CN109167665A - A kind of robot competition rule management system - Google Patents
A kind of robot competition rule management system Download PDFInfo
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- CN109167665A CN109167665A CN201810731687.4A CN201810731687A CN109167665A CN 109167665 A CN109167665 A CN 109167665A CN 201810731687 A CN201810731687 A CN 201810731687A CN 109167665 A CN109167665 A CN 109167665A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3263—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving certificates, e.g. public key certificate [PKC] or attribute certificate [AC]; Public key infrastructure [PKI] arrangements
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C13/00—Voting apparatus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3234—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving additional secure or trusted devices, e.g. TPM, smartcard, USB or software token
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3236—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using cryptographic hash functions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3247—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials involving digital signatures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2209/00—Additional information or applications relating to cryptographic mechanisms or cryptographic arrangements for secret or secure communication H04L9/00
- H04L2209/46—Secure multiparty computation, e.g. millionaire problem
- H04L2209/463—Electronic voting
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention discloses a kind of robot competition rule management systems, the judge node of different contest participants is represented including several, each judge node all has ballot qualification independent, each hardware components for judging node include the boundary layer for carrying out human-computer interaction function, for the operation layer of business logic processing and the data collection layer of real-time collecting robot competition data, described operation layer one end is connect with data collection layer, the other end is connect with boundary layer, the boundary layer includes data visualization module and system management module, the operation layer includes identity management module, consensus management module and intelligent contract module, the data collection layer includes several data acquisition modules, fair and just contest environment is provided for robot competition, it ensure that the open and clear and data information of competition Information can not be distorted, significantly Improve the accurate reliability of robot competition.
Description
Technical field
The present invention relates to robot competition technical field, specially a kind of robot competition rule management system.
Background technique
Robot competition reflects the level of a national information and automatic field basic research and high technology development, it
Purpose be that researcher is promoted to study every the relevant technologies, obtain better solution, thus the development of facilitated technique,
During robot competition, the design and management of the rules of contest are a very important job, it is directly related to contest
Fairness and fairness are also related to the influence power of contest itself.
Traditionally, the judgement of the rule of contest mainly manually carries out, and judge is according to the actual conditions of rule and competition field
Come judge content entry troop whether score, whether break the rules, whether need punish, whether obtain contest triumph etc., with machine
The development of device people's contest, more and more people have participated in this field, and especially with the development of internet, some contests can
Directly to be carried out by internet, this mode that the rules of contest of tradition manually are judged increasingly becomes to be unable to satisfy to want
It asks.
The rule for also occurring some automations in recent years judges management system, these systems can collect match automatically and generate
Data, contest process is judged according to default rule, greatly improves the efficiency and accuracy of contest, but with
This simultaneously, the rule management system of this automation brings many new problems, such as the processing of the transparencys of data, dispute
Could robot competition be normally carried out there is still a need for effective solution Deng, these problems.
The system that the rule management system of currently existing automation is substantially the offer of competition organization side, it is this by single
The system that organizer provides can bring many problems:
1, how neutrality guarantees that the system that competition organization side provides is neutral, the subparticipation of not partial contest
Person；
2, transparent, how to guarantee system that competition organization side provides be it is transparent, allow everybody can see system be as
What operation, whether strictly judged by default rule, either with or without run-time error；
3, it can be traced, when contest participant has objection, how to recall the data and regular deterministic process of heat generation,
The process that the abundant verification result of contest participant can be allowed to generate；
4, data can not distort, and all data for how guaranteeing that contest process generates can not all distort, and guarantee the public affairs of system
It is flat.
Summary of the invention
It is machine to overcome the shortcomings of that prior art, the present invention provide a kind of robot competition rule management system
Device people's contest provides fair and just contest environment, ensure that the open and clear of competition Information, and can effectively solve background
The problem of technology proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of robot competition rule management system represents the judge node of different contest participants including several, often
A judge node all has ballot qualification independent, and each hardware components for judging node include carrying out human-computer interaction function
Boundary layer, the operation layer for business logic processing and real-time collecting robot competition data data collection layer, the industry
Business layer one end is connect with data collection layer, and the other end is connect with boundary layer, and the boundary layer includes data visualization module and is
System management module, the operation layer include identity management module, consensus management module and intelligent contract module, the data acquisition
Layer includes several data acquisition modules.
Further, whether legal the identity management module is responsible for each judge node of identifying system, by X.509 demonstrate,proving
The authenticity of book mechanism guarantee user identity.
Further, the consensus management module is responsible for decision of voting, and each judge node only has a ticket.
Further, the intelligent contract module is responsible for executing specific judge rule.
Further, the evaluation method of the management system includes:
The respective server of step 100, the corresponding contest participant deployment configuration of each judge node, three including operation layer
A module；
Step 200, each data acquisition module BOB(beginning of block) for judging node are acquired robot competition data, and according to
Judge rule that the robot competition data of acquisition and intelligent contract module execute judges robot competition；
Step 300, each node of judging are to the robot competition data of acquisition and the judge knot obtained according to rule is judged
Fruit is signed with certificate independent, and then the data splitting after signature is broadcast in network；
Step 400, each consensus management module for judging node are after receiving broadcast to the legal of data splitting signature
Property is verified；
Step 500, it is all judge node vote all in accordance with the legal data splitting of each oneself signature obtain one it is final
Evaluation result；
The respective evaluation result voted in is saved in local database by step 600, all judge nodes.
Further, in the step 200, the intelligence contract module adopts data by many senses information mix together technology
The robot competition data of collection module acquisition carry out processing analysis, and many senses information mix together technology uses hybrid-type system knot
Structure.
Further, the data acquisition module includes being arranged in robot to be used to acquire robot location information
Position sensor, the velocity sensor for acquiring robot velocity information and the angle for acquiring robot directional information pass
Sensor.
Further, it is provided in the consensus management module for realizing the online ballot system of ballot decision, it is described
Online ballot system includes foreground ballot part and back-stage management part, and the foreground voting section point includes verifying judge's identity pipe
The IP that vote module, limitation or unlimited sanction after reason module, confirmation judge's identity are sentenced, and whether permit before the deadline
Perhaps the ballot management module and voting results voted repeatedly check module, and the back-stage management part includes administrator's identity information
Management module, ballot title management module and the ballot item management module for each ballot title, wherein the ballot title
It carries out further comprising the setting of ballot mode and the limitation of polling hours when the addition of ballot title in management module.
Further, the identity management module guarantees that the specific workflow of user identity authenticity includes following step
It is rapid:
The production of S101, certificate are issued:
(1) user applies, the application that server submits user is audited, and issues X.509 the user by auditing
Certificate, ca authentication are centrally generated digital certificate, and digital certificate includes subscriber identity information and the public key of certificate holder；
(2) ID and password PW is submitted with user orientation server, server records the hardware PIN code of user USB Key, i.e. sequence
Number, individual services device generates random number r, obtains present system time T, calculatesIt calculatesWhereinWith R, N, Hk (), r, T initializes USB Key, and digital certificate and private key for user are stored in by server
It is presented to user in USB Key, generates the USB Key that end user holds；
S102, game server verify identity:
(1) USB Key equipment is inserted into after user's game server, server detects the hardware PIN of be inserted into equipment automatically
Whether code is legal, if it is illegal, prompts error message, exits server；If PIN code is entered in next step by verifying；
(2) server obtains the ID and PW of user's input, the r and T being stored in USB Key, calculatesThen pass throughIt obtainsWith the Hash with key K
Function calculatesIt is compared with N, if unequal, refuse this and log in, server alarm
And server is recorded, while exiting server；If equal, server agrees to that USB Key is sent to it certification request, then carries out
In next step；
S103, server authentication identity process:
(1) USB Key generates a random number R2, and with the private key for user P of its storage inside to authentication request message (R2,
TC, d) and signature, generate signature information: M={ R2, TC, d }, wherein TCIt is current time stamp, d is identity data information, USB
Certification request information M is sent to server by Key；
(2) after server receives certification request, check whether server is message recipient, if so, obtaining user
Certificate, and verify the validity of certificate, obtain current time stamp TS, calculate △ T=TS-TCIf TSEqual to TCOr △ T1>
△ T then refuses this log on request, △ T1Indicate the effective time interval of time delay；
(3) public key 0 is extracted from the certificate of user, removes the digital signature of verifying user, i.e. decryption identity certification request M, d
=0 (P { R2, TC, d }), the identity information of USB Key user can be obtained in this way, if occurring mistake or USB in the process
Key is pulled out, which alarms immediately, and is kept a record on the server and exited verifying system.
Further, in the step 400, the consensus management module is after receiving broadcast to data splitting signature
Legitimate verification be by usingDigital signature format realize.
Compared with prior art, the beneficial effects of the present invention are:
The present invention establishes the solution for realizing that the rules of contest determine under a set of distributed environment, each robot competition
Side can independently save racing data, execute the rules of contest, when implementing result is inconsistent, can pass through ballot decision
Mode is judged final as a result, entire contest process is all equality, the data information that contest generates all be it is open and clear,
And all be by digital signature, ensure that data can not tamper, improve the fairness of robot competition.
Detailed description of the invention
Fig. 1 is system construction drawing of the invention；
Fig. 2 is business process map of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of robot competition rule management systems, including several representatives
The judge node of different contest participants, each judge node all have ballot qualification independent, each judge node
Hardware components include boundary layer, the operation layer for business logic processing and the real-time collecting robot for carrying out human-computer interaction function
The data collection layer of racing data, described operation layer one end are connect with data collection layer, and the other end is connect with boundary layer, the boundary
Surface layer includes data visualization module and system management module, and the operation layer includes identity management module, consensus management module
With intelligent contract module, the data collection layer includes several data acquisition modules.
Whether the identity management module is responsible for each judge node of identifying system legal, passes through X.509 certificate mechanism
(X.509 certificate is the public key certificate X.509 standardized that meets issued by believable third party authoritative institution CA, and certificate includes to use
Family identity information, public key information, certificate CA identity information and CA to the signing messages of certificate, pass through X.509 certificate
It is bundled with user identity and key pair, and fides documenti is ensured by CA signature) authenticity that guarantees user identity, it keeps away
The data for exempting to generate during robot competition are tampered, and ensure that the justice of robot competition.
The consensus management module is responsible for decision of voting, and each judge node only has a ticket.
The intelligence contract module is responsible for executing specifically judge rule, and (judging rule is certain participated according to robot
What the standards of grading and method of item sports (such as football, basketball etc.) were formulated), intelligent contract is that one kind is intended to informationization
The computer protocol of contract is propagated, verifies or executed to mode, and intelligent contract permission carries out credible in no third-party situation
Transaction, these transaction are traceable and irreversible.
The evaluation method of the management system includes:
The respective server of step 100, the corresponding contest participant deployment configuration of each judge node, three including operation layer
A module；
Step 200, each data acquisition module BOB(beginning of block) for judging node are acquired robot competition data, and according to
Judge rule that the robot competition data of acquisition and intelligent contract module execute judges robot competition；
Step 300, each node of judging are to the robot competition data of acquisition and the judge knot obtained according to rule is judged
Fruit is signed with certificate independent, and (purpose is attached to some data in data cell, or is made to data cell
Cryptographic transformation, this data and transformation allow the recipient of data cell to confirm data cell source and data ternary
Integrality, and data are protected, prevent other people (such as recipients) from forging), then the data splitting after signature is broadcast to
In network, so that people can be watched in real time by intelligent terminal (mobile phone, computer, Web TV etc.), information ensure that
Publicity and transparency；
Step 400, each consensus management module for judging node are after receiving broadcast to the legal of data splitting signature
Property is verified；
Step 500, it is all judge node vote all in accordance with the legal data splitting of each oneself signature obtain one it is final
Evaluation result；
The respective evaluation result voted in is saved in local database by step 600, all judge nodes, just
It is traced in the playback of subsequent contests process.
It is explained further, in step 300, the basic procedure of digital signature are as follows: signature process and verifying signature process.
(1) the realization process signed: input: original text, private key；Output: signature value
1, original text is done into HASH (HASH (Hash House Harriers), general translation does " hash ", also there is direct sound
It is translated into " Hash ", exactly the input of random length (be called and be preliminary mapping pre-image) is transformed by hashing algorithm solid
The output of measured length, the output are exactly hashed value, and this conversion is a kind of compression mapping, it is, the space of hashed value is usual
Less than the space of input, different inputs may hash to identical output, it is impossible to determine from hashed value unique
Input value, be briefly exactly a kind of function of the eap-message digest of the message compression by random length to a certain regular length)；
It 2, is as a result exactly signature value by HASH private key encryption.
(2) the realization process of verifying signature: input: signature value, original text, public key；Output: whether it is verified
1, original text is done into HASH1；
2, by signature value public key decryptions, HASH2 is obtained；
3, the HASH2 of the HASH1 of step 1 and step 2 are compared, two HASH are the same to be just verified, otherwise obstructed
It crosses.
In the step 200, by many senses information mix together technology, (multi-sensor information melts the intelligence contract module
It closes, is exactly to be subject to information and data from multisensor or multi-source under certain criterion automatically using computer technology
Analysis and synthesis, the information process carried out with completing required decision and estimation) to data collecting module collected
Robot competition data carry out processing analysis, and many senses information mix together technology uses hybrid-type architecture, more sensing letters
There are three types of the architectures for ceasing integration technology: it is distributed, centralized and hybrid, wherein hybrid concentrated the excellent of first two
Point, it is more to be used, such as the avoidance problem in robot soccer contest, it is exactly to be combined with ultrasonic wave and vision two parts,
The information of existing vision centralization is integrated, and has the distributed fusion of vision and ultrasonic wave.
The data acquisition module includes the position sensing for being used to acquire robot location information being arranged in robot
Device, the velocity sensor for acquiring robot velocity information and the angular transducer for acquiring robot directional information, energy
During enough realizations are to robot competition, position, state and the speed of robot carry out real-time monitoring, guarantee robot competition
The reliability of process.
It is provided in the consensus management module for realizing the online ballot system of ballot decision, the online ballot system
System includes foreground ballot part and back-stage management part, and the foreground voting section point includes verifying judge (judging node) identity pipe
The IP that vote module, limitation or unlimited sanction after reason module, confirmation judge's identity are sentenced, and whether permit before the deadline
Perhaps the ballot management module and voting results voted repeatedly check module, and the back-stage management part includes administrator's identity information
Management module, ballot title management module and the ballot item management module for each ballot title, wherein the ballot title
It carries out further comprising the setting of ballot mode and the limitation of polling hours when the addition of ballot title in management module, prevents from cutting out
Sentence repeated vote, loses just.
The online ballot system has paid attention to how making ballot judge's more convenient and quicker clear while realizing function
How to vote, be easily understood, realizes and strengthen judge to the ease for operation of system；It votes for judge, and judging is by pipe
Reason person reaches the pretended transaction for preventing from voting repeatedly with the form of limitation IP, the accuracy of investigation mentions significantly in consistency operation
It is high；Judge can check voting results before and after voting, and detailed can see the poll of each ballot in the voting results page,
The poll of ballot by number and two kinds of figure in the form of show, in this way for judge and people obtain information feedback it is brighter
?.
The identity management module guarantees that the specific workflow of user identity authenticity includes the following steps:
The production of S101, certificate are issued:
(1) user applies, the application that server submits user is audited, and issues X.509 the user by auditing
Certificate, ca authentication are centrally generated digital certificate, and digital certificate includes subscriber identity information and the public key of certificate holder；
(2) ID and password PW is submitted with user orientation server, server records the hardware PIN code of user USB Key, i.e. sequence
Number, individual services device generates random number r, obtains present system time T, calculatesIt calculatesWhereinWith R, N, Hk (), r, T initializes USB Key, and digital certificate and private key for user are stored in by server
It is presented to user in USB Key, generates the USB Key that end user holds；
S102, game server verify identity:
(1) USB Key equipment is inserted into after user's game server, server detects the hardware PIN of be inserted into equipment automatically
Whether code is legal, if it is illegal, prompts error message, exits server；If PIN code is entered in next step by verifying；
(2) server obtains the ID and PW of user's input, the r and T being stored in USB Key, calculatesThen pass throughIt obtainsWith the Hash with key K
Function calculatesIt is compared with N, if unequal, refuse this and log in, server alarm
And server is recorded, while exiting server；If equal, server agrees to that USB Key is sent to it certification request, then carries out
In next step；
S103, server authentication identity process:
(1) USB Key generates a random number R2, and with the private key for user P of its storage inside to authentication request message (R2,
TC, d) and signature, generate signature information: M={ R2, TC, d }, wherein TCIt is current time stamp, d is identity data information, USB
Certification request information M is sent to server by Key；
(2) after server receives certification request, check whether server is message recipient, if so, obtaining user
Certificate, and verify the validity of certificate, obtain current time stamp TS, calculate △ T=TS-TCIf TSEqual to TCOr △ T1>
△ T then refuses this log on request, △ T1Indicate the effective time interval of time delay；
(3) public key 0 is extracted from the certificate of user, removes the digital signature of verifying user, i.e. decryption identity certification request M, d
=0 (P { R2, TC, d }), the identity information of USB Key user can be obtained in this way, if occurring mistake or USB in the process
Key is pulled out, which alarms immediately, and is kept a record on the server and exited verifying system.
Additional explanation, electron key USB Key is developed by smart card techniques, combines contemporary cryptology
Technology, smart card techniques and USB technology, the chip and chip operation of USB Key can provide private key generation, secure storage and public affairs
The functions such as key cryptographic algorithm, since it is with independent data-handling capacity and good safety, USB Key is as number card
The safety barrier of book and signature private key, when being digitally signed, the private key for signing can be generated and be saved in USB Key,
Any situation cannot be read, and the process of signature is also completed in USB Key, than traditional approach download host end realize it is safer can
It leans on.
In the step 400, the consensus management module tests the legitimacy of data splitting signature after receiving broadcast
Card be by usingDigital signature format come realize from verifying,It is one
Kind digital signature format, can be used to the source for verifying binary software and integrality, and Authenticode is based on public-key cryptography
Encryption standard (PKCS) #7 carrys out signed data, and is bound using X.509 certificate by the digital binary program signed and issued and its
The connection of the identity of information publisher, the signature can guarantee the unmodified property of information source and information.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of robot competition rule management system, it is characterised in that: represent commenting for different contest participants including several
Sentence node, each judge node all has ballot qualification independent, and each hardware components for judging node include carrying out people
The data of the boundary layer of machine interactive function, the operation layer for business logic processing and real-time collecting robot competition data acquire
Layer, described operation layer one end are connect with data collection layer, and the other end is connect with boundary layer, and the boundary layer includes data visualization
Module and system management module, the operation layer include identity management module, consensus management module and intelligent contract module, described
Data collection layer includes several data acquisition modules.
2. a kind of robot competition rule management system according to claim 1, it is characterised in that: the Identity Management mould
Block is responsible for whether each judge node of identifying system is legal, guarantees the authenticity of user identity by X.509 certificate mechanism.
3. a kind of robot competition rule management system according to claim 1, it is characterised in that: the consensus management mould
Block is responsible for decision of voting, and each judge node only has a ticket.
4. a kind of robot competition rule management system according to claim 1, it is characterised in that: the intelligence contract mould
Block is responsible for executing specific judge rule.
5. a kind of robot competition rule management system according to claim 1, it is characterised in that: the management system is commented
The method of sentencing includes:
The respective server of step 100, the corresponding contest participant deployment configuration of each judge node, three moulds including operation layer
Block；
Step 200, each data acquisition module BOB(beginning of block) for judging node are acquired robot competition data, and according to acquisition
Robot competition data and the intelligent contract module judge rule that executes robot competition is judged；
Step 300, each node of judging are to the robot competition data of acquisition and the evaluation result use obtained according to rule is judged
Certificate independent is signed, and then the data splitting after signature is broadcast in network；
Step 400, it is each judge node consensus management module receive broadcast after to data splitting signature legitimacy into
Row verifying；
Step 500, all judge nodes vote all in accordance with the legal data splitting of each oneself signature and obtain a final judge
As a result；
The respective evaluation result voted in is saved in local database by step 600, all judge nodes.
6. a kind of robot competition rule management system according to claim 5, it is characterised in that: in the step 200,
The intelligence contract module is carried out by robot competition data of many senses information mix together technology to data collecting module collected
Processing analysis, and many senses information mix together technology uses hybrid-type architecture.
7. a kind of robot competition rule management system according to claim 6, it is characterised in that: the data acquisition module
Block includes the position sensor for acquiring robot location information being arranged in robot, for acquiring robot speed's letter
The velocity sensor of breath and angular transducer for acquiring robot directional information.
8. a kind of robot competition rule management system according to claim 3, it is characterised in that: the consensus management mould
Be provided in block for realizing ballot decision online ballot system, it is described line ballot system include foreground ballot part and after
Platform administrative section, the foreground voting section point include vote module after verifying judge identity management module, confirmation judge's identity,
The IP that limitation or unlimited sanction are sentenced, and the ballot management module for whether allowing to vote repeatedly before the deadline and ballot knot
Fruit checks module, and the back-stage management part includes administrator's identity information management module, ballot title management module and is directed to
The ballot item management module of each ballot title, wherein when carrying out the addition of ballot title in the ballot title management module also
It include the setting of ballot mode and the limitation of polling hours.
9. a kind of robot competition rule management system according to claim 2, it is characterised in that: the Identity Management mould
Block guarantees that the specific workflow of user identity authenticity includes the following steps:
The production of S101, certificate are issued:
(1) user applies, the application that server submits user is audited, and issues X.509 certificate to the user by auditing,
Ca authentication is centrally generated digital certificate, and digital certificate includes subscriber identity information and the public key of certificate holder；
(2) ID and password PW is submitted with user orientation server, server records the hardware PIN code of user USB Key, i.e. sequence number,
Individual services device generates random number r, obtains present system time T, calculatesIt calculatesWhereinWith R, N, Hk (), r, T initializes USB Key, and digital certificate and private key for user are stored in by server
It is presented to user in USB Key, generates the USB Key that end user holds；
S102, game server verify identity:
(1) USB Key equipment is inserted into after user's game server, the hardware PIN code that server detects be inserted into equipment automatically is
It is no legal, if it is illegal, error message is prompted, server is exited；If PIN code is entered in next step by verifying；
(2) server obtains the ID and PW of user's input, the r and T being stored in USB Key, calculatesThen pass throughIt obtainsWith the Hash with key K
Function calculatesIt is compared with N, if unequal, refuse this and log in, server alarm
And server is recorded, while exiting server；If equal, server agrees to that USB Key is sent to it certification request, then carries out
In next step；
S103, server authentication identity process:
(1) USB Key generates a random number R2, and with the private key for user P of its storage inside to authentication request message (R2, TC,
D) it signs, generates signature information: M={ R2, TC, d }, wherein TCIt is current time stamp, d is identity data information, USB Key
Certification request information M is sent to server；
(2) after server receives certification request, check whether server is message recipient, if so, obtaining the card of user
Book, and the validity of certificate is verified, obtain current time stamp TS, calculate △ T=TS-TCIf TSEqual to TCOr △ T1> △ T,
Then refuse this log on request, △ T1Indicate the effective time interval of time delay；
(3) public key 0 is extracted from the certificate of user, removes the digital signature of verifying user, i.e. decryption identity certification request M, d=0
(P{R2, TC, d }), the identity information of USB Key user can be obtained in this way, if occurring mistake or USB Key in the process
It is pulled out, which alarms immediately, and keeps a record on the server and exit verifying system.
10. a kind of robot competition rule management system according to claim 5, it is characterised in that: the step 400
In, the consensus management module receive broadcast after to data splitting signature legitimate verification be by usingDigital signature format realize.
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