Certificate Access Method, Terminal Device and Readable Storage Medium

Abstract

The present application discloses a method for accessing documents, a terminal device, and a readable storage medium. The method for accessing documents includes: in response to an operation instruction, determining a target slot, determining a target grasping component according to the target slot and a preset condition, and outputting a control signal according to the target slot and the target grasping component. In the present application, the preset condition can be a condition preset according to factors affecting the efficiency of document access in the actual process of document access. Then, the target grasping component is determined according to the target slot and the preset condition, and the target grasping component is controlled to achieve document access, thereby improving the efficiency of document access.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and particularly to a method for accessing certificates, a terminal device, and a readable storage medium. Background Art

[0002] With the development of society, residents often encounter situations where they need to handle various certificates in their daily lives. Common types of certificates include ID cards, residence permits, driver's licenses, vehicle registration certificates, license plates, passports, etc. With the popularization of intelligent devices, self-service storage and retrieval of certificates can be realized.

[0003] Currently, in the market, most certificate access devices use the method of roller drive to access certificates and adopt the structure of a movable storage bin to achieve certificate storage; due to the large volume and weight of the storage bin, the time for moving the storage bin is long, resulting in low efficiency of certificate storage. Summary of the Invention

[0004] Based on this, in view of the above problems, it is necessary to propose a method for accessing certificates, a terminal device, and a readable storage medium, aiming to solve the problem of how to improve the access efficiency of certificate access terminals.

[0005] This application provides a method for accessing certificates, the method including:

[0006] Responding to an operation instruction to determine a target slot;

[0007] Determining a target grasping component according to the target slot and a preset condition;

[0008] Outputting a control signal according to the target slot and the target grasping component, the control signal being used to control the target grasping component to extract a certificate from the target slot or put the certificate into the target slot.

[0009] In some embodiments, the determining a target grasping component according to the target slot and a preset condition includes:

[0010] Obtaining the relative distances between a plurality of grasping components and the target slot;

[0011] Determining the target grasping component according to the relative distances.

[0012] In some embodiments, the determining a target grasping component according to the target slot and a preset condition includes:

[0013] Obtaining the running trajectories of a plurality of grasping components to the target slot;

[0014] Determining the target grasping component according to the running trajectories.

[0015] In some embodiments, determining the target grasping component according to the target slot and preset conditions includes:

[0016] Obtain the working states of multiple grasping components;

[0017] Determine the target grasping component according to the working states.

[0018] In some embodiments, determining the target grasping component according to the target slot and preset conditions includes:

[0019] Obtain the working states of multiple grasping components;

[0020] Obtain the relative distances between multiple grasping components and the target slot, and determine multiple candidate grasping components according to the relative distances and the working states of the multiple grasping components;

[0021] Obtain the running trajectories of the multiple candidate grasping components to the target slot, and determine the target grasping component according to the running trajectories and the multiple candidate grasping components.

[0022] In some embodiments, when the operation instruction is a certification instruction, determining the target grasping component according to the target slot and preset conditions includes:

[0023] Obtain the position of the certification port;

[0024] Determine at least one candidate slot from the empty slots according to the position of the certification port, and the distance between the candidate slot and the certification port is within a preset range;

[0025] Determine the target grasping component according to the at least one candidate slot and multiple grasping components.

[0026] In some embodiments, the method for determining the distance between the certification port and the empty slot includes:

[0027] Obtain the number of the empty slot;

[0028] Query the database according to the number of the empty slot to obtain the distance between the certification port and the empty slot;

[0029] And / or,

[0030] Adopt an image ranging method to obtain the distance between the certification port and the empty slot.

[0031] In some embodiments, before determining at least one candidate slot from the empty slots according to the position of the certification port, the method further includes:

[0032] Obtain the certification type;

[0033] Determine the empty slot according to the type of evidence storage.

[0034] The present application also provides a terminal device, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is caused to execute the document access method described in any one of the above.

[0035] The present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to execute the document access method described in any one of the above.

[0036] Adopting the embodiments of the present application has the following beneficial effects:

[0037] In the document access method of the embodiment of the present application, in response to an operation instruction, a target slot is determined, a target grasping component is determined according to the target slot and a preset condition, and a control signal is output according to the target slot and the target grasping component. The control signal is used to control the target grasping component to extract a document from the target slot or put the document into the target slot. Among them, the preset condition can be a condition preset according to the factors affecting the document access efficiency in the actual document access process. Then, the target grasping component is determined according to the target slot and the preset condition, and the target grasping component is controlled to realize document access, thereby improving the document access efficiency. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Among them:

[0040] Figure 1 is a schematic flowchart of the document access method in an embodiment of the present application;

[0041] Figure 2 is a first schematic flowchart of step S200 in an embodiment of the present application;

[0042] Figure 3 is a second schematic flowchart of step S200 in an embodiment of the present application;

[0043] Figure 4 is a third schematic flowchart of step S200 in an embodiment of the present application;

[0044] Figure 5 is a fourth schematic flowchart of step S200 in an embodiment of the present application;

[0045] Figure 6 This is the fifth schematic diagram of the process of step S200 in an embodiment of the present application;

[0046] Figure 7 This is the internal structure diagram of the terminal device in an embodiment of the present application. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0048] The embodiment of the present application provides a method for storing and retrieving certificates, which can be applied to the certificate storage and retrieval device in the certificate handling center. Figure 1 This is the schematic diagram of the process of the certificate storage and retrieval method in an embodiment of the present application. Please refer to Figure 1 and the certificate storage and retrieval method may include:

[0049] S100: In response to the operation instruction, determine the target slot.

[0050] In some embodiments, the execution subject of the certificate storage and retrieval method of the present application may be a terminal device (such as a certificate storage and retrieval device), or a control device provided in the terminal device. Optionally, the control device may be implemented by software, or by a combination of software and hardware.

[0051] In some embodiments, the operation instruction may be an instruction generated based on a user operation. The user operation may include a click operation, that is, the user clicks on the touch screen of the terminal device with a finger or a touch tool (such as a stylus), and the clicked buttons may include "store certificate", "retrieve certificate", etc. Correspondingly, the generated operation instruction may be a certificate storage instruction or a certificate retrieval instruction. The user operation may also include a voice input operation, that is, the user emits voices such as "store certificate", "retrieve certificate", etc., and the microphone of the terminal device collects the voice signal, and correspondingly generates a certificate storage instruction or a certificate retrieval instruction.

[0052] When the operation instruction is a certificate storage instruction, determine the target slot from the empty slots in the storage bin, and the target slot is used to determine the slot for storing the certificate; when the operation instruction is a certificate retrieval instruction, determine the slot where the certificate is stored as the target slot, and the target slot is used to determine the slot for retrieving the certificate.

[0053] S200: Determine the target grasping component according to the target slot and the preset conditions.

[0054] It should be noted that the grasping component can be a mechanical structure such as a manipulator for grasping documents. After determining the target slot, the target grasping component is determined according to preset conditions. The preset conditions can be conditions preset according to factors affecting the efficiency of document access and storage during the actual process of document access and storage, such as: the straight-line distance or relative distance between the grasping component and the target slot, the working state of the grasping component, the running trajectory of the grasping component to the target slot, etc.

[0055] S300: Output a control signal according to the target slot and the target grasping component. The control signal is used to control the target grasping component to extract a document from the target slot or put the document into the target slot.

[0056] In some embodiments, after determining the target slot and the target grasping component, a control signal is output. The control signal is used to control the target grasping component to extract a document from the target slot or put the document into the target slot, thereby improving the efficiency of document access and storage.

[0057] Figure 2 This is the first flow schematic diagram of step S200 in an embodiment of the present application. Please refer to Figure 2 In some embodiments, in step S200, determining the target grasping component according to the target slot and the preset conditions may include:

[0058] S210: Obtain the relative distances between multiple grasping components and the target slot;

[0059] S220: Determine the target grasping component according to the relative distances.

[0060] In order to improve the efficiency of document access and storage, generally multiple grasping components are set. Since the storage bin is generally fixedly placed, after determining the target slot, the position of the target slot can be directly obtained. Obtain the current position of each grasping component, and then according to the current position of each grasping component and the position of the target slot, the relative distance between each grasping component and the target slot can be determined.

[0061] In some embodiments, determining the target grasping component according to the relative distances may include the following methods: (1) Determine the grasping component with the closest relative distance to the target slot as the target grasping component. If there are multiple grasping components with the closest relative distance, any one of them can be randomly determined as the target grasping component; or, (2) Determine one of the grasping components with the relative distance to the target slot within a certain range as the target grasping component. For example, if there are multiple grasping components with a relative distance to the target slot less than 0.5 meters, at this time, since the distance is already close enough, there is no need to determine the grasping component with the closest distance, and any one of the grasping components with a relative distance less than 0.5 meters can be randomly determined as the target grasping component to improve the efficiency.

[0062] After determining the target grasping component, control the target grasping component to directly move to the target slot, extract the document from the target slot or place the document into the target slot.

[0063] In an actual application scenario, the method for determining the target grasping component can be selected according to actual needs, and this embodiment does not make specific limitations thereon.

[0064] Figure 3 This is the second process schematic diagram of step S200 in an embodiment of the present application. Please refer to Figure 3 , in some embodiments, determining the target grasping component according to the target slot and preset conditions in step S200 may further include:

[0065] S230: Obtain the running trajectories of multiple grasping components to the target slot;

[0066] S240: Determine the target grasping component according to the running trajectories.

[0067] As described above, after determining the target slot, the position of the target slot is obtained. Each grasping component can be actually simulated to run to the target slot, and the running trajectory of each grasping component can be obtained. By determining the complexity and distance of the running trajectory, the time required to run the trajectory can be determined, and then the grasping component with less time consumption can be selected as the target grasping component.

[0068] It can be understood that a common manipulator includes multiple driving modules and a mechanical claw. The multiple driving modules are connected in sequence, and the driving module at the end is connected to the mechanical claw. Among them, the driving module can include a linear driving module or a rotary driving module. By simulating and obtaining the pulse signals of each driving module moving so that the mechanical claw corresponds to the target slot, the expected running distance can be calculated according to the pulse signals, and then the time consumption for the corresponding manipulator to move to the target slot can be determined. Further, based on the difference in the pulse signals of each driving module, the number of driving modules required to simulate the movement of the manipulator to the target slot can be obtained, and then, on the premise of less time consumption, a manipulator with a smaller number of driving module calls can be selected as the target grasping component.

[0069] In the above, each driving module is defined as a driving axis. For example: when the manipulator has three driving modules, the manipulator has three driving axes, including the X, Y, and Z axes. The information of the running trajectory can be stored in the memory.

[0070] The following application can also be used for understanding:

[0071] Obtain the running trajectory of each grasping component from the current position to the target slot. For example, the three-dimensional coordinates of the current position of grasping component A are (5, 10, 15), and the three-dimensional coordinates of the target slot are (8, 14, 20). Then the running trajectory of grasping component A to the target slot is: first move 3 unit lengths along the X-axis, then move 4 unit lengths along the Y-axis, and then move 5 unit lengths along the Z-axis. The total unit length of the movement is 12 units.

[0072] Optionally, the target grasping component determined according to the running trajectory can be: determine the grasping component with the minimum total unit length moving to the target slot as the target grasping component, reduce the movement time, and improve the efficiency of document access and storage.

[0073] After determining the target grasping component, control the target grasping component to move to the target slot along the X, Y, and Z axes, and extract the document from the target slot or place the document into the target slot.

[0074] Figure 4 This is the third process schematic diagram of step S200 in an embodiment of the present application. Please refer to Figure 4 In some embodiments, in step S200, determining the target grasping component according to the target slot and preset conditions may further include:

[0075] S250: Obtain the working status of multiple grasping components;

[0076] S260: Determine the target grasping component according to the working status.

[0077] Optionally, the working status of the grasping component may include an occupied status, an idle status, etc. Obtain the working status of multiple grasping components, and determine the grasping component in the idle status as the target grasping component. If there are multiple grasping components in the idle status, when the operation instruction is a document storage instruction, the grasping component adjacent to the document storage port corresponding to the document can be selected as the target grasping component; or, when the operation instruction is a document retrieval instruction, the grasping component adjacent to the slot where the document is stored can be selected as the target grasping component; or, any one of the grasping components can be randomly determined as the target grasping component.

[0078] After determining the target grasping component, control the target grasping component to move to the target slot, and extract the document from the target slot or place the document into the target slot.

[0079] Combined with the above, there are multiple ways to determine the target grasping component. In the actual application scenario, one of the above multiple ways can be selected, or they can be randomly combined (the order of combination is not limited), and this embodiment does not make specific limitations.

[0080] For example, first obtain the relative distances between multiple grasping components and the target slot, and determine multiple candidate grasping components based on the relative distances. Then obtain the movement trajectories of the multiple candidate components to the target slot, and determine the target grasping component based on the movement trajectories.

[0081] For another example, first obtain the relative distances between multiple grasping components and the target slot, and determine multiple candidate grasping components based on the relative distances. Then obtain the working states of the multiple candidate components, and determine the target grasping component based on the working states.

[0082] For another example, first obtain the movement trajectories of multiple grasping components to the target slot, and determine multiple candidate grasping components based on the movement trajectories. Then obtain the working states of the multiple candidate grasping components, and determine the target grasping component based on the working states.

[0083] For another example, first obtain the movement trajectories of multiple grasping components to the target slot, and determine multiple candidate grasping components based on the movement trajectories. Then obtain the relative distances between the multiple candidate grasping components and the target slot, and determine the target grasping component based on the relative distances.

[0084] For another example, first obtain the working states of multiple grasping components, and determine multiple candidate grasping components based on the working states. Then obtain the relative distances between the multiple candidate grasping components and the target slot, and determine the target grasping component based on the relative distances.

[0085] For another example, first obtain the working states of multiple grasping components, and determine multiple candidate grasping components based on the working states. Then obtain the movement trajectories of the multiple candidate components to the target slot, and determine the target grasping component based on the movement trajectories.

[0086] Figure 5 This is the fourth process schematic diagram of step S200 in an embodiment of the present application. Please refer to Figure 5 In some embodiments, when determining the target grasping component according to the target slot and the preset conditions in step S200, it may further include:

[0087] S270: Obtain the working states of multiple grasping components;

[0088] S280: Obtain the relative distances between multiple grasping components and the target slot, and determine multiple candidate grasping components based on the relative distances;

[0089] S290: Obtain the movement trajectories of the multiple candidate grasping components to the target slot, and determine the target grasping component based on the movement trajectories.

[0090] Preferably, the process of determining the target grasping component is as follows:

[0091] (1) First, obtain the working states of multiple grasping components.

[0092] Since the working state only includes the occupied state and the idle state, non-alternative grasping components in the occupied state can be quickly excluded according to the working state. If there is only one grasping component in the idle state, the grasping component can be directly determined as the target grasping component without performing step S280 and step 290, improving the efficiency of document access and storage.

[0093] (2) Secondly, obtain the relative distances between multiple grasping components and the target slot, and determine multiple alternative grasping components according to the relative distances and the working states of the multiple grasping components.

[0094] Obtain the current position of each grasping component, and then according to the current position of each grasping component and the position of the target slot, the relative distance between each grasping component and the target slot can be determined.

[0095] Determining multiple alternative grasping components according to the relative distances may include: determining the grasping components with relative distances to the target slot within a certain range as alternative grasping components. For example, if there are multiple grasping components with relative distances to the target slot less than 0.5 meters, at this time, since the distance is close enough, these grasping components can all be determined as alternative grasping components.

[0096] (3) Finally, obtain the movement trajectories of multiple alternative grasping components to the target slot, and determine the target grasping component according to the movement trajectories and the multiple alternative grasping components.

[0097] Obtain the movement trajectory of each alternative grasping component from the current position to the target slot. For example, the three-dimensional coordinates of the current position of alternative grasping component B are (3, 8, 12), and the three-dimensional coordinates of the target slot are (5, 9, 15). Then the movement trajectory of grasping component B to the target slot is: first move 2 unit lengths along the X-axis, then move 1 unit length along the Y-axis, and then move 3 unit lengths along the Z-axis. The total unit length of the movement is 6.

[0098] Optionally, determining the target grasping component according to the movement trajectory may be: determining the alternative grasping component with the minimum total unit length of moving to the target slot as the target grasping component.

[0099] Figure 6 This is the fifth process schematic diagram of step S200 in an embodiment of the present application. Please refer to Figure 6 , in some embodiments, when the operation instruction is a document storage instruction, determining the target grasping component according to the target slot and the preset conditions in step S200 includes:

[0100] S2100: Obtain the position of the document storage port.

[0101] As described above, when the operation instruction is a certification instruction, the target slot is determined from the empty slots in the storage bin. Specifically, in order to improve the efficiency of document access and storage, multiple certification ports are generally provided. Optionally, when the user clicks "Certification" on the touch screen of the terminal device with a finger or a touch tool, the user can select which certification port to use, and thus the terminal device can obtain the position of the certification port. Alternatively, when a document is sensed to be incoming, the incoming port of the document is the certification port.

[0102] S2110: Determine at least one alternative slot from the empty slots according to the position of the certification port, where the distance between the alternative slot and the certification port is within a preset range.

[0103] In some embodiments, there may be multiple empty slots in the storage bin. According to the position of the selected certification port of the user and the positions of each empty slot, the distance between the selected certification port of the user and each empty slot is determined, and the empty slots whose distance from the selected certification port of the user is within the preset range are determined as alternative slots. There may be one or more alternative slots.

[0104] S2120: Determine the target grasping component according to at least one alternative slot and multiple grasping components.

[0105] In some embodiments, after determining at least one alternative slot, a target slot can be determined therefrom according to a preset rule. The preset rule includes but is not limited to: being close to the grasping component in an idle state, being close to the grasping component that is about to complete grasping the document, randomly selecting, and selecting an empty slot with more surrounding empty slots.

[0106] After determining the target slot, the target grasping component is determined according to the target slot and multiple grasping components. For the detailed process, please refer to the description from step 210 to step 2120, which will not be elaborated here.

[0107] In some embodiments, there may also be screening conditions for the attributes of the above-mentioned empty slots, including but not limited to: being assigned as a spare slot, being required to be reserved with an interval, and being assigned as a damaged slot.

[0108] In some embodiments, the method for determining the distance between the certification port and the empty slot in step S2110 includes:

[0109] Obtain the number of the empty slot;

[0110] Query the database according to the number of the empty slot to obtain the distance between the certification port and the empty slot;

[0111] and / or

[0112] Use the image ranging method to obtain the distance between the certification port and the empty slot.

[0113] In some embodiments, the method for determining the distance between the selected evidence storage port and each empty slot may include:

[0114] (1) Obtain the numbers of each empty slot in the storage bin, and query the database according to the numbers of each empty slot. A one-to-one correspondence table or mapping table of the distances between each slot in the storage bin and each evidence storage port is stored in the database. By querying the database according to the number of the empty slot, the distance between the selected evidence storage port and each empty slot can be obtained.

[0115] (2) Use an existing image ranging method to obtain the distance between the selected evidence storage port and each empty slot.

[0116] In some embodiments, before step S2110 determines at least one alternative slot from the empty slots according to the position of the evidence storage port, the document access method further includes:

[0117] Obtain the evidence storage type;

[0118] Determine the empty slots according to the evidence storage type.

[0119] Optionally, the evidence storage type may include card-type documents (such as ID cards, residence permits, etc.), book-type documents (such as passports, driving licenses, etc.), etc. Different evidence storage types have different corresponding storage slots due to different shapes, thicknesses, etc. Therefore, before determining the alternative slots, it is also necessary to obtain the evidence storage type, determine the corresponding empty slots from all the empty slots according to the evidence storage type, and then determine at least one alternative slot from the corresponding empty slots according to the position of the selected evidence storage port.

[0120] In some embodiments, when the operation instruction is a document retrieval instruction, determining the target grasping component according to the target slot and preset conditions includes:

[0121] S310: Obtain the position of the target document output port;

[0122] S320: Determine multiple alternative grasping components according to the position of the target document output port;

[0123] S330: Determine the target grasping component according to the target slot and the multiple alternative grasping components.

[0124] To improve the efficiency of document access, multiple document output ports are generally set. Among them, the target document output port is the document output port where the target grasping component places the document after extracting the document from the target slot, facilitating the user to take out the document from the target document output port.

[0125] Optionally, after obtaining the position of the target document output port, the grasping components near the position of the target document output port can be determined as the alternative grasping components. Then, according to the position of the target slot, the alternative grasping component near the target slot is determined as the target grasping component.

[0126] Optionally, after obtaining the position of the target document output port, it is also possible to calculate the running distance or time M for each grasping component to move from the current position to the target slot, and the running distance or time N for moving from the target slot to the target document output port after grasping the document (since the running trajectories of each grasping component may be different, the M and N corresponding to each grasping component may also be different), and directly determine the grasping component corresponding to the minimum value of M+N as the target grasping component.

[0127] In some embodiments, the determination method of the target document output port in step S310 may be:

[0128] Obtain the working states of multiple document output ports;

[0129] Determine the target document output port according to the working states of multiple document output ports.

[0130] Optionally, the working states of the document output ports may include the occupied state, the idle state, etc. Obtain the working states of multiple document output ports, and determine the document output port in the idle state as the target document output port. If there are multiple document output ports in the idle state, the document output port adjacent to the slot where the document is stored can be selected as the target document output port; or, any one of them can be randomly determined as the target document output port.

[0131] The embodiment of the present application also provides a terminal device, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor is caused to execute the steps of any one of the above document access methods.

[0132] In some embodiments, the terminal device may be the above-mentioned document access device.

[0133] Figure 7 This is the internal structure diagram of the terminal device in an embodiment of the present application. As Figure 7 shown, the terminal device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the terminal device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can be caused to implement the steps of any one of the above document access methods. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can be caused to execute the steps of any one of the above document access methods. Those skilled in the art can understand that Figure 7 the structure shown in

[0134] The embodiments of the present application further provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to execute the steps of any one of the above-mentioned certificate access methods.

[0135] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0136] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0137] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for accessing certificates, characterized in that, The method includes: In response to an operation instruction, determining a target slot; Determining a target grasping component according to the target slot and a preset condition; Obtaining the position of the evidence storage port; Determining at least one alternative slot from the empty slots according to the position of the evidence storage port, where the distance between the alternative slot and the evidence storage port is within a preset range; Determining the target grasping component according to the at least one alternative slot and a plurality of grasping components; After determining at least one alternative slot, determining a target slot therefrom according to a preset rule; the preset rule includes: being close to a grasping component in an idle state, being close to a grasping component that is about to complete grasping a certificate, randomly selecting, or selecting an empty slot with more empty slots around it; Outputting a control signal according to the target slot and the target grasping component, where the control signal is used to control the target grasping component to extract a certificate from the target slot or put the certificate into the target slot.

2. The method for accessing certificates according to claim 1, characterized in that, The determining the target grasping component according to the target slot and a preset condition includes: Obtaining the relative distances between a plurality of grasping components and the target slot; Determining the target grasping component according to the relative distances.

3. The method for accessing certificates according to claim 1, characterized in that, The determining the target grasping component according to the target slot and a preset condition includes: Obtaining the running trajectories of a plurality of grasping components to the target slot; Determining the target grasping component according to the running trajectories.

4. The method for accessing certificates according to claim 1, characterized in that, The determining the target grasping component according to the target slot and a preset condition includes: Obtaining the working states of a plurality of grasping components; Determining the target grasping component according to the working states.

5. The method for accessing certificates according to claim 1, characterized in that, The determining the target grasping component according to the target slot and a preset condition includes: Obtaining the working states of a plurality of grasping components; Obtaining the relative distances between a plurality of grasping components and the target slot, and determining a plurality of alternative grasping components according to the relative distances and the working states of the plurality of grasping components; Obtaining the running trajectories of the plurality of alternative grasping components to the target slot, and determining the target grasping component according to the running trajectories and the plurality of alternative grasping components.

6. The method for accessing certificates according to claim 1, characterized in that, The determining method for the distance between the evidence storage port and the empty slot includes: Obtaining the number of the empty slot; Querying a database according to the number of the empty slot to obtain the distance between the evidence storage port and the empty slot; And / or Using an image ranging method to obtain the distance between the evidence storage port and the empty slot.

7. The method for accessing certificates according to claim 1, characterized in that, Before determining at least one alternative slot from the empty slots according to the position of the evidence storage port, the method further includes: Obtaining the evidence storage type; Determining the empty slot according to the evidence storage type.

8. A terminal device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 7.

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