A control method, device, cabinet door assembly, delivery robot, and locker

Abstract

The present invention provides a control method, device, door assembly, delivery robot, and locker, relating to the field of door control. The control method includes: controlling a driving motor to drive a corresponding door body to move at a constant speed; recording a plurality of actual current values of the driving motor, calculating an average current value according to the plurality of actual current values, and setting a first current threshold according to the average current value; obtaining the state of the corresponding door body, and when the corresponding door body is in a moving state, determining whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the driving motor is overcurrent, and overcurrent protection is implemented on the driving motor. Since the first current threshold is determined based on the average current value in a relative increment manner, calibration is not required after the production of the door assembly and after replacing parts, reducing the workload and being more convenient. At the same time, it is not affected by the aging of the parts of the door assembly, which is beneficial to the accurate control and determination of the door body.

Description

Technical Field

[0001] The present invention relates to the field of door control of boxes, and particularly to a control method, device, door assembly of a box, delivery robot, and locker. Background Art

[0002] Delivery robots and lockers are often provided with multiple doors of boxes, and in addition to automatic opening and closing, the doors of boxes also have requirements for anti-pinch and over-current protection.

[0003] Among them, due to the inconsistency of each door of the box and installation errors, the magnitudes of the driving currents used to control the opening and closing of each door of the box are different, and the magnitudes of the preset over-current values are also different.

[0004] In addition, for the door of the box without an object detection sensor installed, it is also only possible to determine whether a hand or other object blocks the door of the box based on the magnitude of the driving current, so as to achieve the anti-pinch function.

[0005] Therefore, during the test process after the production of existing delivery robots and lockers, it is necessary to calibrate the parameters of each door of the box (including the driving current values corresponding to opening, closing, and pinching hands and the over-current value) separately according to the characteristics of each door of the box, and then store the parameter information in the storage chip of the microcontroller. During use, the microcontroller controls and determines the door of the box according to the stored parameter information.

[0006] However, the above calibration process not only has a large workload, wastes production line resources, increases working hours, but also wastes microcontroller resources.

[0007] Furthermore, when the driving motor or transmission parts age, the calibrated parameters may no longer be applicable, which is not conducive to the accurate control and determination of the door of the box by the microcontroller. When the door of the box, driving motor, and transmission parts are replaced due to aging or damage, recalibration is required, which is very inconvenient. Summary of the Invention

[0008] In order to solve the problem in the prior art that the calibrated over-current value is no longer applicable as the driving motor and transmission parts age, and when the door of the box, driving motor, and transmission parts are replaced due to aging or damage, recalibration is required, which is very inconvenient, one of the purposes of the present invention is to provide a control method.

[0009] The present invention provides the following technical solutions:

[0010] A control method is applied to a controller of a door assembly of a box. The door assembly of the box includes a door body of the box and a driving motor. At least one door body of the box is provided. The driving motor is correspondingly arranged with the door body of the box. The driving end of the driving motor is connected to the corresponding door body of the box. The driving motor is electrically connected to the controller;

[0011] The control method includes:

[0012] Controlling the driving motor to drive the corresponding cabinet door body to move at a constant speed;

[0013] Recording a plurality of actual current values of the driving motor, calculating an average current value according to the plurality of actual current values, and setting a first current threshold according to the average current value;

[0014] Obtaining the state of the corresponding cabinet door body, and when the corresponding cabinet door body is in a moving state, determining whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the driving motor is overcurrent, and overcurrent protection is implemented for the driving motor.

[0015] As a further optional solution to the control method, after calculating the average current value according to the plurality of actual current values, it further includes:

[0016] Setting a second current threshold according to the average current value;

[0017] Obtaining the state and initial position of the corresponding cabinet door body. When the corresponding cabinet door body is in a moving state and the initial position of the corresponding cabinet door body is the open position, determining whether the actual current value is greater than or equal to the second current threshold. If so, it is determined that there is an obstacle, and the driving motor is controlled to drive the corresponding cabinet door body to return to the initial position.

[0018] As a further optional solution to the control method, before controlling the driving motor to drive the corresponding cabinet door body to move at a constant speed, it further includes:

[0019] Controlling the driving motor to drive the corresponding cabinet door body to accelerate at least to a first preset speed;

[0020] Wherein, the speed at which the corresponding cabinet door body moves at a constant speed is a second preset speed, and the second preset speed is less than the first preset speed.

[0021] As a further optional solution to the control method, after controlling the driving motor to drive the corresponding cabinet door body to move at a constant speed, it further includes:

[0022] Controlling the driving motor to drive the corresponding cabinet door body to decelerate to a stop.

[0023] As a further optional solution to the control method, controlling the driving motor to drive the corresponding cabinet door body to decelerate to a stop includes:

[0024] Obtain the initial position and the current position of the corresponding cabinet door body. When the initial position of the corresponding cabinet door body is the open position and the current position of the corresponding cabinet door body is the closed position, short-circuit the drive motor to drive the corresponding cabinet door body to decelerate until it stops.

[0025] As a further optional solution to the control method, the control method further includes:

[0026] Obtain the initial position and the current position of the corresponding cabinet door body, obtain the running time of the drive motor. When the initial position of the corresponding cabinet door body is the open position and the running time of the drive motor reaches the preset duration, determine whether the current position of the cabinet door body is the closed position. If not, determine it as abnormal and give an alarm.

[0027] Another object of the present invention is to provide a control device.

[0028] The present invention provides the following technical solutions:

[0029] A control device is applied to a controller of a cabinet door assembly. The cabinet door assembly includes a cabinet door body and a drive motor. There is at least one cabinet door body. The drive motor is correspondingly arranged with the cabinet door body. The drive end of the drive motor is connected to the corresponding cabinet door body. The drive motor is electrically connected to the controller;

[0030] The control device includes:

[0031] A control module for controlling the drive motor to drive the corresponding cabinet door body to move at a constant speed;

[0032] An operation module for obtaining a plurality of actual current values of the drive motor, calculating an average current value according to the plurality of actual current values, and setting a first current threshold according to the average current value;

[0033] The control module is further configured to obtain the state of the corresponding cabinet door body. When the corresponding cabinet door body is in a moving state, determine whether the actual current value is greater than or equal to the first current threshold. If so, determine that the drive motor is overcurrent and implement overcurrent protection on the drive motor.

[0034] Another object of the present invention is to provide a cabinet door assembly.

[0035] The present invention provides the following technical solutions:

[0036] A cabinet door assembly includes a controller, a cabinet door body and a drive motor;

[0037] The controller is used to execute the above control method;

[0038] The door body of the box is provided with at least one;

[0039] The driving motor is correspondingly arranged with the door body of the box. The driving end of the driving motor is connected to the corresponding door body of the box, and the driving motor is electrically connected to the controller.

[0040] As a further optional solution to the box door assembly, the box door assembly further includes a sensing member. The sensing member is correspondingly arranged with the door body of the box. The sensing member is electrically connected to the controller, and the sensing member is used to sense the corresponding door body of the box when the corresponding door body of the box reaches the closed position.

[0041] Another object of the present invention is to provide a delivery robot.

[0042] The present invention provides the following technical solutions:

[0043] A delivery robot includes the above box door assembly.

[0044] Another object of the present invention is to provide a locker.

[0045] The present invention provides the following technical solutions:

[0046] A locker includes the above box door assembly.

[0047] Another object of the present invention is to provide a readable storage medium.

[0048] The present invention provides the following technical solutions:

[0049] A readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the above control method.

[0050] The embodiments of the present invention have the following beneficial effects:

[0051] When the driving motor drives the corresponding door body of the box to move at a constant speed, several actual current values of the driving motor are recorded, and the average current value is calculated. Then, the first current threshold is set according to the average current value. The actual current value of the driving motor is compared with the first current threshold. When the actual current value reaches the first current threshold, it is determined that the driving motor is overcurrent, so as to implement overcurrent protection for the driving motor. Since the first current threshold is determined based on the average current value in a relative increment manner, calibration is not required after the production of the box door assembly and after replacing parts, reducing the workload and being more convenient. At the same time, it is not affected by the aging of the parts of the box door assembly, which is beneficial to the accurate control and determination of the door body of the box.

[0052] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically presents preferred embodiments and, in conjunction with the accompanying drawings, provides a detailed description as follows. Description of the Drawings

[0053] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can be obtained based on these drawings.

[0054] Figure 1 Shows a schematic structural diagram of a door assembly provided by an embodiment of the present invention;

[0055] Figure 2 Shows a schematic structural diagram of a door assembly provided by another embodiment of the present invention;

[0056] Figure 3 Shows a flowchart of the steps of a control method provided by an embodiment of the present invention;

[0057] Figure 4 Shows a block diagram of the modules of a control device provided by an embodiment of the present invention;

[0058] Figure 5 Shows a flowchart of the steps of a control method provided by another embodiment of the present invention;

[0059] Figure 6 Shows a schematic diagram of the state of a motor phase short circuit of a drive motor in step S6 of a control method provided by another embodiment of the present invention.

[0060] Main element symbol description:

[0061] 100 - Controller; 200 - Door body; 300 - Drive motor; 400 - Inductive element; 10 - Control module; 20 - Operation module. Detailed Embodiments

[0062] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0063] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0064] In the present invention, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0065] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise clearly and specifically defined.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0067] Embodiment 1

[0068] Please refer to Figure 1 and Figure 2 simultaneously. This embodiment provides a door assembly for a box, which includes a controller 100, a door body 200 of the box, and a driving motor 300.

[0069] Among them, the door body 200 of the box is provided with at least one. The driving motor 300 is correspondingly arranged with the door body 200 of the box, and the driving end of the driving motor 300 is connected to the corresponding door body 200 of the box. In addition, the driving motor 300 is electrically connected to the controller 100.

[0070] During use, the controller 100 controls the driving motor 300 to operate, and the driving motor 300 then drives the corresponding door body 200 of the box to move.

[0071] Further, in some alternative embodiments, the door assembly further includes a sensor 400. The sensor 400 is correspondingly arranged with the door body 200 and electrically connected to the controller 100.

[0072] When the corresponding door body 200 reaches the closed position, the sensor 400 senses the corresponding door body 200 and transmits a in-place signal to the controller 100.

[0073] Optionally, the sensor 400 is one of a Hall sensor, an optoelectronic switch, and a microswitch.

[0074] Please refer to Figure 1 , in some embodiments, the number of the door bodies 200, the driving motors 300, and the sensors 400 is all one.

[0075] Please refer to Figure 2 , in some other embodiments, the number of the door bodies 200 is multiple, and the numbers of the driving motors 300 and the sensors 400 are the same as that of the door bodies 200. In addition, each driving motor 300 and each sensor 400 are electrically connected to the controller 100.

[0076] This embodiment also provides a delivery robot, including the above door assembly.

[0077] This embodiment also provides a storage locker, including the above door assembly.

[0078] Embodiment 2

[0079] Please refer to Figure 3 , this embodiment provides a control method for the controller 100 applied to the above door assembly, including the following steps:

[0080] S1, controlling the driving motor 300 to drive the corresponding door body 200 to move at a constant speed.

[0081] S2, recording a plurality of actual current values of the driving motor 300, calculating an average current value according to the plurality of actual current values, and setting a first current threshold according to the average current value.

[0082] Specifically, during the constant-speed movement of the door body 200, the first 50 actual current values of the driving motor 300 are averaged to calculate the average current value, and then a certain value is increased on the basis of the average current value and set as the first current threshold.

[0083] S3. Obtain the state of the corresponding door body 200. When the corresponding door body 200 is in a moving state, determine whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the drive motor 300 is overcurrent, and overcurrent protection is implemented for the drive motor 300.

[0084] Since the first current threshold is determined based on the average current value in a relative increment manner, calibration is not required after the production of the door assembly and after replacing parts, reducing the workload and being more convenient. At the same time, it is not affected by the aging of the parts of the door assembly, which is beneficial to the accurate control and determination of the door body 200.

[0085] Corresponding to the above method embodiment, please refer to Figure 4 , which is a block diagram of a control device provided in this embodiment. The provided control device is applied to the controller 100 of the door assembly. As Figure 1 and Figure 2 shown, the door assembly further includes a door body 200 and a drive motor 300. At least one door body 200 is provided. The drive motor 300 is correspondingly arranged with the door body 200. The drive end of the drive motor 300 is connected to the corresponding door body 200, and the drive motor 300 is electrically connected to the controller 100. The control device mainly includes:

[0086] A control module 10, configured to control the drive motor 300 to drive the corresponding door body 200 to move at a constant speed;

[0087] An operation module 20, configured to obtain a plurality of actual current values of the drive motor 300, calculate an average current value according to the plurality of actual current values, and set a first current threshold according to the average current value;

[0088] The control module 10 is further configured to obtain the state of the corresponding door body 200. When the corresponding door body 200 is in a moving state, determine whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the drive motor 300 is overcurrent, and overcurrent protection is implemented for the drive motor 300.

[0089] In addition, this embodiment further provides a readable storage medium, which stores computer instructions for causing a computer to execute the control method of the foregoing method embodiment.

[0090] Embodiment 3

[0091] Please refer to Figure 5 , this embodiment provides a control method applied to the controller 100 of the above door assembly, including the following steps:

[0092] S0. Control the drive motor 300 to drive the corresponding door body 200 to at least accelerate to a first preset speed.

[0093] S1, control the drive motor 300 to drive the corresponding door body 200 to move at a constant speed.

[0094] Among them, the speed at which the corresponding door body 200 moves at a constant speed is the second preset speed, and the second preset speed is less than the first preset speed.

[0095] The torque of the drive motor 300 when driving the door body 200 to accelerate is greater than the torque of the drive motor 300 when driving the door body 200 to move at a constant speed. At the same time, the first preset speed is greater than the second preset speed. Therefore, the power of the drive motor 300 when driving the door body 200 to accelerate to the first preset speed is greater than the power of the drive motor 300 when driving the door body 200 to move at a constant speed, and the power is positively correlated with the drive current.

[0096] In other words, when the controller 100 controls the drive motor 300 to drive the corresponding door body 200 to perform the opening or closing action, only need to increase the drive current of the drive motor 300 to make the corresponding door body 200 accelerate to at least the first preset speed.

[0097] Thus, after the production of the door assembly and after replacing parts, it is not necessary to calibrate the drive current of the drive motor 300, reducing the workload and being more convenient. At the same time, it is not affected by the aging of the parts of the door assembly, which is beneficial to the accurate control and determination of the door body 200.

[0098] In addition, when the door assembly includes multiple door bodies 200 and multiple drive motors 300, it is not affected by the inconsistency of each door.

[0099] S2, record several actual current values of the drive motor 300, calculate the average current value according to the several actual current values, and set the first current threshold and the second current threshold according to the average current value.

[0100] Specifically, during the period when the door body 200 moves at a constant speed, take the first 50 actual current values of the drive motor 300 for averaging to calculate the average current value. Then increase a certain value based on the average current value and set it as the first current threshold. At the same time, increase 300 mA based on the average current value and set it as the second current threshold.

[0101] S3, obtain the state of the corresponding door body 200. When the corresponding door body 200 is in the moving state, judge whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the drive motor 300 is overcurrent, and overcurrent protection is implemented on the drive motor 300.

[0102] Since the first current threshold is based on the average current value and is determined in a relative increment manner, no calibration is required after the door assembly is produced or after parts are replaced, which reduces workload and is more convenient. At the same time, it is not affected by the aging of the parts of the door assembly, which is conducive to the accurate control and judgment of the door body 200.

[0103] S4, obtain the state and initial position of the corresponding door body 200. When the corresponding door body 200 is in motion and the initial position of the corresponding door body 200 is the open position, determine whether the actual current value is greater than or equal to the second current threshold. If so, it is determined that there is an obstacle, and the drive motor 300 is controlled to drive the corresponding door body 200 back to the initial position.

[0104] Specifically, the initial position of the door body 200 is the open position, which means that the controller 100 controls the drive motor 300 to drive the door body 200 to perform the door closing action. When the door body 200 pinches the user's hand, or cannot be closed due to other obstacles, the actual current value of the drive motor 300 rises and is greater than or equal to the second current threshold. At this time, the controller 100 controls the drive motor 300 to drive the door body 200 back to the initial position, which can achieve the function of preventing hand pinching.

[0105] On the contrary, when the initial position of the door body 200 is the door closing position, it means that the controller 100 controls the driving motor 300 to drive the door body 200 to perform the door opening action, and there is no need to consider the hand pinching prevention.

[0106] Similarly, since the second current threshold is based on the average current value and is determined according to a relative increment, no calibration is required after the door assembly is produced or after parts are replaced, which reduces workload and is more convenient. At the same time, it is not affected by the aging of the parts of the door assembly, which is conducive to the accurate control and judgment of the door body 200.

[0107] S5, obtain the initial position and current position of the corresponding door body 200, obtain the running time of the drive motor 300, when the initial position of the corresponding door body 200 is the door-open position, and the running time of the drive motor 300 reaches the preset time, determine whether the current position of the door body 200 is the door-closing position, if not, determine it as abnormal and alarm.

[0108] Specifically, the initial position of the door body 200 is the open position, which means that the controller 100 controls the drive motor 300 to drive the door body 200 to perform the door closing action. When the drive motor 300 has run for a preset time, the door body 200 has not reached the door closing position, indicating an abnormality, such as the axle of the drive motor 300 idling and failing to effectively drive the door body 200 to move.

[0109] S6. Control the drive motor 300 to drive the corresponding door body 200 to decelerate to a stop. The specific steps are as follows:

[0110] Obtain the initial position and the current position of the corresponding door body 200. When the initial position of the corresponding door body 200 is the open position and the current position of the corresponding door body 200 is the closed position, short-circuit the drive motor 300 to drive the corresponding door body 200 to decelerate to a stop.

[0111] Specifically, when the door body 200 reaches the closed position, the sensing member 400 senses the door body 200 and transmits a in-place signal to the controller 100.

[0112] Please refer to Figure 6 , the controller 100 turns on all the lower bridge arms of the drive motor 300 circuit to short-circuit the motor phases of the drive motor 300, achieving rapid braking and thus avoiding the inconsistency of each door body 200.

[0113] In addition, when the initial position of the door body 200 is the closed position, it means that the controller 100 controls the drive motor 300 to drive the door body 200 to perform an opening action. At this time, there is no need to set the sensing member 400 to open the door body 200 to a specific position. Instead, after the door body 200 moves at a constant speed for a certain distance, the drive motor 300 can be controlled to drive the door body 200 to decelerate to a stop.

[0114] Corresponding to the above method embodiment, please refer to Figure 4 again. This is a block diagram of a control device provided in this embodiment. The provided control device is applied to the controller 100 of the door assembly. As Figure 1 and Figure 2 shown, the door assembly further includes a door body 200 and a drive motor 300. There is at least one door body 200. The drive motor 300 is correspondingly arranged with the door body 200. The drive end of the drive motor 300 is connected to the corresponding door body 200. The drive motor 300 is electrically connected to the controller 100. The control device mainly includes:

[0115] A control module 10, configured to control the drive motor 300 to drive the corresponding door body 200 to at least accelerate to a first preset speed;

[0116] The control module 10 is further configured to control the drive motor 300 to drive the corresponding door body 200 to move at a constant speed;

[0117] An operation module 20, configured to obtain a plurality of actual current values of the drive motor 300, calculate an average current value according to the plurality of actual current values, and set a first current threshold and a second current threshold according to the average current value;

[0118] The control module 10 is further configured to obtain the state of the corresponding cabinet door body 200. When the corresponding cabinet door body 200 is in a moving state, it determines whether the actual current value is greater than or equal to the first current threshold. If so, it determines that the drive motor 300 is overcurrent and implements overcurrent protection for the drive motor 300.

[0119] The control module 10 is further configured to obtain the state and initial position of the corresponding cabinet door body 200. When the corresponding cabinet door body 200 is in a moving state and the initial position of the corresponding cabinet door body 200 is the open position, it determines whether the actual current value is greater than or equal to the second current threshold. If so, it determines that there is an obstacle and controls the drive motor 300 to drive the corresponding cabinet door body 200 to return to the initial position.

[0120] The control module 10 is further configured to obtain the initial position and current position of the corresponding cabinet door body 200, and obtain the running time of the drive motor 300. When the initial position of the corresponding cabinet door body 200 is the open position and the running time of the drive motor 300 reaches the preset duration, it determines whether the current position of the cabinet door body 200 is the closed position. If not, it determines that it is abnormal and alarms.

[0121] The control module 10 is further configured to control the drive motor 300 to drive the corresponding cabinet door body 200 to decelerate to a stop.

[0122] In addition, this embodiment also provides a readable storage medium storing computer instructions for causing a computer to execute the control method of the foregoing method embodiment.

[0123] In all the examples shown and described here, any specific value should be construed as merely exemplary, not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0124] It should be noted that: Similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0125] The above-described embodiments merely represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention.

Claims

1. A control method, characterized in that, it is applied to a controller of a box door assembly, the box door assembly includes a box door body and a driving motor, at least one box door body is provided, the driving motor is correspondingly arranged with the box door body, a driving end of the driving motor is connected to the corresponding box door body, and the driving motor is electrically connected to the controller; the control method includes: controlling the driving motor to drive the corresponding box door body to accelerate to at least a first preset speed; controlling the driving motor to drive the corresponding box door body to move at a constant speed; recording a plurality of actual current values of the driving motor, calculating an average current value according to the plurality of actual current values, and setting a first current threshold according to the average current value; acquiring the state of the corresponding box door body, and when the corresponding box door body is in a moving state, determining whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the driving motor is overcurrent, and overcurrent protection is implemented on the driving motor; wherein, the speed at which the corresponding box door body moves at a constant speed is a second preset speed, and the second preset speed is less than the first preset speed.

2. The control method according to claim 1, characterized in that, after calculating the average current value according to the plurality of actual current values, it further includes: setting a second current threshold according to the average current value; acquiring the state and initial position of the corresponding box door body. When the corresponding box door body is in a moving state and the initial position of the corresponding box door body is an open position, determining whether the actual current value is greater than or equal to the second current threshold. If so, it is determined that there is an obstacle, and the driving motor is controlled to drive the corresponding box door body back to the initial position.

3. The control method according to claim 1 or 2, characterized in that, after controlling the driving motor to drive the corresponding box door body to move at a constant speed, it further includes: controlling the driving motor to drive the corresponding box door body to decelerate to a stop.

4. The control method according to claim 3, characterized in that, controlling the driving motor to drive the corresponding box door body to decelerate to a stop includes: acquiring the initial position and current position of the corresponding box door body. When the initial position of the corresponding box door body is an open position and the current position of the corresponding box door body is a closed position, short-circuiting the driving motor to drive the corresponding box door body to decelerate to a stop.

5. The control method according to claim 1, characterized in that, the control method further includes: acquiring the initial position and current position of the corresponding box door body, acquiring the running time of the driving motor. When the initial position of the corresponding box door body is an open position and the running time of the driving motor reaches a preset duration, determining whether the current position of the box door body is a closed position. If not, it is determined as abnormal and an alarm is given.

6. A control device, characterized in that, A controller applied to a door assembly, the door assembly including a door body and a driving motor, at least one door body being provided, the driving motor being correspondingly arranged with the door body, a driving end of the driving motor being connected to the corresponding door body, and the driving motor being electrically connected to the controller; The control device includes: A control module, configured to control the driving motor to drive the corresponding door body to accelerate to at least a first preset speed, and further configured to control the driving motor to drive the corresponding door body to move at a constant speed; An operation module, configured to obtain a plurality of actual current values of the driving motor, calculate an average current value according to the plurality of actual current values, and set a first current threshold according to the average current value; The control module is further configured to obtain the state of the corresponding door body, and when the corresponding door body is in a moving state, determine whether the actual current value is greater than or equal to the first current threshold. If so, it is determined that the driving motor is overcurrent, and overcurrent protection is implemented on the driving motor.

7. A door assembly, Characterized in that, It includes a controller, a door body and a driving motor; The controller is configured to execute the control method according to any one of claims 1-5; At least one door body is provided; The driving motor is correspondingly arranged with the door body, a driving end of the driving motor is connected to the corresponding door body, and the driving motor is electrically connected to the controller.

8. The door assembly according to claim 7, Characterized in that, The door assembly further includes a sensing member, the sensing member is correspondingly arranged with the door body, the sensing member is electrically connected to the controller, and the sensing member is configured to sense the corresponding door body when the corresponding door body reaches a closed position.

9. A delivery robot, Characterized in that, It includes the door assembly according to claim 7 or 8.

10. A locker, Characterized in that, It includes the door assembly according to claim 7 or 8.

11. A readable storage medium, Characterized in that, The readable storage medium stores computer instructions, and the computer instructions are used to cause a computer to execute the control method according to any one of claims 1-5.

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