阅读说明：本技术 一种自动开闭箱门系统和方法 (System and method for automatically opening and closing box door ) 是由 胡亚恒 李波 刘渊 霍舒豪 张德兆 王肖 李晓飞 张放 于 2019-09-19 设计创作，主要内容包括：本发明实施例涉及一种自动开闭箱门系统和方法,所述系统包括快递箱和箱门控制器；快递箱包括箱体、门锁、压力传感器和推杆电机；门锁设置于箱体的箱门处；压力传感器设置于箱体的内部底面；推杆电机的一端设置于箱体的内部,另一端设置于箱体的箱门处；并且门锁、压力传感器和推杆电机分别与箱门控制器电相连；门锁用于接收箱门控制器发送的开锁控制信号或上锁控制信号,并根据开锁控制信号开锁或根据上锁控制信号上锁；推杆电机用于接收箱门控制器发送开门控制信号或关门控制信号,根据开门控制信号正转从而控制箱门打开,或根据关门控制信号反转从而控制箱门关闭；压力传感器用于检测箱体中是否放置有重物,生成压力传感信号。(The embodiment of the invention relates to a system and a method for automatically opening and closing a box door, wherein the system comprises an express box and a box door controller; the express box comprises a box body, a door lock, a pressure sensor and a push rod motor; the door lock is arranged at the door of the box body; the pressure sensor is arranged on the inner bottom surface of the box body; one end of the push rod motor is arranged in the box body, and the other end of the push rod motor is arranged at the box door of the box body; the door lock, the pressure sensor and the push rod motor are respectively electrically connected with the box door controller; the door lock is used for receiving an unlocking control signal or a locking control signal sent by the door controller, and unlocking according to the unlocking control signal or locking according to the locking control signal; the push rod motor is used for receiving a door opening control signal or a door closing control signal sent by the door controller, and controlling the door to be opened by positively rotating according to the door opening control signal or controlling the door to be closed by reversely rotating according to the door closing control signal; the pressure sensor is used for detecting whether a heavy object is placed in the box body or not and generating a pressure sensing signal.)

1. An automatic door opening and closing system, comprising: an express box and a box door controller;

the express delivery case includes: the device comprises a box body, a door lock, a pressure sensor and a push rod motor; the door lock is arranged at the door of the box body; the pressure sensor is arranged on the inner bottom surface of the box body; one end of the push rod motor is arranged inside the box body, and the other end of the push rod motor is arranged at the box door of the box body; the door lock, the pressure sensor and the push rod motor are respectively electrically connected with the box door controller;

the door lock is used for receiving an unlocking control signal or a locking control signal sent by the door controller, and unlocking according to the unlocking control signal or locking according to the locking control signal;

the push rod motor is used for receiving a door opening control signal or a door closing control signal sent by the door controller, and controlling the door to be opened by positively rotating according to the door opening control signal or controlling the door to be closed by reversely rotating according to the door closing control signal;

the pressure sensor is used for detecting whether a heavy object is placed in the box body or not, generating a pressure sensing signal, and sending the pressure sensing signal to the box door controller so that the box door controller can generate pressure sensing data according to the pressure sensing signal;

when the value of the pressure sensing data is equal to zero, the door controller generates the door closing control signal for the push rod motor unit to reversely rotate according to the door closing instruction;

and after the push rod motor unit rotates reversely, the door controller generates the locking control signal and sends the locking control signal to the door lock, so that the door lock is locked according to the locking control signal unit.

2. The automated shutter door system of claim 1, wherein the door controller comprises: the device comprises a door lock driving module, a push rod motor driving module and a pressure monitoring module;

the door lock driving module is electrically connected with the door lock and used for sending the unlocking control signal or the locking control signal to the door lock;

the push rod single machine driving module is electrically connected with the push rod motor and is used for sending the door opening control signal or the door closing control signal to the push rod motor;

the pressure monitoring module is electrically connected with the pressure sensor and the push rod motor driving module respectively and is used for receiving a pressure sensing signal sent by the pressure sensor and generating pressure sensing data according to the pressure sensing signal;

when the value of the pressure sensing data is equal to zero, the pressure monitoring module sends a door closing instruction to the push rod motor driving module, so that the push rod motor driving module generates the door closing control signal according to the door closing instruction.

3. The automated opening and closing cassette door system of claim 2, wherein the door lock comprises: a door lock motor and a lock bolt;

the door lock motor is electrically connected with the lock bolt and the door lock driving module respectively;

the door lock motor receives an unlocking control signal or a locking control signal sent by the door lock driving module, and controls the lock bolt to unlock according to the unlocking control signal or controls the lock to lock according to the locking control signal.

4. The automatic opening and closing door system of claim 2, wherein the push rod motor drive module is further specifically configured to:

after the push rod motor driving module generates a door opening control signal, when the time that the value of the pressure sensing data is greater than zero exceeds a preset waiting time, the push rod driving motor module generates the door closing control signal.

5. The automatic door opening and closing system according to claim 1 or 4, further comprising a voice player; the door controller further comprises: a voice driving module;

the voice driving module is electrically connected with the voice player and the push rod motor driving module respectively;

the voice driving module receives a door opening control signal or a door closing control signal sent by the push rod motor driving module, generates corresponding voice prompt information according to the door opening control signal or the door closing control signal, and sends the voice prompt information to the voice player so that the voice player can output the voice prompt information.

6. A method of automatically opening and closing a door, the method comprising:

the automatic door opening and closing system acquires a door opening instruction;

generating an unlocking control signal according to the door opening instruction to drive the door lock to be unlocked;

when the door lock is opened, a door opening control signal is generated to drive the push rod motor unit to rotate forwards, so that the push rod motor unit controls the door to be opened according to the forward rotation direction;

acquiring a pressure sensing signal, and generating pressure sensing data according to the pressure sensing signal;

determining that a value of the pressure sensing data is equal to zero;

when the value of the pressure sensing data is equal to zero, generating a door closing instruction;

driving the push rod motor unit to rotate reversely according to the door closing instruction, so that the push rod motor unit controls the door to be closed according to the reverse direction force;

and when the box door is closed, generating a locking control signal, and driving the door lock to be locked according to the locking control signal.

7. The method for automatically opening and closing a door according to claim 6, wherein after the door lock is unlocked by generating an unlocking control signal according to the door opening command, the method further comprises:

and monitoring the state of the door lock to determine whether the door lock is opened.

8. The method of automatically opening and closing a door according to claim 7, wherein the value of the pressure sensing data is greater than zero before the push rod motor unit controls the door to open according to the forward rotation direction.

9. The method of automatically opening and closing a door of claim 6, further comprising:

and when the time that the value of the pressure sensing data is greater than zero exceeds a preset waiting time, generating the door closing instruction.

10. The method of automatically opening and closing a door according to claim 6 or 9, wherein after said generating a door closing command, the method further comprises:

and generating corresponding voice prompt information according to the door closing instruction, and outputting the voice prompt information.

Technical Field

The invention relates to the field of automatic driving, in particular to a system and a method for automatically opening and closing a box door.

Background

The automatic driving technology is a hot topic in recent years, and the form of automatic driving and logistics vehicles can be applied to industries such as express delivery, material transportation, catering and take-out, and the like, and has the advantages of relieving traffic jam, improving road safety and reducing labor cost.

At present, the automatic driving logistics vehicle can only automatically control the door to be opened, and can not automatically control the door to be closed. After the user takes out the article, the door of the box needs to be manually closed.

However, the scheme is applied to the automatic driving logistics vehicle and has the following defects: first, after the user takes out the article, the door is opened all the time if the door is not closed. For safety, when the automatic driving vehicle detects that the door of the automatic driving vehicle is in an open state, the automatic driving function is forbidden in order to avoid colliding with other objects when the vehicle runs. The vehicle cannot be operated again until the maintenance personnel arrive at the site to manually close the doors. This can severely increase operating costs. Secondly, after the spring in the chamber door is ageing, elasticity reduces, can lead to the door can't bounce open, influences the use.

Disclosure of Invention

The invention aims to provide a system and a method for automatically opening and closing a box door, aiming at the defects of the prior art.

In order to achieve the above object, in a first aspect, an embodiment of the present invention provides an automatic door opening and closing system, including: an express box and a box door controller;

the express delivery case includes: the device comprises a box body, a door lock, a pressure sensor and a push rod motor; the door lock is arranged at the door of the box body; the pressure sensor is arranged on the inner bottom surface of the box body; one end of the push rod motor is arranged inside the box body, and the other end of the push rod motor is arranged at the box door of the box body; the door lock, the pressure sensor and the push rod motor are respectively electrically connected with the box door controller;

the door lock is used for receiving an unlocking control signal or a locking control signal sent by the door controller, and unlocking according to the unlocking control signal or locking according to the locking control signal;

the push rod motor is used for receiving a door opening control signal or a door closing control signal sent by the door controller, and controlling the door to be opened by positively rotating according to the door opening control signal or controlling the door to be closed by reversely rotating according to the door closing control signal;

the pressure sensor is used for detecting whether a heavy object is placed in the box body or not, generating a pressure sensing signal, and sending the pressure sensing signal to the box door controller so that the box door controller can generate pressure sensing data according to the pressure sensing signal;

when the value of the pressure sensing data is equal to zero, the door controller generates the door closing control signal for the push rod motor unit to reversely rotate according to the door closing instruction;

and after the push rod motor unit rotates reversely, the door controller generates the locking control signal and sends the locking control signal to the door lock, so that the door lock is locked according to the locking control signal unit.

Preferably, the door controller includes: the device comprises a door lock driving module, a push rod motor driving module and a pressure monitoring module;

the door lock driving module is electrically connected with the door lock and used for sending the unlocking control signal or the locking control signal to the door lock;

the push rod single machine driving module is electrically connected with the push rod motor and is used for sending the door opening control signal or the door closing control signal to the push rod motor;

the pressure monitoring module is electrically connected with the pressure sensor and the push rod motor driving module respectively and is used for receiving a pressure sensing signal sent by the pressure sensor and generating pressure sensing data according to the pressure sensing signal;

when the value of the pressure sensing data is equal to zero, the pressure monitoring module sends a door closing instruction to the push rod motor driving module, so that the push rod motor driving module generates the door closing control signal according to the door closing instruction.

Further preferably, the door lock includes: a door lock motor and a lock bolt;

the door lock motor is electrically connected with the lock bolt and the door lock driving module respectively;

the door lock motor receives an unlocking control signal or a locking control signal sent by the door lock driving module, and controls the lock bolt to unlock according to the unlocking control signal or controls the lock to lock according to the locking control signal.

Further preferably, the push rod motor driving module is further specifically configured to:

after the push rod motor driving module generates a door opening control signal, when the time that the value of the pressure sensing data is greater than zero exceeds a preset waiting time, the push rod driving motor module generates the door closing control signal.

Further preferably, the system further comprises a voice player; the door controller further comprises: a voice driving module;

the voice driving module is electrically connected with the voice player and the push rod motor driving module respectively;

the voice driving module receives a door opening control signal or a door closing control signal sent by the push rod motor driving module, generates corresponding voice prompt information according to the door opening control signal or the door closing control signal, and sends the voice prompt information to the voice player so that the voice player can output the voice prompt information.

In a second aspect, an embodiment of the present application further provides a method for automatically opening and closing a door, where the method includes:

the automatic door opening and closing system acquires a door opening instruction;

generating an unlocking control signal according to the door opening instruction to drive the door lock to be unlocked;

when the door lock is opened, a door opening control signal is generated to drive the push rod motor unit to rotate forwards, so that the push rod motor unit controls the door to be opened according to the forward rotation direction;

acquiring a pressure sensing signal, and generating pressure sensing data according to the pressure sensing signal;

determining that a value of the pressure sensing data is equal to zero;

when the value of the pressure sensing data is equal to zero, generating a door closing instruction;

driving the push rod motor unit to rotate reversely according to the door closing instruction, so that the push rod motor unit controls the door to be closed according to the reverse direction force;

and when the box door is closed, generating a locking control signal, and driving the door lock to be locked according to the locking control signal.

Further preferably, after the door lock is unlocked by generating an unlocking control signal according to the door opening instruction, the method further includes:

and monitoring the state of the door lock to determine whether the door lock is opened.

Further preferably, the value of the pressure sensing data is greater than zero before the push rod motor unit controls the door to open according to the forward rotation direction force.

Further preferably, the method further comprises:

and when the time that the value of the pressure sensing data is greater than zero exceeds a preset waiting time, generating the door closing instruction.

Further preferably, after the generating of the door closing command, the method further includes:

and generating corresponding voice prompt information according to the door closing instruction, and outputting the voice prompt information.

The automatic box door opening and closing system provided by the embodiment of the invention can realize automatic opening and closing of the box door, so that the system can automatically close the box door after a user opens the box door regardless of whether articles are taken out or not, unmanned supervision of the automatically-driven logistics vehicle is realized, and the operation cost of the automatically-driven logistics vehicle is reduced. And, the push rod motor in this application is higher than the spring reliability, and the life-span is more of a specified duration, uses the reducible trouble of the scheme that the push rod motor opened the chamber door, reduces the maintenance frequency.

Drawings

Fig. 1 is a schematic structural diagram of an automatic door opening and closing system according to an embodiment of the present invention;

fig. 2 is a flowchart of a method for automatically opening and closing a door according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

First, an embodiment of the present invention provides an automatic door opening and closing system. Fig. 1 is a schematic structural view of an automatic door opening and closing system according to an embodiment of the present invention, and as shown in fig. 1, the automatic door opening and closing system includes: express delivery case 1, chamber door controller 2 and pronunciation player 3. Wherein, express delivery case 1 can be understood as an express delivery cabinet that is used for depositing article such as express delivery. The door controller 2 may be understood as a controller having a calculation processing function, and is used for controlling the opening and closing of the door and the locking of the door of the express box 1. The voice player 3 may be understood as a player having an audio output function. The door controller 2 and the voice player 3 can be accommodated in the box body 11 of the express box 1 or arranged outside the box body 11 as required.

Express delivery case 1 includes: a box body 11, a door lock 12, a push rod motor 13 and a pressure sensor 14. The box body 11 is a box door cube with one side surface provided with an openable box door, and the actual size can be adjusted according to requirements. The door lock 12 is accommodated at the door inside the cabinet 11 to lock or unlock the door. The pressure sensor 13 is accommodated at the bottom in the box body 11 and used for monitoring the pressure borne by the bottom surface of the express box, so that whether objects are placed in the express box or not is determined. One end of the push rod motor 13 is disposed inside the box body 11, and the other end is disposed at a door of the box body 11. The push rod motor 13 is used for pushing or pulling the door through the rotating force of the motor, thereby controlling the door to be opened or closed. When the push rod motor 13 rotates forwards, the door of the box body 11 is pushed to be opened, and when the push rod motor 13 rotates backwards, the door of the box body 11 is pulled to be closed.

Specifically, the door lock 12 includes: a door lock motor 121 and a lock bolt 122. The door lock motor 121 is electrically connected to the door lock 122 for controlling the door lock 122 to be locked or unlocked. The door controller 2 includes: the system comprises a door lock driving module 21, a push rod motor driving module 22, a pressure monitoring module 23 and a voice driving module 24. And, the door lock motor 121, the pressure sensor 13 and the push rod motor 13 are electrically connected to the door lock driving module 21, the pressure monitoring module 23 and the push rod motor driving module 22 in the door controller 2, respectively. The voice driving module 24 is electrically connected to the voice player 3.

More specifically, the door lock driving module 21 is electrically connected to the door lock motor 121, and the door lock driving module 21 is configured to send an unlocking control signal or a locking control signal to the door lock motor 121, so that the door lock motor 121 drives the lock bolt 122 to unlock or lock according to the unlocking control signal or the locking control signal. The push rod single machine driving module 22 is electrically connected to the push rod motor 13, and the push rod motor driving module 22 is configured to send a door opening control signal or a door closing control signal to the push rod motor 13, so that the push rod motor 13 rotates forwards according to the door opening control signal to control the door to be opened, or rotates backwards according to the door closing control signal to control the door to be closed.

The pressure sensor 14 is electrically connected to the pressure monitoring module 23, and is configured to detect whether a heavy object is placed in the box 11, generate a pressure sensing signal, and send the pressure sensing signal to the pressure monitoring module 23. The pressure monitoring module 23 is also electrically connected to the push rod motor drive module 22. The pressure monitoring module 23 receives the pressure sensing signal sent by the pressure sensor 14 and generates pressure sensing data according to the pressure sensing signal. Preferably, the pressure sensor 14 is a high-precision pressure sensor with a detection precision of 1 gram.

The voice driving module 24 is electrically connected with the voice player 3 and the push rod motor driving module 22 respectively. The voice driving module 24 receives the door opening control signal or the door closing control signal sent by the push rod motor driving module 22, and generates corresponding voice prompt information according to the door opening control signal or the door closing control signal, and sends the voice prompt information to the voice player 3, so that the voice player 3 outputs the voice prompt information.

Based on the automatic opening and closing door system structure introduced in the above embodiment of the present application, after the door of the express delivery box is opened, if the user takes out the article but does not close the door manually, the pressure sensor 14 can detect whether the article is taken out, and the door of the express delivery box is controlled to be closed automatically.

Specifically, when the user has taken out the article in the express box, the pressure sensor 14 monitors that the pressure above the sensor is zero, and sends a corresponding pressure sensing signal to the pressure monitoring module 23, and the pressure monitoring module can determine that the value of the pressure sensing data is equal to zero according to the pressure sensing signal. When the value of the pressure sensing data is equal to zero, the pressure monitoring module 23 sends a door closing instruction to the push rod motor driving module 22, so that the push rod motor driving module 22 generates a door closing control signal according to the door closing instruction, the push rod motor 13 rotates reversely according to the door closing control signal, and the door of the refrigerator is closed. When the door is closed, the door lock driving module 21 generates a locking control signal and sends the locking control signal to the door lock motor 121, so that the motor 121 drives the lock bolt 122 to lock according to the locking control signal.

Preferably, when the value of the pressure sensing data is equal to zero, the pressure monitoring module 23 starts timing, and sends a door closing command to the push rod motor driving module 22 after a preset pickup time, so as to give a user sufficient pickup time. Further preferably, the preset pickup time is 10 seconds.

In another case, after the door of the express box is opened, if the user does not take out the article or manually close the door, the door of the express box can be controlled to be automatically closed.

Specifically, after the push rod motor driving module 22 generates the door opening control signal, when the time that the value of the pressure sensing data is greater than zero exceeds the preset waiting time, the push rod driving motor module 22 generates the door closing control signal, so that the push rod motor 13 is reversed according to the door closing control signal, and the door is closed. Similarly, when the door is closed, the door lock driving module 21 generates a locking control signal to the door lock motor 121, so that the door lock motor 121 drives the lock bolt 122 to lock according to the locking control signal.

Preferably, the preset waiting time is 5 minutes.

In some preferred embodiments, the courier box 1 further includes a box door state feedback device 15. The door state feedback device 15 is electrically connected to the door lock driving module 21 and the push rod motor driving module 22, respectively. The door state feedback device 15 is used to monitor the door state in the cabinet 11, including whether the door is locked or unlocked and whether the door is opened or closed. The door condition feedback device 15 may be any device capable of monitoring the door condition. Such as a sensor or a camera. When the door state feedback device 15 monitors that the door is in the closed state, it sends a locking instruction to the door lock driving module 21, so that the door lock driving module 21 generates a locking control signal according to the locking instruction and sends the locking control signal to the door lock motor 121, and the door lock motor 121 drives the lock bolt 122 to lock according to the locking control signal. Therefore, the door can be locked after being closed, and the locking step caused by signal delay and the like when the door is not completely closed is avoided.

It can be understood that, based on the structure of the automatic door opening and closing system described in the embodiment of the present application, the embodiment of the present application can also achieve automatic opening of the express box and closing of the express box according to an instruction input by a user.

Specifically, after the user inputs a door opening instruction, the door lock driving module 21 first sends an unlocking control signal to the door lock motor 121 according to the door opening instruction, so that the door lock motor 121 drives the lock bolt 122 to unlock according to the unlocking control signal. After the lock bolt 122 is unlocked, the door state feedback device 15 monitors that the door is in the unlocked state, and sends a door opening driving instruction to the push rod motor driving module 22, so that the push rod motor driving module 22 generates a door opening control signal according to the door opening driving instruction and sends the door opening control signal to the push rod motor 13, and the push rod motor 13 rotates forward according to the door opening control signal, thereby pushing the door to be automatically opened. Correspondingly, after the user inputs a door closing instruction, the push rod motor driving module 22 first generates a door closing control signal according to the door closing instruction, so that the push rod motor 13 reverses according to the door closing control signal, and the door is closed. After the door is closed, the door state feedback device 15 sends a locking instruction to the door lock driving module 21 after monitoring that the door is in a closed state, so that the door lock driving module 21 generates a locking control signal according to the locking instruction and sends the locking control signal to the door lock motor 121, and the door lock motor 121 drives the lock bolt 122 to lock according to the locking control signal.

The application provides an automatic switching chamber door system can realize opening, closing the chamber door automatically for the user opens after the chamber door, no matter take out article, and the system all can self-closing chamber door after a period, realizes the unmanned of autopilot commodity circulation car and keeps watch, reduces the operation cost of autopilot commodity circulation car. And, the push rod motor in this application is higher than the spring reliability, and the life-span is more of a specified duration, uses the reducible trouble of the scheme that the push rod motor opened the chamber door, reduces the maintenance frequency.

When goods are picked up by the automatic door opening and closing system provided by the above-mentioned embodiment of the present invention, the automatic door opening and closing method is performed as the steps provided by the following embodiment of the present invention.

Fig. 2 is a flowchart of a method for automatically opening and closing a door according to an embodiment of the present invention, and as shown in fig. 2, an embodiment of the present invention provides a method for automatically opening and closing a door, which is implemented in an application scenario of an automatic door opening and closing system according to a first embodiment of the present invention. Referring to fig. 1 and 2, the method for automatically opening and closing the door of the refrigerator mainly includes the following steps:

step 110, a door lock driving module obtains a door opening instruction and generates an unlocking control signal according to the door opening instruction;

specifically, the door lock driving module 21 in the automatic door opening and closing system obtains a door opening instruction, where the door opening instruction may be input by a user or sent to the door lock driving module 21 by another device. Then the door lock driving module 21 generates an unlocking control signal according to the door opening instruction and sends the unlocking control signal to the door lock motor 121 in the automatic door opening and closing system.

Step 120, the door lock motor drives the door lock to unlock according to the unlocking control signal;

specifically, the door lock motor 121 drives the door lock 12 to unlock according to the unlocking control signal sent by the door lock driving module 21.

Step 130, determining whether the door lock is opened;

specifically, the door state feedback device 15 in the automatic door opening and closing system monitors the current state of the express door, including whether the door is in a locked state or an unlocked state, and whether the door is in an opened state or a closed state. The door condition feedback device 15 may be any device capable of monitoring the door condition. Such as a sensor or a camera. When the door state feedback device 15 determines that the door is in the open state, which indicates that the door lock 12 is unlocked, the following step 140 is executed.

Step 140, when the door lock is opened, the push rod motor driving module generates a door opening control signal to drive the push rod motor unit to rotate forwards, so that the push rod motor unit controls the door to be opened according to the forward rotation direction;

specifically, when the door state feedback device 15 determines that the door is in the open state, which indicates that the door lock 12 is unlocked, the door state feedback device 15 generates a door opening driving instruction and sends the door opening driving instruction to the push rod motor driving module 22 in the automatic door opening and closing system. The push rod motor driving module 22 generates a door opening control signal according to the door opening driving instruction and sends the door opening control signal to the push rod motor 13 in the automatic door opening and closing system, and the push rod motor 13 rotates forwards according to the door opening control signal, so that the door can be automatically opened inwards according to the forward rotation direction of the push rod motor 13.

Step 150, determining whether the door needs to be automatically closed;

specifically, the pressure sensor 13 in the automatic door opening and closing system is accommodated in the bottom of the box body 11 and used for monitoring the pressure borne by the bottom surface of the express box, so as to determine whether an object is placed in the express box or not, whether the object is taken out or not, and the like.

After the door of the express delivery box is opened, the conditions for determining that the door of the express delivery box needs to be closed comprise the following two conditions:

in the first case, when it is determined that the items in the current express box have been taken out, it is necessary to control the door to be closed.

More specifically, when the user takes out the article in the express box, the pressure sensor 14 monitors that the pressure above the sensor is zero, the pressure sensor 14 sends a corresponding pressure sensing signal to the pressure monitoring module 23 in the automatic door opening and closing system, and the pressure monitoring module 23 acquires the current pressure sensing signal and generates pressure sensing data according to the pressure sensing signal. When the value of the pressure sensing data is equal to zero, indicating that the user has taken the contents of the courier box and needs to control the door to close, the following step 160 is performed.

In the second case, even if the items in the express box have not been taken out, the door needs to be controlled to be closed after the door has been opened for a certain time.

More specifically, after the door opening control signal is generated by the push rod motor driving module 22, when the time that the value of the pressure sensing data is greater than zero exceeds the preset waiting time, it indicates that the object in the express box is not taken out within the specified time, and if the door is still in the open state, there is a certain safety risk, so that it is also necessary to control the door to be closed, and the following step 160 is executed.

Preferably, the preset waiting time is 5 minutes, that is, when the door of the express box is opened and the articles in the express box are not taken out within 5 minutes, the door of the express box needs to be controlled to be automatically closed.

Step 160, when the door needs to be automatically closed, the pressure monitoring module generates a door closing instruction;

specifically, when the value of the pressure sensing data is equal to zero, or when the time that the value of the pressure sensing data is greater than zero exceeds the preset waiting time, it is determined that the door needs to be automatically closed, the pressure monitoring module 23 generates a door closing instruction, and sends the door closing instruction to the push rod motor driving module 22.

Preferably, when the value of the pressure sensing data is equal to zero, the pressure monitoring module 23 starts timing, and sends a door closing command to the push rod motor driving module 22 after a preset pickup time, so as to give a user sufficient pickup time. Further preferably, the preset pickup time is 10 seconds.

170, driving the push rod motor unit to rotate reversely by the push rod driving motor module according to the door closing instruction, so that the push rod motor unit controls the door to be closed according to the reverse direction force;

specifically, after the pressure monitoring module 23 sends a door closing instruction to the push rod motor driving module 22, the push rod driving motor module 22 generates a door closing control signal according to the door closing instruction and sends the door closing control signal to the push rod motor 13 in the automatic door opening and closing system, and the push rod motor 13 rotates reversely according to the door closing control signal, so that the door is closed.

Preferably, after the door closing instruction is generated, the voice player in the automatic door opening and closing system generates corresponding voice prompt information according to the door closing instruction, and outputs the voice prompt information to prompt the user that the door is about to be closed.

Step 180, after the box door is closed, the door lock driving module generates a locking control signal and drives the door lock to unlock according to the locking control signal;

specifically, when the door state feedback device 15 monitors that the door is in the closed state, it sends a locking instruction to the door lock driving module 21, so that the door lock driving module 21 generates a locking control signal according to the locking instruction and sends the locking control signal to the door lock motor 121, and the door lock motor 121 drives the lock bolt 122 to lock according to the locking control signal.

The method for automatically opening and closing the box door provided by the embodiment of the invention can realize automatic opening and closing of the box door, so that the system can automatically close the box door after a user opens the box door regardless of whether articles are taken out or not, unmanned supervision of the automatically-driven logistics vehicle is realized, and the operation cost of the automatically-driven logistics vehicle is reduced.

Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM powertrain control method, or any other form of storage medium known in the art.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.