CN114508284A

CN114508284A - Logistics equipment, opening and closing door control system thereof and logistics equipment box

Info

Publication number: CN114508284A
Application number: CN202210188077.0A
Authority: CN
Inventors: 许哲涛; 王辉
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-05-17
Also published as: WO2023159891A1

Abstract

The disclosure relates to logistics equipment, a door opening and closing control system of the logistics equipment and a logistics equipment box body. This logistics equipment box includes logistics equipment switch door control device and at least one subbox, wherein: each sub-box body is provided with an independent box body door; the logistics equipment door opening and closing control device is used for receiving a door opening instruction input by a user, wherein the door opening instruction is a door opening instruction corresponding to a target box body, and the target box body is a sub-box body of the logistics equipment box body; under the condition of receiving the door opening instruction, controlling a box body door of the target box body to be opened; receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to a target box body; and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body. The automatic door opening and closing control device can realize automatic door opening and closing control of a plurality of box doors of logistics equipment such as the conveying robot, and therefore the cross infection risk caused by manual door closing of a user can be avoided.

Description

Logistics equipment, opening and closing door control system thereof and logistics equipment box

Technical Field

The utility model relates to a commodity circulation field, in particular to logistics equipment and switch door control system, logistics equipment box thereof.

Background

The indoor distribution robot is mainly used for multi-floor indoor scenes such as hotels and office buildings, and can achieve cross-floor goods transportation.

But the delivery robot of correlation technique generally adopts the automatic door that opens, takes out and needs the manual door that closes of user after the goods, and some users can forget to close the door after getting the express delivery.

In addition, the robot in the related art runs in a closed factory area, and the risk of cross infection of new crown contact is increased by the touch operation of a plurality of users in the door opening and closing process of the robot.

Disclosure of Invention

In view of at least one of the above technical problems, the present disclosure provides a logistics apparatus, a door opening and closing control system thereof, and a logistics apparatus box, which can realize automatic control of opening and closing doors of a plurality of box doors of a logistics apparatus such as a transport robot.

According to one aspect of the present disclosure, there is provided a method for controlling opening and closing of a door of a logistics apparatus, comprising:

receiving a door opening instruction input by a user, wherein the door opening instruction is a door opening instruction corresponding to a target box body, the logistics equipment comprises a plurality of sub box bodies, and each sub box body is provided with an independent box body door;

under the condition of receiving the door opening instruction, controlling a box body door of the target box body to be opened;

receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to a target box body;

and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body.

In some embodiments of the present disclosure, the method further comprises:

and after the box body door of the target box body is opened, the illuminating lamp corresponding to the target box body is controlled to be opened.

In some embodiments of the present disclosure, the box door is a folding door, and the controlling of the opening of the box door of the target box includes:

controlling a motor to rotate along a first direction to drive a folding door of the target box body to be opened;

the controlling the closing of the folding door of the target box body includes:

and controlling the motor to rotate along a second direction to drive the folding door of the target box body to close, wherein the second direction is opposite to the first direction.

In some embodiments of the present disclosure, the method further comprises:

detecting whether the current of a motor is greater than a preset value or not in the opening process or the closing process of a folding door of a target box body;

and if the detected motor current is larger than the preset value, controlling the motor to stop rotating.

In some embodiments of the present disclosure, the method further comprises:

detecting whether a microswitch at the tail end of a guide rail of a folding door of the target box body is triggered or not in the closing process of the folding door of the target box body;

and if the micro switch is detected to be triggered, controlling the motor to stop rotating.

In some embodiments of the present disclosure, the method further comprises:

and after receiving the preset extraction time period of the door opening instruction, controlling the folding door of the target box body to close.

In some embodiments of the present disclosure, the method further comprises:

and after the preset door opening time period of the door opening instruction is received, controlling the lighting lamp corresponding to the target box body to be turned on.

According to another aspect of the present disclosure, there is provided a controller including:

the logistics equipment comprises a plurality of sub-boxes, wherein each sub-box is provided with an independent box door;

the door closing instruction receiving module is used for receiving a door closing instruction input by a user, wherein the door opening instruction is a door closing instruction corresponding to a target box body;

the box door control module is used for controlling the box door of the target box to be opened under the condition of receiving the door opening instruction; and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body.

In some embodiments of the disclosure, the controller is configured to perform operations to implement the method of any of the embodiments described above.

a memory to store instructions;

a processor configured to execute the instructions to cause the controller to perform operations to implement the method according to any of the embodiments described above.

According to another aspect of the present disclosure, there is provided a logistics apparatus box including a logistics apparatus opening and closing door control apparatus and at least one sub-box, wherein:

each subbox body is provided with an independent box body door;

the logistics equipment door opening and closing control device is used for receiving a door opening instruction input by a user, wherein the door opening instruction is a door opening instruction corresponding to a target box body, and the target box body is a sub-box body of the logistics equipment box body; under the condition of receiving the door opening instruction, controlling a box body door of the target box body to be opened; receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to a target box body; and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body.

In some embodiments of the present disclosure, the logistics apparatus door opening and closing control apparatus includes an instruction receiving module, a controller, and at least one door control module, wherein:

each gate control module is used for controlling a box body gate of a corresponding sub-box body in the box body of the logistics equipment;

the instruction receiving module is used for receiving a door opening instruction input by a user; receiving a door closing instruction input by a user;

the controller is used for issuing a first control command to the door control module under the condition that the instruction receiving module receives the door opening instruction; under the condition that the instruction receiving module receives the door closing instruction, a second control instruction is issued to the door control module;

the door control module is used for controlling the opening of a box body door of the target box body according to a first control command of the controller; and controlling the box body door of the target box body to be closed according to a second control command of the controller.

In some embodiments of the present disclosure, the controller is further configured to issue a second control command to the door control module after the instruction receiving module receives the predetermined extraction time period of the door opening instruction.

In some embodiments of the present disclosure, the logistics apparatus door opening and closing control apparatus further includes a distance measuring sensor disposed at each sub-box, wherein:

and the controller is also used for issuing a second control command to the gate control module after the distance measuring sensor detects the preset time for taking out the articles of the corresponding sub-box body.

In some embodiments of the present disclosure, the instruction receiving module is a wireless communication module;

and the instruction receiving module is used for receiving a door opening instruction or a door closing instruction sent by a user through the user terminal.

In some embodiments of the present disclosure, the wireless communication module comprises a cellular communication module and a short-range wireless communication module, wherein:

the cellular communication module is used for sending the estimated arrival time of the logistics equipment and starting reminding information for keeping a short-distance wireless communication mode to the receiver user terminal through a cellular network;

the short-distance wireless communication module is used for searching a short-distance wireless communication address of the consignee user terminal after the consignee user terminal arrives at the delivery destination, and pushing an express arrival message and a door opening request message to the consignee user terminal; and receiving a door opening instruction sent by a user through a user terminal.

In some embodiments of the present disclosure, the cellular communication module is further configured to, in a case where the consignee is a new user, send a short-range wireless communication address reading request to the consignee user terminal through the cellular network, and request the consignee user terminal to start a short-range wireless communication function; and after the user starts the short-distance wireless communication function and authorizes the short-distance wireless communication function, reading the short-distance wireless communication address of the receiver user terminal.

In some embodiments of the present disclosure, the cabinet door is a folding door, the door control module includes a motor, wherein:

the motor is used for rotating along a first direction according to a first control command of the controller to drive the folding door of the target box body to open; and according to a second control command of the controller, rotating along a second direction to drive the folding door of the target box body to close, wherein the second direction is opposite to the first direction.

In some embodiments of the present disclosure, the gate control module further comprises a first drive circuit, a second drive circuit, a first trigger circuit, and a second trigger circuit, wherein:

the first driving circuit comprises a first switch tube and a second switch tube, wherein the first end of the first switch tube is connected with a power supply of the motor, the first end of the second switch tube is grounded, and the second end of the first switch tube is connected with the first end of the motor after being connected with the second end of the second switch tube;

the second driving circuit comprises a third switching tube and a fourth switching tube, wherein the first end of the third switching tube is connected with a power supply of the motor, the first end of the fourth switching tube is grounded, and the second end of the third switching tube and the second end of the fourth switching tube are connected and then connected with the second end of the motor;

one end of the first trigger circuit is connected with the controller, and the other end of the first trigger circuit is connected with the control ends of the first switch tube and the second switch tube;

one end of the second trigger circuit is connected with the controller, and the other end of the second trigger circuit is connected with the control ends of the third switching tube and the fourth switching tube.

In some embodiments of the present disclosure, the first trigger circuit is configured to control the first switching tube and the fourth switching tube to be turned on and the second switching tube and the third switching tube to be turned off according to a first control command of the controller, so that the motor rotates in the first direction to drive the folding door of the target box to be opened.

In some embodiments of the present disclosure, the second trigger circuit is configured to control the first switching tube and the fourth switching tube to be turned off and the second switching tube and the third switching tube to be turned on according to a first control command of the controller, so that the motor rotates in the second direction to drive the folding door of the target box to be closed.

In some embodiments of the present disclosure, a controller for detecting whether a motor current is greater than a predetermined value during an opening process or a closing process of a folding door of a target box; and if the detected motor current is larger than the preset value, controlling the motor to stop rotating.

In some embodiments of the present disclosure, the gating module further comprises:

the microswitch is arranged at the tail end of the guide rail of the folding door of the target box body and is used for being triggered under the condition that the folding door of the target box body is completely closed;

and the controller is used for controlling the motor to stop rotating under the condition that the microswitch is detected to be triggered.

In some embodiments of the present disclosure, the logistics apparatus door opening and closing control apparatus further comprises a lighting circuit, wherein:

each lamp circuit comprises a lamp;

each illuminating lamp is used for illuminating a corresponding sub-box in the logistics equipment box under the condition of being turned on;

the controller is used for sending a starting command to the illuminating lamp after receiving the preset door opening time period of the door opening command;

and the illuminating lamp is used for being opened to illuminate the corresponding target box body according to the starting command of the controller.

In some embodiments of the present disclosure, each light circuit further comprises a light switch, wherein:

each illuminating lamp is arranged in a corresponding sub-box body in the logistics equipment box body;

and the controller is used for controlling the switch of the illuminating lamp to be closed after receiving the preset door opening time period of the door opening instruction, so that the illuminating lamp is opened to illuminate the corresponding target box body.

According to another aspect of the present disclosure, there is provided a logistics apparatus comprising a moving chassis and a logistics apparatus box as in any of the above embodiments, wherein the logistics apparatus box is disposed on the moving chassis.

In some embodiments of the present disclosure, the logistics apparatus is a transportation apparatus.

According to another aspect of the present disclosure, there is provided a logistics apparatus door opening and closing control system, comprising a user terminal and a logistics apparatus box body as described in any of the above embodiments, wherein:

and the user terminal is used for sending the door opening instruction or the door closing instruction input by the user to the logistics equipment box body in a wireless communication mode.

The automatic door opening and closing control device can realize automatic door opening and closing control of a plurality of box doors of logistics equipment such as the conveying robot, and therefore the cross infection risk caused by manual door closing of a user can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of some embodiments of a logistics apparatus of the present disclosure.

Fig. 2 is a schematic diagram of some embodiments of a logistics apparatus box of the present disclosure.

Fig. 3 is a schematic view of some embodiments of the box door of the logistics apparatus box of the present disclosure.

Fig. 4 is a schematic view of other embodiments of the logistics apparatus box of the present disclosure. .

Fig. 5 is a schematic diagram of some embodiments of the disclosed logistics apparatus door opening and closing control system.

Fig. 6 is a schematic diagram of some embodiments of the logistics apparatus opening and closing door control method of the disclosure.

Fig. 7 is a schematic diagram of other embodiments of the open/close door control method of the logistics equipment.

Fig. 8 is a schematic structural diagram of some embodiments of the disclosed controller.

Fig. 9 is a schematic diagram of some embodiments of the open/close door control device of the logistics equipment of the disclosure.

Fig. 10 is a schematic view of other embodiments of the door opening and closing control device of the logistics equipment.

Fig. 11 is a schematic diagram of some further embodiments of the open/close door control device of the logistics apparatus of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The inventor finds out through research that: the related art robot needs to have the capability of controlling the automatic opening and closing of the door when loading the goods. In the related art, the conveying robot needs to be manually closed after goods are loaded, the goods arrive, a user needs to manually input a verification code to open the door when the user takes the goods, and the door needs to be manually closed again after the goods are taken out. In the related art, the robot runs in a closed factory area, and the risk of cross infection of new crown contact is increased by the touch operation of a plurality of users in the door opening and closing process of the robot.

In view of at least one of the above technical problems, the present disclosure provides a logistics apparatus, a door opening and closing control system thereof, and a logistics apparatus box.

FIG. 1 is a schematic view of some embodiments of a logistics apparatus of the present disclosure. As shown in fig. 1, the logistics apparatus of the present disclosure can include a moving chassis 100 and a logistics apparatus box 200 as in any of the above embodiments, wherein the logistics apparatus box 200 is disposed on the moving chassis 100.

In some embodiments of the present disclosure, the logistics apparatus can be a conveyance apparatus, such as a conveyance robot.

In some embodiments of the present disclosure, the logistics apparatus box 200 may be a transport robot box or an express delivery cabinet.

In some embodiments of the present disclosure, the motion chassis 100 can be combined, disassembled, and stowed with a variety of logistics equipment enclosures 200.

In some embodiments of the present disclosure, the motion chassis 100 is configured to receive distribution task information issued by a scheduling center; moving to the starting point of the distribution task, and butting with the corresponding robot box body 200; the corresponding robot housing 200 is transported to the delivery task end point according to the delivery task path.

In some embodiments of the present disclosure, the logistics apparatus of the present disclosure can be implemented as an indoor transport robot. The multi-purpose indoor conveying robot can replace manual work to convey various materials and consumables. The multi-purpose indoor conveying robot can be applied to various indoor places such as hospitals, nursing homes, office buildings and hotels, and various scenes such as meals, bedding and clothing, medical supplies and expressures are supported, so that the personnel selection cost is reduced, the distribution efficiency is optimized, and the conveying experience is improved.

In some embodiments of the present disclosure, the logistics apparatus box 200 can include at least one independent sub-box. For example, in the embodiment of fig. 1, the logistics apparatus box 200 can include 4 independent sub-boxes.

Fig. 2 is a schematic diagram of some embodiments of a logistics apparatus box of the present disclosure. As shown in fig. 2, the logistics apparatus box of the present disclosure may include a plurality of sub-boxes, such as sub-box 1, sub-box 2, sub-box 3, and sub-box 4 in fig. 2.

In some embodiments of the present disclosure, the plurality of sub-boxes of the logistics apparatus box of the present disclosure can transport a plurality of items to different harvesters at a time, thereby improving the transport efficiency.

In some embodiments of the present disclosure, the logistics apparatus enclosure of the fig. 2 embodiment can be a transport robot enclosure or an express delivery cabinet.

In the embodiments of fig. 1 and 2 of the present disclosure, each sub-box has an independent box door, and each box door can be controlled independently to realize automatic opening and closing.

In some embodiments of the present disclosure, the box door may be a sliding door, a side hung door, or a folding door.

In some embodiments of the present disclosure, the cabinet door may be a folding door.

In some embodiments of the present disclosure, each sub-enclosure may be provided with a separate folding door.

Fig. 3 is a schematic view of some embodiments of the box door of the logistics apparatus box of the present disclosure. The folding door shown in fig. 3 is a separate folding door for each sub-box of the logistics apparatus box (such as the logistics apparatus box of the embodiment of fig. 1 or fig. 2) of the present disclosure. As shown in fig. 3, the body door of each sub-body may include a folding door, a guide rail, and a micro switch provided at an end of the guide rail for detecting whether the folding door is completely closed. Fig. 3 also shows the opening and closing directions of the folding door in one embodiment.

In some embodiments of the present disclosure, as shown in fig. 3, the chest door is in a folded form, controlled by a motor and a decelerator, sliding on a guide rail. The end of the guide rail is provided with a microswitch, and the folding door triggers the microswitch to indicate that the door is closed. The motor rotates the folding door in the positive direction to open, and the motor rotates the folding door in the reverse direction to close.

The automatic door opening and closing control device can realize automatic door opening and closing control of a plurality of box doors of logistics equipment such as the conveying robot and the like, and can improve user experience.

The folding door of the above-mentioned embodiment of this disclosure can realize automatic switch door. The automatic spring-open door of the related art needs to be manually closed after goods are taken out, so that the risk of epidemic contact and propagation is increased. Therefore, the embodiment of the disclosure can avoid the cross infection risk caused by manual door closing of a user.

Fig. 4 is a schematic view of other embodiments of the logistics apparatus box of the present disclosure. As shown in fig. 4, the logistics apparatus box of the present disclosure may include a logistics apparatus opening and closing door control device 210 and a plurality of box doors 220, wherein:

each bin door 220 is a bin door for each sub-bin.

The logistics equipment door opening and closing control device 210 is configured to receive a door opening instruction input by a user, where the door opening instruction is a door opening instruction corresponding to a target box, the logistics equipment includes a logistics equipment box, the target box is one sub-box in the logistics equipment box, the logistics equipment box includes at least one sub-box, and each sub-box is provided with an independent box door 220; under the condition of receiving the door opening instruction, controlling a box body door of the target box body to be opened; receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to a target box body; and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body.

In some embodiments of the present disclosure, the chest door 220 may be a folding door as shown in FIG. 3.

Fig. 5 is a schematic diagram of some embodiments of the disclosed logistics apparatus door opening and closing control system. As shown in fig. 5, the logistics apparatus opening and closing door control system of the present disclosure may include a logistics apparatus box 200 and a user terminal 300, wherein:

the user terminal 300 is configured to send a door opening instruction or a door closing instruction input by a user to the logistics apparatus box 200 (specifically, to the logistics apparatus door opening and closing control device 210) in a wireless communication manner.

In some embodiments of the present disclosure, the wireless communication mode may be one of a cellular wireless communication mode and a short-range wireless communication mode.

In some embodiments of the present disclosure, the cellular wireless communication mode may be a public wireless communication network such as 4G, 5G, and the like.

In some embodiments of the present disclosure, the short-range wireless communication mode may be a wireless communication mode such as bluetooth, WIFI, Zigbee (purple peak), and the like.

The above-mentioned embodiment of this disclosure is to solving the automatic switch door problem of transporting the robot, through near field wireless technology, has realized need not the user and has contacted the robot, can trigger the automatic opening of express delivery box door on the robot, self-closing, from this the above-mentioned embodiment of this disclosure has reduced because of when the user switches the box door, the epidemic situation in the sealed garden that the contact robot caused spreads the risk.

The switch door control device and method of the logistics equipment according to the above embodiments of the present disclosure are described below with specific embodiments.

Fig. 6 is a schematic diagram of some embodiments of the logistics apparatus opening and closing door control method of the disclosure. Preferably, this embodiment can be performed by the logistics equipment switch door control device or the controller of the present disclosure. As shown in fig. 6, the method may comprise at least one of steps 61-64, wherein:

and step 61, receiving a door opening instruction input by a user, wherein the door opening instruction is a door opening instruction corresponding to a target box body, the logistics equipment comprises a plurality of sub box bodies, and each sub box body is provided with an independent box body door.

In some embodiments of the present disclosure, step 61 may comprise: and receiving a door opening instruction input by a user through an input device such as a touch display screen and a keyboard.

And step 62, controlling the box body door of the target box body to be opened under the condition that the door opening instruction is received.

In some embodiments of the present disclosure, the box door may be a folding door, and the step of controlling the opening of the box door of the target box in step 62 may include: the control motor rotates along the first direction to drive the folding door of the target box body to be opened.

In some embodiments of the present disclosure, the method may further comprise: and after the folding door of the target box body is opened, controlling the illuminating lamp corresponding to the target box body to be opened. The present disclosure can illuminate after the door is opened, thereby preventing the user from missing the article.

In some embodiments of the present disclosure, the method may further comprise: and after the preset door opening time period of the door opening instruction is received, controlling the lighting lamp corresponding to the target box body to be turned on.

In some embodiments of the present disclosure, the predetermined door open time period may be 10 seconds to 60 seconds.

And 63, receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to the target box body.

In some embodiments of the present disclosure, step 63 may comprise: and receiving a door closing instruction input by a user through input equipment such as a touch display screen, a keyboard and the like.

In some embodiments of the present disclosure, step 61 or step 63 may include: and receiving a door opening instruction or a door closing instruction in a voice form input by a user through the voice receiving and identifying module.

The above embodiment of the disclosure can realize contactless and achieve epidemic prevention effect by receiving the voice command.

In some embodiments of the present disclosure, step 61 or step 63 may include: and communicating with the user terminal of the receiver through at least one of a cellular communication mode and a short-range wireless communication mode, and receiving a door opening instruction or a door closing instruction sent by the user through the user terminal.

In some embodiments of the present disclosure, step 61 or step 63 may include: sending a reminding message of the estimated arrival time of the logistics equipment and the starting of the short-distance wireless communication mode to a receiver user terminal through a cellular network; after the delivery robot reaches a delivery destination, searching a near field communication address of the consignee user terminal by adopting a near field communication mode, and pushing an express arrival message and a door opening request message to the consignee user terminal; and receiving a door opening instruction sent by a user through a user terminal in a near field wireless communication mode.

In some embodiments of the present disclosure, step 61 or step 63 may further include: under the condition that the receiver is a new user, sending a short-distance wireless communication address reading request to a receiver user terminal through a cellular network, and requesting the receiver user terminal to start a short-distance wireless communication function; and after the user starts the short-distance wireless communication function and authorizes the short-distance wireless communication function, reading the short-distance wireless communication address of the receiver user terminal.

And step 64, controlling the folding door of the target box body to be closed under the condition of receiving the door closing command.

In some embodiments of the present disclosure, the step of controlling the closing of the folding door of the target container in step 64 may include: and controlling the motor to rotate along a second direction to drive the folding door of the target box body to close, wherein the second direction is opposite to the first direction.

In some embodiments of the present disclosure, the first direction may be a forward direction, i.e., a clockwise direction; the second direction is the reverse, i.e. counter clockwise.

The above embodiment of the present disclosure can realize the automatic opening and closing of the folding door by the forward rotation or the reverse rotation of the motor.

In some embodiments of the present disclosure, the method may further comprise: detecting whether the current of a motor is greater than a preset value or not in the opening process or the closing process of a folding door of a target box body; and if the detected motor current is larger than the preset value, controlling the motor to stop rotating.

According to the embodiment of the disclosure, overload protection is performed on the folding door in the opening or closing process, such as clamping and other faults, and damage caused by clamping of the folding door can be avoided.

In some embodiments of the present disclosure, the method may further comprise: detecting whether a microswitch at the tail end of a guide rail of a folding door of the target box body is triggered or not in the closing process of the folding door of the target box body; and if the micro switch is detected to be triggered, controlling the motor to stop rotating.

The door of the above-mentioned embodiment of this disclosure after closing the door completely targets in place and detects, can prevent the problem that the box door is not closed completely.

In some embodiments of the present disclosure, the method may further comprise: and after receiving the preset extraction time period of the door opening instruction, controlling the folding door of the target box body to close.

In some embodiments of the present disclosure, the predetermined extraction time period is greater than the predetermined door open time period.

In some embodiments of the present disclosure, the predetermined door open time period may be 5 to 15 minutes.

In some embodiments of the present disclosure, the method may further comprise: and after the distance measuring sensor detects that the articles corresponding to the box body are taken out for a preset time, controlling the folding door of the target box body to close.

Based on the logistics equipment door opening and closing control method provided by the embodiment of the disclosure, automatic control of opening and closing of a plurality of box doors of logistics equipment such as a conveying robot can be realized. The embodiment of the disclosure has multiple protection mechanisms, and user experience can be improved.

The multiple protection mechanisms of the above embodiments of the present disclosure at least include: firstly, overload protection is carried out on faults such as clamping and the like in the opening or closing process of the folding door, so that the damage caused by clamping of the folding door can be avoided; secondly, detecting the door in place after the door is completely closed, so that the problem that the door of the box body is not completely closed can be prevented; and thirdly, the door can be illuminated after being opened, so that the user is prevented from getting the articles in an overlooking mode.

Fig. 7 is a schematic diagram of other embodiments of the open/close door control method of the logistics equipment. Preferably, this embodiment can be performed by the logistics equipment switch door control device or the controller of the present disclosure. As shown in fig. 7, for a new user, the logistics apparatus door opening and closing control method of the present disclosure may include at least one step from step 71 to step 75, wherein:

step 71, the robot box body loads goods and executes a transportation task, and a request for reading a mobile phone Bluetooth address is sent to a receiver user terminal (such as a mobile phone end) through the robot self 4G module, and the receiver is requested to open a Bluetooth device.

And step 72, opening the mobile phone Bluetooth device by the user according to the request of the robot, and authorizing to read the mobile phone Bluetooth address.

And 73, when the robot arrives at the delivery destination, starting to search the mobile phone Bluetooth of the user by using the Bluetooth equipment of the robot, establishing connection, and pushing an express arrived message and a door opening interface to the user through the Bluetooth.

And step 74, the user receives the prompt, arrives at the distribution point and clicks a door opening button at the mobile phone end. And the mobile phone Bluetooth sends a door opening instruction to the robot Bluetooth. And the opening and closing door control module controls the opening of the box body door.

Step 75, the user takes out the goods, the distance measuring sensor corresponding to the box body detects that the goods are taken out, the single chip microcomputer delays for 3 seconds, the opening and closing door motor is driven to rotate, and the box body door is closed.

In some embodiments of the present disclosure, as shown in fig. 7, for a multiplexing user, the logistics apparatus door opening and closing control method of the present disclosure can include at least one of step 70, step 73 to step 75 without performing steps 71 to 72, wherein:

and step 70, when the user who uses the robot distribution service is distributed to the user again, the user does not need to read the mobile phone Bluetooth device of the user again, and steps 71 and 72 are omitted. When the distribution service is provided for the multiplexing user, the predicted arrival time is sent and the Bluetooth device is kept on for reminding through the 4G network. Thereafter, steps 73-75 are performed.

The above-mentioned embodiment of this disclosure is to solving the automatic switch door problem of transporting the robot, through near field wireless technology and goods state detection, has realized need not the user and has contacted the robot, can trigger the automatic opening of express delivery box door on the robot, self-closing to when having reduced because of user switch box door, the epidemic situation in the closed garden that the contact robot caused spreads the risk.

Fig. 8 is a schematic structural diagram of some embodiments of the disclosed controller. As shown in fig. 8, the controller includes a memory 81 and a processor 82.

The memory 81 is used for storing instructions, the processor 82 is coupled to the memory 81, and the processor 82 is configured to execute the method related to implementing the above-mentioned embodiments based on the instructions stored in the memory.

As shown in fig. 8, the controller further includes a communication interface 83 for information interaction with other devices. The controller also includes a bus 84, and the processor 82, the communication interface 83, and the memory 81 communicate with each other via the bus 84.

The memory 81 may include a high-speed RAM memory, and may further include a non-volatile memory (e.g., at least one disk memory). The memory 81 may also be a memory array. The storage 81 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules.

Further, the processor 82 may be a central processing unit CPU, or may be an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement embodiments of the present disclosure.

In some embodiments of the present disclosure, the controller may be implemented as a single chip microcomputer.

Based on the controller that this disclosure provided in the above-mentioned embodiment, can realize that the logistics equipment such as conveying robot's a plurality of box door open the door, the automatic control of closing the door. The embodiment of the disclosure has multiple protection mechanisms, and user experience can be improved.

According to the embodiment of the disclosure, a user does not need to contact the robot, the express box door on the robot can be triggered to be automatically opened and closed, and therefore the epidemic propagation risk in a closed park caused by the contact of the robot when the user opens and closes the box door is reduced.

Fig. 9 is a schematic diagram of some embodiments of the open/close door control device of the logistics equipment of the disclosure. As shown in fig. 9, the controller of the present disclosure may include an instruction receiving module 40 and a controller 10, wherein:

the instruction receiving module 40 is configured to receive a door opening instruction input by a user, where the door opening instruction is a door opening instruction corresponding to a target box body, the logistics equipment includes a logistics equipment box body, the target box body is one sub-box body in the logistics equipment box body, the logistics equipment box body includes at least one sub-box body, and each sub-box body is provided with an independent box body door; and receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to the target box body.

In some embodiments of the present disclosure, instruction receiving module 40 may be a voice instruction receiving module.

The instruction receiving module 40 may be configured to receive a door opening instruction or a door closing instruction in a form of voice input by a user.

The above-mentioned embodiment of this disclosure can be through receiving voice command, can not contact the robot box, has reached epidemic prevention effect. The above-mentioned embodiment of this disclosure has reduced because of when user switch box door, the epidemic situation in the closed garden that contact robot caused spreads the risk.

In other embodiments of the present disclosure, the instruction receiving module may be a wireless communication module.

And the instruction receiving module 40 is configured to receive a door opening instruction or a door closing instruction sent by a user through a user terminal.

The embodiment of the disclosure can communicate with the goods receiver user terminal in a wireless communication mode, and can not contact the robot box body, thereby achieving the epidemic prevention effect. The above-mentioned embodiment of this disclosure has reduced because of when user switch box door, the epidemic situation in the closed garden that contact robot caused spreads the risk.

and the cellular communication module is used for sending the estimated arrival time of the logistics equipment and starting a reminding message in a short-distance wireless communication mode to the receiver user terminal through a cellular network.

The embodiment of the disclosure can inform the arrival time in advance through cellular networks such as 4G and the like, so that the goods can be conveniently taken on time; the embodiment of the disclosure can notify that the goods arrive by using near field wireless communication modes such as Bluetooth and the like, so that a user can more timely and accurately realize goods taking without contacting with the conveying robot.

The embodiment of the disclosure can facilitate the communication between the logistics equipment and the user through the near field wireless communication mode through pre-authorization, and the embodiment of the disclosure adopts the near field wireless communication, so that the cost is lower and the communication quality is better compared with a cellular network.

A controller 10 for controlling the opening of a cabinet door (e.g., a folding door) of the target cabinet in a case where the instruction receiving module receives the door opening instruction; and under the condition that the instruction receiving module receives the door closing instruction, controlling the door of the target box body to be closed.

In some embodiments of the present disclosure, the controller 10 may be implemented as the controller described in any of the embodiments above (e.g., the embodiment of fig. 8).

The related art needs the user to manually close the door, and the door can be closed according to the user instruction, so that the technical problem that the door is not closed is solved. The embodiment of the utility model adopts the folding door, the occupied space is small in the door opening process, and people can be prevented from being injured by collision.

Fig. 10 is a schematic view of other embodiments of the door opening and closing control device of the logistics equipment. As shown in fig. 10, the logistics apparatus door opening and closing control device further comprises at least one door control module 20, wherein:

each gate control module 20 is used for controlling a box body gate of a corresponding sub-box body in the box body of the logistics equipment.

The controller 10 is configured to issue a first control command to the gate control module when the instruction receiving module receives the door opening instruction; and under the condition that the instruction receiving module receives the door closing instruction, issuing a second control instruction to the door control module.

The door control module 20 is used for controlling the folding door of the target box body to be opened according to a first control command of the controller; and controlling the folding door of the target box body to be closed according to a second control command of the controller.

The above embodiments of the present disclosure can realize one-time delivery of a plurality of items. And each independent sub-box body controls the corresponding box body door through an independent door control module, so that the control accuracy is improved, and the user experience is improved.

In some embodiments of the present disclosure, the controller 10 may be further configured to issue a second control command to the door control module after the instruction receiving module receives the predetermined extraction time period of the door opening instruction. And the door control module 20 is used for controlling the folding door of the target box body to be closed according to the second control command of the controller.

The technical problem that a user forgets to close the door is solved by the embodiment of the disclosure, and the door can be automatically closed after the door is opened for a preset time period.

In some embodiments of the present disclosure, as shown in fig. 9, the logistics apparatus opening and closing door control apparatus may further include a distance measuring sensor 50 provided to each sub-box, wherein:

the controller 10 may be further configured to issue a second control command to the door control module after the distance measuring sensor detects that the article corresponding to the sub-box is taken out for a predetermined time.

In some embodiments of the present disclosure, the predetermined time may be 3 s.

And the door control module 20 is used for controlling the folding door of the target box body to be closed according to the second control command of the controller.

According to the embodiment of the disclosure, when the distance measuring sensor detects that the article is taken out, the door is automatically closed 3s after the article is taken out, so that the situation that the user forgets to close the door can be avoided.

In some embodiments of the present disclosure, the bin door is a folding door.

In some embodiments of the present disclosure, as shown in fig. 10, the gating module 20 may include a motor 21, wherein:

the motor 21 is used for rotating along a first direction according to a first control command of the controller to drive the folding door of the target box body to open; and according to a second control command of the controller, rotating along a second direction to drive the folding door of the target box body to close, wherein the second direction is opposite to the first direction.

In some embodiments of the present disclosure, as shown in fig. 10, the gating module 20 may include a micro switch 22, wherein:

and a micro switch 22 provided at an end of the folding door guide rail of the target box body, for being triggered in case that the folding door of the target box body is completely closed.

The controller 10 is used for detecting whether a microswitch at the tail end of a folding door guide rail of the target box body is triggered or not in the process of closing the folding door of the target box body; when the micro switch is triggered, the control motor 21 stops rotating, and the folding door stops the current action.

In some embodiments of the present disclosure, the controller 20 may be configured to detect whether the motor current is greater than a predetermined value during the opening process or the closing process of the folding door of the target box; and if the detected motor current is larger than the preset value, controlling the motor to stop rotating.

The above-mentioned embodiment of this disclosure can carry out overload protection, can monitor the door and open or close the trouble condition such as card owner of process, prevent that the trouble condition from causing the injury to logistics equipment or user.

In some embodiments of the present disclosure, as shown in fig. 10, the logistics apparatus door opening and closing control apparatus can further include a plurality of lighting lamp circuits 30, wherein:

each lamp circuit 30 includes a lamp.

Each illuminating lamp is used for illuminating a corresponding sub-box body in the logistics equipment box body under the condition of being turned on.

And the controller 10 is used for sending a starting command to the illuminating lamp after receiving the preset door opening time period of the door opening command.

In some embodiments of the present disclosure, each light circuit may further comprise a light switch, wherein:

each illuminating lamp is arranged in a corresponding sub-box body in the logistics equipment box body.

The present disclosure can illuminate after the door is opened, thereby preventing the user from missing the article.

Fig. 11 is a schematic diagram of some further embodiments of the open/close door control device of the logistics apparatus of the disclosure. As shown in fig. 11, this disclosed logistics equipment switch door controlling means can include modules such as touch display screen 11, tall and erect mainboard 12 of ann, singlechip 13, gate module 20 and light circuit, wherein:

the functions of the controller described in any of the above embodiments (for example, the embodiments in fig. 8, 9, or 10) of the present disclosure may be completed by the android motherboard 12 and the single chip microcomputer 13 together.

The android main board 12 is configured to receive a door opening instruction input by a user, where the door opening instruction is a door opening instruction corresponding to a target box body, the logistics equipment includes a logistics equipment box body, the logistics equipment box body includes a plurality of independent sub-box bodies, and each sub-box body is provided with an independent box body door (e.g., a folding door); receiving a door closing instruction input by a user, wherein the door closing instruction is a door closing instruction corresponding to a target box body.

In some embodiments of the present disclosure, the android motherboard 12 may be implemented as the instruction receiving module 40 in the embodiment of fig. 9 or connected with the instruction receiving module 40 in the embodiment of fig. 9.

The single chip microcomputer 13 is used for controlling the box body door of the target box body to be opened under the condition of receiving the door opening instruction; and under the condition of receiving the door closing instruction, closing the door of the box body of the control target box body.

In the above embodiments of the present disclosure (for example, the embodiment shown in fig. 1 or fig. 2), each sub-box corresponds to one gate control module 20 and one lighting lamp circuit.

For example: the embodiment of fig. 1 or fig. 2 has four sub-boxes, 4-way gate control modules 20 are required, and since the 4-way gate control modules 20 are all symmetrical circuits, only the 1-way gate control module 20 is shown in fig. 11, which is omitted.

In some embodiments of the present disclosure, as shown in fig. 11, four illumination lamps (illumination lamps 1 to 4) have four sub-cases (sub-case 1 to sub-case 4) corresponding to the embodiments of fig. 1 or 2, respectively.

In some embodiments of the present disclosure, as shown in fig. 11, the single chip 13 is configured to control on and off of the illumination lamps 1 to 4 by controlling on and off of four NMOS (Negative channel-Metal-Oxide-Semiconductor), that is, on and off of the NMOS6 to the NMOS9, where the illumination lamp 1 and the NMOS6 form a first illumination lamp circuit, the illumination lamp 2 and the NMOS7 form a second illumination lamp circuit, the illumination lamp 3 and the NMOS8 form a second illumination lamp circuit, and the illumination lamp 4 and the NMOS9 form a second illumination lamp circuit.

In some embodiments of the present disclosure, as shown in fig. 11, the logistics apparatus switch door control apparatus of the present disclosure may include a motor power supply 14 and a battery 15, wherein:

the power supply provided by the battery 15 is stabilized to 12V after passing through the voltage reduction circuit.

In some embodiments of the present disclosure, the single chip microcomputer 13 may control the NMO1 to turn on or off the PMOS1, where the PMOS is a positive channel Metal Oxide Semiconductor (P-type Metal Oxide Semiconductor). When the PMOS1 is turned on, the touch display screen 11 is powered on. When the PMOS1 is turned off, the touch display screen 11 is in power-down standby. The user can interact with the logistics apparatus (e.g., a transfer robot) by touching the display screen 11.

In other embodiments of the present disclosure, the user may also interact with the logistics apparatus (e.g., the transfer robot) through the user terminal by using a wireless communication method or by using a voice recognition method.

According to the embodiment of the disclosure, the automatic opening and closing of the express box door on the robot can be triggered without the user contacting the robot, so that the epidemic propagation risk in the closed park caused by the contact robot is reduced when the user opens and closes the box door.

In some embodiments of the present disclosure, the battery power supply is stabilized to 12V after passing through the voltage reduction circuit, and the android motherboard 12 communicates with the single chip microcomputer 13 through RS232 (one of the serial communication interface standards).

In some embodiments of the present disclosure, for a transportation device (e.g., a transportation robot), the single chip microcomputer may also communicate with a bottom control board (a control module of a motion chassis) through a CAN (Controller Area Network), wherein the bottom control board is controlled by a motion of a servo motor and a sensor for connecting obstacle avoidance and safety control such as an ultrasonic radar and a safety edge of the transportation device (e.g., the transportation robot).

In some embodiments of the present disclosure, as shown in fig. 11, the gate control module 20 may include a motor 21, a reducer 23, a microswitch 22, a first drive circuit, a second drive circuit, a first trigger circuit, and a second trigger circuit, wherein:

in some embodiments of the present disclosure, as shown in fig. 11, the first driving circuit includes a first switch NMOS2 and a second switch NMOS3, a first end of the first switch NMOS2 is connected to the power supply of the motor, a first end of the second switch NMOS3 is connected to the ground, and a second end of the first switch NMOS2 and a second end of the second switch NMOS3 are connected to the first end of the motor 21.

In some embodiments of the present disclosure, as shown in fig. 11, the second driving circuit includes a third switching transistor NMOS4 and a fourth switching transistor NMOS5, a first end of the third switching transistor NMOS4 is connected to the power supply of the motor, a first end of the fourth switching transistor NMOS5 is connected to ground, and a second end of the third switching transistor NMOS4 and a second end of the fourth switching transistor NMOS5 are connected to the second end of the motor 21.

In some embodiments of the present disclosure, as shown in fig. 11, one end of the first trigger circuit is connected to the controller, and the other end of the first trigger circuit is connected to the control ends of the first switch NMOS2 and the second switch NMOS 3.

In some embodiments of the present disclosure, as shown in fig. 11, one end of the second trigger circuit is connected to the controller, and the other end of the second trigger circuit is connected to the control ends of the third switch NMOS4 and the fourth switch NMOS 5.

In some embodiments of the present disclosure, as shown in fig. 11, each of the first and second flip-flop circuits is composed of a logic control circuit and a gate driver circuit.

In some embodiments of the present disclosure, the first trigger circuit may be configured to control the first switch NMOS2 and the fourth switch NMOS5 to be turned on, and the second switch NMOS3 and the third switch NMOS4 to be turned off according to a first control command of the controller, so that the motor rotates in the first direction to drive the folding door of the target box to be opened.

In some embodiments of the present disclosure, the second trigger circuit is configured to control the first switching transistor NMOS2 and the fourth switching transistor NMOS5 to be turned off and the second switching transistor NMOS3 and the third switching transistor NMOS4 to be turned on according to a first control command of the controller, so that the motor rotates in the second direction to drive the folding door of the target box to be closed.

When a user needs to open the box body module, an instruction is issued through the display screen 11 or a wireless communication or voice control lamp mode. After receiving the instruction, the android main board 12 sends the instruction to the single chip microcomputer 13 through the RS232, the single chip microcomputer 13 receives the instruction and then controls the NMOS2 and the NMOS5 to be switched on, the NMOS3 and the NMOS4 are switched off, the motor 21 rotates forwards and drives the folding door to be opened through the speed reducer 23, a time delay period (a time delay preset door opening time period) is set, after the door is opened, the motor stops rotating, and meanwhile the single chip microcomputer 13 controls the corresponding box body NMOS to open the illuminating lamp.

In some embodiments of the present disclosure, as shown in fig. 11, the motor current flows through the resistor R3, and the voltage of R3 is input to the single chip microcomputer through the operational amplifier and the analog-to-digital converter. When the motor is in overcurrent, the voltage of R3 rises, and after the single chip microcomputer reads a numerical value, the NMOS2, the NMOS3, the NMOS4 and the NMOS5 are turned off, and the motor stops rotating.

In the above embodiment of the disclosure, when the door is opened, the motor rotates the folding door to gradually open, if the door is blocked, the motor may stall, the motor current may increase, and the single chip microcomputer monitors that the motor current increases and overloads, may report an error state, and stops driving the motor.

In the above embodiment of the disclosure, in the process of opening or closing the folding door, if the door is blocked, the motor may stall, the motor current may increase, and the single chip microcomputer monitors that the motor current increases and overloads, may report an error state, and stops driving the motor.

In some embodiments of the present disclosure, as shown in fig. 11, after the user triggers the door closing instruction, the android motherboard 12 receives the instruction and sends the instruction to the single chip microcomputer 13 through RS232, and the single chip microcomputer 13 receives the instruction and then controls the NMOS3 and the NMOS4 to be turned on, the NMOS2 and the NMOS5 to be turned off, the motor 21 rotates in the reverse direction, and the reduction gear 23 drives the folding door to be closed.

In some embodiments of the present disclosure, as shown in fig. 11, after the android motherboard 12 receives the predetermined extraction time period of the door opening instruction, the instruction is sent to the single chip microcomputer 13 through the RS232, and after the single chip microcomputer 13 receives the instruction, the NMOS3 and the NMOS4 are controlled to be turned on, the NMOS2 and the NMOS5 are turned off, the motor 21 rotates in the reverse direction, and the reduction gear 23 drives the folding door to close. Therefore, the technical problem that some users forget to close the door after taking the express delivery can be solved, and the folding door of the target box body is controlled to be closed after the preset extraction time period of the door opening instruction is received.

In some embodiments of the present disclosure, as shown in fig. 11, when the folding door triggers the end of the guide rail, the transistor is turned on after the micro switch, the voltage point V1 is changed to low level, and the single chip 13 detects that the folding door is completely closed, and stops the rotating motor 21. Meanwhile, the single chip microcomputer 13 controls the corresponding box NMOS to turn off the illuminating lamp.

Based on the logistics equipment opening and closing door control device provided by the above embodiment of the disclosure, automatic control of opening and closing of a plurality of box doors of logistics equipment such as a conveying robot can be realized. The embodiment of the disclosure has multiple protection mechanisms, and user experience can be improved.

According to another aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, which when executed by a processor, implement the method according to any one of the embodiments (e.g., the fig. 6 or fig. 7 embodiment) above.

The controllers described above may be implemented as a general purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof, for performing the functions described herein.

Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the steps.

The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. A logistics equipment box body is characterized by comprising a logistics equipment switch door control device and at least one sub-box body, wherein:

each subbox body is provided with an independent box body door;

2. The logistics equipment box of claim 1, wherein the logistics equipment door opening and closing control device comprises an instruction receiving module, a controller and at least one door control module, wherein:

3. The logistics apparatus box of claim 2,

and the controller is also used for issuing a second control command to the door control module after the command receiving module receives the preset extraction time period of the door opening command.

4. The logistics apparatus box of claim 2, further comprising a distance measuring sensor provided to each sub-box, wherein:

5. The logistics apparatus box of any one of claims 1 to 4, wherein:

the instruction receiving module is a wireless communication module;

6. The logistics apparatus box of claim 5, wherein the wireless communication module comprises a cellular communication module and a short-range wireless communication module, wherein:

7. The logistics apparatus box of claim 6,

the cellular communication module is also used for sending a short-distance wireless communication address reading request to the receiver user terminal through a cellular network under the condition that the receiver is a new user and requesting the receiver user terminal to start a short-distance wireless communication function; and after the user starts the short-distance wireless communication function and authorizes the short-distance wireless communication function, reading the short-distance wireless communication address of the receiver user terminal.

8. The logistics apparatus box of any one of claims 2 to 4, wherein the box door is a folding door and the door control module comprises a motor, wherein:

9. The logistics apparatus box of claim 8, wherein the gate control module further comprises a first drive circuit, a second drive circuit, a first trigger circuit and a second trigger circuit, wherein:

10. The logistics apparatus box of claim 9,

the first trigger circuit is used for controlling the first switching tube and the fourth switching tube to be switched on and the second switching tube and the third switching tube to be switched off according to a first control command of the controller, so that the motor rotates along a first direction to drive the folding door of the target box body to be opened;

and the second trigger circuit is used for controlling the first switching tube and the fourth switching tube to be switched off and the second switching tube and the third switching tube to be switched on according to a first control command of the controller, so that the motor rotates along the second direction to drive the folding door of the target box body to be closed.

11. The logistics apparatus box of claim 8,

the controller is used for detecting whether the current of the motor is greater than a preset value in the opening process or the closing process of the folding door of the target box body; and if the detected motor current is larger than the preset value, controlling the motor to stop rotating.

12. The logistics apparatus box of claim 8, wherein the door control module further comprises:

13. The logistics apparatus box of any one of claims 1 to 4, further comprising at least one lighting lamp circuit, wherein:

each lamp circuit comprises a lamp;

14. A logistics apparatus comprising a moving chassis and a logistics apparatus box of any of claims 1 to 13 wherein the logistics apparatus box is disposed on the moving chassis.

15. The logistics apparatus of claim 14 wherein the logistics apparatus is a transportation apparatus.

16. A logistics apparatus door opening and closing control system, comprising a user terminal and a logistics apparatus box body as claimed in any one of claims 1 to 13, wherein: