CN115758398A - Access control data processing method and device, access control system and storage medium - Google Patents
Access control data processing method and device, access control system and storage medium Download PDFInfo
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- CN115758398A CN115758398A CN202211347036.8A CN202211347036A CN115758398A CN 115758398 A CN115758398 A CN 115758398A CN 202211347036 A CN202211347036 A CN 202211347036A CN 115758398 A CN115758398 A CN 115758398A
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- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
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- Y04S40/20—Information technology specific aspects, e.g. CAD, simulation, modelling, system security
Abstract
The invention discloses an access control data processing method, an access control data processing device, an access control system and a storage medium, and belongs to the technical field of safety. The access control data processing method comprises the following steps: acquiring a first authentication parameter of an access card and a biological characteristic parameter of a user of the access card, wherein the first authentication parameter is a result of a preset encryption operation on a random number by a first authentication key of the access card; performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to a card reader key to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter; and determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter. The method and the device for displaying the biological characteristic information of the user realize reduction of the probability of leakage of the biological characteristic information of the user.
Description
Technical Field
The invention relates to the technical field of safety, in particular to an access control data processing method, an access control data processing device, an access control system and a storage medium.
Background
With the development of technology, many access control systems using biometric parameters have emerged. At present, an access control system usually stores face information of a user in the access control system, and determines whether to open a door or not by comparing the face information collected by a sensor with data of the access control system, however, because the face information of the user is stored in the access control system in a centralized manner, and the face information collected by the sensor directly compares the face information of a plurality of users, the face information without encryption is used for many times in the process, and the leakage probability of biological characteristic information such as the face information of the user is increased.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an access control data processing method, an access control data processing device, an access control system and a storage medium, and aims to reduce the probability of the leakage of biological characteristic information of a user in the access control system.
In order to achieve the above object, the present invention provides an access control data processing method, which is applied to an access control system, and comprises the following steps:
acquiring a first authentication parameter of an access card and a biological characteristic parameter of a user of the access card, wherein the first authentication parameter is a result of a first authentication key of the access card performing preset encryption operation on a random number;
performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to a card reader key to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
Optionally, before obtaining the first authentication parameter of the access card and the biometric parameter of the user of the access card, the method further includes:
acquiring preset biological characteristic parameters of a user with the access control card using authority;
performing the preset encryption operation on the hash value of the preset biological characteristic parameter according to the card reader key to obtain a first preset key;
and storing the first preset secret key to the access control card as the first authentication secret key.
Optionally, before the step of performing the preset encryption operation on the hash value of the preset biometric parameter according to the card reader key to obtain a first preset key, the method further includes:
acquiring a root key and an enterprise identifier corresponding to the access control system;
and performing the preset encryption operation on the enterprise identification according to the root key to obtain the card reader key.
Optionally, after the step of performing the preset encryption operation on the hash value corresponding to the biometric parameter according to the key of the card reader to obtain the second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain the second authentication parameter, the method further includes:
acquiring an identification number of the access control card, and determining whether the identification number belongs to a blacklist of the access control system;
when the identification number belongs to the blacklist, stopping executing door opening operation;
and when the identification number does not belong to the blacklist, executing the step of determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
Optionally, before the step of performing the preset encryption operation on the hash value corresponding to the biometric parameter according to the card reader key, the method further includes:
and acquiring the corresponding card reader key according to the identifier of the card reader.
Optionally, the step of obtaining the first authentication parameter of the access control card includes:
generating the random number and sending the random number to the access card so that the access card performs the preset encryption operation on the random number according to the first authentication key to obtain the first authentication parameter;
receiving the first authentication parameter.
Optionally, the operation algorithm of the preset encryption operation is a national encryption algorithm.
In addition, to achieve the above object, the present invention further provides an access control data processing apparatus, including:
the system comprises an interaction module, a first authentication module and a second authentication module, wherein the interaction module is used for acquiring a first authentication parameter of an access control card and a biological characteristic parameter of a user of the access control card, and the first authentication parameter is a result of preset encryption operation on a random number by a first authentication key of the access control card;
the operation module is used for performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to a card reader key to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and the authentication module is used for determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
In addition, to achieve the above object, the present invention further provides an access control system, including: the system comprises a memory, a processor and an access control data processing program which is stored on the memory and can run on the processor, wherein the access control data processing program is configured to realize the steps of the access control data processing method.
In addition, in order to achieve the above object, the present invention further provides a storage medium, where the storage medium stores an entrance guard data processing program, and the entrance guard data processing program implements the steps of the entrance guard data processing method according to any one of the above items when executed by a processor.
The invention provides an access control data processing method, which comprises the following steps: acquiring a first authentication parameter of an access card and a biological characteristic parameter of a user of the access card, wherein the first authentication parameter is a result of a preset encryption operation on a random number by a first authentication key of the access card; performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to the key of the card reader to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter; and determining whether the identity of the user passes according to the first authentication parameter and the second authentication parameter. Compared with the existing access control system utilizing the biological characteristic parameters, the access control system has the advantages that the first authentication parameters of the access control card and the second authentication parameters corresponding to the access control card are compared to identify and determine whether to open the door or not, the biological characteristic data are not required to be analyzed and compared, the verification key is obtained only by using the hash value of the biological characteristic parameters in the verification process, so that other people can obtain the biological characteristic parameters of the user which cannot be determined by the authentication parameters, and the probability of the biological characteristic information leakage of the user is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment related to an access control system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the access control data processing method of the present invention;
fig. 3 is a schematic flow chart of a second embodiment of the access control data processing method of the present invention;
fig. 4 is a schematic flow chart of a third embodiment of the access control data processing method of the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an access control system in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the access control system may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, an interactive device 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The interactive device 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional interactive device 1003 may further include: card reader, card sender, camera, etc., and the interactive device 1003 may also be connected to the communication bus 1002 through a standard wired interface or wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the access control system and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a storage medium, may include an operating system, a data storage module, a network communication module, a hardware control module, and a door access data processing program.
In the door access system shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the interactive device 1003 is mainly used for performing data interaction with a user; the processor 1001 and the memory 1005 in the access control system of the present invention may be arranged in the access control system, and the access control system calls the access control data processing program stored in the memory 1005 through the processor 1001 and executes the access control data processing method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for processing access control data, and referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of the method for processing access control data according to the present invention.
In this embodiment, the access control data processing method includes:
step S10, acquiring a first authentication parameter of an access card and a biological characteristic parameter of a user of the access card, wherein the first authentication parameter is a result of a preset encryption operation on a random number by a first authentication key of the access card;
the first authentication parameter is a result of the preset encryption operation of the random number by the first authentication key, the access control card sends the first authentication parameter to the card reader, and the access control card does not store the first authentication parameter after sending the first authentication parameter. In this embodiment, one access card stores one first authentication key, and the process of obtaining the first authentication parameter by encrypting the random number with the first authentication key is performed in the access card, that is, the first key is not sent to the card reader. The card reader receives a first authentication parameter sent by the access control card.
The first authentication key is stored in the access card. The biological characteristic information of the user of the access control card can be face information, iris information and fingerprint information. Any one or more of the above-described face information, iris information, and fingerprint information may be combined as biometric information. The random number here is sent by the card reader to the access card. The preset encryption operation is an operation of a distributed encryption algorithm.
Step S20, performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to the key of the card reader to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and mapping the biometric parameters into hash values through a hash algorithm, wherein in the embodiment, the hash algorithm may be a cryptographic SM3 algorithm. And deleting the biological characteristic parameters after calculating the hash value corresponding to the biological characteristic parameters.
And step S30, determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
In this embodiment, by comparing the value of the first authentication parameter with the value of the second authentication parameter, the door opening operation is performed when the value of the first authentication parameter is the same as the value of the second authentication parameter. And when the numerical value of the first authentication parameter is different from the numerical value of the second authentication parameter, stopping executing the door opening operation. Optionally, a plurality of raw data acquired by a sensor are acquired, the corresponding biological characteristic parameters and the error parameters are separated according to each raw data, a plurality of biological characteristic parameters and a plurality of error parameters are acquired, the plurality of biological characteristic parameters and the plurality of error parameters are in one-to-one correspondence, and when the plurality of biological characteristic parameters are the same and the plurality of error parameters are different, the step of performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to the key of the card reader to acquire the second authentication key is executed. And when the plurality of biological characteristic parameters are different or when the plurality of error parameters are different, determining that the obtained biological characteristic parameters are abnormal. The different sensors are set according to different biological characteristic parameters, and the original data can be images of human faces, irises and fingerprints. When the biometric parameter is face information or iris information, the error parameter may be a pixel coordinate of maximum light intensity of the image or a numerical value of maximum light intensity. When the biometric parameter is fingerprint information, the error parameter may be a position coordinate of a center of the fingerprint or a direction of the fingerprint.
In this embodiment, compare present access control system who utilizes biometric parameter, this application compares the first authentication parameter of entrance guard card and the second authentication parameter that the entrance guard card corresponds and carries out identification and confirm whether open the door to need not to carry out analysis and comparison to biometric data, only need use the hash value of biometric parameter to obtain the verification key in the verification process, make other people obtain the biometric parameter that the user also can't be confirmed to the authentication parameter to reduce the probability that user's biometric information revealed.
Further, based on the first embodiment, a second embodiment of the access control data processing method of the present invention is provided, and in this embodiment, before acquiring the first authentication parameter of the access control card and the biometric parameter of the user of the access control card, the method further includes:
step S01, acquiring preset biological characteristic parameters of a user with the access control card use authority;
the type of the preset biometric parameter is the same as the biometric parameter. Specifically, the preset biometric parameters may be acquired by a sensor.
Step S02, performing preset encryption operation on the hash value of the preset biological characteristic parameter according to the card reader key to obtain a first preset key;
and after the card reader key performs the preset encryption operation on the preset biological characteristic parameter to obtain a first preset key, deleting the preset biological characteristic parameter.
And S03, storing the first preset secret key to the access control card as the first authentication secret key.
And storing the first preset key to an access card through a card sender to serve as the first authentication key.
In this embodiment, a preset encryption operation is performed on the preset biometric parameter through the card reader key, a user who can use the access card is determined, and the first preset key is stored to the access card as the first authentication key, so that the first authentication key is stored by the user of the access card, and the probability of leakage of the first authentication key is reduced.
Further, based on the second embodiment, a third embodiment of the method for processing access control data according to the present invention is provided, and in this embodiment, referring to fig. 4, before the step of performing the preset encryption operation on the hash value of the preset biometric parameter according to the card reader key to obtain the first preset key, the method further includes:
step S0201, acquiring a root key and an enterprise identification corresponding to the access control system;
where the root key is generated from a random number generator, the business identification may be the name or ID of the business.
Step S0202, the enterprise identification is subjected to the preset encryption operation according to the root key, and the card reader key is obtained.
The reader key may be determined from a root key and the enterprise identification. And installing the reader key in the reader.
In this embodiment, the preset encryption operation is performed on the enterprise identifier through a root key, so that the key of the card reader can be prevented from being replaced, and the security of the access control system can be improved.
Further, based on any one of the above embodiments, a fourth embodiment of the access control data processing method according to the present invention is provided, where in this embodiment, after the step of performing the preset encryption operation on the hash value corresponding to the biometric parameter according to the key of the card reader to obtain the second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain the second authentication parameter, the method further includes:
acquiring an identification number of the access control card, and determining whether the identification number belongs to a blacklist of the access control system;
when the identification number belongs to the blacklist, stopping executing door opening operation;
and when the identification number does not belong to the blacklist, executing the step of determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
The access control card identification number can be used for identifying the access control card, the access control system is provided with a blacklist of the access control card, and specifically, after the access control card is lost or a worker leaves the work, the lost access control card can be added to the blacklist. And when the identification number is identified to belong to the blacklist, stopping executing door opening operation. And when the identification number is identified not to belong to the blacklist, executing the step of determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter. In other embodiments, the service time of the access control card is recorded, and when the difference value of the recorded service times of the access control card twice is smaller than a preset time difference value, the access control card is determined to be abnormal.
In this embodiment, can avoid the entrance guard card to lose the back through setting up the blacklist, be used for the operation of opening the door by the utilization, reduce the possibility that access control system is got into by lawless persons.
Further, based on any one of the above embodiments, a fifth embodiment of the access control data processing method according to the present invention is provided, where in this embodiment, before the step of performing the preset encryption operation on the hash value corresponding to the biometric parameter according to the card reader key, the method further includes:
and acquiring the corresponding card reader key according to the identifier of the card reader.
In an access control system with a plurality of access controls, each access control is provided with a corresponding card reader, one card reader identifier corresponds to one unique card reader key, and one card reader key can correspond to a plurality of card reader identifiers, for example, one conference hall is provided with two entrances and exits, the two entrances and exits are both provided with different card readers, but the card reader keys of the two entrances and exits card readers are the same.
In this embodiment, the corresponding card reader key is obtained according to the identifier of the card reader, so that the identifiers of the plurality of card readers correspond to one reader key, thereby realizing that one access control card can enter from a plurality of accesses, and improving the universality of the access control system.
Further, the step of obtaining the first authentication parameter of the access control card comprises:
generating the random number and sending the random number to the access card so that the access card performs the preset encryption operation on the random number according to the first authentication key to obtain the first authentication parameter;
receiving the first authentication parameter.
Optionally, a random number generator generates a random number, the random number is sent to the access control card through a card reader, and the access control card generates a first authentication parameter and returns the first authentication parameter to the access control system. In other embodiments, the timestamp may be generated according to the current time, and then the timestamp is sent to the access card through the card reader, and the access card generates the first authentication parameter.
In this embodiment, the first authentication parameter is obtained by generating a random number and performing the preset encryption operation on the random number according to the first authentication key, so that replay attack can be effectively avoided, and the probability of illegal opening of the access control is reduced.
Further, the operation algorithm of the preset encryption operation is a national encryption algorithm.
The national cipher algorithm is a group encryption algorithm such as SM1, SM4 or SM7, the hash algorithm is a national cipher SM3 algorithm, and the principle is that a group encryption algorithm specified by the national cipher administration is adopted to carry out key dispersion.
In the embodiment, the encryption is performed by using the national cryptographic algorithm, so that the situation that the international algorithm leaves a backdoor for foreign governments and institutions can be avoided, and the probability of cracking the access control system is reduced.
In addition, an embodiment of the present invention further provides an access control data processing apparatus, where the access control data processing apparatus includes:
the system comprises an interaction module, a first authentication module and a second authentication module, wherein the interaction module is used for acquiring a first authentication parameter of an access control card and a biological characteristic parameter of a user of the access control card, and the first authentication parameter is a result of preset encryption operation on a random number by a first authentication key of the access control card;
the operation module is used for performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to a card reader key to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and the authentication module is used for determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an access control data processing program, and the access control data processing program, when executed by a processor, implements the steps of the access control data processing method according to any one of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. The access control data processing method is characterized by being applied to an access control system and comprising the following steps:
acquiring a first authentication parameter of an access card and a biological characteristic parameter of a user of the access card, wherein the first authentication parameter is a result of a preset encryption operation on a random number by a first authentication key of the access card;
performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to the key of the card reader to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
2. The door access data processing method of claim 1, wherein before the obtaining the first authentication parameter of the door access card and the biometric parameter of the user of the door access card, the method further comprises:
acquiring preset biological characteristic parameters of a user with the access control card using authority;
performing the preset encryption operation on the hash value of the preset biological characteristic parameter according to the card reader key to obtain a first preset key;
and storing the first preset secret key to the access control card to be used as the first authentication secret key.
3. The door access data processing method according to claim 2, wherein before the step of performing the preset encryption operation on the hash value of the preset biometric parameter according to the card reader key to obtain the first preset key, the method further comprises:
acquiring a root key and an enterprise identification corresponding to the access control system;
and performing the preset encryption operation on the enterprise identification according to the root key to obtain the card reader key.
4. The method for processing entrance guard data according to claim 1, wherein after the step of performing the predetermined encryption operation on the hash value corresponding to the biometric parameter according to the key of the card reader to obtain the second authentication key, and performing the predetermined encryption operation on the random number according to the second authentication key to obtain the second authentication parameter, the method further comprises:
acquiring an identification number of the access control card, and determining whether the identification number belongs to a blacklist of the access control system;
when the identification number belongs to the blacklist, stopping executing door opening operation;
and when the identification number does not belong to the blacklist, executing the step of determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
5. The door access data processing method according to claim 1, wherein before the step of performing the preset encryption operation on the hash value corresponding to the biometric parameter according to the card reader key, the method further comprises:
and acquiring the corresponding card reader key according to the identifier of the card reader.
6. The door access data processing method of claim 1, wherein the step of obtaining the first authentication parameter of the door access card comprises:
generating the random number and sending the random number to the access card so that the access card performs the preset encryption operation on the random number according to the first authentication key to obtain the first authentication parameter;
receiving the first authentication parameter.
7. The door access data processing method according to any one of claims 1 to 6, wherein the operation algorithm of the preset encryption operation is a national cryptographic algorithm.
8. The utility model provides an entrance guard data processing apparatus which characterized in that, entrance guard data processing apparatus includes:
the system comprises an interaction module, a first authentication module and a second authentication module, wherein the interaction module is used for acquiring a first authentication parameter of an access control card and a biological characteristic parameter of a user of the access control card, and the first authentication parameter is a result of preset encryption operation on a random number by a first authentication key of the access control card;
the operation module is used for performing the preset encryption operation on the hash value corresponding to the biological characteristic parameter according to a card reader key to obtain a second authentication key, and performing the preset encryption operation on the random number according to the second authentication key to obtain a second authentication parameter;
and the authentication module is used for determining whether to execute door opening operation according to the first authentication parameter and the second authentication parameter.
9. An access control system, comprising: a memory, a processor and a door access data processing program stored on the memory and operable on the processor, the door access data processing program being configured to implement the steps of the door access data processing method according to any one of claims 1 to 7.
10. A storage medium having stored thereon a door access data processing program, which when executed by a processor implements the steps of the door access data processing method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116580489A (en) * | 2023-07-13 | 2023-08-11 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control equipment, access control card and card sender control method, equipment and medium |
| CN116844266A (en) * | 2023-09-01 | 2023-10-03 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control method, access control system and storage medium |
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| CN113436376A (en) * | 2021-06-02 | 2021-09-24 | 杭州海康威视数字技术股份有限公司 | Access control system, method and device and biological key card |
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| CN116580489A (en) * | 2023-07-13 | 2023-08-11 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control equipment, access control card and card sender control method, equipment and medium |
| CN116580489B (en) * | 2023-07-13 | 2023-09-29 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control equipment, access control card and card sender control method, equipment and medium |
| CN116844266A (en) * | 2023-09-01 | 2023-10-03 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control method, access control system and storage medium |
| CN116844266B (en) * | 2023-09-01 | 2023-11-24 | 鼎铉商用密码测评技术(深圳)有限公司 | Access control method, access control system and storage medium |
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