WO2023159891A1 - 物流设备及其开关门控制系统、物流设备箱体 - Google Patents

物流设备及其开关门控制系统、物流设备箱体 Download PDF

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Publication number
WO2023159891A1
WO2023159891A1 PCT/CN2022/112659 CN2022112659W WO2023159891A1 WO 2023159891 A1 WO2023159891 A1 WO 2023159891A1 CN 2022112659 W CN2022112659 W CN 2022112659W WO 2023159891 A1 WO2023159891 A1 WO 2023159891A1
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WO
WIPO (PCT)
Prior art keywords
door
box
logistics equipment
control
closing
Prior art date
Application number
PCT/CN2022/112659
Other languages
English (en)
French (fr)
Inventor
许哲涛
王辉
Original Assignee
北京京东乾石科技有限公司
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Publication of WO2023159891A1 publication Critical patent/WO2023159891A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/605—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for folding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source

Definitions

  • the present disclosure relates to the field of logistics, and in particular to a logistics equipment, its door opening and closing control system, and a logistics equipment box.
  • Indoor distribution robots are mainly used in multi-floor indoor scenes such as hotels and office buildings, and can realize cross-floor cargo transportation.
  • related technology robots operate in a closed factory area, and multiple users touch the robot during the process of opening and closing doors, which increases the risk of cross-infection of the new crown contact.
  • a method for controlling the opening and closing of logistics equipment doors including:
  • the logistics equipment includes a plurality of sub-boxes, and each sub-box is provided with an independent box door;
  • the door-closing instruction is a door-closing instruction corresponding to the target box
  • the cabinet door of the target cabinet is controlled to be closed.
  • the method also includes:
  • the box door is a folding door
  • the opening of the box door of the control target box includes:
  • the closing of the folding door of the control target box includes:
  • the motor is controlled to rotate in a second direction to drive the folding door of the target box to close, wherein the second direction is opposite to the first direction.
  • the method also includes:
  • the motor is controlled to stop rotating.
  • the method also includes:
  • the motor is controlled to stop rotating.
  • the method also includes:
  • the folding door of the target box is controlled to be closed.
  • the method also includes:
  • a controller comprising:
  • the door-opening instruction receiving module is used to receive the door-opening instruction input by the user, wherein the door-opening instruction is a door-opening instruction corresponding to the target box, and the logistics equipment includes a plurality of sub-boxes, and each sub-box is provided with an independent box door;
  • a door-closing instruction receiving module configured to receive a door-closing instruction input by a user, wherein the door-opening instruction is a door-closing instruction corresponding to the target box;
  • the cabinet door control module is configured to control the opening of the cabinet door of the target cabinet when the door opening instruction is received; and control the cabinet door of the target cabinet to close when the door closing instruction is received.
  • the controller is configured to perform operations for realizing the method described in any one of the foregoing embodiments.
  • a controller comprising:
  • a processor configured to execute the instructions, so that the controller executes operations for realizing the method described in any one of the foregoing embodiments.
  • a logistics equipment box including a logistics equipment opening and closing control device and at least one sub-box, wherein:
  • Each sub-cabinet is provided with an independent cabinet door
  • the logistics equipment door opening and closing control device is used to receive the door opening instruction input by the user, wherein the door opening instruction is a door opening instruction corresponding to the target box, and the target box is a sub-box of the logistics equipment box; In the case of the door opening instruction, control the opening of the cabinet door of the target cabinet; receive a door closing instruction input by the user, wherein the door closing instruction is a door closing instruction corresponding to the target cabinet; in the case of receiving the door closing instruction , to control the closing of the cabinet door of the target cabinet.
  • the logistics equipment door switch control device includes an instruction receiving module, a controller and at least one door control module, wherein:
  • Each door control module is used to control a box door corresponding to a sub-box in the logistics equipment box;
  • the instruction receiving module is used to receive the door opening instruction input by the user; and receive the door closing instruction input by the user;
  • the controller is configured to issue a first control command to the door control module when the instruction receiving module receives the door opening instruction; and issue a first control command to the door control module when the instruction receiving module receives the door closing instruction. second control order;
  • the door control module is used to control the opening of the cabinet door of the target cabinet according to the first control command of the controller; and control the closing of the cabinet door of the target cabinet according to the second control command of the controller.
  • the controller is further configured to issue a second control command to the door control module after the instruction receiving module receives a predetermined extraction time period of the door opening instruction.
  • the logistics equipment door opening and closing control device further includes a distance measuring sensor disposed on each sub-box, wherein:
  • the controller is further configured to issue a second control command to the door control module after the distance measuring sensor detects that the item corresponding to the sub-cabinet is taken out within a predetermined time.
  • the instruction receiving module is a wireless communication module
  • the instruction receiving module is used to receive the door opening instruction or the door closing instruction sent by the user through the user terminal.
  • the wireless communication module includes a cellular communication module and a short-range wireless communication module, wherein:
  • the cellular communication module is used to send the estimated arrival time of the logistics equipment to the consignee user terminal through the cellular network and to open the reminder message for maintaining the short-distance wireless communication mode;
  • the short-range wireless communication module is used to search for the short-range wireless communication address of the consignee's user terminal after arriving at the delivery destination, and push the message that the courier has arrived and the door-opening request message to the consignee's user terminal; the receiving user sends the message through the user terminal door open command.
  • the cellular communication module is also used to send a short-range wireless communication address reading request to the consignee user terminal through the cellular network when the consignee is a new user, and request the consignee
  • the user terminal turns on the short-range wireless communication function; after the user turns on the short-range wireless communication function and authorizes it, reads the short-range wireless communication address of the consignee's user terminal.
  • the box door is a folding door
  • the door control module includes a motor, wherein:
  • the motor is used to rotate in the first direction according to the first control command of the controller to drive the folding door of the target box to open; to rotate in the second direction according to the second control command of the controller to drive the folding door of the target box Closed, wherein the second direction is opposite to the first direction.
  • the gating module further includes a first drive circuit, a second drive circuit, a first trigger circuit, and a second trigger circuit, wherein:
  • the first drive circuit includes a first switch tube and a second switch tube, the first end of the first switch tube is connected to the motor power supply, the first end of the second switch tube is connected to the ground, the second end of the first switch tube is connected to the second After the second end of the switch tube is connected, it is connected with the first end of the motor;
  • the second drive circuit includes a third switching tube and a fourth switching tube, the first end of the third switching tube is connected to the motor power supply, the first end of the fourth switching tube is connected to the ground, the second end of the third switching tube is connected to the fourth After the second end of the switch tube is connected, it is connected with the second end of the motor;
  • 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 terminals of the first switch tube and the second switch tube;
  • 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 terminals of the third switch tube and the fourth switch tube.
  • the first trigger circuit is configured to control the first switch tube and the fourth switch tube to be turned on and the second switch tube and the third switch tube to be turned off according to the first control command of the controller, so that The motor rotates along the first direction, driving the folding door of the target box to open.
  • the second trigger circuit is configured to control the first switch tube and the fourth switch tube to be turned off, and the second switch tube and the third switch tube to be turned on according to the first control command of the controller, so that The motor rotates along the second direction, driving the folding door of the target box body to close.
  • the controller is used to detect whether the motor current is greater than a predetermined value during the opening or closing process of the folding door of the target box; if it is detected that the motor current is greater than the predetermined value, then control the motor to stop rotating .
  • the gating module also includes:
  • the micro switch is set at the end of the guide rail of the folding door of the target box, and is used to be triggered when the folding door of the target box is completely closed;
  • the controller is used to control the motor to stop rotating when the micro switch is detected to be triggered.
  • the logistics equipment door opening and closing control device further includes a lighting circuit, wherein:
  • Each light circuit includes a light
  • Each lighting lamp is used to illuminate a corresponding sub-box in the logistics equipment box when it is turned on;
  • the controller is configured to send an opening command to the lighting lamp after receiving the predetermined door opening time period of the door opening instruction
  • the illuminating lamp is used to turn on to illuminate the corresponding target cabinet according to the turn-on command of the controller.
  • each light circuit further includes a light switch, wherein:
  • Each lighting lamp is set in a corresponding sub-box in the logistics equipment box
  • the controller is configured to, after receiving the door opening instruction and a predetermined door opening time period, control the light switch to close, so that the light is turned on to illuminate the corresponding target box.
  • a logistics equipment including a moving chassis and a logistics equipment box according to any one of the above embodiments, wherein the logistics equipment box is arranged on the moving chassis.
  • the logistics equipment is a delivery equipment.
  • a logistics equipment opening and closing control system including a user terminal and a logistics equipment box as described in any of the above embodiments, wherein:
  • the user terminal is used to send the door opening instruction or door closing instruction input by the user to the logistics equipment box through wireless communication.
  • Figure 1 is a schematic diagram of some embodiments of the logistics equipment of the present disclosure.
  • Fig. 2 is a schematic diagram of some embodiments of logistics equipment boxes of the present disclosure.
  • Fig. 3 is a schematic diagram of some embodiments of the box door of the logistics equipment box of the present disclosure.
  • Fig. 4 is a schematic diagram of other embodiments of logistics equipment boxes of the present disclosure. .
  • Fig. 5 is a schematic diagram of some embodiments of a control system for opening and closing a logistics equipment door of the present disclosure.
  • Fig. 6 is a schematic diagram of some embodiments of the method for controlling the opening and closing of logistics equipment doors in the present disclosure.
  • Fig. 7 is a schematic diagram of other embodiments of the control method for opening and closing the logistics equipment door of the present disclosure.
  • Fig. 8 is a schematic structural diagram of some embodiments of the controller of the present disclosure.
  • Fig. 9 is a schematic diagram of some embodiments of a control device for opening and closing a logistics equipment door of the present disclosure.
  • Fig. 10 is a schematic diagram of other embodiments of the control device for opening and closing the logistics equipment of the present disclosure.
  • Fig. 11 is a schematic diagram of some other embodiments of the control device for opening and closing the logistics equipment of the present disclosure.
  • the related art robot needs to have the ability to control the automatic opening and closing of the door when loading goods.
  • the delivery robot needs to manually close the door after loading the goods. When the goods arrive, the user needs to manually enter the verification code to open the door when the user picks up the goods. After taking out the goods, the door needs to be manually closed again.
  • the robot operates in a closed factory area, and multiple users touch the robot during the process of opening and closing the door, which increases the risk of cross-infection of the new crown.
  • the present disclosure provides a logistics equipment, its door opening and closing control system, and a logistics equipment box, which can realize automatic control of opening and closing doors of multiple box doors of logistics equipment such as delivery robots.
  • FIG. 1 is a schematic diagram of some embodiments of the logistics equipment of the present disclosure.
  • the logistics equipment of the present disclosure may include a moving chassis 100 and a logistics equipment box 200 according to any of the above-mentioned embodiments, wherein the logistics equipment box 200 is arranged on the moving chassis 100 .
  • the logistics equipment may be a delivery equipment, such as a delivery robot.
  • the logistics equipment box 200 may be a delivery robot box or an express cabinet.
  • the sports chassis 100 can be combined, disassembled and loaded with various logistics equipment boxes 200 .
  • the moving chassis 100 is used to receive the delivery task information issued by the dispatching center; move to the starting point of the delivery task, and dock with the corresponding robot box 200; Deliver to the end of the delivery mission.
  • the logistics equipment of the present disclosure can be implemented as an indoor delivery robot.
  • the multi-purpose indoor delivery robot can replace manual delivery of various materials and consumables.
  • the multi-purpose indoor delivery robot of the present disclosure can be applied to many types of indoor places such as hospitals, nursing homes, office buildings, hotels, etc., and supports various scenarios such as meals, clothes, medical supplies, and express delivery, thereby reducing employment costs, optimizing delivery efficiency, and improving delivery efficiency. delivery experience.
  • the logistics equipment box 200 may include at least one independent sub-box.
  • the logistics equipment box 200 may include four independent sub-boxes.
  • Fig. 2 is a schematic diagram of some embodiments of logistics equipment boxes of the present disclosure.
  • the logistics equipment box of the present disclosure may include multiple sub-boxes, such as sub-box 1 , sub-box 2 , sub-box 3 and sub-box 4 in FIG. 2 .
  • multiple sub-boxes of the logistics equipment box of the present disclosure can deliver multiple items to different harvesters at one time, thereby improving delivery efficiency.
  • the logistics equipment box in the embodiment of FIG. 2 may be a delivery robot box or an express cabinet.
  • each sub-cabinet has an independent cabinet door, and each cabinet door can be controlled independently to realize automatic opening and closing.
  • the box door may be a sliding door, a swing door or a folding door.
  • the box door may be a folding door.
  • each sub-box can be provided with an independent folding door.
  • Fig. 3 is a schematic diagram of some embodiments of the box door of the logistics equipment box of the present disclosure.
  • the folding door shown in FIG. 3 is an independent folding door provided for each sub-box of the logistics equipment box of the present disclosure (for example, the logistics equipment box of the embodiment shown in FIG. 1 or FIG. 2 ).
  • the box door of each sub-box can include a folding door, a guide rail and a micro switch arranged at the end of the guide rail for detecting whether the folding door is completely closed.
  • Figure 3 also shows the opening and closing directions of the folding door in an embodiment.
  • the box door is in a folding form, controlled by a motor and a reducer, and slides on guide rails.
  • a micro switch at the end of the guide rail, and the folding door triggers the micro switch to indicate that the door is closed.
  • the motor rotates the folding door in the forward direction to open, and the motor rotates in the reverse direction to close the folding door.
  • the present disclosure can realize the automatic control of opening and closing of multiple box doors of logistics equipment such as transport robots, and can improve user experience.
  • the folding door of the above embodiments of the present disclosure can realize automatic opening and closing of the door.
  • the automatic pop-up door of the related technology needs to be manually closed after taking out the goods, which will increase the risk of contact and transmission of the epidemic. Therefore, the above embodiments of the present disclosure can avoid the risk of cross-infection caused by the user manually closing the door.
  • Fig. 4 is a schematic diagram of other embodiments of logistics equipment boxes of the present disclosure.
  • the logistics equipment box of the present disclosure may include a logistics equipment opening and closing door control device 210 and a plurality of box doors 220, wherein:
  • Each box door 220 is a box door corresponding to each sub-box.
  • the logistics equipment door opening and closing control device 210 is configured to receive a door opening instruction input by a user, wherein the door opening instruction is a door opening instruction corresponding to a target box, the logistics equipment includes a logistics equipment box, and the target box is a logistics equipment box One of the sub-boxes, the logistics equipment box includes at least one sub-box, and each sub-box is provided with an independent box door 220; when the door opening instruction is received, the box door of the target box is controlled to open and receiving a door-closing instruction input by the user, wherein the door-closing instruction is a door-closing instruction corresponding to the target box; when the door-closing instruction is received, control the box door of the target box to close.
  • the box door 220 may be a folding door as shown in FIG. 3 .
  • Fig. 5 is a schematic diagram of some embodiments of a control system for opening and closing a logistics equipment door of the present disclosure.
  • the logistics equipment opening and closing control system of the present disclosure may include a logistics equipment box 200 and a user terminal 300, wherein:
  • the user terminal 300 is used to send the door opening instruction or door closing instruction input by the user to the logistics equipment box 200 (specifically, to the logistics equipment opening and closing control device 210 ) through wireless communication.
  • the wireless communication method may be a cellular wireless communication method and a short-range wireless communication method.
  • the cellular wireless communication mode may be public wireless communication networks such as 4G and 5G.
  • the short-distance wireless communication method may be Bluetooth, WIFI, Zigbee (Zigbee) and other wireless communication methods.
  • the above-mentioned embodiments of the present disclosure are aimed at solving the problem of automatic door opening and closing of the delivery robot.
  • the door of the express delivery box on the robot can be triggered to open and close automatically without the user touching the robot. Therefore, the above-mentioned embodiments of the present disclosure It reduces the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the cabinet door.
  • Fig. 6 is a schematic diagram of some embodiments of the method for controlling the opening and closing of logistics equipment doors in the present disclosure.
  • this embodiment can be implemented by the door opening and closing control device of the logistics equipment of the present disclosure or the controller of the present disclosure.
  • the method may include at least one step in step 61-step 64, wherein:
  • Step 61 Receive a door opening command input by a user, wherein the door opening command is a door opening command corresponding to a target box, and the logistics equipment includes a plurality of sub-boxes, and each sub-box is provided with an independent box door.
  • step 61 may include: receiving a door opening instruction input by a user through an input device such as a touch display screen or a keyboard.
  • Step 62 Control the opening of the cabinet door of the target cabinet when the door opening instruction is received.
  • the box door may be a folding door.
  • the step of controlling the opening of the box door of the target box may include: controlling the motor to rotate in the first direction to drive the target box Body folding doors open.
  • the method may further include: after the folding door of the target box is opened, controlling the lighting lamp corresponding to the target box to turn on.
  • the present disclosure can perform lighting after the door is opened, thereby preventing users from missing items.
  • the method may further include: after receiving the door opening instruction for a predetermined door opening time period, controlling the lighting lamp corresponding to the target box to turn on.
  • the predetermined door opening time period may be 10 seconds to 60 seconds.
  • Step 63 Receive a door-closing instruction input by the user, wherein the door-closing instruction is a door-closing instruction corresponding to the target box.
  • step 63 may include: receiving a door closing instruction input by a user through an input device such as a touch display screen or a keyboard.
  • step 61 or step 63 may include: receiving a door opening instruction or a door closing instruction in voice form input by the user through the voice receiving and recognition module.
  • step 61 or step 63 may include: communicating with the consignee's user terminal through at least one of cellular communication and short-range wireless communication, and receiving the door opening message sent by the user through the user terminal. command or close command.
  • step 61 or step 63 may include: sending a reminder message of the estimated time of arrival of the logistics equipment to the user terminal of the consignee through the cellular network and opening the short-distance wireless communication mode; when the delivery robot arrives at the delivery destination Finally, use short-range wireless communication to search for the short-range wireless communication address of the consignee's user terminal, push the message that the courier has arrived and open the door to the consignee user terminal; receive the message sent by the user through the user terminal using short-range wireless communication Open the door command.
  • step 61 or step 63 may also include: when 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 recipient
  • the consignor's user terminal turns on the short-range wireless communication function; after the user turns on the short-range wireless communication function and authorizes it, reads the short-range wireless communication address of the consignee's user terminal.
  • Step 64 Control the folding door of the target cabinet to close when the door closing instruction is received.
  • step 64 the step of controlling the closing of the folding door of the target box may include: controlling the motor to rotate in the second direction to drive the closing of the folding door of the target box, wherein the second direction opposite to the first direction.
  • the first direction may be a forward direction, that is, a clockwise direction; the second direction may be a reverse direction, that is, a counterclockwise direction.
  • the automatic opening and closing of the folding door can be realized through the forward rotation or reverse rotation of the motor.
  • the method may further include: during the opening or closing process of the folding door of the target box, detecting whether the motor current is greater than a predetermined value; if it is detected that the motor current is greater than the predetermined value, controlling the motor Stop spinning.
  • the above embodiments of the present disclosure provide overload protection for faults such as jamming of the folding door during the opening or closing process, so as to avoid the harm caused by the jamming of the folding door.
  • the method may further include: during the closing process of the folding door of the target box, detecting whether the micro switch at the end of the guide rail of the folding door of the target box is triggered; if the micro switch is detected is triggered, the control motor stops rotating.
  • the door in-position detection after the door is fully closed in the above embodiments of the present disclosure can prevent the problem that the box door is not completely closed.
  • the method may further include: controlling the folding door of the target cabinet to close after a predetermined extraction time period after receiving the door opening instruction.
  • the predetermined extraction time period is greater than the predetermined door opening time period.
  • the predetermined door opening time period may be 5 minutes to 15 minutes.
  • the method may further include: controlling the folding door of the target box to close after the ranging sensor detects that the items in the corresponding box are taken out within a predetermined time.
  • the multiple protection mechanisms of the above embodiments of the present disclosure at least include: first, overload protection for faults such as jamming of the folding door during the opening or closing process, which can avoid the harm caused by the jamming of the folding door; second, after the door is completely closed
  • the door position detection can prevent the problem that the cabinet door is not completely closed; thirdly, it can be illuminated after the door is opened to prevent users from missing items.
  • Fig. 7 is a schematic diagram of other embodiments of the control method for opening and closing the logistics equipment door of the present disclosure.
  • this embodiment can be implemented by the door opening and closing control device of the logistics equipment of the present disclosure or the controller of the present disclosure.
  • the method for controlling the opening and closing of logistics equipment doors of the present disclosure may include at least one of steps 71 to 75, wherein:
  • Step 71 when the robot box is loaded with goods and performs the transportation task, it will send a request to read the Bluetooth address of the mobile phone to the consignee user terminal (such as a mobile phone terminal) through the robot's own 4G module, and request the consignee to turn on the Bluetooth device.
  • the consignee user terminal such as a mobile phone terminal
  • Step 72 According to the request of the robot, the user turns on the Bluetooth device of the mobile phone and authorizes to read the Bluetooth address of the mobile phone.
  • Step 73 the robot arrives at the delivery destination, uses its own bluetooth device to search for the bluetooth of the user's mobile phone, establishes a connection, and pushes the message that the courier has arrived and the door opening interface to the user through bluetooth.
  • Step 74 the user receives the reminder, arrives at the delivery point, and clicks the door open button on the mobile phone.
  • the mobile phone Bluetooth sends the door opening instruction to the robot Bluetooth.
  • the switch door control module controls the opening of the cabinet door.
  • Step 75 the user takes out the goods, the ranging sensor corresponding to the box detects that the goods are taken out, the single-chip microcomputer delays for 3 seconds, drives the door opening and closing motor to rotate, and closes the box door.
  • the method for controlling the opening and closing of logistics equipment doors of the present disclosure may include at least one of steps 70, 73 to 75, without performing steps 71- Step 72, wherein:
  • Step 70 for a user who has already used the robot delivery service, when delivering to this user again, there is no need to re-read the Bluetooth device of the user's mobile phone, and steps 71 and 72 are omitted.
  • steps 71 and 72 are omitted.
  • step 73-step 75 is performed.
  • the above-mentioned embodiments of the present disclosure are aimed at solving the problem of automatic door opening and closing of the delivery robot.
  • the express box door on the robot can be triggered to open and close automatically without the user touching the robot, thereby reducing the cost of delivery.
  • Fig. 8 is a schematic structural diagram of some embodiments of the controller of the present disclosure. As shown in FIG. 8 , the controller includes a memory 81 and a processor 82 .
  • the memory 81 is used to store instructions
  • the processor 82 is coupled to the memory 81, and the processor 82 is configured to implement the methods involved in the foregoing embodiments based on the instructions stored in the memory.
  • the controller also includes a communication interface 83 for information exchange with other devices. Meanwhile, the controller also includes a bus 84, and the processor 82, the communication interface 83, and the memory 81 communicate with each other through the bus 84.
  • the memory 81 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. 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.
  • 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.
  • the controller can be implemented as a single-chip microcomputer.
  • the above embodiments of the present disclosure can trigger the automatic opening and closing of the delivery box door on the robot without the user touching the robot, thereby reducing the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the box door.
  • Fig. 9 is a schematic diagram of some embodiments of a control device for opening and closing a logistics equipment door of the present disclosure.
  • the controller of the present disclosure may include an instruction receiving module 40 and a controller 10, wherein:
  • the instruction receiving module 40 is used to receive the door opening instruction input by the user, wherein the door opening instruction is a door opening instruction corresponding to the target box, the logistics equipment includes a logistics equipment box, and the target box is one of the logistics equipment boxes
  • the instruction receiving module 40 may be a voice instruction receiving module.
  • the instruction receiving module 40 may be used to receive the door opening instruction or the door closing instruction input by the user in voice form.
  • the above embodiments of the present disclosure can achieve the effect of epidemic prevention by receiving voice commands without touching the robot box.
  • the above embodiments of the present disclosure reduce the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the box door.
  • the instruction receiving module may be a wireless communication module.
  • the instruction receiving module 40 is configured to receive a door opening instruction or a door closing instruction sent by the user through the user terminal.
  • the foregoing embodiments of the present disclosure can communicate with the consignee's user terminal through wireless communication without touching the robot box, thus achieving the effect of epidemic prevention.
  • the above embodiments of the present disclosure reduce the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the box door.
  • the wireless communication module includes a cellular communication module and a short-range wireless communication module, wherein:
  • the cellular communication module is used to send the expected arrival time of the logistics equipment and the reminder message of keeping the short-distance wireless communication mode on to the consignee user terminal through the cellular network.
  • the short-range wireless communication module is used to search for the short-range wireless communication address of the consignee's user terminal after arriving at the delivery destination, and push the message that the courier has arrived and the door-opening request message to the consignee's user terminal; the receiving user sends the message through the user terminal door open command.
  • the above embodiments of the present disclosure can notify the arrival time in advance through cellular networks such as 4G, so as to facilitate on-time delivery; the above embodiments of the present disclosure can use Bluetooth and other near-field wireless communication methods to notify the arrival time, so that users can more timely and accurately realize No-touch delivery robot pickup.
  • the cellular communication module is also used to send a short-range wireless communication address reading request to the consignee user terminal through the cellular network when the consignee is a new user, and request the consignee
  • the user terminal turns on the short-range wireless communication function; after the user turns on the short-range wireless communication function and authorizes it, reads the short-range wireless communication address of the consignee's user terminal.
  • the above-mentioned embodiments of the present disclosure can facilitate communication between logistics equipment and users through near-field wireless communication through pre-authorization.
  • the above-mentioned embodiments of the present disclosure adopt near-field wireless communication, which has lower cost and better communication quality than cellular networks.
  • the controller 10 is used to control the opening of the box door (such as a folding door) of the target box when the instruction receiving module receives the door opening instruction; when the instruction receiving module receives the door closing instruction, control The chamber door of the target chamber is closed.
  • the box door such as a folding door
  • the controller 10 may be implemented as the controller described in any of the above-mentioned embodiments (such as the embodiment in FIG. 8 ).
  • the embodiment of the present disclosure adopts a folding door, which occupies a small space during the door opening process and can avoid hurting people.
  • the above embodiments of the present disclosure can trigger the automatic opening and closing of the delivery box door on the robot without the user touching the robot, thereby reducing the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the box door.
  • Fig. 10 is a schematic diagram of other embodiments of the control device for opening and closing the logistics equipment of the present disclosure.
  • the logistics equipment opening and closing control device also includes at least one door control module 20, wherein:
  • Each door control module 20 is used to control a box door corresponding to a sub-box in the logistics equipment box.
  • the controller 10 is configured to issue a first control command to the door control module when the instruction receiving module receives the door opening instruction; when the instruction receiving module receives the door closing instruction, issue a first control command to the door control module Send the second control command.
  • the door control module 20 is configured to control the opening of the folding door of the target cabinet according to the first control command of the controller; and control the closing of the folding door of the target cabinet according to the second control command of the controller.
  • Each independent sub-cabinet controls the corresponding cabinet door through a separate door control module, which improves the control accuracy and improves the user experience.
  • the controller 10 may also be configured to issue a second control command to the door control module after the command receiving module receives a predetermined extraction time period of the door opening command.
  • the door control module 20 is configured to control the closing of the folding door of the target cabinet according to the second control command of the controller.
  • the above-mentioned embodiments of the present disclosure solve the technical problem that the user forgets to close the door, and can automatically close the door after opening a predetermined period of time.
  • the logistics equipment opening and closing control device may further include a distance measuring sensor 50 disposed on each sub-box, wherein:
  • the controller 10 can also be configured to issue a second control command to the door control module after the distance measuring sensor detects that the item corresponding to the sub-box is taken out within a predetermined time.
  • the predetermined time may be 3s.
  • the door control module 20 is configured to control the closing of the folding door of the target cabinet according to the second control command of the controller.
  • the door when the distance measuring sensor detects that the item is taken out, the door is automatically closed 3 seconds after the item is taken out, thereby avoiding the situation that the user forgets to close the door.
  • the box door is a folding door.
  • the gate control module 20 may include a motor 21, wherein:
  • the motor 21 is used to rotate in the first direction according to the first control command of the controller to drive the folding door of the target box to open; to rotate in the second direction according to the second control command of the controller to drive the folding door of the target box The door is closed, wherein the second direction is opposite to the first direction.
  • the first direction may be a forward direction, that is, a clockwise direction; the second direction may be a reverse direction, that is, a counterclockwise direction.
  • the automatic opening and closing of the folding door can be realized through the forward rotation or reverse rotation of the motor.
  • the door control module 20 may include a micro switch 22, wherein:
  • the micro switch 22 is arranged at the end of the guide rail of the folding door of the target box, and is used for being triggered when the folding door of the target box is completely closed.
  • the controller 10 is used to detect whether the micro switch at the end of the guide rail of the folding door of the target box is triggered during the closing process of the folding door of the target box; when it is detected that the micro switch is triggered, the control motor 21 stops Rotate, the folding door stops the current action.
  • the door in-position detection after the door is fully closed in the above embodiments of the present disclosure can prevent the problem that the box door is not completely closed.
  • the controller 20 can be used to detect whether the motor current is greater than a predetermined value during the opening or closing process of the folding door of the target box; if it is detected that the motor current is greater than the predetermined value, then control the motor Stop spinning.
  • the above-mentioned embodiments of the present disclosure can perform overload protection, and can monitor fault conditions such as card owners during the opening or closing process of the door, and prevent the fault conditions from causing damage to logistics equipment or users.
  • the logistics equipment door opening and closing control device may also include a plurality of lighting lamp circuits 30, wherein:
  • Each lamp circuit 30 includes a lamp.
  • Each lighting lamp is used to illuminate a corresponding sub-cabinet in the logistics equipment cabinet when turned on.
  • the controller 10 is configured to send a turn-on command to the lighting lamp after a predetermined door-open time period after receiving the door-open command.
  • the illuminating lamp is used to turn on to illuminate the corresponding target cabinet according to the turn-on command of the controller.
  • each light circuit may also include a light switch, wherein:
  • Each lighting lamp is arranged in a corresponding sub-box in the logistics equipment box.
  • the controller is configured to, after receiving the door opening instruction and a predetermined door opening time period, control the light switch to close, so that the light is turned on to illuminate the corresponding target box.
  • the present disclosure can perform lighting after the door is opened, thereby preventing users from missing items.
  • Fig. 11 is a schematic diagram of some other embodiments of the control device for opening and closing the logistics equipment of the present disclosure.
  • the door opening and closing control device of the logistics equipment of the present disclosure may include modules such as a touch display screen 11, an Android motherboard 12, a single-chip microcomputer 13, a door control module 20, and a lighting circuit, wherein:
  • Android motherboard 12 is used to receive the door-opening instruction input by the user, wherein the door-opening instruction is a door-opening instruction corresponding to the target box, the logistics equipment includes a logistics equipment box, and the logistics equipment box includes a plurality of independent sub-boxes, Each sub-box is provided with an independent box door (such as a folding door); and a door-closing instruction input by the user is received, wherein the door-closing instruction is a door-closing instruction corresponding to the target box.
  • the door-opening instruction is a door-opening instruction corresponding to the target box
  • the logistics equipment includes a logistics equipment box
  • the logistics equipment box includes a plurality of independent sub-boxes, Each sub-box is provided with an independent box door (such as a folding door); and a door-closing instruction input by the user is received, wherein the door-closing instruction is a door-closing instruction corresponding to the target box.
  • the Android mainboard 12 can 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 to control the opening of the cabinet door of the target cabinet when receiving the door opening instruction; and control the closing of the cabinet door of the target cabinet when receiving the door closing instruction.
  • Each sub-cabinet in the above-mentioned embodiments of the present disclosure corresponds to one gate control module 20 and one lighting circuit.
  • Fig. 1 or Fig. 2 embodiment has four sub-cabinets, needs 4 road gate control modules 20, because 4 road gate control modules 20 are all symmetrical circuits, only provided 1 road gate control module 20 in Fig. 11, do out of omission.
  • four lighting lamps respectively correspond to the embodiment in FIG. 1 or FIG. Body 4).
  • the single-chip microcomputer 13 is used to control the on-off of four NMOS (Negative channel-Metal-Oxide-Semiconductor, N-type metal oxide semiconductor), that is, NMOS6 to The on and off of NMOS9 is used to control the switch of lighting lamp 1 to lighting lamp 4.
  • NMOS Near-Metal-Oxide-Semiconductor, N-type metal oxide semiconductor
  • lighting lamp 1 and NMOS6 constitute the first lighting lamp circuit
  • lighting lamp 2 and NMOS7 constitute the second lighting lamp circuit
  • lighting lamp 3 and NMOS8 constitute the first lighting lamp circuit
  • the second illuminating lamp circuit, the illuminating lamp 4 and the NMOS9 form the second illuminating lamp circuit.
  • control device for opening and closing the logistics equipment 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 at 12V after passing through the step-down circuit.
  • the single-chip microcomputer 13 can turn on and off the PMOS1 by controlling the NMO1, wherein the PMOS is a positive channel Metal Oxide Semiconductor (P-type metal oxide semiconductor).
  • the touch screen 11 is powered on and works.
  • the touch display screen 11 is powered off for standby. Users can interact with logistics equipment (such as delivery robots) by touching the display screen 11 .
  • the user may also interact with the logistics equipment (such as the delivery robot) through the user terminal by means of wireless communication or voice recognition.
  • the logistics equipment such as the delivery robot
  • the above-mentioned embodiments of the present disclosure can trigger the automatic opening and closing of the express delivery box door on the robot without the user touching the robot, so the above-mentioned embodiments of the present disclosure reduce the sealing caused by the user touching the robot when opening and closing the box door The risk of epidemic transmission in the park.
  • the battery power is stabilized at 12V after passing through the step-down circuit, and the Android motherboard 12 communicates with the single-chip microcomputer 13 through RS232 (one of the serial communication interface standards).
  • the single-chip microcomputer can also communicate with the bottom control board (the control module of the moving chassis) through CAN (Controller Area Network, controller area network), wherein, The bottom control board is used to connect the ultrasonic radar of the transportation equipment (such as the transportation robot), the sensor of obstacle avoidance and safety control such as safety edge, and the motion control of the servo motor.
  • CAN Controller Area Network, controller area network
  • the door control module 20 may include a motor 21, a reducer 23, a micro switch 22, a first drive circuit, a second drive circuit, a first trigger circuit and a second trigger circuit, wherein:
  • the first drive circuit includes a first switching transistor NMOS2 and a second switching transistor NMOS3, the first end of the first switching transistor NMOS2 is connected to the motor power supply, and the second switching transistor The first terminal of NMOS3 is grounded, the second terminal of the first switching transistor NMOS2 is connected to the second terminal of the second switching transistor NMOS3 and then connected to the first terminal of the motor 21 .
  • the second drive circuit includes a third switching transistor NMOS4 and a fourth switching transistor NMOS5, the first end of the third switching transistor NMOS4 is connected to the motor power supply, and the fourth switching transistor The first terminal of NMOS5 is connected to the ground, the second terminal of the third switching transistor NMOS4 and the second terminal of the fourth switching transistor NMOS5 are connected to the second terminal of the motor 21 .
  • 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 terminals of the first switching transistor NMOS2 and the second switching transistor NMOS3 .
  • 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 terminals of the third switching transistor NMOS4 and the fourth switching transistor NMOS5 .
  • both the first trigger circuit and the second trigger circuit are composed of a logic control circuit and a gate drive circuit.
  • the first trigger circuit can be used to control the first switching transistor NMOS2 and the fourth switching transistor NMOS5 to conduct according to the first control command of the controller, and the second switching transistor NMOS3 and the third switching transistor NMOS4 is turned off, so that the motor rotates in the first direction, driving the folding door of the target box to open.
  • the second trigger circuit is configured to control the first switching transistor NMOS2 and the fourth switching transistor NMOS5 to be turned off according to the first control command of the controller, and the second switching transistor NMOS3 and the third switching transistor NMOS4 conduction, so that the motor rotates in the second direction, driving the folding door of the target box to close.
  • the controller is used to detect whether the motor current is greater than a predetermined value during the opening or closing process of the folding door of the target box; if it is detected that the motor current is greater than the predetermined value, then control the motor to stop rotating .
  • an instruction is issued through the display screen 11 or wireless communication or voice control lamp mode.
  • the Android motherboard 12 receives the command, it sends it to the single-chip microcomputer 13 through RS232.
  • the single-chip microcomputer 13 controls NMOS2 and NMOS5 to be turned on, NMOS3 and NMOS4 are turned off, and the motor 21 rotates in the forward direction.
  • the reducer 23 drives the folding door to open. After a period of time (delayed predetermined door-opening period), after the door is opened, the motor stops rotating, and the single-chip microcomputer 13 controls the corresponding cabinet NMOS to turn on the lighting lamp.
  • the motor current flows through the resistor R3, and the voltage of R3 is input to the microcontroller through an operational amplifier and an analog-to-digital converter.
  • the voltage of R3 rises, and after the microcontroller reads the value, it turns off NMOS2, NMOS3, NMOS4, and NMOS5, and stops the motor from rotating.
  • the motor rotates the folding door to gradually open. If the door is stuck, the motor will stall and the motor current will increase.
  • the single-chip microcomputer detects that the motor current increases and is overloaded, and will report an error status and stop driving. motor.
  • the motor will stall and the motor current will increase.
  • the single-chip microcomputer detects that the motor current is increasing and overloaded, and will report an error status and stop driving. motor.
  • the Android motherboard 12 when the user triggers the door-closing command, the Android motherboard 12 receives the command and sends it to the single-chip microcomputer 13 through RS232, and the single-chip microcomputer 13 controls NMOS3 and NMOS4 to be turned on after receiving the command.
  • NMOS2 and NMOS5 are turned off, the motor 21 rotates in reverse, and the reducer 23 drives the folding door to close.
  • the Android motherboard 12 after the Android motherboard 12 receives the predetermined extraction time period of the door opening instruction, it sends it to the single-chip microcomputer 13 through RS232, and the single-chip microcomputer 13 controls NMOS3 and NMOS4 after receiving the instruction. On, NMOS2 and NMOS5 are turned off, the motor 21 rotates in reverse, and the folding door is driven to close by the reducer 23 . This can solve the technical problem that some users forget to close the door after picking up the express delivery, and control the closing of the folding door of the target box after receiving the predetermined pick-up time period of the door opening instruction.
  • the triode when the folding door triggers the end of the guide rail, after the micro switch, the triode is turned on, and the voltage point V1 becomes low level. The door is fully closed and the rotary motor 21 is stopped. Simultaneously, the single-chip microcomputer 13 controls the corresponding cabinet NMOS to turn off the lighting lamp.
  • the multiple protection mechanisms of the above embodiments of the present disclosure at least include: first, overload protection for faults such as jamming of the folding door during the opening or closing process, which can avoid the harm caused by the jamming of the folding door; second, after the door is completely closed
  • the door position detection can prevent the problem that the cabinet door is not completely closed; thirdly, it can be illuminated after the door is opened to prevent users from missing items.
  • the above-mentioned embodiments of the present disclosure are aimed at solving the problem of automatic door opening and closing of the delivery robot.
  • the door of the express delivery box on the robot can be triggered to open and close automatically without the user touching the robot. Therefore, the above-mentioned embodiments of the present disclosure It reduces the risk of epidemic transmission in the closed park caused by the user touching the robot when opening and closing the cabinet door.
  • a non-transitory computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, any of the above-mentioned The method described in the embodiment (for example, the embodiment in FIG. 6 or FIG. 7 ).
  • the present disclosure can realize the automatic control of opening and closing doors of multiple box doors of logistics equipment such as delivery robots, thereby avoiding the risk of cross-infection caused by manual door closing by users.
  • the controller described above can be implemented as a general-purpose processor, programmable logic controller (PLC), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable Gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof.
  • PLC programmable logic controller
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGAs field-programmable Gate arrays
  • the steps for realizing the above embodiments can be completed by hardware, and can also be used to instruct related hardware to complete by a program, and the program can be stored in a non-transitory computer-readable storage medium
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

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Abstract

一种物流设备及其开关门控制系统、物流设备箱体。该物流设备箱体（200）包括物流设备开关门控制装置（210）和至少一个子箱体，每个子箱体设置有独立的箱体门（220）；物流设备开关门控制装置（210），用于接收用户输入的开门指令，所述开门指令为目标箱体对应的开门指令，所述目标箱体为物流设备箱体（200）的一个子箱体；在接收到所述开门指令的情况下，控制目标箱体的箱体门（220）打开；接收用户输入的关门指令，所述关门指令为目标箱体对应的关门指令；在接收到所述关门指令的情况下，控制目标箱体的箱体门（220）关闭。可以实现运送机器人等物流设备的多个箱体门（220）的开门、关门自动控制，从而可以避免用户手动关门带来的交叉感染风险。

Description

物流设备及其开关门控制系统、物流设备箱体
相关申请的交叉引用
本申请是以CN申请号为202210188077.0，申请日为2022年2月28日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及物流领域，特别涉及一种物流设备及其开关门控制系统、物流设备箱体。
背景技术
室内配送机器人主要用于酒店、办公楼等多楼层室内场景，可实现跨楼层的货物运输。
相关技术配送机器人一般采用可自动开门，取出货物后需要用户手动关门，有些用户取完快递后会忘记关门。
另外，相关技术机器人在封闭厂区内运行，多个用户对机器人开关门过程中的触摸操作，增加了新冠接触交叉传染的风险。
发明内容
根据本公开的一个方面，提供一种物流设备开关门控制方法，包括：
接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述物流设备包括多个子箱体，每个子箱体设置独立的箱体门；
在接收到所述开门指令的情况下，控制目标箱体的箱体门打开；
接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令；
在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，所述方法还包括：
在目标箱体的箱体门打开后，控制目标箱体对应的照明灯打开。
在本公开的一些实施例中，所述箱体门为折叠门，所述控制目标箱体的箱体门打开包括：
控制电机沿第一方向旋转，带动目标箱体的折叠门打开；
所述控制目标箱体的折叠门关闭包括：
控制电机沿第二方向旋转，带动目标箱体的折叠门关闭，其中，第二方向与第一方向 相反。
在本公开的一些实施例中，所述方法还包括：
在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；
若检测到电机电流大于预定值，则控制电机停止旋转。
在本公开的一些实施例中，所述方法还包括：
在目标箱体的折叠门关闭过程中，检测目标箱体的折叠门导轨末端的微动开关是否被触发；
若检测到微动开关被触发，则控制电机停止旋转。
在本公开的一些实施例中，所述方法还包括：
在接收到所述开门指令的预定提取时间段后，控制目标箱体的折叠门关闭。
在本公开的一些实施例中，所述方法还包括：
在接收到所述开门指令的预定开门时间段后，控制目标箱体对应的照明灯打开。
根据本公开的另一方面，提供一种控制器，包括：
开门指令接收模块，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述物流设备包括多个子箱体，每个子箱体设置独立的箱体门；
关门指令接收模块，用于接收用户输入的关门指令，其中，所述开门指令为目标箱体对应的关门指令；
箱体门控制模块，用于在接收到所述开门指令的情况下，控制目标箱体的箱体门打开；在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，所述控制器用于执行实现如上述任一实施例所述方法的操作。
根据本公开的另一方面，提供一种控制器，包括：
存储器，用于存储指令；
处理器，用于执行所述指令，使得所述控制器执行实现如上述任一实施例所述方法的操作。
根据本公开的另一方面，提供一种物流设备箱体，包括物流设备开关门控制装置和至少一个子箱体，其中：
每个子箱体设置有独立的箱体门；
物流设备开关门控制装置，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述目标箱体为物流设备箱体的一个子箱体；在接收到所述开门 指令的情况下，控制目标箱体的箱体门打开；接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令；在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，所述物流设备开关门控制装置包括指令接收模块、控制器和至少一个门控模块，其中：
每个门控模块，用于控制物流设备箱体中一个对应子箱体的箱体门；
指令接收模块，用于接收用户输入的开门指令；以及接收用户输入的关门指令；
控制器，用于在指令接收模块接收到所述开门指令的情况下，向门控模块下发第一控制命令；在指令接收模块接收到所述关门指令的情况下，向门控模块下发第二控制命令；
门控模块，用于根据控制器的第一控制命令，控制目标箱体的箱体门打开；根据控制器的第二控制命令，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，控制器，还用于在指令接收模块接收到所述开门指令的预定提取时间段后，向门控模块下发第二控制命令。
在本公开的一些实施例中，所述物流设备开关门控制装置还包括设置于每个子箱体的测距传感器，其中：
控制器，还用于在测距传感器探测到对应子箱体的物品取出的预定时间后，向门控模块下发第二控制命令。
在本公开的一些实施例中，指令接收模块为无线通信模块；
指令接收模块，用于接收用户通过用户终端发送的开门指令或关门指令。
在本公开的一些实施例中，所述无线通信模块包括蜂窝通信模块和近距离无线通信模块，其中：
蜂窝通信模块，用于通过蜂窝网络向收货人用户终端发送物流设备预计到达时间和保持近距离无线通信方式开启提醒消息；
近距离无线通信模块，用于在到达运送目的地后，搜索收货人用户终端的近距离无线通信地址，向收货人用户终端推送快递已到达消息和开门请示消息；接收用户通过用户终端发送的开门指令。
在本公开的一些实施例中，蜂窝通信模块，还用于在收货人为新用户的情况下，通过蜂窝网络向收货人用户终端发送近距离无线通信地址读取请求，并请求收货人用户终端开启近距离无线通信功能；在用户开启近距离无线通信功能并授权后，读取收货人用户终端的近距离无线通信地址。
在本公开的一些实施例中，所述箱体门为折叠门，所述门控模块包括电机，其中：
电机，用于根据控制器的第一控制命令，沿第一方向旋转，带动目标箱体的折叠门打开；根据控制器的第二控制命令，沿第二方向旋转，带动目标箱体的折叠门关闭，其中，第二方向与第一方向相反。
在本公开的一些实施例中，门控模块还包括第一驱动电路、第二驱动电路、第一触发电路和第二触发电路，其中：
第一驱动电路包括第一开关管和第二开关管，第一开关管的第一端与电机电源连接，第二开关管的第一端与接地，第一开关管的第二端和第二开关管的第二端连接后与电机的第一端连接；
第二驱动电路包括第三开关管和第四开关管，第三开关管的第一端与电机电源连接，第四开关管的第一端与接地，第三开关管的第二端和第四开关管的第二端连接后与电机的第二端连接；
第一触发电路的一端与控制器连接，第一触发电路的另一端与第一开关管和第二开关管的控制端连接；
第二触发电路的一端与控制器连接，第二触发电路的另一端与第三开关管和第四开关管的控制端连接。
在本公开的一些实施例中，第一触发电路，用于根据控制器的第一控制命令，控制第一开关管和第四开关管导通，第二开关管和第三开关管截止，使得电机沿第一方向旋转，带动目标箱体的折叠门打开。
在本公开的一些实施例中，第二触发电路，用于根据控制器的第一控制命令，控制第一开关管和第四开关管截止，第二开关管和第三开关管导通，使得电机沿第二方向旋转，带动目标箱体的折叠门关闭。
在本公开的一些实施例中，控制器，用于在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；若检测到电机电流大于预定值，则控制电机停止旋转。
在本公开的一些实施例中，门控模块还包括：
微动开关，设置在目标箱体的折叠门导轨末端，用于在目标箱体的折叠门完全关闭的情况下，被触发；
控制器，用于在检测到微动开关被触发的情况下，控制电机停止旋转。
在本公开的一些实施例中，所述物流设备开关门控制装置还包括照明灯电路，其中：
每个照明灯电路包括一个照明灯；
每个照明灯，用于在打开的情况下，照亮物流设备箱体中对应的一个子箱体；
控制器，用于在接收到所述开门指令的预定开门时间段后，向照明灯发送开启命令；
照明灯，用于根据控制器的开启命令，打开以照亮对应的目标箱体。
在本公开的一些实施例中，每个照明灯电路还包括一个照明灯开关，其中：
每个照明灯设置于物流设备箱体中对应的一个子箱体内；
控制器，用于在接收到所述开门指令的预定开门时间段后，控制照明灯开关闭合，使得照明灯打开以照亮对应的目标箱体。
根据本公开的另一方面，提供一种物流设备，包括运动底盘和如上述任一实施例的物流设备箱体，其中，所述物流设备箱体设置在运动底盘上。
在本公开的一些实施例中，所述物流设备为运送设备。
根据本公开的另一方面，提供一种物流设备开关门控制系统，包括用户终端和如上述任一实施例所述的物流设备箱体，其中：
用户终端，用于通过无线通信方式，将用户输入的开门指令或关门指令发送给所述物流设备箱体。
附图说明
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开物流设备一些实施例的示意图。
图2为本公开物流设备箱体一些实施例的示意图。
图3为本公开物流设备箱体的箱体门一些实施例的示意图。
图4为本公开物流设备箱体另一些实施例的示意图。。
图5为本公开物流设备开关门控制系统一些实施例的示意图。
图6为本公开物流设备开关门控制方法一些实施例的示意图。
图7为本公开物流设备开关门控制方法另一些实施例的示意图。
图8为本公开控制器一些实施例的结构示意图。
图9为本公开物流设备开关门控制装置一些实施例的示意图。
图10为本公开物流设备开关门控制装置另一些实施例的示意图。
图11为本公开物流设备开关门控制装置又一些实施例的示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
发明人通过研究发现：相关技术机器人装载货物需要具备控制自动开关门的能力。相关技术运送机器人在装载货物后需要手动关门，货物到达，用户取货时需要用户手动输入验证码开门，取出货物后需要再次手动关门。相关技术机器人在封闭厂区内运行，多个用户对机器人开关门过程中的触摸操作，增加了新冠接触交叉传染的风险。
鉴于以上技术问题中的至少一项，本公开提供了一种物流设备及其开关门控制系统、物流设备箱体，可以实现运送机器人等物流设备的多个箱体门的开门、关门自动控制。
图1为本公开物流设备一些实施例的示意图。如图1所示，本公开物流设备可以包括运动底盘100和如上述任一实施例的物流设备箱体200，其中，所述物流设备箱体200设置在运动底盘100上。
在本公开的一些实施例中，所述物流设备可以为运送设备，例如运送机器人。
在本公开的一些实施例中，所述物流设备箱体200可以为运送机器人箱体或快递柜。
在本公开的一些实施例中，运动底盘100可与多种物流设备箱体200进行组合、拆分 和搭载。
在本公开的一些实施例中，运动底盘100，用于接收调度中心下发的配送任务信息；移动到配送任务起点，与相应机器人箱体200进行对接；按照配送任务路径将相应机器人箱体200运送至配送任务终点。
在本公开的一些实施例中，本公开物流设备可以实现为室内运送机器人。多用型室内运送机器人可以代替人工运送各类材料、耗材。本公开多用型室内运送机器人可以应用于医院、养老院、写字楼、酒店等多类室内场所，支持餐食、被服、医疗物资、快递等多种场景，从而降低了用人成本、优化了配送效率，提升了运送体验。
在本公开的一些实施例中，所述物流设备箱体200可以包括至少一个独立子箱体。例如，图1实施例中，所述物流设备箱体200可以包括4个独立子箱体。
图2为本公开物流设备箱体一些实施例的示意图。如图2所示，本公开物流设备箱体可以包括多个子箱体，例如图2中的子箱体1、子箱体2和子箱体3和子箱体4。
在本公开的一些实施例中，本公开物流设备箱体的多个子箱体，可以一次运送多个物品给不同的收获人，从而提升了运送效率。
在本公开的一些实施例中，图2实施例的物流设备箱体可以为运送机器人箱体或快递柜。
在本公开图1和图2实施例中，每个子箱体都有独立的箱体门，每个箱体门可单独控制，实现自动开关。
在本公开的一些实施例中，所述箱体门可以为推拉门、平开门或折叠门。
在本公开的一些实施例中，所述箱体门可以为折叠门。
在本公开的一些实施例中，每个子箱体可以设置独立的折叠门。
图3为本公开物流设备箱体的箱体门一些实施例的示意图。如图3所示的折叠门为本公开物流设备箱体(例如图1或图2实施例的物流设备箱体)的每个子箱体所设置的独立折叠门。如图3所示，每个子箱体的箱体门可以包括折叠门、导轨和设置在导轨末端、用于检测折叠门是否完全关闭的微动开关。图3还给出了一个实施例中折叠门的开门方向和关门方向。
在本公开的一些实施例中，如图3所示，箱体门为折叠形式，由电机和减速器控制，在导轨上滑动。导轨末端有微动开关，折叠门触发微动开关，表示门关闭。电机正向旋转折叠门打开，电机反向旋转折叠门关闭。
本公开可以实现运送机器人等物流设备的多个箱体门的开门、关门自动控制，可以提 升用户体验。
本公开上述实施例的折叠门可实现自动开关门。而相关技术的自动弹开门，取出货物后还需要手动关门，会增加疫情接触传播风险。由此本公开上述实施例可以避免用户手动关门带来的交叉感染风险。
图4为本公开物流设备箱体另一些实施例的示意图。如图4所示，本公开物流设备箱体可以包括物流设备开关门控制装置210和多个箱体门220，其中：
每个箱体门220为每个子箱体对应的箱体门。
物流设备开关门控制装置210，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，物流设备包括物流设备箱体，所述目标箱体为物流设备箱体中的一个子箱体，物流设备箱体包括至少一个子箱体，每个子箱体设置有独立箱体门220；在接收到所述开门指令的情况下，控制目标箱体的箱体门打开；以及接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令；在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，箱体门220可以如图3所示的折叠门。
图5为本公开物流设备开关门控制系统一些实施例的示意图。如图5所示，本公开物流设备开关门控制系统可以包括物流设备箱体200和用户终端300，其中：
用户终端300，用于通过无线通信方式，将用户输入的开门指令或关门指令发送给所述物流设备箱体200(具体发送给物流设备开关门控制装置210)。
在本公开的一些实施例中，无线通信方式可以为蜂窝无线通信方式和近距离无线通信方式中的。
在本公开的一些实施例中，蜂窝无线通信方式可以为4G、5G等公众无线通信网。
在本公开的一些实施例中，近距离无线通信方式可以为蓝牙、WIFI、Zigbee(紫峰)等无线通信方式。
本公开上述实施例针对解决运送机器人自动开关门问题，通过近场无线技术，实现了无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，由此本公开上述实施例降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
下面通过具体实施例对本公开上述实施例的物流设备开关门控制装置和方法进行说明。
图6为本公开物流设备开关门控制方法一些实施例的示意图。优选的，本实施例可由 本公开物流设备开关门控制装置或本公开控制器执行。如图6所示，该方法可以包括步骤61-步骤64中的至少一个步骤，其中：
步骤61，接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述物流设备包括多个子箱体，每个子箱体设置独立的箱体门。
在本公开的一些实施例中，步骤61可以包括：接收用户通过触摸显示屏、键盘等输入设备输入的开门指令。
步骤62，在接收到所述开门指令的情况下，控制目标箱体的箱体门打开。
在本公开的一些实施例中，所述箱体门可以为折叠门，步骤62中，所述控制目标箱体的箱体门打开的步骤可以包括：控制电机沿第一方向旋转，带动目标箱体的折叠门打开。
在本公开的一些实施例中，所述方法还可以包括：在目标箱体的折叠门打开后，控制目标箱体对应的照明灯打开。本公开在门打开后可以进行照明，从而可以防止用户漏取物品。
在本公开的一些实施例中，所述方法还可以包括：在接收到所述开门指令的预定开门时间段后，控制目标箱体对应的照明灯打开。
在本公开的一些实施例中，预定开门时间段可以为10秒至60秒。
步骤63，接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令。
在本公开的一些实施例中，步骤63可以包括：接收用户通过触摸显示屏、键盘等输入设备输入的关门指令。
在本公开的一些实施例中，步骤61或步骤63可以包括：通过语音接收和识别模块接收用户输入的语音形式的开门指令或关门指令。
本公开上述实施例可以通过接收语音指令，实现无接触，达到防疫效果。
在本公开的一些实施例中，步骤61或步骤63可以包括：通过蜂窝通信方式和近距离无线通信方式中的至少一种与收货人的用户终端进行通信，接收用户通过用户终端发送的开门指令或关门指令。
在本公开的一些实施例中，步骤61或步骤63可以包括：通过蜂窝网络向收货人用户终端发送物流设备预计到达时间和保持近距离无线通信方式开启提醒消息；在运送机器人到达运送目的地后，采用近距离无线通信方式搜索收货人用户终端的近距离无线通信地址，向收货人用户终端推送快递已到达消息和开门请示消息；接收用户通过用户终端采用近距离无线通信方式发送的开门指令。
在本公开的一些实施例中，步骤61或步骤63还可以包括：在收货人为新用户的情况 下，通过蜂窝网络向收货人用户终端发送近距离无线通信地址读取请求，并请求收货人用户终端开启近距离无线通信功能；在用户开启近距离无线通信功能并授权后，读取收货人用户终端的近距离无线通信地址。
步骤64，在接收到所述关门指令的情况下，控制目标箱体的折叠门关闭。
在本公开的一些实施例中，步骤64中，所述控制目标箱体的折叠门关闭的步骤可以包括：控制电机沿第二方向旋转，带动目标箱体的折叠门关闭，其中，第二方向与第一方向相反。
在本公开的一些实施例中，第一方向可以为正向，即顺时针方向；第二方向为反向，即逆时针方向。
本公开上述实施例可以通过电机正转或反转，实现折叠门的自动开关。
在本公开的一些实施例中，所述方法还可以包括：在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；若检测到电机电流大于预定值，则控制电机停止旋转。
本公开上述实施例对折叠门在打开或关闭过程如卡住等故障进行过载保护，可以避免折叠门卡住带来的危害。
在本公开的一些实施例中，所述方法还可以包括：在目标箱体的折叠门关闭过程中，检测目标箱体的折叠门导轨末端的微动开关是否被触发；若检测到微动开关被触发，则控制电机停止旋转。
本公开上述实施例在完全关门后的门到位检测，可以防止出现箱体门未完全关闭的问题。
在本公开的一些实施例中，所述方法还可以包括：在接收到所述开门指令的预定提取时间段后，控制目标箱体的折叠门关闭。
在本公开的一些实施例中，预定提取时间段大于预定开门时间段。
在本公开的一些实施例中，预定开门时间段可以为5分至15分。
在本公开的一些实施例中，所述方法还可以包括：在测距传感器探测到对应箱体的物品取出的预定时间后，控制目标箱体的折叠门关闭。
基于本公开上述实施例提供的物流设备开关门控制方法，可以实现运送机器人等物流设备的多个箱体门的开门、关门的自动控制。本公开上述实施例具备多重保护机制，可以提升用户体验。
本公开上述实施例的多重保护机制至少包括：第一、对折叠门在打开或关闭过程如卡 住等故障进行过载保护，可以避免折叠门卡住带来的危害；第二、完全关门后的门到位检测，可以防止出现箱体门未完全关闭的问题；第三、门打开后可以进行照明，防止用户漏取物品。
图7为本公开物流设备开关门控制方法另一些实施例的示意图。优选的，本实施例可由本公开物流设备开关门控制装置或本公开控制器执行。如图7所示，对于新用户，本公开物流设备开关门控制方法可以包括步骤71至步骤75中的至少一个步骤，其中：
步骤71，机器人箱体装入货物并执行运输任务，会通过机器人自身4G模组向收货人用户终端(例如手机端)发送读取手机蓝牙地址请求，并请求收货人打开蓝牙设备。
步骤72.，用户根据机器人请求，打开手机蓝牙设备，并授权读取手机蓝牙地址。
步骤73，机器人到达运送目的地，起用自身蓝牙设备搜索用户手机蓝牙，并建立连接，通过蓝牙向用户推送快递已到达消息和开门界面。
步骤74，用户收到提醒，到达配送点，点击手机端开门按钮。手机蓝牙向机器人蓝牙发送开门指令。开关门控制模块，控制箱体门打开。
步骤75，用户取出货物，对应箱体的测距传感器探测到货物被取出，单片机延时3秒，驱动开关门电机旋转，关闭箱体门。
在本公开的一些实施例中，如图7所示，对于复用用户，本公开物流设备开关门控制方法可以包括步骤70、步骤73至步骤75中的至少一个步骤，而不用执行步骤71-步骤72，其中：
步骤70，对于已经使用过机器人配送服务的用户，再次针对此用户配送时，无需重新读取用户手机蓝牙设备，省略步骤71、72。向复用用户提供配送服务时，先通过4G网络发送预计到达时间和保持蓝牙设备开启提醒。之后，执行步骤73-步骤75。
本公开上述实施例针对解决运送机器人自动开关门问题，通过近场无线技术和货物状态检测，实现了无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，从而降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
图8为本公开控制器一些实施例的结构示意图。如图8所示，控制器包括存储器81和处理器82。
存储器81用于存储指令，处理器82耦合到存储器81，处理器82被配置为基于存储器存储的指令执行实现上述实施例涉及的方法。
如图8所示，该控制器还包括通信接口83，用于与其它设备进行信息交互。同时，该 控制器还包括总线84，处理器82、通信接口83、以及存储器81通过总线84完成相互间的通信。
存储器81可以包含高速RAM存储器，也可还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器81也可以是存储器阵列。存储器81还可能被分块，并且块可按一定的规则组合成虚拟卷。
此外，处理器82可以是一个中央处理器CPU，或者可以是专用集成电路ASIC，或是被配置成实施本公开实施例的一个或多个集成电路。
在本公开的一些实施例中，控制器可以实现为单片机。
基于本公开上述实施例提供的控制器，可以实现运送机器人等物流设备的多个箱体门的开门、关门的自动控制。本公开上述实施例具备多重保护机制，可以提升用户体验。
本公开上述实施例无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，从而降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
图9为本公开物流设备开关门控制装置一些实施例的示意图。如图9所示，本公开控制器可以包括指令接收模块40和控制器10，其中：
指令接收模块40，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，物流设备包括物流设备箱体，所述目标箱体为物流设备箱体中的一个子箱体，物流设备箱体包括至少一个子箱体，每个子箱体设置有独立箱体门；以及接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令。
在本公开的一些实施例中，指令接收模块40可以为语音指令接收模块。
指令接收模块40，可以用于接收用户输入语音形式的开门指令或关门指令。
本公开上述实施例可以通过接收语音指令，可以不接触机器人箱体，达到了防疫效果。本公开上述实施例降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
在本公开的另一些实施例中，指令接收模块可以为无线通信模块。
指令接收模块40，用于接收用户通过用户终端发送的开门指令或关门指令。
本公开上述实施例可以通过无线通信方式与收货人用户终端进行通信，可以不接触机器人箱体，达到了防疫效果。本公开上述实施例降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
在本公开的一些实施例中，所述无线通信模块包括蜂窝通信模块和近距离无线通信模块，其中：
蜂窝通信模块，用于通过蜂窝网络向收货人用户终端发送物流设备预计到达时间和保持近距离无线通信方式开启提醒消息。
近距离无线通信模块，用于在到达运送目的地后，搜索收货人用户终端的近距离无线通信地址，向收货人用户终端推送快递已到达消息和开门请示消息；接收用户通过用户终端发送的开门指令。
本公开上述实施例可以预先通过4G等蜂窝网络在通知到达时间，方便准时取货；本公开上述实施例可以通过蓝牙等近场无线通信方式，通知已到达，可以使得用户更及时、准确地实现不接触运送机器人取货。
在本公开的一些实施例中，蜂窝通信模块，还用于在收货人为新用户的情况下，通过蜂窝网络向收货人用户终端发送近距离无线通信地址读取请求，并请求收货人用户终端开启近距离无线通信功能；在用户开启近距离无线通信功能并授权后，读取收货人用户终端的近距离无线通信地址。
本公开上述实施例可以通过预先授权，方便物流设备和用户通过近场无线通信方式进行通信，本公开上述实施例采用近场无线通信，相对蜂窝网络费用更低、通信质量更好。
控制器10，用于在指令接收模块接收到所述开门指令的情况下，控制目标箱体的箱体门(例如折叠门)打开；在指令接收模块接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
在本公开的一些实施例中，控制器10可以实现为如上述任一实施例(例如图8实施例)所述的控制器。
相关技术需要用户手动关门，本申请可以根据用户指令关门，避免了门未关的技术问题。本公开上实施例采用折叠门，开门过程占用空间小，可以避免碰伤人。
本公开上述实施例无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，从而降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
图10为本公开物流设备开关门控制装置另一些实施例的示意图。如图10所示，所述物流设备开关门控制装置还包括至少一个门控模块20，其中：
每个门控模块20，用于控制物流设备箱体中一个对应子箱体的箱体门。
控制器10，用于在指令接收模块接收到所述开门指令的情况下，向门控模块下发第一 控制命令；在指令接收模块接收到所述关门指令的情况下，向门控模块下发第二控制命令。
门控模块20，用于根据控制器的第一控制命令，控制目标箱体的折叠门打开；根据控制器的第二控制命令，控制目标箱体的折叠门关闭。
本公开上述实施例可以实现一次运送，寄送多个物品。每个独立子箱体通过单独的门控模块控制对应的箱体门，提高了控制的精确性，提升了用户体验。
在本公开的一些实施例中，控制器10，还可以用于在指令接收模块接收到所述开门指令的预定提取时间段后，向门控模块下发第二控制命令。门控模块20，用于根据控制器的第二控制命令，控制目标箱体的折叠门关闭。
本公开上述实施例解决了用户忘记关门的技术问题，可以在开门预定时间段后，自动关闭。
在本公开的一些实施例中，如图9所示，所述物流设备开关门控制装置还可以包括设置于每个子箱体的测距传感器50，其中：
控制器10，还可以用于在测距传感器探测到对应子箱体的物品取出的预定时间后，向门控模块下发第二控制命令。
在本公开的一些实施例中，预定时间可以为3s。
门控模块20，用于根据控制器的第二控制命令，控制目标箱体的折叠门关闭。
本公开上述实施例在测距传感器探测到物品被取出，则在取出后3s，自动关门，由此也可以避免用户忘记关门的情况。
在本公开的一些实施例中，所述箱体门为折叠门。
在本公开的一些实施例中，如图10所示，所述门控模块20可以包括电机21，其中：
电机21，用于根据控制器的第一控制命令，沿第一方向旋转，带动目标箱体的折叠门打开；根据控制器的第二控制命令，沿第二方向旋转，带动目标箱体的折叠门关闭，其中，第二方向与第一方向相反。
在本公开的一些实施例中，第一方向可以为正向，即顺时针方向；第二方向为反向，即逆时针方向。
本公开上述实施例可以通过电机正转或反转，实现折叠门的自动开关。
在本公开的一些实施例中，如图10所示，所述门控模块20可以包括微动开关22，其中：
微动开关22，设置在目标箱体的折叠门导轨末端，用于在目标箱体的折叠门完全关闭的情况下，被触发。
控制器10，用于在目标箱体的折叠门关闭过程中，检测目标箱体的折叠门导轨末端的微动开关是否被触发；在检测到微动开关被触发的情况下，控制电机21停止旋转，折叠门停止当前动作。
本公开上述实施例在完全关门后的门到位检测，可以防止出现箱体门未完全关闭的问题。
在本公开的一些实施例中，控制器20，可以用于在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；若检测到电机电流大于预定值，则控制电机停止旋转。
本公开上述实施例可以进行过载保护，可以监测门在打开或关闭过程的卡主等故障情况，防止故障情况对物流设备或使用者造成伤害。
在本公开的一些实施例中，如图10所示，所述物流设备开关门控制装置还可以包括多个照明灯电路30，其中：
每个照明灯电路30包括一个照明灯。
每个照明灯，用于在打开的情况下，照亮物流设备箱体中对应的一个子箱体。
控制器10，用于在在接收到所述开门指令的预定开门时间段后，向照明灯发送开启命令。
照明灯，用于根据控制器的开启命令，打开以照亮对应的目标箱体。
在本公开的一些实施例中，每个照明灯电路还可以包括一个照明灯开关，其中：
每个照明灯设置于物流设备箱体中对应的一个子箱体内。
控制器，用于在接收到所述开门指令的预定开门时间段后，控制照明灯开关闭合，使得照明灯打开以照亮对应的目标箱体。
本公开在门打开后可以进行照明，从而可以防止用户漏取物品。
图11为本公开物流设备开关门控制装置又一些实施例的示意图。如图11所示，本公开物流设备开关门控制装置可以包括触摸显示屏11、安卓主板12、单片机13、门控模块20和照明灯电路等模块，其中：
本公开上述任一实施例(例如图8或图9或图10实施例)所述的控制器的功能可以由安卓主板12和单片机13共同完成。
安卓主板12，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述物流设备包括物流设备箱体，物流设备箱体包括多个独立子箱体，每个子 箱体设置独立的箱体门(例如折叠门)；接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令。
在本公开的一些实施例中，安卓主板12可以实现为图9实施例中的指令接收模块40或者与图9实施例的指令接收模块40连接。
单片机13，用于在接收到所述开门指令的情况下，控制目标箱体的箱体门打开；在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
本公开上述实施例(例如图1或图2实施例)中每一个子箱体，对应一路门控模块20和一个照明灯电路。
例如：图1或图2实施例有四个子箱体，需要4路门控模块20，由于4路门控模块20均为对称电路，图11中只给出了1路门控模块20，做出了省略。
在本公开的一些实施例中，如图11所示，四个照明灯(照明灯1至照明灯4)分别对应图1或图2实施例有四个子箱体(子箱体1至子箱体4)。
在本公开的一些实施例中，如图11所示，单片机13，用于通过控制四个NMOS(Negative channel-Metal-Oxide-Semiconductor，N型金属氧化物半导体)的通断，即，NMOS6至NMOS9的通断，来控制照明灯1至照明灯4的开关，其中，照明灯1和NMOS6构成第一照明灯电路，照明灯2和NMOS7构成第二照明灯电路，照明灯3和NMOS8构成第二照明灯电路，照明灯4和NMOS9构成第二照明灯电路。
在本公开的一些实施例中，如图11所示，本公开物流设备开关门控制装置可以包括电机电源14和电池15，其中：
电池15提供的电源经过降压电路后稳定为12V。
在本公开的一些实施例中，单片机13可通过控制NMO1实现对PMOS1的导通、关断，其中，PMOS为positive channel Metal Oxide Semiconductor(P型金属氧化物半导体)。在PMOS1导通时，触摸显示屏11上电工作。PMOS1关断时触摸显示屏11掉电待机。用户可通过触摸显示屏11与物流设备(例如运送机器人)交互。
在本公开的另一些实施例中，用户也可以通过用户终端采用无线通信方式或通过语音识别方式与物流设备(例如运送机器人)交互。
本公开上述实施例实现了无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，由此本公开上述实施例降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
在本公开的一些实施例中，电池电源经过降压电路后稳定为12V，安卓主板12通过 RS232(串行通信接口标准之一)与单片机13通信。
在本公开的一些实施例中，对于运送设备(例如运送机器人)而言，单片机也可通过CAN(Controller Area Network,控制器域网)与底层控制板(运动底盘的控制模块)通信，其中，底层控制板用连接运送设备(例如运送机器人)的超声波雷达、安全触边等避障和安全控制的传感器、伺服电机的运动控制。
在本公开的一些实施例中，如图11所示，所述门控模块20可以包括电机21、减速器23、微动开关22、第一驱动电路、第二驱动电路、第一触发电路和第二触发电路，其中：
在本公开的一些实施例中，如图11所示，第一驱动电路包括第一开关管NMOS2和第二开关管NMOS3，第一开关管NMOS2的第一端与电机电源连接，第二开关管NMOS3的第一端与接地，第一开关管NMOS2的第二端和第二开关管NMOS3的第二端连接后与电机21的第一端连接。
在本公开的一些实施例中，如图11所示，第二驱动电路包括第三开关管NMOS4和第四开关管NMOS5，第三开关管NMOS4的第一端与电机电源连接，第四开关管NMOS5的第一端与接地，第三开关管NMOS4的第二端和第四开关管NMOS5的第二端连接后与电机21的第二端连接。
在本公开的一些实施例中，如图11所示，第一触发电路的一端与控制器连接，第一触发电路的另一端与第一开关管NMOS2和第二开关管NMOS3的控制端连接。
在本公开的一些实施例中，如图11所示，第二触发电路的一端与控制器连接，第二触发电路的另一端与第三开关管NMOS4和第四开关管NMOS5的控制端连接。
在本公开的一些实施例中，如图11所示，第一触发电路和第二触发电路均由逻辑控制电路和栅极驱动电路构成。
在本公开的一些实施例中，第一触发电路可以用于根据控制器的第一控制命令，控制第一开关管NMOS2和第四开关管NMOS5导通，第二开关管NMOS3和第三开关管NMOS4截止，使得电机沿第一方向旋转，带动目标箱体的折叠门打开。
在本公开的一些实施例中，第二触发电路，用于根据控制器的第一控制命令，控制第一开关管NMOS2和第四开关管NMOS5截止，第二开关管NMOS3和第三开关管NMOS4导通，使得电机沿第二方向旋转，带动目标箱体的折叠门关闭。
在本公开的一些实施例中，控制器，用于在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；若检测到电机电流大于预定值，则控制电机停止旋转。
当用户需要打开箱体模块时，通过显示屏11或无线通信或语音控制灯方式下发指令。 安卓主板12收到指令后，通过RS232发送给单片机13，单片机13收到指令后控制NMOS2、NMOS5导通，NMOS3、NMOS4截止，电机21正向旋转，通过减速器23带动折叠门打开，延时一段时间(延时预定开门时间段)，门打开后，电机停止转动，同时单片机13控制对应箱体NMOS打开照明灯。
在本公开的一些实施例中，如图11所示，电机电流流过电阻R3，R3电压经过运算放大器、模数转换器输入到单片机。当电机过流时，R3电压升高，单片机读取到数值后，关断NMOS2、NMOS3、NMOS4、NMOS5，停止电机旋转。
本公开上述实施例中，开门时电机旋转折叠门逐渐打开，若门被卡住，电机会堵转，电机电流会增大，单片机监测到电机电流增大过载，会上报错误状态，并停止驱动电机。
本公开上述实施例中，在折叠门开门或关门过程中，若门被卡住，电机会堵转，电机电流会增大，单片机监测到电机电流增大过载，会上报错误状态，并停止驱动电机。
在本公开的一些实施例中，如图11所示，当用户触发关门指令后，安卓主板12收到指令后，通过RS232发送给单片机13，单片机13收到指令后控制NMOS3、NMOS4导通，NMOS2、NMOS5截止，电机21反向旋转，通过减速器23带动折叠门关闭。
在本公开的一些实施例中，如图11所示，在安卓主板12接收到所述开门指令的预定提取时间段后，通过RS232发送给单片机13，单片机13收到指令后控制NMOS3、NMOS4导通，NMOS2、NMOS5截止，电机21反向旋转，通过减速器23带动折叠门关闭。由此可解决有些用户取完快递后会忘记关门的技术问题，在接收到所述开门指令的预定提取时间段后，控制目标箱体的折叠门关闭。
在本公开的一些实施例中，如图11所示，当折叠门触发导轨末端，微动开关后，三极管导通，电压点V1点变为低电平，单片机13探测到后，推断出折叠门完全关闭，停止旋转电机21。同时单片机13控制对应箱体NMOS关闭照明灯。
基于本公开上述实施例提供的物流设备开关门控制装置，可以实现运送机器人等物流设备的多个箱体门的开门、关门的自动控制。本公开上述实施例具备多重保护机制，可以提升用户体验。
本公开上述实施例的多重保护机制至少包括：第一、对折叠门在打开或关闭过程如卡住等故障进行过载保护，可以避免折叠门卡住带来的危害；第二、完全关门后的门到位检测，可以防止出现箱体门未完全关闭的问题；第三、门打开后可以进行照明，防止用户漏取物品。
本公开上述实施例针对解决运送机器人自动开关门问题，通过近场无线技术，实现了 无需用户接触机器人，即可触发机器人上的快递箱体门自动打开、自动关闭，由此本公开上述实施例降低了因用户开关箱体门时，接触机器人造成的封闭园区内的疫情传播风险。
根据本公开的另一方面，提供一种非瞬时性计算机可读存储介质，其中，所述非瞬时性计算机可读存储介质存储有计算机指令，所述指令被处理器执行时实现如上述任一实施例(例如图6或图7实施例)所述的方法。
本公开可以实现运送机器人等物流设备的多个箱体门的开门、关门自动控制，从而可以避免用户手动关门带来的交叉感染风险。
在上面所描述的控制器可以实现为用于执行本申请所描述功能的通用处理器、可编程逻辑控制器(PLC)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。
至此，已经详细描述了本公开。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指示相关的硬件完成，所述的程序可以存储于一种非瞬时性计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
本公开的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用，并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。

Claims (16)

  1. 一种物流设备箱体，包括物流设备开关门控制装置和至少一个子箱体，其中：
    每个子箱体设置有独立的箱体门；
    物流设备开关门控制装置，用于接收用户输入的开门指令，其中，所述开门指令为目标箱体对应的开门指令，所述目标箱体为物流设备箱体的一个子箱体；在接收到所述开门指令的情况下，控制目标箱体的箱体门打开；接收用户输入的关门指令，其中，所述关门指令为目标箱体对应的关门指令；在接收到所述关门指令的情况下，控制目标箱体的箱体门关闭。
  2. 根据权利要求1所述的物流设备箱体，其中，所述物流设备开关门控制装置包括指令接收模块、控制器和至少一个门控模块，其中：
    每个门控模块，用于控制物流设备箱体中一个对应子箱体的箱体门；
    指令接收模块，用于接收用户输入的开门指令；以及接收用户输入的关门指令；
    控制器，用于在指令接收模块接收到所述开门指令的情况下，向门控模块下发第一控制命令；在指令接收模块接收到所述关门指令的情况下，向门控模块下发第二控制命令；
    门控模块，用于根据控制器的第一控制命令，控制目标箱体的箱体门打开；根据控制器的第二控制命令，控制目标箱体的箱体门关闭。
  3. 根据权利要求2所述的物流设备箱体，其中，
    控制器，还用于在指令接收模块接收到所述开门指令的预定提取时间段后，向门控模块下发第二控制命令。
  4. 根据权利要求2所述的物流设备箱体，还包括设置于每个子箱体的测距传感器，其中：
    控制器，还用于在测距传感器探测到对应子箱体的物品取出的预定时间后，向门控模块下发第二控制命令。
  5. 根据权利要求1-4中任一项所述的物流设备箱体，其中：
    指令接收模块为无线通信模块；
    指令接收模块，用于接收用户通过用户终端发送的开门指令或关门指令。
  6. 根据权利要求5所述的物流设备箱体，其中，所述无线通信模块包括蜂窝通信模块和近距离无线通信模块，其中：
    蜂窝通信模块，用于通过蜂窝网络向收货人用户终端发送物流设备预计到达时间和保持近距离无线通信方式开启提醒消息；
    近距离无线通信模块，用于在到达运送目的地后，搜索收货人用户终端的近距离无线通信地址，向收货人用户终端推送快递已到达消息和开门请示消息；接收用户通过用户终端发送的开门指令。
  7. 根据权利要求6所述的物流设备箱体，其中，
    蜂窝通信模块，还用于在收货人为新用户的情况下，通过蜂窝网络向收货人用户终端发送近距离无线通信地址读取请求，并请求收货人用户终端开启近距离无线通信功能；在用户开启近距离无线通信功能并授权后，读取收货人用户终端的近距离无线通信地址。
  8. 根据权利要求2-4中任一项所述的物流设备箱体，其中，所述箱体门为折叠门，所述门控模块包括电机，其中：
    电机，用于根据控制器的第一控制命令，沿第一方向旋转，带动目标箱体的折叠门打开；根据控制器的第二控制命令，沿第二方向旋转，带动目标箱体的折叠门关闭，其中，第二方向与第一方向相反。
  9. 根据权利要求8所述的物流设备箱体，其中，门控模块还包括第一驱动电路、第二驱动电路、第一触发电路和第二触发电路，其中：
    第一驱动电路包括第一开关管和第二开关管，第一开关管的第一端与电机电源连接，第二开关管的第一端与接地，第一开关管的第二端和第二开关管的第二端连接后与电机的第一端连接；
    第二驱动电路包括第三开关管和第四开关管，第三开关管的第一端与电机电源连接，第四开关管的第一端与接地，第三开关管的第二端和第四开关管的第二端连接后与电机的第二端连接；
    第一触发电路的一端与控制器连接，第一触发电路的另一端与第一开关管和第二开 关管的控制端连接；
    第二触发电路的一端与控制器连接，第二触发电路的另一端与第三开关管和第四开关管的控制端连接。
  10. 根据权利要求9所述的物流设备箱体，其中：
    第一触发电路，用于根据控制器的第一控制命令，控制第一开关管和第四开关管导通，第二开关管和第三开关管截止，使得电机沿第一方向旋转，带动目标箱体的折叠门打开；
    第二触发电路，用于根据控制器的第一控制命令，控制第一开关管和第四开关管截止，第二开关管和第三开关管导通，使得电机沿第二方向旋转，带动目标箱体的折叠门关闭。
  11. 根据权利要求8所述的物流设备箱体，其中，
    控制器，用于在目标箱体的折叠门打开过程或关闭过程中，检测电机电流是否大于预定值；若检测到电机电流大于预定值，则控制电机停止旋转。
  12. 根据权利要求8所述的物流设备箱体，其中，所述门控模块还包括：
    微动开关，设置在目标箱体的折叠门导轨末端，用于在目标箱体的折叠门完全关闭的情况下，被触发；
    控制器，用于在检测到微动开关被触发的情况下，控制电机停止旋转。
  13. 根据权利要求1-4中任一项所示所述的物流设备箱体，其中，还包括至少一个照明灯电路，其中：
    每个照明灯电路包括一个照明灯；
    每个照明灯，用于在打开的情况下，照亮物流设备箱体中对应的一个子箱体；
    控制器，用于在接收到所述开门指令的预定开门时间段后，向照明灯发送开启命令；
    照明灯，用于根据控制器的开启命令，打开以照亮对应的目标箱体。
  14. 一种物流设备，包括运动底盘和如权利要求1-13中任一项所述的物流设备箱体，其中，所述物流设备箱体设置在运动底盘上。
  15. 根据权利要求14所述的物流设备，其中，所述物流设备为运送设备。
  16. 一种物流设备开关门控制系统，其中，包括用户终端和如权利要求1-13中任一项所述的物流设备箱体，其中：
    用户终端，用于通过无线通信方式，将用户输入的开门指令或关门指令发送给所述物流设备箱体。
PCT/CN2022/112659 2022-02-28 2022-08-16 物流设备及其开关门控制系统、物流设备箱体 WO2023159891A1 (zh)

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