied to various high-density storage mode of the stereoscopic warehouse. The rail car generally runs on parallel or vertical tracks, and a turntable is arranged at the connection of two vertical tracks to assist the rail guided vehicle to rotate clockwise by 90° or counterclockwise by 90°, thereby changing the heading direction of the rail guided vehicle.

[0003] The existing rail guided vehicle identifies the heading direction of the rail guided vehicle through the gyroscope installed on the vehicle, and then controls the working of the rail guided vehicle. However, when the rail guided vehicle is powered off and restarted, the gyroscope cannot identify the heading direction, and must be reinitialized. In addition, the stability of the gyroscope is uneven, and when the gyroscope fails, even if a new gyroscope is replaced, the rail guided vehicle can only be used normally after re-debugging, which affects the use efficiency of the rail car. SUMMARY

[0004] Therefore, it is necessary to provide a rail guided vehicle direction identification method, device, computer equipment and storage medium which can stably identify the heading direction of the rail guided vehicle without relying on the gyroscope.

[0005] In a first aspect, the present application provides a rail guided vehicle direction identification method. The method comprises:

[0006] After the rail guided vehicle drives onto the turntable and turns through the turntable, the first heading direction of the rail guided vehicle before turning is obtained, and the turning information of the turntable is obtained, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for the rail guided vehicle to drive;

[0007] The second heading direction of the rail guided vehicle after turning is determined according to the first heading direction and the turning information.

[0008] In one of the embodiments, the first heading direction and the turning information are represented by binary values, and the second heading direction of the rail guided vehicle after turning is determined according to the first heading direction and the turning information, comprising:

[0009] The first heading direction and the turning information are processed by binary operation to obtain the second heading direction.

[0010] In one of the embodiments, the first heading direction is represented by a two-bit binary number, one bit of which represents the running direction of the track-guided vehicle, and the other bit represents the route orientation of the track-guided vehicle.

[0011] In one of the embodiments, the rotation information is represented by a binary number, the rotation information including a rotation direction and a rotation angle, and the binary number corresponding to the rotation information is determined according to the rotation direction and the rotation angle.

[0012] In one of the embodiments, the first heading direction and the rotation information are subjected to binary operation to obtain the second heading direction, including:

[0013] The first heading direction and the rotation information are subjected to binary addition to obtain an addition result.

[0014] The second heading direction is determined according to the addition result.

[0015] In one of the embodiments, the second heading direction is determined according to the addition result, including:

[0016] If the number of bits of the addition result is two, the addition result is taken as the second heading direction.

[0017] If the number of bits of the addition result is three, the last two bits of the addition result are taken as the second heading direction.

[0018] In one of the embodiments, the method further includes:

[0019] After the track-guided vehicle is powered on, the motor of the track-guided vehicle is controlled to perform forward rotation and reverse rotation.

[0020] According to the initial running direction of the track-guided vehicle when the motor performs forward rotation and reverse rotation, it is determined whether the initial heading direction of the track-guided vehicle is correct.

[0021] In the case where the initial heading direction of the track-guided vehicle is correct, the steps of the track-guided vehicle direction identification method are performed.

[0022] In one of the embodiments, the method further includes:

[0023] According to the reader installed on the track-guided vehicle and the radio frequency tags installed on the track, the initial running direction of the track-guided vehicle is obtained, wherein the number of the radio frequency tags is more than two.

[0024] In a second aspect, the application further provides a track-guided vehicle direction identification device. The device includes:

[0025] The acquisition module is configured to acquire a first heading direction of the track-guided vehicle before the track-guided vehicle turns on the turntable and acquire rotation information of the turntable after the track-guided vehicle drives onto the turntable and turns on the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle.

[0026] The direction determination module is configured to determine a second heading direction of the track-guided vehicle after the track-guided vehicle turns according to the first heading direction and the rotation information.

[0027] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor. The memory stores a computer program. The processor implements the following steps when executing the computer program:

[0028] The acquisition module is configured to acquire a first heading direction of the track-guided vehicle before the track-guided vehicle turns on the turntable and acquire rotation information of the turntable after the track-guided vehicle drives onto the turntable and turns on the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle.

[0029] The direction determination module is configured to determine a second heading direction of the track-guided vehicle after the track-guided vehicle turns according to the first heading direction and the rotation information.

[0030] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the following steps:

[0031] The acquisition module is configured to acquire a first heading direction of the track-guided vehicle before the track-guided vehicle turns on the turntable and acquire rotation information of the turntable after the track-guided vehicle drives onto the turntable and turns on the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle.

[0032] The direction determination module is configured to determine a second heading direction of the track-guided vehicle after the track-guided vehicle turns according to the first heading direction and the rotation information.

[0033] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program. The computer program is executed by a processor to implement the following steps:

[0034] The acquisition module is configured to acquire a first heading direction of the track-guided vehicle before the track-guided vehicle turns on the turntable and acquire rotation information of the turntable after the track-guided vehicle drives onto the turntable and turns on the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle.

[0035] The direction determination module is configured to determine a second heading direction of the track-guided vehicle after the track-guided vehicle turns according to the first heading direction and the rotation information.

[0036] The rail-guided vehicle direction identification method, device, computer device and storage medium provided by the above method can obtain the first vehicle head direction of the rail-guided vehicle before turning, and obtain the rotation information of the rotating disc after the rail-guided vehicle drives onto the rotating disc and turns through the rotating disc, wherein the rotating disc is arranged at the connection of the tracks intersecting with each other, and the tracks are used for driving the rail-guided vehicle. The second vehicle head direction of the rail-guided vehicle after turning is determined according to the first vehicle head direction and the rotation information. According to the rotation information of the rotating disc and the first vehicle head direction of the rail-guided vehicle before turning, the second vehicle head direction of the rail-guided vehicle after turning can be accurately determined. Compared with the traditional method of identifying the vehicle head direction of the rail-guided vehicle by using a gyroscope, the method provided by the present application has lower cost, and even if the rail-guided vehicle is restarted after power failure, the vehicle head direction of the rail-guided vehicle can be known, and the stability is higher than that of the gyroscope. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 An application environment diagram of the rail-guided vehicle direction identification method provided by the present embodiment is shown in the figure;

[0038] Figure 2 A flowchart of the first rail-guided vehicle direction identification method provided by the present embodiment is shown in the figure;

[0039] Figure 3 A flowchart of determining the second vehicle head direction is shown in the figure;

[0040] Figure 4 A flowchart of determining whether the initial vehicle head direction of the rail-guided vehicle is correct is shown in the figure;

[0041] Figure 5 A flowchart of the second rail-guided vehicle direction identification method provided by the present embodiment is shown in the figure;

[0042] Figure 6 A structure block diagram of the rail-guided vehicle direction identification device provided by the present embodiment is shown in the figure;

[0043] Figure 7 An internal structure diagram of the computer device provided by the present embodiment is shown in the figure. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0045] The rail-guided vehicle direction identification method provided by the present embodiment can be applied to, for example Figure 1In the illustrated application environment, the control terminal 102 is communicatively connected to the rail-guided vehicle 104. After the rail-guided vehicle 104 reaches the turntable and turns via the turntable, the control terminal 102 acquires the first heading direction of the rail-guided vehicle 104 before the turn, and acquires the corresponding rotation information of the turntable. The turntable is located at the junction of intersecting tracks, which are used for the rail-guided vehicle 104 to travel on. Based on the first heading direction and the rotation information, the control terminal 102 determines the second heading direction of the rail-guided vehicle 104 after the turn.

[0046] The control unit utilizes, but is not limited to, control devices such as servers and controllers. The controller utilizes, but is not limited to, PLC controllers (e.g., Inovance PLC controllers).

[0047] Rail-guided vehicles (RGVs), also known as rail-guided shuttles, are primarily used in automated warehouses with various high-density storage systems. These vehicles can automatically transport goods without manual operation, improving warehouse storage efficiency. The tracks used by RGVs are typically perpendicular, with turntables at track intersections to adjust the vehicle's direction.

[0048] In one embodiment, a method for recognizing the direction of a track-guided vehicle is provided, which is applied to... Figure 1 Taking the control terminal in the middle as an example, for example Figure 2 As shown, it includes the following steps:

[0049] S201: After the rail-guided vehicle drives onto the turntable and turns via the turntable, the first heading direction of the rail-guided vehicle before turning is obtained, and the rotation information of the turntable is obtained. The turntable is set at the connection of intersecting tracks, and the tracks are used for the rail-guided vehicle to travel on.

[0050] Among them, the rail-guided vehicle, also known as the RGV, is a rail-guided trolley applicable to warehouses with various high-density storage methods. The rail-guided vehicle communicates with the control unit. The turntable refers to the rotating disk located at the track connection point of the rail-guided vehicle; the rotation of the turntable is controlled by the control unit. Rotation information refers to the rotation information of the turntable under the control of the control unit, which may include the rotation direction and rotation angle, etc.

[0051] In this embodiment, one optional implementation method for obtaining the first vehicle heading direction is as follows: after the rail-guided vehicle drives onto the turntable and turns via the turntable, the first vehicle heading direction of the rail-guided vehicle before turning is obtained from the direction information of the rail-guided vehicle stored locally.

[0052] Another optional implementation of obtaining the first heading direction in the embodiment is that when the control end detects that the track-guided vehicle approaches the turntable, the current heading direction of the track-guided vehicle at this time is recorded and stored as the first heading direction, so as to obtain the first heading direction of the track-guided vehicle before turning after the track-guided vehicle drives onto the turntable and turns on the turntable. Wherein, the control end can detect whether the track-guided vehicle approaches the turntable through a photoelectric sensor or other proximity sensor.

[0053] An optional implementation of obtaining the rotation information of the turntable in the embodiment is that the rotation information of the turntable is obtained according to the control instruction sent by the control end to the turntable. Wherein, the turntable rotates according to the control instruction of the control end, and the rotation information for controlling the rotation of the turntable is recorded in the control instruction.

[0054] S202, determining a second heading direction of the track-guided vehicle after turning according to the first heading direction and the rotation information.

[0055] Wherein, the second heading direction refers to the heading direction of the track-guided vehicle after adjusting the direction on the turntable.

[0056] An optional implementation of the embodiment is that the rotation information includes a rotation angle, the rotation angle of the track-guided vehicle is obtained according to the rotation information, and the second heading direction of the track-guided vehicle after turning is determined according to the rotation angle and the first heading direction. For example, the rotation angle is 360 degrees, and if the first heading direction is west, the second heading direction can be determined to be east according to the rotation angle and the first heading direction.

[0057] Another optional implementation of the embodiment is that the rotation information includes a rotation direction and a rotation angle, the rotation direction and the rotation angle of the track-guided vehicle are obtained according to the rotation information, and the second heading direction of the track-guided vehicle after turning is determined according to the rotation direction, the rotation angle and the first heading direction. For example, the rotation angle is 90 degrees, and the rotation direction is clockwise rotation, and if the first heading direction is west, the second heading direction can be determined to be north according to the rotation direction, the rotation angle and the first heading direction.

[0058] The rail-guided vehicle direction identification method described above, after the rail-guided vehicle drives onto the turntable and turns through the turntable, obtains a first vehicle heading direction of the rail-guided vehicle before turning, and obtains rotation information of the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the rail-guided vehicle; and the second vehicle heading direction of the rail-guided vehicle after turning is determined according to the first vehicle heading direction and the rotation information. According to the rotation information of the turntable and the first vehicle heading direction of the rail-guided vehicle before turning, the second vehicle heading direction of the rail-guided vehicle after turning can be accurately determined. Compared with the traditional method of identifying the vehicle heading direction of the rail-guided vehicle by using a gyroscope, the rail-guided vehicle direction identification method has lower cost, and even if the rail-guided vehicle is restarted after power failure, the vehicle heading direction of the rail-guided vehicle can still be known, and the stability is higher than that of the gyroscope.

[0059] In one embodiment, the first vehicle heading direction and the rotation information are represented by binary values. Based on this, in an optional implementation of S202, the method comprises the following steps of:

[0060] performing binary operation on the first vehicle heading direction and the rotation information to obtain the second vehicle heading direction.

[0061] The binary value refers to a string of more than one bit composed of 0 and 1. The binary operation refers to the calculation between multiple binary values.

[0062] Optionally, in this embodiment, the first vehicle heading direction and the rotation information are subjected to binary operation to obtain the second vehicle heading direction. The operation manner includes, but is not limited to, addition, subtraction, multiplication, division, etc.

[0063] Optionally, the first heading direction in the embodiment can be represented by two-bit binary value, one bit of which is used to represent the running direction of the track-guided vehicle, and the other bit of which is used to represent the route orientation of the track-guided vehicle. Specifically, the embodiment can pre-set the binary value corresponding to the first heading direction, one bit of which is used to represent the running direction of the track-guided vehicle, and the other bit of which is used to represent the route orientation of the track-guided vehicle, the running direction being divided into positive direction (e.g. represented by 1) and negative direction (e.g. represented by 0), for example, the positive direction includes two directions, i.e. east and north, and the negative direction is west and south, and the route orientation includes south-north orientation (e.g. represented by 1) and east-west orientation (e.g. represented by 0). For example, the binary value of the first heading direction is 10, one bit of which is used to represent the running direction of the track-guided vehicle, and the other bit of which is used to represent the route orientation of the track-guided vehicle. As can be seen, 1 in the binary value corresponding to the first heading direction represents the positive direction, since both east and north are positive directions, it can be known that the running direction of the track-guided vehicle is east or north, and 0 represents the south-north orientation, thus the first heading direction corresponding to the binary value 10 is north. By analogy, it can be known that 00 represents the west direction; 11 represents the east direction; and 01 represents the south direction.

[0064] Optionally, the rotation information in the embodiment is represented by binary value, the rotation information including rotation direction and rotation angle, and the binary value corresponding to the rotation information is determined according to the rotation direction and the rotation angle.

[0065] In actual application, the rotation angle and the rotation direction of the track-guided vehicle are basically 90° clockwise rotation and 90° counterclockwise rotation. When the rotation information is 90° clockwise rotation, the binary value corresponding thereto can be represented by 11. When the rotation information is 90° counterclockwise rotation, the binary value corresponding thereto can be represented by 01.

[0066] In the embodiment, the second heading direction can be quickly determined by performing binary operation on the first heading direction and the rotation information, which reduces the complexity of obtaining the second heading direction and effectively saves the computing resources.

[0067] In one of the embodiments, as shown in Figure 3 an optional implementation for performing binary operation on the first heading direction and the rotation information to obtain the second heading direction, comprising:

[0068] S301, performing binary addition on the first heading direction and the rotation information to obtain an addition result.

[0069] S302, determining the second heading direction according to the addition result.

[0070] Optionally, in the embodiment, if the bit number of the addition result is two, the addition result is taken as the second vehicle head direction. If the bit number of the addition result is three, the last two bits of the addition result are taken as the second vehicle head direction.

[0071] The relationship among the first vehicle head direction, the rotation information and the second vehicle head direction can be intuitively represented by Table 1 as follows:

[0072] Table 1

[0073]

[0074] In Table 1, the first column is the rotation information, and the first row is the first vehicle head direction.

[0075] In the embodiment, the addition result is obtained by performing binary addition on the first vehicle head direction and the rotation information. Then, the second vehicle head direction is quickly and accurately determined according to the addition result.

[0076] In one of the embodiments, in order to determine whether the initial running direction of the track-guided vehicle is correct after the track-guided vehicle is started (for example, the track-guided vehicle is placed on the track again after being separated from the track (for example, the track-guided vehicle is out of order, and is placed on the track again after being repaired), and the vehicle head direction of the track-guided vehicle is sometimes placed in the wrong direction by the staff), as shown in FIG. 1, a track-guided vehicle direction identification method includes the following steps. Figure 4

[0077] S401, after the track-guided vehicle is started, the motor of the track-guided vehicle is controlled to perform forward rotation and reverse rotation.

[0078] The motor refers to a power source for providing power for the track-guided vehicle.

[0079] Optionally, in the embodiment, if the control end detects that the track-guided vehicle is started, the control end sends a control instruction to the track-guided vehicle to control the motor of the track-guided vehicle to perform forward rotation and reverse rotation.

[0080] S402, according to the initial running direction of the track-guided vehicle when the motor performs forward rotation and reverse rotation, it is determined whether the initial direction of the vehicle head of the track-guided vehicle is correct.

[0081] The initial running direction refers to the running direction of the track-guided vehicle when the motor performs forward rotation and reverse rotation after the track-guided vehicle is started. The initial direction of the vehicle head refers to the direction of the track-guided vehicle when the track-guided vehicle is started.

[0082] ​Optionally, in this embodiment, a reader (e.g., an RFID reader) can be pre-installed on the body of the rail-guided vehicle, and two or more radio frequency tags (e.g., active or passive RFID tags) can be installed on the track. Based on the reader installed on the rail-guided vehicle and the radio frequency tags installed on the track, the initial running direction of the rail-guided vehicle can be obtained. For example, if the first radio frequency chip is located at the front of the rail-guided vehicle and the second radio frequency chip is located at the rear of the rail-guided vehicle, if the reader of the rail-guided vehicle identifies the second radio frequency chip, it indicates that the rail-guided vehicle is running backward; if the reader of the rail-guided vehicle identifies the first radio frequency chip, it indicates that the rail-guided vehicle is running forward.

[0083] Based on the initial running direction of the rail-guided vehicle when the motor rotates forward and reverse, the initial direction of the rail-guided vehicle's front end is determined to be correct. An optional implementation method is as follows: If the initial running direction of the rail-guided vehicle does not match the preset running direction when the motor rotates forward and reverse, then the initial direction of the rail-guided vehicle's front end is determined to be incorrect, and the direction of the rail-guided vehicle's front end needs to be adjusted (it can be turned around after being removed); if the initial running direction of the rail-guided vehicle matches the preset running direction when the motor rotates forward, then the initial direction of the rail-guided vehicle's front end is determined to be correct.

[0084] S403, assuming the initial direction of the rail-guided vehicle's front end is correct, execute the steps of the rail-guided vehicle direction recognition method.

[0085] In this embodiment, after the rail-guided vehicle is powered on, the motor of the rail-guided vehicle is controlled to rotate forward and reverse. Based on the initial running direction of the rail-guided vehicle when the motor rotates forward and reverse, the initial direction of the rail-guided vehicle's front end can be automatically identified as correct. If the initial direction of the rail-guided vehicle's front end is correct, the steps of the rail-guided vehicle direction identification method are executed.

[0086] In one embodiment, such as Figure 5 As shown, an optional implementation of a rail-guided vehicle direction recognition method includes:

[0087] S501: After the rail-guided vehicle drives onto the turntable and turns via the turntable, the system acquires the first heading direction of the rail-guided vehicle before the turn and obtains the rotation information of the turntable. The turntable is located at the connection point of intersecting tracks, which are used for the rail-guided vehicle to travel on. The first heading direction is represented by two binary values, one representing the direction of travel of the rail-guided vehicle and the other representing the orientation of its route. The rotation information is represented by binary values, including the rotation direction and rotation angle. The corresponding binary value for the rotation information is determined based on the rotation direction and rotation angle.

[0088] S502, binary addition is performed on the first vehicle head direction and the rotation information to obtain an addition result.

[0089] S503, if the number of bits of the addition result is two, the addition result is taken as the second vehicle head direction.

[0090] S504, if the number of bits of the addition result is three, the last two bits of the addition result are taken as the second vehicle head direction.

[0091] In the embodiment, whether the initial direction of the vehicle head of the rail-guided vehicle is correct is identified, and the specific steps are as follows:

[0092] After the rail-guided vehicle is started, the motor of the rail-guided vehicle is controlled to perform forward rotation and reverse rotation.

[0093] According to the motor performing forward rotation and reverse rotation, the initial running direction of the rail-guided vehicle is obtained according to the reader installed on the rail-guided vehicle and the radio frequency tags installed on the track, and the number of the radio frequency tags is two or more.

[0094] According to the initial running direction of the rail-guided vehicle, whether the initial direction of the vehicle head of the rail-guided vehicle is correct is determined.

[0095] In the case that the initial direction of the vehicle head of the rail-guided vehicle is correct, the steps of the rail-guided vehicle direction identification method are performed.

[0096] In the embodiment, after the rail-guided vehicle drives onto the turntable and turns through the turntable, the first vehicle head direction of the rail-guided vehicle before turning is obtained, and the rotation information of the turntable is obtained, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for driving the rail-guided vehicle; the second vehicle head direction of the rail-guided vehicle after turning is determined according to the first vehicle head direction and the rotation information. According to the rotation information of the turntable and the first vehicle head direction of the rail-guided vehicle before turning, the second vehicle head direction of the rail-guided vehicle after turning can be accurately determined. Compared with the traditional method of identifying the vehicle head direction of the rail-guided vehicle by using a gyroscope, the cost is lower, and even if the rail-guided vehicle is restarted after power failure, the vehicle head direction of the rail-guided vehicle can be known, and the stability is higher than that of the gyroscope.

[0097] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0098] Based on the same inventive concept, the embodiments of the present application also provide a rail-guided vehicle direction identification device for implementing the above-mentioned rail-guided vehicle direction identification method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more rail-guided vehicle direction identification device embodiments provided below can refer to the limitations of the rail-guided vehicle direction identification method in the above, which will not be repeated here.

[0099] In one embodiment, as shown in Figure 6 A rail-guided vehicle direction identification device 1 is provided, comprising: an acquisition module 10 and a direction determination module 20, wherein:

[0100] The acquisition module 10 is configured to acquire a first heading direction of the rail-guided vehicle before turning after the rail-guided vehicle drives onto a turntable and turns on the turntable, and acquire turning information of the turntable, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for the rail-guided vehicle to travel. The first heading direction is represented by two binary values, one of which represents the running direction of the rail-guided vehicle, and the other represents the route orientation of the rail-guided vehicle. The turning information is represented by a binary value, and the turning information includes a turning direction and a turning angle, and the binary value corresponding to the turning information is determined according to the turning direction and the turning angle.

[0101] The direction determination module 20 is configured to determine a second heading direction of the rail-guided vehicle after turning according to the first heading direction and the turning information.

[0102] The rail-guided vehicle direction identification device in the embodiment can obtain a first vehicle heading direction of the rail-guided vehicle before turning, and obtain turning information of a turntable after the rail-guided vehicle drives onto the turntable and turns through the turntable, wherein the turntable is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the rail-guided vehicle; and the second vehicle heading direction of the rail-guided vehicle after turning is determined according to the first vehicle heading direction and the turning information. The rail-guided vehicle direction identification device only needs to determine the second vehicle heading direction of the rail-guided vehicle after turning according to the turning information of the turntable and the first vehicle heading direction of the rail-guided vehicle before turning, and compared with the traditional method of identifying the vehicle heading direction of the rail-guided vehicle by using a gyroscope, the rail-guided vehicle direction identification device has lower cost, and even if the rail-guided vehicle is restarted after power failure, the rail-guided vehicle direction identification device can also know the vehicle heading direction of the rail-guided vehicle, and has higher stability compared with the gyroscope.

[0103] In one of the embodiments, the first vehicle heading direction and the turning information are represented by binary values, and on this basis, the direction determination module 20 is further configured to: perform binary operation processing on the first vehicle heading direction and the turning information to obtain the second vehicle heading direction.

[0104] In one of the embodiments, the first vehicle heading direction is represented by two-bit binary values, wherein one bit of the binary values is used to represent the running direction of the rail-guided vehicle, and the other bit of the binary values is used to represent the route direction of the rail-guided vehicle.

[0105] In one of the embodiments, the direction determination module 20 further includes:

[0106] The processing unit is configured to perform binary addition processing on the first vehicle heading direction and the turning information to obtain an addition result.

[0107] The determination unit is configured to determine the second vehicle heading direction according to the addition result.

[0108] In one of the embodiments, the determination unit is further configured to: if the bit number of the processing result is two, the addition result is taken as the second vehicle heading direction; and if the bit number of the processing result is three, the last two bits of the processing result are taken as the second vehicle heading direction.

[0109] In one of the embodiments, a rail-guided vehicle direction identification device further includes:

[0110] The control module is configured to control the motor of the rail-guided vehicle to perform forward rotation and reverse rotation after the rail-guided vehicle is started.

[0111] The determination module is configured to determine whether the initial vehicle heading direction of the rail-guided vehicle is correct according to the initial running direction of the rail-guided vehicle when the motor performs forward rotation and reverse rotation.

[0112] The execution module is configured to execute the steps of the rail-guided vehicle direction identification method when the initial direction of the rail-guided vehicle is correct.

[0113] In one of the embodiments, the determination module is further configured to obtain the initial running direction of the rail-guided vehicle according to a reader installed on the rail-guided vehicle and radio frequency tags installed on the rails, wherein the number of the radio frequency tags is more than two.

[0114] The modules in the rail-guided vehicle direction identification device can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0115] In one of the embodiments, a computer device is provided, which can be a server. The internal structure of the computer device can be as shown in FIG. 8. Figure 7 The computer device includes a processor, a memory, an input / output interface, and a communication interface. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store rail-guided vehicle direction identification information. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with terminals outside through a network connection. The computer program is executed by the processor to implement a rail-guided vehicle direction identification method.

[0116] Those skilled in the art can understand that Figure 7 The structure shown in FIG. 8 is only a block diagram of part of the structure related to the scheme of the present application, and does not limit the computer device to which the scheme of the present application is applied. Specifically, the computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0117] In one of the embodiments, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the following steps.

[0118] After the track-guided vehicle drives onto the rotating disc and turns on the rotating disc, a first heading direction of the track-guided vehicle before the turning is acquired, and rotating information of the rotating disc is acquired, wherein the rotating disc is arranged at a connection of tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle;

[0119] A second heading direction of the track-guided vehicle after the turning is determined according to the first heading direction and the rotating information.

[0120] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the first heading direction and the rotating information are represented by binary values, and the second heading direction of the track-guided vehicle after the turning is determined according to the first heading direction and the rotating information, including:

[0121] The first heading direction and the rotating information are processed by binary operation to obtain the second heading direction.

[0122] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the first heading direction is represented by two-bit binary values, wherein one bit of the binary values represents a running direction of the track-guided vehicle, and the other bit of the binary values represents a route orientation of the track-guided vehicle.

[0123] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the rotating information is represented by binary values, and the rotating information includes a rotating direction and a rotating angle, and the binary values corresponding to the rotating information are determined according to the rotating direction and the rotating angle.

[0124] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the first heading direction and the rotating information are processed by binary operation to obtain the second heading direction, including:

[0125] The first heading direction and the rotating information are processed by binary addition to obtain an addition result.

[0126] The second heading direction is determined according to the addition result.

[0127] In one embodiment, when the processor executes the computer program, the following steps are further implemented: the second heading direction is determined according to the addition result, including:

[0128] If the number of bits of the processing result is two, the addition result is taken as the second heading direction.

[0129] If the number of bits of the processing result is three, the last two bits of the processing result are taken as the second heading direction.

[0130] In one embodiment, when the processor executes the computer program, the following steps are further implemented: further including:

[0131] After the track-guided vehicle is started, the motor of the track-guided vehicle is controlled to perform forward rotation and reverse rotation;

[0132] According to the initial running direction of the track-guided vehicle when the motor performs forward rotation and reverse rotation, it is determined whether the initial direction of the vehicle head of the track-guided vehicle is correct;

[0133] In the case where the initial direction of the vehicle head of the track-guided vehicle is correct, the steps of the track-guided vehicle direction identification method are performed.

[0134] In one embodiment, the processor further implements the following steps when executing the computer program: further comprising:

[0135] According to the reader installed on the track-guided vehicle and the radio frequency tags installed on the track, the initial running direction of the track-guided vehicle is obtained; wherein the number of radio frequency tags is more than two.

[0136] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0137] After the track-guided vehicle drives onto the turntable and turns through the turntable, a first vehicle head direction of the track-guided vehicle before turning is obtained, and turning information of the turntable is obtained, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for driving the track-guided vehicle.

[0138] According to the first vehicle head direction and the turning information, a second vehicle head direction of the track-guided vehicle after turning is determined.

[0139] In one embodiment, the computer program is executed by the processor to further implement the following steps: the first vehicle head direction and the turning information are represented by binary values, and the second vehicle head direction of the track-guided vehicle after turning is determined according to the first vehicle head direction and the turning information, including:

[0140] The first vehicle head direction and the turning information are processed by binary operation to obtain the second vehicle head direction.

[0141] In one embodiment, the computer program is executed by the processor to further implement the following steps: the first vehicle head direction is represented by two-bit binary values, wherein one binary value is used to represent the running direction of the track-guided vehicle, and the other binary value is used to represent the route direction of the track-guided vehicle.

[0142] In one embodiment, the computer program is executed by the processor to further implement the following steps: the turning information is represented by a binary value, and the turning information includes a turning direction and a turning angle, and the binary value corresponding to the turning information is determined according to the turning direction and the turning angle.

[0143] In one embodiment, the computer program, when executed by the processor, further implements the following steps: performing binary operation on the first heading direction and the rotation information to obtain the second heading direction, including:

[0144] performing binary addition on the first heading direction and the rotation information to obtain an addition result;

[0145] determining the second heading direction according to the addition result.

[0146] In one embodiment, the computer program, when executed by the processor, further implements the following steps: determining the second heading direction according to the addition result, including:

[0147] if the number of bits of the processing result is two, taking the addition result as the second heading direction;

[0148] if the number of bits of the processing result is three, taking the last two bits of the processing result as the second heading direction.

[0149] In one embodiment, the computer program, when executed by the processor, further implements the following steps: further including:

[0150] controlling the motor of the track-guided vehicle to perform forward rotation and reverse rotation after the track-guided vehicle is started;

[0151] determining whether the initial heading direction of the track-guided vehicle is correct according to the initial running direction of the track-guided vehicle when the motor performs forward rotation and reverse rotation;

[0152] performing the steps of the track-guided vehicle direction identification method in the case that the initial heading direction of the track-guided vehicle is correct.

[0153] In one embodiment, the computer program, when executed by the processor, further implements the following steps: further including:

[0154] obtaining the initial running direction of the track-guided vehicle according to the reader installed on the track-guided vehicle and the radio frequency tags installed on the tracks, wherein the number of the radio frequency tags is more than two.

[0155] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the following steps:

[0156] obtaining the first heading direction of the track-guided vehicle before turning and obtaining the rotation information of the turntable after the track-guided vehicle drives onto the turntable and turns through the turntable, wherein the turntable is arranged at the connection of the tracks intersecting with each other, and the tracks are used for the track-guided vehicle to drive;

[0157] determining the second heading direction of the track-guided vehicle after turning according to the first heading direction and the rotation information.

[0158] In one embodiment, the computer program, when executed by the processor, further implements the following steps: the first heading direction and the rotation information are represented by binary values, and the second heading direction of the rail-bound guided vehicle after turning is determined according to the first heading direction and the rotation information, including:

[0159] The first heading direction and the rotation information are processed by binary operation to obtain the second heading direction.

[0160] In one embodiment, the computer program, when executed by the processor, further implements the following steps: the first heading direction is represented by two-bit binary values, one of which represents the running direction of the rail-bound guided vehicle, and the other represents the route orientation of the rail-bound guided vehicle.

[0161] In one embodiment, the computer program, when executed by the processor, further implements the following steps: the rotation information is represented by a binary value, and the rotation information includes a rotation direction and a rotation angle, and the binary value corresponding to the rotation information is determined according to the rotation direction and the rotation angle.

[0162] In one embodiment, the computer program, when executed by the processor, further implements the following steps: the first heading direction and the rotation information are processed by binary operation to obtain the second heading direction, including:

[0163] The first heading direction and the rotation information are processed by binary addition to obtain an addition result.

[0164] The second heading direction is determined according to the addition result.

[0165] In one embodiment, the computer program, when executed by the processor, further implements the following steps: the second heading direction is determined according to the addition result, including:

[0166] If the number of bits of the processing result is two, the addition result is taken as the second heading direction.

[0167] If the number of bits of the processing result is three, the last two bits of the processing result are taken as the second heading direction.

[0168] In one embodiment, the computer program, when executed by the processor, further implements the following steps: further including:

[0169] After the rail-bound guided vehicle is powered on, the motor of the rail-bound guided vehicle is controlled to perform forward rotation and reverse rotation.

[0170] According to the initial running direction of the rail-bound guided vehicle when the motor performs forward rotation and reverse rotation, it is determined whether the initial heading direction of the rail-bound guided vehicle is correct.

[0171] In the case that the initial direction of the head of the rail-guided vehicle is correct, the steps of the rail-guided vehicle direction identification method are executed.

[0172] In one embodiment, the computer program, when executed by the processor, further implements the following steps: further comprising:

[0173] According to the reader installed on the rail-guided vehicle and the radio frequency tags installed on the track, the initial running direction of the rail-guided vehicle is obtained; wherein the number of the radio frequency tags is more than two.

[0174] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments are implemented by a computer program to instruct related hardware, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., and is not limited to this. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., and is not limited to this.

[0175] Any combination of the technical features in the above embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.

[0176] The above embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the protection scope of the application should be subject to the appended claims.

Claims

1. A method for recognizing the direction of a track-guided vehicle, characterized in that, The method includes: After the rail-guided vehicle drives onto the turntable and turns via the turntable, the first heading direction of the rail-guided vehicle before the turn is obtained, and the rotation information of the turntable is also obtained. The turntable is located at the connection point of intersecting tracks, which are used for the rail-guided vehicle to travel on. The first heading direction is represented by two binary values, where one binary value represents the direction of travel of the rail-guided vehicle, and the other binary value represents the route orientation of the rail-guided vehicle. The rotation information is represented by binary values, including the rotation direction and rotation angle. The corresponding binary value for the rotation information is determined based on the rotation direction and rotation angle. The first vehicle heading direction and the rotation information are added together in binary to obtain the addition result; the second vehicle heading direction is determined based on the addition result.

2. The method according to claim 1, characterized in that, Determining the direction of the second vehicle head based on the summation result includes: If the sum has two digits, then the sum is taken as the second vehicle heading direction; If the sum has three digits, then the last two digits of the sum are taken as the second vehicle heading direction.

3. The method according to claim 1, characterized in that, The method further includes: After the rail-guided vehicle is powered on, the motor of the rail-guided vehicle is controlled to rotate in both forward and reverse directions. Based on the initial running direction of the rail-guided vehicle when the motor performs forward and reverse rotation, determine whether the initial direction of the front of the rail-guided vehicle is correct. If the initial direction of the front of the rail-guided vehicle is correct, the steps of the rail-guided vehicle direction recognition method are executed.

4. The method according to claim 3, characterized in that, The method further includes: The initial direction of travel of the rail-guided vehicle is obtained using a reader installed on the vehicle and radio frequency tags installed on the track; wherein the number of radio frequency tags is two or more.

5. A direction recognition device for track-guided vehicles, characterized in that, The device includes: The acquisition module is used to acquire the first heading direction of the rail-guided vehicle before the turn, and to acquire the rotation information of the turntable, after the rail-guided vehicle has driven onto the turntable and turned via the turntable. The turntable is located at the connection point of intersecting tracks, which are used for the rail-guided vehicle to travel on. The first heading direction is represented by two binary values, where one binary value represents the running direction of the rail-guided vehicle and the other binary value represents the route orientation of the rail-guided vehicle. The rotation information is represented by binary values, including the rotation direction and rotation angle, and the corresponding binary value is determined based on the rotation direction and rotation angle. The direction determination module is used to perform binary addition processing on the first vehicle head direction and the rotation information to obtain the addition result; and to determine the second vehicle head direction based on the addition result.

6. The apparatus according to claim 5, characterized in that, The device further includes: The control module is used to control the motor of the rail-guided vehicle to perform forward and reverse rotation after the vehicle is powered on. The determination module is used to determine whether the initial direction of the rail-guided vehicle's head is correct based on the initial running direction of the rail-guided vehicle when the motor performs forward and reverse rotation. The execution module is used to execute the steps of the rail-guided vehicle direction recognition method when the initial direction of the front of the rail-guided vehicle is correct.

7. The apparatus according to claim 6, characterized in that, The determining module is also specifically used to: obtain the initial running direction of the rail-guided vehicle based on the reader installed on the rail-guided vehicle and the radio frequency tags installed on the track; wherein the number of radio frequency tags is two or more.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the track-guided vehicle direction recognition method according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the track-guided vehicle direction recognition method according to any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the track-guided vehicle direction recognition method as described in any one of claims 1 to 4.

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