A method, device, and computer-readable storage medium for storing certificates

Abstract

An embodiment of the present invention discloses a document storage method, device, and computer-readable storage medium. The document access method is applied to a document storage device, which includes a storage bin for storing documents, and the storage bin includes a plurality of storage slots; the document access method includes the following steps: obtaining a scheduling instruction, where the scheduling instruction includes document information for extracting a document or document information for storing a document; selecting slot information matching the document information according to the scheduling instruction, obtaining candidate workstations adjacent to the slot information, obtaining the occupancy information of each candidate workstation, and selecting a target workstation from the candidate workstations according to the occupancy information; generating an instruction instruction according to the target workstation, where the instruction instruction is used to instruct the transport robot to move to the target workstation. The present invention can effectively reduce labor costs, improve access efficiency, avoid access errors, and improve the security of document access.

Description

Technical Field

[0001] The present invention relates to the technical field of document management, and in particular, to a document storage method, device, and computer-readable storage medium. Background Art

[0002] With the development of society, various documents play an important role in people's daily work and life. The types of documents include: identity documents, passports, social security cards, etc. Due to the large population base in our country, the quantity of each type of document is correspondingly huge. If the storage of documents is managed manually, the efficiency is low, time is wasted, and it will bring great inconvenience to people's daily life. Therefore, how to safely and efficiently manage the access of documents is an urgent problem to be solved. Summary of the Invention

[0003] Based on this, in view of the problem of low efficiency and time waste in the manual storage management of legal basic documents, it is necessary to propose a document storage method, device, and computer-readable storage medium that can safely and efficiently manage the access of documents.

[0004] A document access method is applied to a document storage device. The document storage device includes a storage bin for storing documents, the storage bin includes a plurality of storage slots, and a carrier robot for transporting the documents;

[0005] The document access method includes the following steps:

[0006] Obtain a scheduling instruction, where the scheduling instruction includes document information for extracting a document or document information for storing a document;

[0007] According to the scheduling instruction, select slot information that matches the document information, obtain candidate workstations adjacent to the slot information, obtain the occupancy information of each candidate workstation, and select a target workstation from the candidate workstations according to the occupancy information;

[0008] Generate an instruction instruction according to the target workstation, where the instruction instruction is used to instruct the carrier robot to move to the target workstation.

[0009] The step of obtaining the occupancy information of each candidate workstation includes:

[0010] Obtain the status information of the manipulator adjacent to the plurality of candidate workstations, and select the target workstation according to the status information and the occupancy information.

[0011] The status information includes an idle state, a working state, and a fault state;

[0012] Screen the manipulators in sequence according to the idle state, the working state, and the fault state, and obtain the usage priority information of multiple workstations;

[0013] Determine the target workstation according to the usage priority information and the occupancy information.

[0014] The step of selecting the target workstation according to the status information and the occupancy information includes:

[0015] When all the manipulators are in the working state, obtain the movement duration of the transport robot to each candidate workstation corresponding to the manipulator, and use the candidate workstation corresponding to the longest movement duration as the target workstation.

[0016] The document access method further includes:

[0017] Receive multiple scheduling instructions within a preset interval duration;

[0018] When there is a scheduling instruction for extracting a document among the multiple scheduling instructions, obtain the storage information of the document to be extracted, and obtain the slot information according to the storage information and the occupancy information;

[0019] When all the multiple scheduling instructions are scheduling instructions for storing documents, obtain the distribution of the candidate slots in the storage bin, and select the slot information from the area where the candidate slots are densely distributed.

[0020] The step of obtaining the storage information of the document to be extracted and obtaining the slot information according to the storage information and the occupancy information includes:

[0021] When there are multiple scheduling instructions for extracting documents among the multiple scheduling instructions, obtain the storage information of each document to be extracted corresponding to the scheduling instruction for extracting a document;

[0022] Obtain the distribution of the storage slots of the multiple storage information in the storage bin; determine the candidate workstations corresponding to the area where the documents are densely distributed in the storage bin according to the distribution, and select the target workstation.

[0023] The step of driving the transport robot to move to the target workstation according to the instruction instruction includes:

[0024] Obtain the operating parameters of the transport robot, and obtain the priority of the transport robot according to the operating parameters. The operating parameters include at least one of the operating trajectory, the operating speed, the operating acceleration, and the already-operated duration;

[0025] When at least two of the transport robots arrive at the intersection simultaneously, drive the at least two transport robots to pass through the intersection in order from the highest to the lowest priority.

[0026] A document access device, the document storage device includes a storage slot for storing documents, and a transport robot for transporting the documents;

[0027] The document access device includes the following modules:

[0028] An instruction module, configured to obtain a scheduling instruction, the scheduling instruction includes document information for extracting a document or document information for storing a document;

[0029] A selection module, configured to select slot information matching the document information according to the scheduling instruction, obtain a plurality of candidate workstations adjacent to the slot information, obtain the occupancy information of each candidate workstation, and select a target workstation from the plurality of candidate workstations according to the occupancy information;

[0030] A generation module, configured to generate an instruction instruction according to the target workstation, the instruction instruction is used to instruct the transport robot to move to the target workstation.

[0031] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the steps of the method described above.

[0032] A document storage device includes a memory and a processor, 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 described above.

[0033] Adopting the embodiment of the present invention has the following beneficial effects:

[0034] The document access method is applied to a document storage device. The document storage device includes a storage bin for storing documents and multiple transport robots as a document management system. The transport robots are used for transporting documents. The storage bin includes multiple storage slots for storing documents. Slot information is selected according to a scheduling instruction for storing or retrieving a document, and candidate workstations with adjacent slot information are obtained. The candidate workstations are positions where transport robots can dock. By obtaining the occupancy information of each candidate workstation, a target workstation is selected from the candidate workstations according to the occupancy information. The target workstation is the position currently used for docking a transport robot selected from multiple candidate workstations. An instruction is generated according to the target workstation. The instruction is used to instruct the transport robot to move to the target workstation, so as to determine and obtain a preferred workstation that can quickly respond to the docking of the transport robot through the states of multiple candidate workstations. The preferred workstation is used as the target workstation, which can effectively improve the docking efficiency of the transport robot, thereby realizing the automatic access of documents, effectively reducing labor costs, improving access efficiency, avoiding access errors, and enhancing the security of document access. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention 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 following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Among them:

[0037] Figure 1 It is an application environment diagram of the document access method in an embodiment provided by the present invention;

[0038] Figure 2 It is a flowchart of the first embodiment of the document access method provided by the present invention;

[0039] Figure 3 It is a flowchart of the second embodiment of the document access method provided by the present invention;

[0040] Figure 4 It is a flowchart of the third embodiment of the document access method provided by the present invention;

[0041] Figure 5 It is a flowchart of the fourth embodiment of the document access method provided by the present invention;

[0042] Figure 6 It is a structural diagram of an embodiment of the document access device provided by the present invention;

[0043] Figure 7 It is an internal structure diagram of an embodiment of the document access device provided by the present invention. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Please refer to Figure 1 , Figure 1 which is an application environment diagram of the document access method in an embodiment provided by the present invention. Referring to Figure 1 , the document access method is applied to a document storage device system. The document storage device 10 includes a storage bin 11 for storing documents. The storage bin 11 includes a plurality of storage slots 111. Each storage slot 111 is used to store a document. The documents that can be stored include various legal basic documents (such as identity cards, passports, social security cards, etc.). Since the sizes of various legal basic documents are different, the storage slots 111 have different sizes to adapt to storing various different documents and make reasonable use of the sizes. In other implementation scenarios, the storage slots 111 can have the same size, reducing the calculation steps required for storing documents and improving the storage efficiency.

[0046] The document storage device 10 also includes a plurality of workstations 12 and at least one manipulator 13 (for example, 2). A transport robot for transporting documents docks on the workstation 12. Each manipulator 13 has a corresponding plurality of workstations and can grab a document from the transport robot docked on the workstation 12 and put it into the storage slot 111 to achieve document storage, or grab a document from the storage slot 111 and put it on the transport robot to achieve document extraction. The workstation 12 whose distance from a storage slot 111 is lower than a preset distance is used as the adjacent workstation of the storage slot 111. It can be seen from Figure 1 that each storage slot 111 has a plurality of adjacent workstations. Each workstation 12 can also be the adjacent workstation of a plurality of storage slots 111.

[0047] Please refer to Figure 2 , Figure 2 which is a flowchart of the first embodiment of the document access method provided by the present invention. The document access method provided by the present invention includes the following steps:

[0048] S101: Obtain a scheduling instruction, where the scheduling instruction includes document information for extracting a document or document information for storing a document.

[0049] In a specific implementation scenario, a scheduling instruction is obtained. The scheduling instruction can be set as a scheduling instruction for storing a certificate or a scheduling instruction for extracting a certificate. The scheduling instruction can be generated based on a user's storage operation or extraction operation. The scheduling instruction includes the certificate information for extracting and storing a certificate. The certificate information for extracting a certificate can include at least one of the certificate number, the storage slot position, or the slot identifier. The certificate information for storing a certificate can include at least one of the certificate type, number, and storage identifier. The certificate information can be obtained by performing certificate identification on the certificate to be stored, or can be obtained based on the instruction information for extracting a certificate input by the user.

[0050] S102: Select slot information that matches the certificate information according to the scheduling instruction, and obtain candidate workstations adjacent to the slot information.

[0051] In a specific implementation scenario, selecting slot information that matches the certificate information according to the scheduling instruction can be understood as follows: when the scheduling instruction is a scheduling instruction for extracting a certificate, the corresponding slot information where the certificate is stored is obtained according to the scheduling instruction, and then the certificate corresponding to the slot information is obtained. When the scheduling instruction is a scheduling instruction for storing a certificate, the slot information corresponding to the matching storage bin can be obtained based on the type of the certificate. The slot information is the slot information of the storage slot that can be used to store a certificate; among them, multiple slot information corresponding to slots can be obtained during the process of storing a certificate.

[0052] S103: Obtain the occupancy information of each candidate workstation, and select a target workstation from the candidate workstations according to the occupancy information.

[0053] In a specific implementation scenario, for the candidate workstations adjacent to the slot information, when the transport robot docks at a candidate workstation, the manipulator can transfer the certificate in the storage slot corresponding to the slot information to the transport robot, or can put the certificate loaded on the transport robot into the storage slot corresponding to the slot information. One slot information can correspond to multiple candidate workstations, and one of these multiple candidate workstations needs to be selected as the target workstation so that the transport robot can dock at the target workstation.

[0054] The occupancy ratio of each candidate station can be obtained, and the target station is selected from the candidate stations according to the occupancy information. For example, among multiple candidate stations, if there are already several candidate stations where the transport robots are docked, the target station is selected from the candidate stations where the transport robots are not docked. Another example is that if the manipulators corresponding to several candidate stations are in the working state and the manipulators corresponding to the remaining candidate stations are in the idle state, the target station is selected from the remaining candidate stations. When there are multiple candidate stations to choose from, for example, there are multiple candidate stations where the transport robots are not docked, or there are multiple candidate stations with idle-state manipulators, the target station can be randomly selected from these candidate stations, or the target station can be selected from these candidate stations according to a preset selection rule. The preset selection rule can be the shortest transport distance, the shortest transport time, etc., which are preselected and set by the user according to their own needs.

[0055] S104: Generate an instruction command according to the target station. The instruction command is used to instruct the transport robot to move to the target station. Among them, the instruction command can be set as the movement trajectory of the transport robot, or the instruction command can be set as the relevant information of the target station, or the instruction command can be set as the control command for calling the movement of the transport robot.

[0056] In a specific implementation scenario, an instruction command is generated according to the target station. The instruction command includes the movement trajectory of the transport robot and is used to instruct the transport robot to move to the target station. For example, the transport robot is used to transport a document to the target station so that the manipulator can place the document into the storage slot corresponding to the slot information. The position where the transport robot receives the document is used as the starting point, and the target station is used as the ending point to plan the movement trajectory. The movement trajectory includes the driving route and the docking position. The movement trajectory can be sent to the transport robot so that the transport robot can move to the target station, or the transport robot can be directly driven to move according to the movement trajectory.

[0057] In other implementation scenarios, the instruction command is the relevant information of the target station. The transport robot plans a movement path according to its own current position and the relevant information of the target station, and travels to the target station according to the movement path.

[0058] In other implementation scenarios, the instruction command is the control command for calling the movement of the transport robot. The movement trajectory of the transport robot is planned according to the current position of the transport robot and the position of the target station. The corresponding control command is generated according to the movement trajectory, and the control command is executed to call the movement of the transport robot.

[0059] In other implementation scenarios, when it is detected that the transport robot has docked at the target work station, a docking notice is sent to the manipulator. The docking notice includes the location or identification of the target work station, the operations that the manipulator needs to perform (grasping and / or placing for storage or extraction), and the slot information, so that the manipulator can accurately place or extract the documents. Other implementation scenarios may also include the document information of the documents, such as document size, paper or plastic material, etc., to facilitate the manipulator to better grasp the documents. After the manipulator obtains the docking notice, it performs the corresponding operations according to the docking notice, so as to successfully store or extract the documents.

[0060] As can be seen from the above description, in this embodiment, the slot information is selected according to the scheduling instruction for storing or extracting documents, the candidate work stations with adjacent slot information are obtained, the occupancy information of each candidate work station is obtained, the target work station is selected from the candidate work stations according to the occupancy information, and an instruction instruction is generated according to the target work station. The instruction instruction is used to instruct the transport robot to move to the target work station, so as to realize the automatic storage and retrieval of documents, effectively reduce the labor cost, improve the storage and retrieval efficiency, avoid storage and retrieval errors, and improve the security of document storage and retrieval.

[0061] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of the second embodiment of the document storage and retrieval method provided by the present invention. The document storage and retrieval method provided by the present invention includes the following steps:

[0062] S201: Obtain a scheduling instruction, where the scheduling instruction includes the document information for extracting or storing a document;

[0063] S202: Select the slot information that matches the document information according to the scheduling instruction, and obtain the candidate work stations with adjacent slot information.

[0064] In a specific implementation scenario, steps S201-S202 are basically the same as steps S101-S102 of the first embodiment of the document storage and retrieval method provided by the present invention, and will not be elaborated here.

[0065] S203: Obtain the occupancy information of each candidate work station, obtain the status information of the manipulator adjacent to multiple candidate work stations, and select the target work station according to the status information and the occupancy information.

[0066] In a specific implementation scenario, to obtain the occupancy information of each candidate work station, that is, to detect whether a transport robot is docked at each candidate work station. If a transport robot has already been docked, it means that the candidate work station is occupied. It is also possible to obtain the target work station of the currently moving transport robot and determine whether there is a target work station that is a candidate work station. If the target work station of a transport robot is a candidate work station, then the candidate work station is occupied. Select the target work station from the unoccupied candidate work stations.

[0067] Obtain the status information of the robot arm adjacent to the candidate workstations. The status information includes the idle state, working state, and fault state. Combine the occupancy information of each candidate workstation and the status information of the robot arm to select the target workstation. For example, preferentially select the candidate workstation corresponding to the robot arm in the idle state as the target workstation. Another example is not to select the candidate workstation corresponding to the robot arm in the fault state as the target workstation.

[0068] In an implementation scenario, screen the robot arms in sequence according to the idle state, working state, and fault state, and obtain the usage priority information of multiple workstations; determine the target workstation according to the usage priority information and the occupancy information.

[0069] When all candidate workstations are occupied, if there is a robot arm in the idle state, the candidate workstation corresponding to the robot arm in the idle state has the highest usage priority. If all robot arms are in the working state, determine the usage priority of each candidate workstation according to the workload to be completed by each robot arm. The candidate workstation corresponding to the robot arm with the lower workload has a higher usage priority.

[0070] When there are unoccupied candidate workstations, judge the working state of the robot arm corresponding to the unoccupied candidate workstation. If it is in the idle state, the unoccupied candidate workstation has the highest usage priority. If it is in the working state, the unoccupied candidate workstation has the second highest usage priority. Take the candidate workstation with the highest usage priority as the target workstation.

[0071] If there is a robot arm in the fault state, ignore the candidate workstation corresponding to this robot arm; or when all other robot arms are in the working state and the candidate workstations corresponding to other robot arms are all occupied, the candidate workstation corresponding to the robot arm in the fault state can be used as an alternative workstation for the transport robot to dock, and cooperate with other robot arms to realize the access of documents.

[0072] In another implementation scenario, when all robot arms are in the working state, obtain the movement duration for the transport robot to reach the candidate workstation corresponding to each robot arm, and take the candidate workstation corresponding to the longest movement duration as the target workstation. The movement duration can be obtained according to the path planning information in the instruction command and the movement speed of the transport robot. Using the longest movement duration can leave enough working time for the robot arm so that the robot arm can complete the current work task during the movement of the transport robot. Thus, the target workstation corresponding to this robot arm can be vacated when the transport robot arrives for the transport robot to dock.

[0073] In another implementation scenario, when all the manipulators are in the idle state, obtain the movement duration of the transport robot to the candidate workstations corresponding to each manipulator, and use the candidate workstation corresponding to the shortest movement duration as the target workstation, which can effectively improve the efficiency of document access and avoid wasting time during the movement process.

[0074] In other implementation scenarios, the vehicle speed of the transport robot can also be adjusted according to whether there are unoccupied candidate workstations currently. For example, if all the current candidate workstations are occupied, the vehicle speed of the transport robot can be reduced according to a preset rule to leave sufficient time for the manipulator to operate. Thus, when the transport robot moves to the target workstation, the target workstation is already vacant for the transport robot to dock.

[0075] S204: Generate an instruction command according to the target workstation, and the instruction command is used to instruct the transport robot to move to the target workstation.

[0076] In a specific implementation scenario, step S204 is basically the same as step S104 in the first embodiment of the document access method provided by the present invention, and will not be elaborated here.

[0077] From the above description, it can be seen that in this embodiment, obtaining the status information of the manipulators adjacent to multiple candidate workstations and selecting the target workstation according to the status information and occupancy information can reasonably arrange the work tasks of the manipulators and avoid the problem of low efficiency caused by uneven task allocation.

[0078] Based on the above embodiments, the document access method of the present invention can further obtain multiple scheduling instructions on the basis of the above embodiments to realize the access of documents, thereby improving the efficiency of accessing documents per unit time.

[0079] Please refer to Figure 4 , Figure 4 is a schematic flowchart of the third embodiment of the document access method provided by the present invention. The document access method provided by the present invention includes the following steps:

[0080] S301: Receive multiple scheduling instructions within a preset interval duration.

[0081] In a specific implementation scenario, set a preset interval duration and receive multiple scheduling instructions within the preset interval duration. For example, when the access service is relatively busy, different users may need to access multiple documents within a short time (any time threshold from 1 Min to 15 Min). Therefore, taking the preset interval duration as the statistical unit, obtain the scheduling instructions within each preset interval duration.

[0082] Based on the above, when there is a user request to pick up a document and another user request to store a document, and both requests are sent within a preset interval, the same transport robot can be used as both the transport device for storing documents and the transport device for outputting documents. For example, the scheduling instruction for picking up the document can be executed first, and after providing the document that the user needs to pick up to the user, the scheduling instruction for storing the document can be executed to store the document deposited by the user in the corresponding storage slot. This can reasonably arrange the transportation operations of the transport robot, effectively improve the efficiency of document storage, and reduce resource consumption.

[0083] S302: When there is a scheduling instruction for picking up a document among multiple scheduling instructions, obtain the storage information of the document to be picked up, and obtain the slot information based on the storage information and the occupancy information.

[0084] In a specific implementation scenario, when there is a scheduling instruction for picking up a document among multiple scheduling instructions, for example, 5 scheduling instructions are received within a preset interval, among which 3 are scheduling instructions for picking up documents and 2 are scheduling instructions for storing documents. Obtain the storage information of the document to be picked up. The storage information includes the storage slot where the document to be picked up is stored. The storage slot where the document to be picked up is located is known and fixed. Therefore, the slot information can be obtained based on the storage information and the occupancy information. For example, the candidate workstations that are not occupied and are near the storage slot where the document to be picked up is stored are used as the target workstations, and the storage slots in the target workstations that are in the vacant state are used as the storage slots corresponding to the scheduling instruction for storing the document to be stored. Thus, the manipulator can efficiently complete the task of document access and storage without large-scale movement, effectively reducing the workload and improving the work efficiency.

[0085] In other implementation scenarios, obtain the layout of the storage slots where the documents to be picked up are stored in the storage bin, and obtain the area where the documents to be picked up are densely distributed in the storage bin. Then, determine the candidate workstations corresponding to the densely distributed area according to the distribution situation. For example, if 5 documents need to be taken out now, and 3 of the storage slots are all located in the left area of the storage bin, then the document retrieval operation in the left area has priority over that in the right area. Determine the candidate workstations among the corresponding workstations in the left area, and select the target workstation from the candidate workstations.

[0086] Furthermore, 2 storage slots can be selected from the vacant storage slots in the left area as the storage slots corresponding to the 2 scheduling instructions for storing documents. Select the target workstation according to the occupancy information among the candidate workstations corresponding to the storage slots in the left area.

[0087] S303: When multiple scheduling instructions are all for storing certificates, obtain the distribution of the vacant storage slots in the storage bin, and select the slot information from the area where the distribution of the vacant storage slots is dense.

[0088] In a specific implementation scenario, when multiple scheduling instructions are all for storing certificates, for example, 5 scheduling instructions are received within a preset interval duration, and all 5 are for storing certificates. Obtain the distribution of the vacant storage slots in the storage bin, and select the slot information from the area where the distribution of the vacant storage slots is dense. For example, if there are 100 storage slots in the storage bin, there are 20 vacant storage slots on the left side of the storage bin and 10 vacant storage slots on the right side. Therefore, select the storage slots corresponding to 5 scheduling instructions for storing certificates in the left side of the storage bin, and obtain the slot information of these storage slots. When selecting the target workstations in this way, also select the target workstations from the candidate workstations near the area where the distribution of the vacant storage slots is dense.

[0089] It can be seen from the above description that in this embodiment, multiple scheduling instructions are received within a preset interval duration. According to these multiple scheduling instructions, the storage slots corresponding to these scheduling instructions are as close as possible and located in the same area. In this way, the travel distance of the manipulator when completing the work tasks corresponding to these scheduling instructions can be effectively reduced, the efficiency of certificate access can be effectively improved, and resource consumption can be reduced.

[0090] Please refer to Figure 5 , Figure 5 which is the flowchart of the fourth embodiment of the certificate access method provided by the present invention. The certificate access method provided by the present invention includes the following steps:

[0091] S401: Obtain the operating parameters of the transport robot, and obtain the priority of the transport robot according to the operating parameters. The operating parameters include at least one of the operating trajectory, operating speed, operating acceleration, and elapsed operating time.

[0092] In a specific implementation scenario, when multiple transport robots are moving, there may be a situation where multiple transport robots need to pass through an intersection at the same time. If the movement of the transport robots is not planned, there may be a collision situation, resulting in damage to the transport robots and the inability to complete the certificate access task. Therefore, the movement priority can be assigned to each transport robot according to a certain rule in advance. The transport robot with a higher priority passes through the intersection first.

[0093] In this implementation scenario, the operating parameters of the transport robot are obtained. The operating parameters include at least one of the operating trajectory, operating speed, operating acceleration, and elapsed operating time. The movement priority of the transport robot is obtained based on the operating parameters. For example, the higher the operating speed of the transport robot, the higher its movement priority; the longer the elapsed operating time of the transport robot, the higher its priority; the movement priority of the transport robot for extracting documents is higher than that of the transport robot for storing documents; and the higher the movement priority of the transport robot with the shorter remaining movement distance.

[0094] Optional embodiments of the above operating parameters can be combined. For example, the operating trajectory and operating speed are respectively judged, and the two are combined to obtain a transport robot with a fast operating speed and a simple operating trajectory as the transport robot with a high priority.

[0095] S402: When at least two transport robots arrive at the intersection simultaneously, drive at least two transport robots to pass through the intersection in order from highest to lowest priority.

[0096] In a specific implementation scenario, when at least two transport robots arrive at the intersection simultaneously, drive at least two transport robots to pass through the intersection in order from highest to lowest priority. If the movement directions of at least two transport robots are opposite, then drive at least two target vehicles to pass through the intersection in order from highest to lowest movement priority.

[0097] If the movement directions of at least two target vehicles are the same, then adjust the speed of each transport robot according to the priority, increase the speed of the transport robot with a higher movement priority, and decrease the speed of the transport robot with a lower movement priority, so that the transport robot with a higher movement priority passes through the intersection first.

[0098] From the above description, it can be seen that in this embodiment, the operating parameters of the transport robot are obtained, the movement priority of the transport robot is obtained according to the operating parameters, and when at least two transport robots arrive at the intersection simultaneously, drive at least two transport robots to pass through the intersection in order from highest to lowest movement priority, which can avoid collisions and congestion of transport robots and ensure the smooth completion of the task of the document storage person.

[0099] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of an embodiment of the document access device provided by the present invention. The document access device 20 includes Figure 1 the storage bin shown in

[0100] The instruction module 21 is used to obtain scheduling instructions, where the scheduling instructions include the document information for extracting a document or the document information for storing a document; the selection module 22 is used to select slot information that matches the document information according to the scheduling instructions, obtain multiple candidate workstations adjacent to the slot information, obtain the occupancy information of each candidate workstation, and select a target workstation from the multiple candidate workstations according to the occupancy information; the generation module 23 is used to generate an instruction instruction according to the target workstation, and the instruction instruction is used to instruct the transport robot to move to the target workstation.

[0101] The selection module 22 is further used to obtain the status information of the manipulator adjacent to the multiple candidate workstations, and select the target workstation according to the status information and the occupancy information.

[0102] The status information includes an idle state, a working state, and a fault state; the selection module 22 is further used to screen the manipulators in sequence according to the idle state, the working state, and the fault state, and obtain the usage priority information of multiple workstations; determine the target workstation according to the usage priority information and the occupancy information.

[0103] The selection module 22 is further used to, when all the manipulators are in the working state, obtain the movement duration for the transport robot to reach each candidate workstation corresponding to the manipulator, and use the candidate workstation corresponding to the longest movement duration as the target workstation.

[0104] The instruction module 21 is further used to receive multiple scheduling instructions within a preset interval duration; the selection module 22 is further used to, when there is a scheduling instruction for extracting a document among the multiple scheduling instructions, obtain the storage information of the document to be extracted, and obtain the slot information according to the storage information and the occupancy information; when all the multiple scheduling instructions are scheduling instructions for storing documents, obtain the distribution of candidate slots in the storage bin, and select the slot information from the area where the candidate slots are densely distributed.

[0105] The instruction module 21 is further used to, when there are multiple scheduling instructions for extracting documents among the multiple scheduling instructions, obtain the storage information of each document to be extracted corresponding to each scheduling instruction for extracting a document; obtain the distribution of storage slots of the storage information in the storage bin, and select the target workstation from the candidate workstations corresponding to the area where the storage information is densely distributed according to the occupancy information.

[0106] The document access device 20 further includes a priority module 24, and the priority module 24 is further used to obtain the operating parameters of the transport robot, obtain the movement priority of the transport robot according to the operating parameters, where the operating parameters include at least one of an operating trajectory, an operating speed, an operating acceleration, and an already-operated duration; when at least two transport robots arrive at the intersection simultaneously, drive the at least two transport robots to pass through the intersection in sequence according to the movement priority from high to low.

[0107] As can be seen from the above description, in this embodiment, the document access device selects slot information according to a scheduling instruction for storing or retrieving a document, obtains candidate workstations adjacent to the slot information, obtains the occupancy information of each candidate workstation, selects a target workstation from the candidate workstations according to the occupancy information, and generates an instruction instruction according to the target workstation. The instruction instruction is used to instruct the transport robot to move to the target workstation, so as to realize the automatic access of documents, effectively reduce the labor cost, improve the access efficiency, avoid access errors, and improve the security of document access.

[0108] Figure 7 It is an internal structure diagram of an embodiment of the document access device provided by the present invention. The document access device may specifically be a terminal or a system. As Figure 7 shown, the document access 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 document access device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the age recognition method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute the age recognition method. Those skilled in the art can understand that Figure 7 the structure shown in

[0109] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements. Figures 2 - 5 any of the steps shown in

[0110] In one embodiment, a document access device is proposed, including a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes Figures 2 - 5 any of the steps shown in

[0111] 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 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 various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many 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.

[0112] 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 described in this specification.

[0113] 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 still 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, Applied to a document storage device, the document storage device includes a storage bin for storing documents, and the storage bin includes a plurality of storage slots; The document access method includes the following steps: Obtain a scheduling instruction, where the scheduling instruction includes document information for extracting a document or document information for storing a document; According to the scheduling instruction, select slot information matching the document information, obtain candidate workstations adjacent to the slot information, obtain the occupancy information of each candidate workstation, and select a target workstation from the candidate workstations according to the occupancy information. One piece of slot information corresponds to multiple candidate workstations, and the candidate workstations are for a transport robot to dock; Among them, the step of obtaining the occupancy information of each candidate workstation includes: Obtain the status information of the manipulators adjacent to multiple candidate workstations, and select the target workstation according to the status information and the occupancy information; Generate an indication instruction according to the target workstation, where the indication instruction is used to indicate the transport robot to move to the target workstation; When the transport robot docks at the target workstation, send a docking notice to the manipulator so that the manipulator can complete the extraction or storage of the document according to the docking notice.

2. The method for accessing certificates according to claim 1, characterized in that, The status information includes an idle state, a working state, and a fault state; Screen the manipulators in sequence according to the idle state, the working state, and the fault state, and obtain the usage priority information of multiple workstations; Determine the target workstation according to the usage priority information and the occupancy information.

3. The method for accessing certificates according to claim 2, characterized in that, The step of selecting the target workstation according to the status information and the occupancy information includes: When the manipulators are all in the working state, obtain the movement duration for the transport robot to reach each candidate workstation corresponding to the manipulator, and use the candidate workstation corresponding to the longest movement duration as the target workstation.

4. The method for accessing certificates according to any one of claims 1 to 3, characterized in that, The document access method further includes: Receive multiple scheduling instructions within a preset interval duration; When there is a scheduling instruction for extracting a document among multiple scheduling instructions, obtain the storage information of the document to be extracted, and obtain the slot information according to the storage information and the occupancy information; When all of the multiple scheduling instructions are for storing documents, obtain the distribution of candidate slots in the storage bin, and select the slot information from the area where the candidate slots are densely distributed.

5. The method for accessing certificates according to claim 4, characterized in that, The step of obtaining the storage information of the document to be extracted and obtaining the slot information according to the storage information and the occupancy information includes: When there are multiple scheduling instructions for extracting documents among multiple scheduling instructions, obtain the storage information of each document to be extracted corresponding to each scheduling instruction for extracting a document; Obtain the distribution of the storage slots of the multiple storage information in the storage bin; Determine the candidate workstations corresponding to the area where the documents are densely distributed in the storage bin according to the distribution, and select the target workstation.

6. The method for accessing certificates according to any one of claims 1 to 3, characterized in that, The document access method further includes: Obtain the operating parameters of the transport robot, and obtain the movement priority of the transport robot according to the operating parameters. The operating parameters include at least one of an operating trajectory, an operating speed, an operating acceleration, and an elapsed operating duration; When at least two of the transport robots arrive at the intersection simultaneously, drive the at least two transport robots to pass through the intersection in sequence according to the order of the descending movement priorities.

7. A certificate access device for applying the certificate access method according to any one of claims 1 to 6, characterized in that, The document storage device includes a storage bin for storing documents, and the storage bin includes a plurality of storage slots. The document access device includes the following modules: An instruction module, configured to obtain a scheduling instruction, where the scheduling instruction includes document information for extracting a document or document information for storing a document. A selection module, configured to select slot information matching the document information according to the scheduling instruction, obtain a plurality of candidate workstations adjacent to the slot information, obtain the occupancy information of each candidate workstation, and select a target workstation from the plurality of candidate workstations according to the occupancy information. One piece of slot information corresponds to a plurality of candidate workstations, and the candidate workstations are for transport robots to dock. The selection module is further configured to obtain the status information of a manipulator adjacent to the plurality of candidate workstations, and select the target workstation according to the status information and the occupancy information. A generation module, configured to generate an instruction instruction according to the target workstation, where the instruction instruction is used to instruct the transport robot to move to the target workstation. A document access device, configured to send a docking notice to the manipulator when the transport robot docks at the target workstation, so as to use the manipulator to complete the extraction or storage of the document according to the docking notice.

8. A computer-readable storage medium stores a computer program, characterized in that, When the computer program is executed by a processor, the processor is caused to execute the steps of the document access method according to any one of claims 1 to 6.

9. A document access device includes a memory and a processor, characterized in that, 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 document access method according to any one of claims 1 to 6.

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