CN113341836B - Box door control circuit, control method and intelligent cabinet - Google Patents
Box door control circuit, control method and intelligent cabinet Download PDFInfo
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- CN113341836B CN113341836B CN202110700608.5A CN202110700608A CN113341836B CN 113341836 B CN113341836 B CN 113341836B CN 202110700608 A CN202110700608 A CN 202110700608A CN 113341836 B CN113341836 B CN 113341836B
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The embodiment of the application provides a door control circuit, a control method and an intelligent cabinet, wherein the door control circuit comprises: the system comprises a one-out-of-multiple logic circuit, a driving circuit, a first number of motors and a controller; the input end of the one-out-of-multiple logic circuit is connected with the controller, and the output end of the one-out-of-multiple logic circuit is connected with the first input end of the driving circuit; the second input end of the driving circuit is connected with the controller, and the output end of the driving circuit is connected with the motor; the motors are arranged on the box doors in one-to-one correspondence; and the controller is used for sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit if the preset box door control conditions are met, so that the one-out-of-multiple logic circuit drives the corresponding box door to execute corresponding operation through the driving circuit driving motor according to the box door control signals. The problem of the tool to lock size that exists such as current express delivery cabinet big, with high costs, control complicacy is solved to this application embodiment.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a box door control circuit, a box door control method and an intelligent cabinet.
Background
With the development of electronic commerce, express delivery services are increasing continuously. In order to facilitate delivery and pickup of express delivery items, the express cabinet with the plurality of storage lattices is widely applied to various communities, office buildings and the like. At present, all be provided with the tool to lock in every matter storage lattice of express delivery cabinet, all be provided with corresponding power circuit in every tool to lock, the controller links to each other with every power circuit to realize unblanking and shutting through the tool to lock that each power circuit control corresponds, thereby realize opening and closing of matter storage lattice chamber door. However, each lockset is internally provided with a power circuit, so that the lockset is large in size, a large number of pins of the controller are needed, and the cost is increased. And the currently popular controller chip usually has 80 pins, so for a large-scale express delivery cabinet with more than 80 storage grids, multiple controller chips are needed to coordinate and control each lock or hierarchical control, which not only increases complexity, but also may have problems such as communication delay. In addition, the current express cabinet does not have the function of automatically closing the box door, however, the user inevitably forgets to close the box door due to urgency or other factors when taking the express, and the corresponding storage lattice cannot deliver the express again, so that the resource waste is caused.
Disclosure of Invention
The embodiment of the application aims to provide a box door control circuit, a control method and an intelligent cabinet, and aims to solve the problems that the existing express cabinet is large in lock size, high in cost, complex in control, incapable of automatically closing a box door and the like.
In order to solve the above technical problem, the embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a box gate control circuit, including: the system comprises a one-out-of-multiple logic circuit, a driving circuit, a first number of motors and a controller;
the input end of the one-from-many logic circuit is connected with the controller, and the output end of the one-from-many logic circuit is connected with the first input end of the driving circuit; the second input end of the driving circuit is connected with the controller, and the output end of the driving circuit is connected with the motor; the motors are arranged on the box doors in one-to-one correspondence;
and the controller sends a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit when the controller determines that the preset box door control conditions are met, so that the one-out-of-multiple logic circuit drives the motor to drive the corresponding box door to execute corresponding operation through the driving circuit according to the box door control signals.
In a second aspect, an embodiment of the present application provides a door control method, which is applied to a door control circuit, where the door control circuit includes a one-out-of-multiple logic circuit, a driving circuit, and a first number of motors, where the motors are disposed on doors in a one-to-one correspondence; the method comprises the following steps:
determining whether a preset box door control condition is met;
and if so, sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit, so that the one-out-of-multiple logic circuit drives each motor to drive the corresponding box door to execute corresponding operation through the driving circuit according to the box door control signals.
In a third aspect, an embodiment of the present application provides an intelligent cabinet, where the intelligent cabinet includes a first number of doors, and the intelligent cabinet further includes the door control circuit provided in the first aspect;
the first number of motors of the box door control circuit and the box doors are arranged on the box doors in a one-to-one correspondence mode, and the motors drive the corresponding box doors to execute corresponding operations according to received driving signals.
In the embodiment of the application, the box door control circuit comprises a one-out-of-more logic circuit, a driving circuit, a first number of motors and a controller; the input end of the one-out-of-multiple logic circuit is connected with the controller, and the output end of the one-out-of-multiple logic circuit is connected with the first input end of the driving circuit; the second input end of the driving circuit is connected with the controller, and the output end of the driving circuit is connected with the motor; the motors are arranged on the box doors in one-to-one correspondence; and the controller is used for sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit when the preset box door control conditions are met, so that the one-out-of-multiple logic circuit drives the corresponding box door to execute corresponding operation through the driving circuit driving motor according to the box door control signals. Therefore, by arranging the one-out-of-more logic circuit and replacing the lock with the motor, the automatic door opening and closing is realized, and the resource waste caused by forgetting to close the door of the user is avoided; each motor is connected with the same drive circuit, so that each motor can be controlled by one more logic circuit and the same drive circuit, and further, each box door can be controlled; and a power circuit does not need to be arranged in each lockset, so that the power consumption and the hardware cost are greatly reduced. Meanwhile, the chip adopted by the controller has a small number of pins to realize the control of each box door, so that the requirement on the number of the pins is reduced, the control of each box door can be finished only through a single chip, and the coordination hierarchical control or the layered control is not needed, so that the response speed is improved, the reliability is increased, and the cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic diagram of a first structure of a box door control circuit provided in an embodiment of the present disclosure;
fig. 2 is a second structural schematic diagram of a box door control circuit provided in an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a third structure of a box gate control circuit provided in the embodiments of the present disclosure;
fig. 4 is a schematic structural diagram of a dc brush motor and a switch set and a socket provided in an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a driving module and a sampling module provided in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a controller provided in an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a fourth structure of a box gate control circuit provided in the embodiments of the present disclosure;
fig. 8 is a schematic flow chart of a box door control method according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an intelligent cabinet provided in an embodiment of the present specification.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic diagram of a box gate control circuit according to one or more embodiments of the present disclosure. As shown in fig. 1, the control circuit includes: one-out-of-multiple logic circuit 110, drive circuit 120, a first number of motors 130, and controller 140;
the input end of the one-of-multiple logic circuit 110 is connected to the controller 140, and the output end of the one-of-multiple logic circuit 110 is connected to the first input end of the driving circuit 120; a second input end of the driving circuit 120 is connected with the controller 140, and an output end of the driving circuit 120 is connected with the motor 130; the motors 130 are arranged on the box doors in one-to-one correspondence;
if the controller 140 determines that the preset door control condition is satisfied, a second number of door control signals matched with the first number are sent to the one-out-of-multiple logic circuit 110, so that the one-out-of-multiple logic circuit 110 drives the motor 130 to drive the corresponding door to execute corresponding operations through the driving circuit 120 according to the door control signals.
The one-out-of-multiple Logic circuit 110 may be designed by using any one of a TTL (Transistor-Logic) chip, a CMOS (Complementary Metal Oxide Semiconductor) chip, a CPLD (Complex Programmable Logic Device) chip, an FPGA (Field Programmable Gate Array) chip, and the like, and the specific form of the one-out-of-multiple Logic circuit 110 is not specifically limited in this specification.
The chamber door can be the chamber door of the matter storage lattice of intelligence cabinet, and it can be understood that, this intelligence cabinet includes the matter storage lattice of first quantity, and every matter storage lattice is provided with a chamber door, and motor 130 sets up on the chamber door with the chamber door one-to-one, can drive the chamber door at place through connection structure when motor 130 rotates and carry out the operation of opening the door, close the door operation etc.. The specific position of the motor in the box door and the specific form of the connecting structure are not particularly limited in the application, and can be set in practical application according to the needs. Wherein, intelligent cabinet is like express delivery cabinet, locker etc..
The first number is an integer greater than 1. Taking the second number as k, the one-out-of-multiple logic circuit 110 may generate 2 according to the k door control signals sent by the controller 140 k A selection signal; the 2 k Only one of the selection signalsOne of the select signals is an active select signal, the remaining 2 k -1 select signal is an inactive select signal. In order to control the motors at the same time and control the doors, the first number is denoted as n, and n and k satisfy relation 2 k-1 <n+1<2 k . The most suitable k may be determined in advance based on the relational expression, and k is preset in the controller 140, so that the controller 140 sends k door control signals to the one-out-of-multiple logic circuit 110 when it is determined that the preset door control condition is satisfied; the above-mentioned relational expression and n may also be preset in the controller 140, so that when the controller 140 determines that the preset door control condition is satisfied, the controller determines the most suitable k according to the preset relational expression and n, and sends k door control signals to the one-out-of-multiple logic circuit 110. When the one-out-of-multiple logic circuit 110 receives the k box door control signals sent by the controller 140, 2 is generated k And the selection signals send 1 valid selection signal and n-1 invalid selection signals to the driving circuit 120, so that the driving circuit 120 drives each motor to drive the corresponding door to execute corresponding operations (such as door opening operation) according to the received selection signals. As an example, when there are 76 doors, that is, n is 76, k may be determined to be 7, and when the one-out-of-multiple logic circuit 110 receives 7 door control signals sent by the controller 140, 128 selection signals are generated, and 1 valid selection signal and 75 invalid selection signals among the 128 selection signals are sent to the driving circuit 120, so that each motor is driven by the driving circuit 120 to drive the corresponding door to perform a corresponding operation.
Further, the door control signals may include a first door control signal indicating that the door is controlled to perform a door opening operation, a second door control signal indicating that the door is controlled to perform a door closing operation, a third door control signal indicating that the door is temporarily stopped during the door opening operation or the door closing operation, a fourth door control signal indicating that the door is reversely moved during the door opening operation or the door closing operation, and the like.
According to the door control circuit provided by the embodiment of the application, by arranging the one-out-of-more logic circuit and replacing the lock with the motor, not only is automatic door opening and closing realized, but also resource waste caused by forgetting to close the door by a user is avoided; each motor is connected with the same drive circuit, so that each motor can be controlled by one more logic circuit and the same drive circuit, and further, each box door can be controlled; and a power circuit is not required to be arranged in each lockset, so that the power consumption of the whole machine and the hardware cost are greatly reduced. Meanwhile, the chip adopted by the controller has a small number of pins to realize the control of each box door, so that the requirement on the number of the pins is reduced, the control of each box door can be finished only through a single chip, and the coordination hierarchical control or the layered control is not needed, so that the response speed is improved, the reliability is increased, and the cost is reduced.
The following description takes an express cabinet including the door control circuit and the first number of storage compartments provided in the present application as an example. In order to realize the control of the automatic door opening and closing of the door for delivering and taking the courier, in one or more embodiments of the present disclosure, as shown in fig. 2, the driving circuit 120 may include: the driving module, a first number of first switch groups corresponding to the motors 130 one by one, and a first number of first sockets corresponding to the motors one by one; the first switch group includes a plurality of first switches.
Wherein, the input end of the driving module is connected with the controller 140, and the first output end of the driving module is connected with the first connection end of each first switch; the control end of the first switch is connected with the output end of the one-of-multiple logic circuit 110, and the switching end of the first switch is connected with one end of the corresponding first socket; the other end of the first socket is connected with a corresponding motor.
The driving module may be designed by using any one of a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET), an Insulated Gate Bipolar Transistor (IGBT), a relay, a Transistor, a silicon controlled rectifier, and the like. The first switch may be a switch formed by any one of an electronic chip, a relay, and the like. The specific form of the driving module and the first switch is not specifically limited in this specification.
Specifically, when the controller 140 determines that a preset door control condition is satisfied, motor information of a target motor (e.g., the motor 2) to be driven and rotation information of the target motor are determined; based on the determined motor information and rotation information, k bin door control signals are sent to the one of more logic circuits 110. The one-out-of-multiple logic circuit 110 determines the target motor and generates 2 according to the received k door control signals k And the selection signals send 1 valid selection signal to the control end of each first switch in a first switch group (such as the first switch group 2) corresponding to the target motor, and send any n-1 invalid selection signals to the control ends of each first switch in first switch groups (such as the first switch group 1, the first switch group 3 to the first switch group n) corresponding to other motors (motors except the target motor). And after receiving the effective selection signal, each first switch corresponding to the target motor is conducted with the driving module. The driving module sends a motor driving signal to a first switch corresponding to the target motor based on the PWM signal sent by the processor. Each first switch corresponding to the target motor sends the motor driving signal sent by the driving module to the corresponding first socket (such as the first socket 2) so as to drive the target motor to rotate according to the rotation information in the effective selection signal, so as to drive the box door where the target motor is located to execute corresponding operations (such as door opening operation and the like). When the first switches corresponding to the other motors receive the invalid selection signal, the current state is kept unchanged, so that the corresponding motors are kept in the current state, and when the motors are kept in the current state, the corresponding box doors are also kept in the current state. The motor information can be binary number of motor numbers, and the motor numbers can be obtained by numbering each motor in advance according to a certain sequence; for example, the motor information 000 indicates a motor number 1, and the motor information 001 indicates a motor number 2, and the like. It should be noted that, in this specification, the form of the motor information is not particularly limited, and may be set by itself as needed in practical application.
Further, the number of the first switches in the first switch group may be set according to the type of the motor 130 in practical applications. For example, when the motor 130 is a dc brush motor, the U signal and the V signal need to be switched, and accordingly, the first switch group may include 2 first switches; as another example, when the motor 130 is a dc brushless motor, the U signal, the V signal, and the W signal need to be switched, and accordingly, the first switch group may include 3 first switches. I.e. for the first switches in each first switch group, it corresponds one-to-one to the signal type of the motor.
The controller 140 in the door control circuit provided in one or more embodiments of the present specification may execute a corresponding door opening process or door closing process based on the acquired door opening/closing instruction; the control processing of the door can be carried out when the door is determined to have abnormality in the process of executing the door opening operation or the door closing operation; the intelligent cabinet can be intelligently detected according to preset frequency, so that whether each door of the intelligent cabinet can be driven by the corresponding motor to execute operations such as door opening, door pause and door pause. Correspondingly, if the controller 140 obtains the door opening and closing instruction, it is determined that the preset door control condition is met; and/or, if the controller 140 determines that the door is in an abnormal state, it determines that a preset door control condition is satisfied; and/or, the controller 140 determines that a preset door control condition is satisfied if it is determined that the preset detection time point is reached. The door opening and closing instruction comprises a door opening instruction and a door closing instruction, and the specific form of the door opening and closing instruction can be set automatically according to the requirement in practical application. As an example, the intelligent cabinet is an express delivery cabinet, and the door opening instruction can be a pickup code in the form of characters, two-dimensional codes, bar codes and the like; the door closing instruction can be a preset instruction sent by a user operating a door closing button and the like on the express cabinet after the user successfully takes the express.
Further, 2 generated by the one-out-of-many logic circuit 110 k Among the selection signals, the first selection signal is used to control the door 1, and the second selection signal is used to control the door 2 …, and the nth selection signal is used to control the door n. The controller 140 can control the one-out-of-multiple logic circuit 110 to generate 2 when performing the intelligent detection, if all the doors need to be closed k Selecting the (n + 1) th selection from the selection signals indicative of door closingThe selection signal is sent to the first switch corresponding to each motor so as to drive each motor and simultaneously drive the corresponding door to close the door.
Further, when the door has a large volume and a heavy load, as shown in fig. 2, the driving circuit 120 may further include a pre-driving module;
the input end of the pre-drive module is connected with the first output end of the drive module, and the output end of the pre-drive module is connected with the first connecting end of each first switch.
It should be noted that, in practical applications, whether to set the pre-driver module may be selected according to needs, which is not specifically limited in this specification.
Therefore, by arranging the one-out-of-more logic circuit and the driving circuit comprising the driving module, the motors on the box doors are connected with the same driving module, so that the door opening and closing of each box door can be controlled by the one-out-of-more logic circuit and the same driving module; the power circuits corresponding to unlocking and locking are not required to be arranged in the lockset of each box door, so that the overall power and the hardware cost are greatly reduced; meanwhile, the controller is only connected with the one-out-of-multiple logic circuit and one driving module, so that the adopted chip has a small number of pins to control each box door, the requirement on the number of the pins is reduced, the control on each box door can be completed only through a single chip, and the coordinated hierarchical control or the hierarchical control is not needed, so that the response speed is improved, the reliability is increased, and the cost is reduced.
In order to enable the processor 140 to know the state of the target motor for controlling driving the corresponding door to perform the corresponding operation (e.g., whether the door is driven to perform the door opening operation and the door is driven to the designated position, etc.), in one or more embodiments of the present disclosure, the motor 130 may further include a position sensor, which is different from a conventional in-place detection device such as an in-place detection switch, but is any one of a high-precision hall sensor, a magnetic encoder, a photoelectric encoder, etc., and preferably, the motor 130 may include a hall sensor in terms of cost, etc. Correspondingly, the door control circuit may further include a coded signal processing circuit 150;
a first input end of the coded signal processing circuit 150 is connected with an output end of the one-of-multiple logic circuit 110, and a second input end of the coded signal processing circuit 150 is connected with each motor 130; an output of the encoded signal processing circuit 150 is coupled to the controller 140.
Further, as shown in fig. 3, the encoding signal processing circuit 150 may include: the switching circuit, the second switch groups in a first number which are in one-to-one correspondence with each motor and the second sockets in a first number which are in one-to-one correspondence with each motor; the second switch group comprises a plurality of second switches;
wherein, the input end of the converting circuit is connected with the switching end of each second switch, and the output end of the converting circuit is connected with the controller 140; the first connection end of the second switch is connected with one end of the corresponding second socket, and the control end of the second switch is connected with the output end of the one-of-multiple logic circuit 110; the other end of the second socket is connected to the corresponding motor 130. More specifically, the other end of the second socket is connected to a corresponding position sensor of the motor 130.
Specifically, when the one-out-of-multiple logic circuit 110 sends an effective selection signal to the first switch group corresponding to the target motor according to the door control signal sent by the controller 140, the effective selection signal is sent to each second switch in the second switch group corresponding to the target motor; and the second switch corresponding to the target motor is conducted with the conversion circuit according to the received effective selection signal. The target motor rotates under the driving of the corresponding first switch, a position sensor of the target motor detects rotation data such as the rotation angle of the target motor in real time, and sends the detected rotation data to the corresponding second socket in a coding signal mode. The second socket sends the received coded signal to the conversion circuit through the corresponding second switch. The conversion circuit converts the received coded signal to obtain a position signal of the target motor and sends the position signal to the controller 140; the controller 140 may estimate data of the position, the rotation speed, etc. of the target motor based on the received position signal, and may implement closed-loop control of the position loop and the speed loop of the target motor based on the estimated data. The encoded signal may be an analog signal, the converted position signal may be a digital signal, the converting circuit is configured to convert the analog signal into a digital signal, and the converting circuit may be a circuit having functions of filtering, shaping, level conversion, and the like, for example, the analog signal sent by the second switch may be converted into a digital signal of 3.3V, 5V, and the like according to the property of the input signal of the controller 140. The specific configuration of the conversion circuit is not particularly limited in this specification, and may be set in an actual application as needed.
It should be noted that the number of the second switches in the second switch group may be set according to the type of the position sensor of the motor 130. For example, when the position sensor of the motor 130 is a hall sensor, since 3 signals need to be switched, the second switch group may include 3 second switches; when the position sensor of the motor 130 is a magnetic encoder or a photoelectric encoder and adopts a relative encoding disk, the second switch group may include 2 second switches since 2 signals need to be switched; when the position sensor of the motor 130 is a magnetic encoder or a photoelectric encoder and an absolute encoder disk is used, the second switch group may include 3 second switches since 3 signals need to be switched.
For convenience of understanding, the motor 130 is a dc brush motor, and the position sensor is a hall sensor, for example, and a connection manner between one of the motors 130 (denoted as motor i) and the first switch group and the second switch group is shown in fig. 4. The first switch iU corresponds to a U signal of the motor i, and the first switch iV corresponds to a V signal of the motor i; the second switch iA corresponds to a Hall-A signal of the Hall sensor, the second switch iB corresponds to a Hall-B signal of the Hall sensor, and the second switch iC corresponds to a Hall-C signal of the Hall sensor; the first connection end of each switch is an A end, and the switching end is an O end.
Therefore, by arranging the one-out-of-more logic circuit and the coding signal processing circuit comprising the conversion circuit, the motors in the box doors are connected with the same conversion circuit, instead of arranging one conversion circuit in the lockset of each box door and arranging in-place detection switches, special-shaped wheels and other structures corresponding to each lockset, the hardware cost is reduced; meanwhile, the controller is only connected with one conversion circuit instead of the conversion circuit in each lockset, so that the adopted chip is provided with a small number of pins to process the coded signals of each electrode, the requirement on the number of the pins is reduced, the coded signals can be processed only through a single chip without performing coordinated hierarchical processing or layered processing, the response speed is improved, the reliability is improved, and the cost is reduced.
Furthermore, whether the door is abnormal in the door opening and closing process is accurately determined, and the door cannot move when being blocked. In one or more embodiments of the present application, the door control circuit may further include: a current sampling circuit 160;
wherein, the input terminal of the current sampling circuit 160 is connected to the second output terminal of the driving module, and the output terminal of the current sampling circuit 160 is connected to the controller 140.
Further, in one or more embodiments of the present application, the driving module may be a bridge driving module, which includes a plurality of bridge arms corresponding to signal types of the motor. Accordingly, current sampling circuit 160 includes a sampling module corresponding to each leg; the control circuit also includes a power supply. The first input end of each bridge arm is connected with the controller 140, and the second input end of each bridge arm is connected with the power supply; the switching end of each bridge arm is connected with the first connecting end of the corresponding first switch; the output end of each bridge arm is connected with the input end of the sampling module; the first output end of the sampling module is grounded, and the second output end of the sampling module is connected with the controller.
The specific construction mode of each bridge arm and each sampling module can be set automatically according to the requirement in practical application. For convenience of understanding, in this specification, the motor 130 is a dc brush motor, correspondingly, the first switch group includes 2 first switches, and the PWM signal adopts negative logic, correspondingly, each bridge arm includes two NMOS type MOSFET tubes, and the sampling module includes two resistors and an operational amplifier connected in parallel as an example, and a connection manner of the driving module and the sampling module is as shown in fig. 5. The MOSFET transistor is shown as Q in fig. 5, and Q1 and Q2 can be seen to form a leg, which for ease of description is designated as the first leg; the PWM1H signal sent by the controller 140 to Q1 is a complementary pair with the PWM1L signal sent to Q2. Q3 and Q4 form the other leg, which for ease of description will be referred to as the second leg; the PWM2H signal sent by the controller 140 to Q3 is a complementary pair with the PWM2L signal sent to Q4. In combination with fig. 4 and fig. 5, taking the target motor as the motor i as an example, the process of acquiring the current signal by the sampling module may include: when the PWM1H signal sent to the first input end of the first arm by the controller 140 is at a low level and the PWM1L signal is at a high level, and the PWM2H signal sent to the first input end of the second arm is at a high level and the PWM2L signal is at a low level, Q1 and Q4 are conducted, and Q2 and Q3 are not conducted; at this time, a voltage signal Vbus of the power supply flows from the second input end of the first bridge arm to Q1, passes through Q1, is input from the switching end U of the first bridge arm to the first connection end a of the first switch iU, and is input to the first socket i through the switching end O of the first switch iU; then, the driving signal Vbus is input from the motor i to the switching end O of the first switch iV through the first socket i, is input from the first connection end a of the first switch iV to the switching end V of the second bridge arm, flows to Q4, and flows from the output end of the second bridge arm to the resistor Rs2 of the sampling module, the sampled current is amplified by the operational amplifier IC2 to obtain a current signal Ib, and the sampling module sends the Ib to the controller 140; the controller 140 determines whether the corresponding box door i is abnormally operated (for example, is blocked) under the driving of the motor i according to the received current signal Ib; at this time, the driving motor i rotates forward. When the PWM1H signal sent to the first input end of the first arm by the controller 140 is at a high level and the PWM1L signal is at a low level, and the PWM2H signal sent to the first input end of the second arm is at a low level and the PWM2L signal is at a high level, Q1 and Q4 are not conducted, Q2 and Q3 are conducted, and at this time, the voltage signal Vbus sequentially passes through Q3, the first switch iV, the first socket i, and the motor i; then the motor i sequentially passes through a first socket i, a first switch iU, a resistor Q2, a resistor Rs1, an operational amplifier IC1 and the controller 140; at this time, the motor i rotates forward, and the controller 140 determines whether the corresponding box door i is operated abnormally (e.g., is blocked) under the driving of the motor i according to the received current signal Ia. It should be noted that when the motor is a dc brushless motor, the driving module further includes a third bridge arm, and the third bridge arm may include Q5 and Q6, and the switching end of the third bridge arm is W.
Further, the signal diagram of the controller 140 corresponding to fig. 4 and 5 is shown in fig. 6. Note that when the motor is a dc brushless motor, the PWM signals include PWM1H, PWM1L, PWM2H, PWM2L, PWM3H, and PWM 3L. As can be seen from fig. 6, when the motor is a dc brush motor, the controller only needs to have 10+ k pins. Taking an express cabinet with 76 storage compartments as an example, if the functions of processing the coded signal and sampling the current are implemented in the conventional manner, at least 10 pins are required for controlling the door of each storage compartment, so that at least 76 × 10 pins to 760 pins are required for the controller. It can be seen that, by adopting the box door control circuit provided by the application, the controller has a small number of pins to realize the control of each box door, thereby not only reducing the requirements on the number of the pins, but also completing the control of each box door only through a single chip without carrying out coordinated hierarchical control or layered control, thereby improving the response speed, increasing the reliability and reducing the cost.
By setting the current sampling current, the current signal of the currently driven target motor can be sampled, so that the controller determines whether the rotation of the target motor is abnormal or not, and further determines whether the door opening operation or the door closing operation of the door is abnormal or not. When the door is determined to be blocked, the motor can be controlled to stop rotating or rotate reversely in time, so that the door stops operating and is in a free state or moves in a direction opposite to the target direction, and the damage to the door is avoided. For example, if it is determined that the door corresponding to the target motor is blocked during the closing process, the motor may be controlled to stop rotating or rotate reversely, so that the door is in a free state when the door is stopped to close or moves in the door opening direction to give way by an angle, thereby avoiding the door damage and other problems which may be caused by the door being continuously closed.
In a preferred embodiment, the door control circuit includes the above components, and a schematic diagram of the door control circuit is shown in fig. 7. The express cabinet comprises a cabinet shown in figure 7The pick-up scenario of the box door control circuit is described with reference to fig. 6 as an example. It is understood that the courier cabinet may include a user operation module (not shown in fig. 6), which is connected to the controller 140 and configured to input pickup information (such as a pickup code) by a user operation, and the user operation module sends a door opening instruction to the controller 140 according to the pickup information of the user. After receiving the door opening instruction, the controller 140 determines a target motor to be driven according to the pickup information included in the door opening instruction, where the door where the target motor is located is the door that the user requests to open. The motor 2 will be described as a target motor. The controller 140 sends k (i.e., a second number) of first door control signals OUT1 to OUTk indicating that the door is opened to the one-OUT-of-multiple logic circuit 110 according to the preset motor information of the motor 2 and the preset rotation information, and the parallel driving circuit sends a PWM signal indicating that the door is opened. The one of more logic circuit 110 determines that the target motor is motor 2 based on the received k first door control signals and generates 2 k And respectively sending 1 effective selection signal CTRL2 for representing the door of the door to a control end C of each first switch in the first switch 2 corresponding to the motor 2, a control end C of each second switch in the second switch group 2 corresponding to the motor 2, and respectively sending n-1 ineffective selection signals CTRL1, CTRL3 to CTRLn for representing the door of. Each first switch in the first switch group 2 controls a respective contact to be connected with the first connection end a according to the received valid selection signal CTRL2 representing opening of the door, so as to turn on the driving circuit, the first switch in the first switch group 2 sends a motor driving signal representing opening of the door to the first socket 2 through the switching section O of the first switch in the first switch group 2 according to the driving circuit, and the first socket 2 drives the motor 2 to rotate (e.g., rotate in the first direction) according to the rotation information, so as to drive the target door where the motor 2 is located to execute the door opening operation through the connection structure. Each second switch in the second switch group 2 controls the contact to be connected with the first connection end a according to the received valid selection signal CTRL2 for representing the opening of the box door, so as to turn on the conversion circuit. First switch group 1, first switch group 3 to first switchAnd n, each first switch controls the respective contact to keep in a suspended state according to the received invalid selection signal for representing the door opening, so that the corresponding motor 1, motor 3 to motor n keep in a static state, namely the corresponding door 1, door 3 to door n keep in a current door closing state. When the target door is opened under the driving of the motor 2, a user takes a piece, after the user finishes taking the piece, the user can operate a door closing button on the intelligent cabinet to send a door closing instruction to the controller 140, and the controller 140 drives the motor 2 to rotate in a second direction opposite to the first direction according to the received door closing instruction in the manner so as to drive the target door to execute the door closing operation; or, after the controller 140 sends k first door control instructions for opening the door, if it is determined that the preset time duration is within the preset time duration or a door closing instruction is obtained, the motor 2 is driven to rotate in a second direction opposite to the first direction in the foregoing manner, so as to drive the target door where the target door is located to execute a door closing operation. In the above process, since the motor 2 starts to rotate based on the motor driving signal, the position sensor of the motor 2 detects the rotation data of the motor 2 in real time and transmits the detected rotation data to the corresponding second socket 2 in the form of a coded signal. The second socket 2 transmits the received code signal to the conversion circuit through the corresponding second switch 2. The conversion circuit converts the received encoded signal to obtain a position signal of the target motor and sends the position signal to the controller 140. Meanwhile, the current sampling circuit collects current signals of corresponding bridge arms in the driving circuit, amplifies the collected current signals and sends the amplified current signals to the controller 140. The controller 140 determines whether an abnormal state exists in the process of performing the door opening operation and the door closing operation of the target door in which the motor 2 is located, based on the received position signal and the current signal. When the controller 140 determines that the target door is in an abnormal state, the controller 140 may send k fourth door control signals representing that the target door moves in the reverse direction to the one-out-of-multiple logic circuit 110, which is described in the case that the door closing process is blocked; the one-out-of-multiple logic circuit 110 sends a selection signal to each first switch in the above manner to drive the motor 2 to rotate in the first direction to drive the target box door to move in the door opening direction by a specified angle, thereby avoiding the problemThe label box door is damaged.
The box door control circuit provided by the embodiment of the application comprises a one-out-of-more logic circuit, a driving circuit, a first number of motors and a controller; the input end of the one-out-of-multiple logic circuit is connected with the controller, and the output end of the one-out-of-multiple logic circuit is connected with the first input end of the driving circuit; the second input end of the driving circuit is connected with the controller, and the output end of the driving circuit is connected with the motor; the motors are arranged on the box doors in one-to-one correspondence; and the controller is used for sending a second number of box door control signals matched with the first number to the one-from-many logic circuit when the preset box door control conditions are met, so that the one-from-many logic circuit drives the corresponding box door to execute corresponding operation through the driving circuit driving motor according to the box door control signals. Therefore, by arranging the one-out-of-more logic circuit and replacing the lockset with the motor, the automatic door opening and closing is realized, and the resource waste caused by forgetting to close the door of the door by a user is avoided; each motor is connected with the same drive circuit, so that each motor can be controlled by one more logic circuit and the same drive circuit, and further, each box door can be controlled; and a power circuit does not need to be arranged in each lockset, so that the power consumption and the hardware cost are greatly reduced. Meanwhile, the chip adopted by the controller has a small number of pins to realize the control of each box door, so that the requirement on the number of the pins is reduced, the control of each box door can be finished only through a single chip, and the coordination hierarchical control or the layered control is not needed, so that the response speed is improved, the reliability is increased, and the cost is reduced.
Based on the same technical concept, one or more embodiments of the present specification provide a box door control method. Fig. 8 is a schematic flowchart of a door control method according to one or more embodiments of the present disclosure, where the method is applicable to the door control circuit shown in fig. 1, and referring to fig. 8, the method may specifically include the following steps:
specifically, whether a door opening and closing instruction is acquired or not is determined, and if yes, the preset door control condition is determined to be met; if not, determining that the preset box door control condition is not met; and/or the presence of a gas in the gas,
determining whether the box door has an abnormal state when executing corresponding operation, and if so, determining that a preset box door control condition is met; if not, determining that the preset box door control condition is not met; and/or the presence of a gas in the gas,
determining whether a preset detection time point is reached, and if so, determining that a preset box door control condition is met; if not, determining that the preset box door control condition is not met. The detection time point can be set automatically according to the requirement in practical application.
And 104, if so, sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit, so that the one-out-of-multiple logic circuit drives each motor to drive the corresponding box door to execute corresponding operation through the driving circuit according to the box door control signals.
Wherein, the motor sets up on the chamber door, and the chamber door that can drive the place through connection structure when the motor rotates carries out the operation of opening the door, closes the door operation etc.. The specific location of the motor in the door, and the specific form of the coupling structure are not specifically limited in this application. Can be set by the user in practical application according to the requirement. Specifically, step 104 may include: if the preset door control condition is met, determining motor information of a target motor to be driven and rotation information of the target motor; according to the determined motor information and the rotation information, a second number of box door control signals matched with the first number of the motors are sent to the one-out-of-multiple logic circuit; the multi-selection logic circuit determines a target motor according to the box door control signal, sends an effective selection signal to a first switch corresponding to the target motor and sends an ineffective selection signal to first switches corresponding to other motors; the effective selection signal is used for controlling a first switch corresponding to the target motor to be conducted with the driving module so as to send a motor driving signal sent by the driving module to a corresponding first socket, and the target motor is driven to rotate according to the rotation information through the first socket so as to drive a box door where the target motor is located to execute corresponding operation; the invalid selection signal is used for controlling the first switches corresponding to other motors (except the target motor) to keep the current state, so that the box doors corresponding to the other motors keep the current state.
Furthermore, the box door control circuit can also comprise a coding signal processing circuit; the motor may further include a position sensor; correspondingly, the determining whether the box door is in an abnormal state includes:
acquiring a determined position signal of the target motor from the coded signal processing circuit; the position signal is obtained by converting a coded signal of the rotation data of the target motor sent by the position sensor by a coded signal processing circuit; the rotation data is detected by the position sensor;
determining whether the acquired position signal meets a preset first abnormal condition, and if so, determining that a box door where a target motor is located is in an abnormal state; if not, determining that the box door where the target motor is located is not in an abnormal state.
In one or more embodiments of the present application, the control circuit may further include a current sampling circuit; accordingly, the determining whether the box door is in the abnormal state may include:
acquiring a determined current signal of the target motor from a current sampling circuit;
determining whether the current signal meets a preset second abnormal condition, and if so, determining that the box door where the target motor is located is in an abnormal state; if not, determining that the box door where the target motor is located is not in an abnormal state.
According to the door control method applied to the door control circuit, when the preset door control condition is determined to be met, a second number of door control signals matched with the first number are sent to the one-out-of-multiple logic circuit, so that the one-out-of-multiple logic circuit drives each motor to drive the corresponding door to execute corresponding operation through the driving circuit according to the door control signals. Therefore, by arranging the one-out-of-more logic circuit and replacing the lock with the motor, the automatic door opening and closing is realized, and the resource waste caused by forgetting to close the door of the user is avoided; each motor is connected with the same drive circuit, so that each motor can be controlled by one more logic circuit and the same drive circuit, and further, each box door can be controlled; and a power circuit does not need to be arranged in each lockset, so that the power consumption and the hardware cost are greatly reduced. Meanwhile, the chip adopted by the controller has a small number of pins to realize the control of each box door, so that the requirement on the number of the pins is reduced, the control of each box door can be finished only through a single chip, and the coordination hierarchical control or the layered control is not needed, so that the response speed is improved, the reliability is increased, and the cost is reduced.
In addition, as for the above method embodiment, since it is basically similar to the embodiment of the door control circuit, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the foregoing door control circuit embodiment.
Based on the same technical concept, one or more embodiments of the present specification provide an intelligent cabinet. Fig. 9 is a schematic structural diagram of an intelligent cabinet according to one or more embodiments of the present disclosure, and as shown in fig. 9, the intelligent cabinet includes a first number of doors and door control circuits, where a first number of motors in the door control circuits correspond to the doors one to one, and are disposed on each door, so as to control each door to execute corresponding operations according to the aforementioned manner through the door control circuits.
It is understood that the intelligent cabinet further comprises other components such as the first number of storage compartments, which are well known to those skilled in the art and therefore will not be described in detail herein.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A door control circuit for a door of a cabinet, comprising: the controller comprises a one-out-of-multiple logic circuit, a driving circuit, a first number of motors and a controller;
the input end of the one-from-many logic circuit is connected with the controller, and the output end of the one-from-many logic circuit is connected with the first input end of the driving circuit; the second input end of the driving circuit is connected with the controller, and the output end of the driving circuit is connected with the motor; the motors are arranged on the box doors in one-to-one correspondence;
if the controller determines that a preset box door control condition is met, a second number of box door control signals matched with the first number are sent to the one-out-of-multiple logic circuit, so that the one-out-of-multiple logic circuit drives the motor to drive the corresponding box door to execute corresponding operation through the driving circuit according to the box door control signals;
the control circuit further comprises a coded signal processing circuit;
the first input end of the coded signal processing circuit is connected with the output end of the one-of-multiple logic circuit, and the second input end of the coded signal processing circuit is connected with each motor;
the output end of the coding signal processing circuit is connected with the controller;
the encoded signal processing circuit includes: the switching circuit, the first number of second switch groups in one-to-one correspondence with each motor, and the first number of second sockets in one-to-one correspondence with each motor; the second switch group comprises a plurality of second switches;
the input end of the conversion circuit is connected with the switching end of each second switch, and the output end of the conversion circuit is connected with the controller;
the first connecting end of the second switch is connected with one end of the corresponding second socket, and the control end of the second switch is connected with the output end of the one-of-multiple logic circuit;
and the other end of the second socket is connected with the corresponding motor.
2. The control circuit of claim 1, wherein the drive circuit comprises: the first switch groups are in one-to-one correspondence with the motors, and the first sockets are in one-to-one correspondence with the motors; the first switch group includes a plurality of first switches;
the input end of the driving module is connected with the controller, and the first output end of the driving module is connected with the first connecting end of each first switch;
the control end of the first switch is connected with the output end of the one-of-multiple logic circuit, and the switching end of the first switch is connected with one end of the corresponding first socket;
the other end of the first socket is connected with the corresponding motor.
3. The control circuit of claim 2, wherein the driver circuit further comprises a pre-driver module;
the input end of the pre-drive module is connected with the first output end of the drive module;
the output end of the pre-drive module is connected with the first connecting end of each first switch.
4. The control circuit of claim 1, wherein the motor is provided with a position sensor;
and the other end of the second socket is connected with the corresponding position sensor.
5. The control circuit of claim 2, further comprising: a current sampling circuit;
the input end of the current sampling circuit is connected with the second output end of the driving module;
and the output end of the current sampling circuit is connected with the controller.
6. The control circuit of claim 5, wherein the driving module is a bridge driving module comprising a plurality of bridge arms in one-to-one correspondence with signal types of the motor; the first switches in each first switch group correspond to the signal types one by one; the current sampling circuit comprises a sampling module corresponding to each bridge arm; the control circuit further comprises a power supply;
the first input end of the bridge arm is connected with the controller, and the second input end of the bridge arm is connected with the power supply; the switching ends of the bridge arms are connected with the first connecting ends of the corresponding first switches; the output end of the bridge arm is connected with the input end of the sampling module;
the first output end of the sampling module is grounded, and the second output end of the sampling module is connected with the controller;
the power supply is also connected with the controller.
7. A door control method is characterized in that the door control method is applied to a door control circuit, wherein the door control circuit comprises a one-out-of-more logic circuit, a driving circuit, a first number of motors, a coding signal processing circuit and a controller; the first input end of the coded signal processing circuit is connected with the output end of the one-of-multiple logic circuit, and the second input end of the coded signal processing circuit is connected with each motor; the output end of the coding signal processing circuit is connected with the controller; the encoded signal processing circuit includes: the switching circuit, the first number of second switch groups in one-to-one correspondence with each motor, and the first number of second sockets in one-to-one correspondence with each motor; the second switch group comprises a plurality of second switches; the input end of the conversion circuit is connected with the switching end of each second switch, and the output end of the conversion circuit is connected with the controller; the first connecting end of the second switch is connected with one end of the corresponding second socket, and the control end of the second switch is connected with the output end of the one-of-multiple logic circuit; the other end of the second socket is connected with the corresponding motor, and the motors are arranged on the box doors in one-to-one correspondence; the method comprises the following steps:
determining whether a preset box door control condition is met;
and if so, sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit, so that the one-out-of-multiple logic circuit drives each motor to drive the corresponding box door to execute corresponding operation through the driving circuit according to the box door control signals.
8. The method of claim 7, wherein the determining whether a preset door control condition is met comprises:
determining whether a door opening and closing instruction is acquired, and if so, determining that preset door control conditions are met; if not, determining that the preset box door control condition is not met; and/or the presence of a gas in the gas,
determining whether the box door has an abnormal state when executing corresponding operation, and if so, determining that a preset box door control condition is met; if not, determining that the preset box door control condition is not met; and/or the presence of a gas in the atmosphere,
determining whether a preset detection time point is reached, and if so, determining that a preset box door control condition is met; if not, determining that the preset box door control condition is not met.
9. The method of claim 7, wherein the driving circuit comprises: the motor comprises a driving module, a first switch and a first socket, wherein the first switch and the motor have a many-to-one corresponding relation;
the step of sending a second number of box door control signals matched with the first number to the one-out-of-multiple logic circuit so that the one-out-of-multiple logic circuit drives each motor to drive the corresponding box door to execute corresponding operations according to the box door control signals through the driving circuit comprises the following steps:
determining motor information of a target motor to be driven and rotation information of the target motor;
sending a second number of box door control signals matched with the first number to the one-from-more logic circuit according to the motor information and the rotation information; the multi-selection logic circuit determines the target motor according to the box door control signal, sends an effective selection signal to the first switch corresponding to the target motor and sends an ineffective selection signal to the first switches corresponding to other motors;
the effective selection signal is used for controlling the first switch corresponding to the target motor to be conducted with the driving module so as to send a motor driving signal sent by the driving module to the corresponding first socket, and the target motor is driven to rotate according to the rotation information through the first socket so as to drive the box door where the target motor is located to execute corresponding operation; the invalid selection signal is used for controlling the first switches corresponding to the other motors to keep the current state, so that the box doors corresponding to the other motors keep the current state.
10. The method of claim 8, wherein the motor comprises a position sensor;
the determining whether the box door is in an abnormal state comprises:
acquiring a determined position signal of the target motor from the coded signal processing circuit; the position signal is obtained by converting and processing the coded signal of the rotation data of the target motor sent by the position sensor by the coded signal processing circuit; the rotation data is detected by the position sensor;
determining whether the position signal meets a preset first abnormal condition, and if so, determining that a box door where the target motor is located is in an abnormal state; if not, determining that the box door where the target motor is located is not in an abnormal state.
11. The method of claim 8 or 10, wherein the control circuit further comprises a current sampling circuit;
the determining whether the box door is in an abnormal state comprises:
acquiring a determined current signal of the target motor from the current sampling circuit;
determining whether the current signal meets a preset second abnormal condition, and if so, determining that the box door where the target motor is located is in an abnormal state; if not, determining that the box door where the target motor is located is not in an abnormal state.
12. An intelligent cabinet comprising a first number of doors, wherein the intelligent cabinet further comprises the door control circuit of any of claims 1-6;
the first number of motors included in the box door control circuit are arranged on the box door in a one-to-one correspondence with the box door.
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| CN202110700608.5A CN113341836B (en) | 2021-06-23 | 2021-06-23 | Box door control circuit, control method and intelligent cabinet |
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| WO2017208229A1 (en) * | 2016-06-02 | 2017-12-07 | Rtb Electricsolutions | Servomotor locking system for cabinet doors and drawers |
| CN106073229B (en) * | 2016-06-13 | 2018-11-30 | 镇江康飞汽车制造股份有限公司 | A kind of intelligent self-carry cabinet with touch transparent screen automatically-controlled door |
| CN210018476U (en) * | 2018-12-27 | 2020-02-07 | 顺丰科技有限公司 | Intelligent express cabinet |
| CN110677077A (en) * | 2019-11-11 | 2020-01-10 | 深圳市丰巢科技有限公司 | Multi-motor drive control circuit |
| CN112433167A (en) * | 2020-11-23 | 2021-03-02 | 长兴途牛电子科技有限公司 | Detection system and detection method for lithium battery pack |
| CN112833617A (en) * | 2020-12-31 | 2021-05-25 | 海信视像科技股份有限公司 | Refrigerator and prompting method for door state of refrigerator |
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| CN201532441U (en) * | 2009-09-04 | 2010-07-21 | 中国电子科技集团公司第十一研究所 | Drive circuit screening device |
| CN105971404A (en) * | 2016-05-06 | 2016-09-28 | 中科富创（北京）科技有限公司 | Lock control circuit used for electronic lock, control circuit and express cabinet |
| CN106384445A (en) * | 2016-11-25 | 2017-02-08 | 钦州市高新技术产业服务中心 | Shopping mall object storage cabinet control system with fingerprint identification function |
| CN209016693U (en) * | 2018-12-18 | 2019-06-21 | 歌尔科技有限公司 | Motor driver and electrical equipment |
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