CN109167665B - Robot competition rule management system - Google Patents
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- CN109167665B CN109167665B CN201810731687.4A CN201810731687A CN109167665B CN 109167665 B CN109167665 B CN 109167665B CN 201810731687 A CN201810731687 A CN 201810731687A CN 109167665 B CN109167665 B CN 109167665B
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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
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- 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
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- 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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Abstract
The invention discloses a robot competition rule management system, which comprises a plurality of evaluation nodes representing different competition participants, wherein each evaluation node has independent voting qualification, the hardware part of each evaluation node comprises an interface layer with a man-machine interaction function, a service layer for service logic processing and a data acquisition layer for collecting robot competition data in real time, one end of the service layer is connected with the data acquisition layer, the other end of the service layer is connected with the interface layer, the interface layer comprises a data visualization module and a system management module, the service layer comprises an identity management module, a consensus management module and an intelligent contract module, the data acquisition layer comprises a plurality of data acquisition modules, a fair and fair competition environment is provided for robot competition, the competition information is guaranteed to be public and transparent, the data information cannot be tampered, and the accuracy and reliability of the robot competition are greatly improved.
Description
Technical Field
The invention relates to the technical field of robot competition, in particular to a robot competition rule management system.
Background
The robot competition reflects the level of basic research and high-tech development in the field of national information and automation, and aims to promote researchers to research various related technologies and obtain better solutions, so that the development of the technology is promoted.
Traditionally, the judgment of the rules of the competition is mainly carried out manually, and judges whether a competition team scores or not, makes a penalty or not, obtains a competition victory or not and the like according to the rules and the actual conditions of the competition field.
In recent years, some automatic rule evaluation management systems have appeared, which can automatically collect data generated by a competition and evaluate the competition process according to preset rules, thereby greatly improving the efficiency and accuracy of the competition.
The existing automatic rule management system is basically a system provided by a competition organization party, and the system provided by a single organization party brings about a plurality of problems:
1. neutrality, how to ensure that the system provided by the competition organizer is neutral, without favoring some of the participants of the competition;
2. the transparency ensures that the system provided by the competition organization party is transparent, so that people can see how the system runs, whether the system runs is judged according to a preset rule strictly or not, and whether the system runs wrongly or not;
3. the method can trace back, when the competition participants have disagreement, how to trace back the data and rule judgment process generated in the competition process can ensure that the competition participants can fully verify the process generated by the result;
4. data cannot be tampered, and how to ensure that all data generated in the competition process cannot be tampered ensures the fairness of the system.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a robot competition rule management system, which provides a fair and fair competition environment for robot competition, ensures the public and transparent competition information, and can effectively solve the problems in the background art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a robot competition rule management system comprises a plurality of evaluation nodes representing different competition participants, each evaluation node has an independent voting qualification, a hardware part of each evaluation node comprises an interface layer with a man-machine interaction function, a service layer used for service logic processing and a data acquisition layer used for collecting competition data of a robot in real time, one end of the service layer is connected with the data acquisition layer, the other end of the service layer is connected with the interface layer, the interface layer comprises a data visualization module and a system management module, the service layer comprises an identity management module, a consensus management module and an intelligent contract module, and the data acquisition layer comprises a plurality of data acquisition modules.
Furthermore, the identity management module is responsible for identifying whether each judgment node of the system is legal or not, and the authenticity of the user identity is ensured through an X.509 certificate mechanism.
Further, the consensus management module is responsible for voting decision, and each evaluation node has only one vote.
Further, the intelligent contract module is responsible for executing specific evaluation rules.
Further, the judging method of the management system comprises the following steps:
step 100, a competition participant corresponding to each evaluation node deploys and configures a respective server, wherein the respective server comprises three modules of a service layer;
200, a data acquisition module of each judgment node starts to acquire robot competition data and judges the robot competition according to the acquired robot competition data and judgment rules executed by an intelligent contract module;
300, each judging node signs the collected robot competition data and the judging result obtained according to the judging rule by using a respective independent certificate, and then broadcasts the signed combined data to a network;
step 400, the consensus management module of each evaluation node verifies the validity of the combined data signature after receiving the broadcast;
500, voting by all the evaluation nodes according to the combined data with legal signatures to obtain a final evaluation result;
and step 600, all the evaluation nodes store the evaluation results selected by the respective votes into a local database.
Further, in step 200, the intelligent contract module processes and analyzes the robot competition data acquired by the data acquisition module through a multi-sensor information fusion technology, and the multi-sensor information fusion technology adopts a hybrid architecture.
Further, the data acquisition module comprises a position sensor arranged on the robot and used for acquiring the position information of the robot, a speed sensor used for acquiring the speed information of the robot and an angle sensor used for acquiring the direction information of the robot.
Furthermore, an online voting system for realizing voting decision is arranged in the consensus management module, the online voting system comprises a foreground voting part and a background management part, the foreground voting part comprises a referee identity verification management module, a voting module after the referee identity is confirmed, an IP (Internet protocol) for limiting or not limiting referees, a voting management module for allowing repeated voting within a specified time and a voting result viewing module, the background management part comprises a manager identity information management module, a voting title management module and a voting item management module for each voting title, and the voting mode setting and the voting time limitation are included when the voting title is added in the voting title management module.
Further, the specific workflow of the identity management module for ensuring the authenticity of the user identity includes the following steps:
s101, certificate making and issuing:
(1) the user applies for, the server verifies the application submitted by the user, and issues an X.509 certificate to the user who passes the verification, and the CA authentication center generates a digital certificate, wherein the digital certificate comprises user identity information and a public key of a certificate holder;
(2) the user submits ID and password PW to the server, the server records hardware PIN code of user USB Key, i.e. serial number, the individual server generates random number r, obtains current system time T, calculates
Computing
Wherein
Initializing a USB Key by using R, N, Hk (), R and T, storing a digital certificate and a user private Key in the USB Key by a server and issuing the digital certificate and the user private Key to a user to generate the USB Key held by the final user;
s102, login of a server for identity verification:
(1) a user logs in a server and then inserts USB Key equipment, the server automatically detects whether a hardware PIN code of the inserted equipment is legal or not, if not, error information is prompted, and the server is quitted; if the PIN passes the verification, the next step is carried out;
(2) the server obtains the ID and PW input by the user, r and T stored in the USB Key, and calculates
Then pass through
To obtain
Computing with a hash function with a secret key K
Comparing with N, if not, refusing the login, alarming and recording to the server by the server, and quitting the server; if the authentication request is equal to the authentication request sent by the USB Key, the server agrees to send the authentication request to the USB Key, and then the next step is carried out;
s103, the server verifies the identity process:
(1) USB Key generates a random number R2And uses the user private key P stored in the internal part to carry out the authentication request message (R)2，TCAnd d) signing, generating a signature message: m ═ R2，TCD }, wherein TCThe authentication request information M is sent to the server by the USB Key when the current time is marked and d is identity data information；
(2) After the server receives the authentication request, checking whether the server is a message receiver, if so, acquiring the certificate of the user, verifying the validity of the certificate, and acquiring the current time mark TSCalculating T as TS-TCIf T isSIs equal to TCOr Δ T1>Delta T, refusing the login request, Delta T1An effective time interval representing a time delay;
(3) extracting public key 0 from user's certificate to verify user's digital signature, i.e. decrypting identity authentication request M, d is 0(P { R ═ 0)2，TCD), so as to obtain the identity information of the USB Key user, if an error occurs in the process or the USB Key is pulled out, the identity management module immediately alarms, records on the server and quits the verification system.
Further, in step 400, the validity of the combined data signature after the broadcast is received by the consensus management module is verified by adopting
In the digital signature format of (1).
Compared with the prior art, the invention has the beneficial effects that:
the invention establishes a set of solution for realizing competition rule judgment in a distributed environment, each robot competition party can independently store competition data and execute competition rules, when the execution results are inconsistent, the final results can be judged in a voting decision mode, the whole competition process is equal, the data information generated by the competition is public and transparent and is subjected to digital signature, the data can not be tampered, and the fairness of the robot competition is improved.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
fig. 2 is a business process diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention provides a robot competition rule management system, which includes a plurality of evaluation nodes representing different competition participants, each evaluation node has an independent voting qualification, a hardware portion of each evaluation node includes an interface layer having a human-computer interaction function, a service layer for service logic processing, and a data acquisition layer for collecting competition data of a robot in real time, one end of the service layer is connected to the data acquisition layer, the other end of the service layer is connected to the interface layer, the interface layer includes a data visualization module and a system management module, the service layer includes an identity management module, a consensus management module and an intelligent contract module, and the data acquisition layer includes a plurality of data acquisition modules.
The identity management module is responsible for identifying whether each evaluation node of the system is legal or not, the authenticity of the user identity is ensured through an X.509 certificate mechanism (the X.509 certificate is a public key certificate which is issued by a credible third party authority CA and conforms to an X.509 standard, the certificate comprises user identity information, public key information, identity information of the CA issuing the certificate and signature information of the CA on the certificate, the user identity and a secret key pair are bound through the X.509 certificate, and the credibility of the certificate is ensured through the CA signature), data generated in the competition process of the robot is prevented from being tampered, and the fairness of the competition of the robot is ensured.
The consensus management module is responsible for voting decision-making, and each evaluation node only has one vote.
The intelligent contract module is responsible for executing specific judgment rules (the judgment rules are established according to the scoring standards and methods of a certain competition project (such as football, basketball and the like) in which the robot participates), the intelligent contract is a computer protocol which aims to propagate, verify or execute the contract in an information-based mode, and the intelligent contract allows credible transactions to be conducted without a third party, and the transactions can be tracked and can not be reversed.
The judging method of the management system comprises the following steps:
step 100, a competition participant corresponding to each evaluation node deploys and configures a respective server, wherein the respective server comprises three modules of a service layer;
200, a data acquisition module of each judgment node starts to acquire robot competition data and judges the robot competition according to the acquired robot competition data and judgment rules executed by an intelligent contract module;
step 300, each evaluation node signs the collected robot competition data and the evaluation result obtained according to the evaluation rule with respective independent certificates (the purpose is to attach some data on the data unit or perform password transformation on the data unit, the data and transformation allow a receiver of the data unit to confirm the integrity of the data unit source and the data ternary, protect the data and prevent other people (such as a receiver) from forging), and then broadcasts the signed combined data to a network, so that people can watch the data in real time through intelligent terminal equipment (a mobile phone, a computer, a network television and the like), and the openness and the transparency of the information are ensured;
step 400, the consensus management module of each evaluation node verifies the validity of the combined data signature after receiving the broadcast;
500, voting by all the evaluation nodes according to the combined data with legal signatures to obtain a final evaluation result;
and step 600, all the evaluation nodes store the evaluation results selected by the respective votes into a local database, so that the playback and tracing of the subsequent competition process are facilitated.
It is further explained that, in step 300, the basic flow of digital signature is: a signature process and a verification signature process.
(1) The signature implementation process comprises the following steps: inputting: original text and private key; and (3) outputting: signature value
1. HASH (HASH House hariers) is made of the original text, generally translated as "HASH", and also directly translated as "HASH", that is, an input (also called pre-mapped pre-image) with an arbitrary length is converted into an output with a fixed length through a HASH algorithm, that is, a HASH value, and the conversion is a compression mapping, that is, the space of the HASH value is usually smaller than that of the input, and different inputs may be hashed into the same output, so that it is impossible to determine a unique input value from the HASH value, and simply speaking, a function of compressing a message with an arbitrary length into a message digest with a fixed length;
2. HASH is encrypted with the private key, resulting in a signature value.
(2) The implementation process of the verification signature comprises the following steps: inputting: signature value, original text, public key; and (3) outputting: whether or not to verify passing
1. Preparing a HASH1 from the original text;
2. decrypting the signature value by using a public key to obtain HASH 2;
3. comparing the HASH1 of step 1 with the HASH2 of step 2, the two HASH are verified to pass the same, otherwise, the two HASH do not pass the same.
In step 200, the intelligent contract module processes and analyzes the robot competition data acquired by the data acquisition module by using a multi-sensor information fusion technology (i.e., a computer technology is used to automatically analyze and synthesize information and data from multiple sensors or multiple sources under a certain criterion to complete an information processing process required for decision and estimation), the multi-sensor information fusion technology adopts a hybrid architecture, and the architecture of the multi-sensor information fusion technology has three mechanisms: the hybrid type integrates the advantages of the former two types, and is more used, for example, the obstacle avoidance problem in robot football competition is that ultrasonic and vision are combined, so that the vision centralized information integration is realized, and the vision and the ultrasonic are in distributed fusion.
The data acquisition module comprises a position sensor, a speed sensor and an angle sensor, wherein the position sensor is arranged on the robot and used for acquiring the position information of the robot, the speed sensor is used for acquiring the speed information of the robot, and the angle sensor is used for acquiring the direction information of the robot, so that the position, the state and the speed of the robot can be monitored in real time in the robot competition process, and the stability and the reliability of the robot competition process are ensured.
The consensus management module is internally provided with an online voting system for realizing voting decision, the online voting system comprises a foreground voting part and a background management part, the foreground voting part comprises a referee (referee node) identity verification management module, a voting module after the referee identity is confirmed, an IP (Internet protocol) for limiting or not limiting the referee, a voting management module for allowing repeated voting within a specified time and a voting result viewing module, and the background management part comprises a manager identity information management module, a voting title management module and a voting item management module aiming at each voting title, wherein the voting title management module also comprises the setting of a voting mode and the limitation of voting time when the voting title is added, so that repeated voting by the referee is prevented, and the referee is unfair.
The online voting system pays attention to how to enable the voting referee to conveniently and quickly vote while realizing the functions, is simple and easy to understand, and realizes and strengthens the operability of the referee on the system; for referee voting, the referee operates in the background by an administrator, and false behavior of repeated voting is prevented in a limited IP mode, so that the accuracy of investigation is greatly improved; the voting results can be checked before and after the referee votes, the number of votes voted for each item can be seen in detail on the voting result page, and the votes voted for each item are displayed in a digital mode and a graphical mode, so that the referee and the feedback of information obtained by people are more clear.
The specific workflow of the identity management module for ensuring the authenticity of the user identity comprises the following steps:
s101, certificate making and issuing:
(1) the user applies for, the server verifies the application submitted by the user, and issues an X.509 certificate to the user who passes the verification, and the CA authentication center generates a digital certificate, wherein the digital certificate comprises user identity information and a public key of a certificate holder;
(2) user submits ID and password PW to server, serviceThe device records the hardware PIN code of the USB Key of the user, namely the serial number, the individual server generates a random number r, obtains the current system time T, and calculates
Computing
Wherein
Initializing a USB Key by using R, N, Hk (), R and T, storing a digital certificate and a user private Key in the USB Key by a server and issuing the digital certificate and the user private Key to a user to generate the USB Key held by the final user;
s102, login of a server for identity verification:
(1) a user logs in a server and then inserts USB Key equipment, the server automatically detects whether a hardware PIN code of the inserted equipment is legal or not, if not, error information is prompted, and the server is quitted; if the PIN passes the verification, the next step is carried out;
(2) the server obtains the ID and PW input by the user, r and T stored in the USB Key, and calculates
Then pass through
To obtain
Computing with a hash function with a secret key K
Comparing with N, if not, refusing the login, alarming and recording to the server by the server, and quitting the server; if the authentication request is equal to the authentication request sent by the USB Key, the server agrees to send the authentication request to the USB Key, and then the next step is carried out;
s103, the server verifies the identity process:
(1) USB Key generates a random numberR2And uses the user private key P stored in the internal part to carry out the authentication request message (R)2，TCAnd d) signing, generating a signature message: m ═ R2，TCD }, wherein TCThe authentication request information M is sent to a server by the USB Key, wherein the current time is marked, d is identity data information;
(2) after the server receives the authentication request, checking whether the server is a message receiver, if so, acquiring the certificate of the user, verifying the validity of the certificate, and acquiring the current time mark TSCalculating T as TS-TCIf T isSIs equal to TCOr Δ T1>Delta T, refusing the login request, Delta T1An effective time interval representing a time delay;
(3) extracting public key 0 from user's certificate to verify user's digital signature, i.e. decrypting identity authentication request M, d is 0(P { R ═ 0)2，TCD), so as to obtain the identity information of the USB Key user, if an error occurs in the process or the USB Key is pulled out, the identity management module immediately alarms, records on the server and quits the verification system.
The supplementary explanation is that the USB Key of the electronic Key is developed by the smart card technology, and combines the modern cryptology technology, the smart card technology and the USB technology, the chip and the chip operation of the USB Key can provide the functions of private Key generation, safe storage, public Key cryptographic algorithm and the like, because the USB Key has independent data processing capacity and good safety, the USB Key becomes a safe carrier of a digital certificate and a signature private Key, when the digital signature is carried out, the private Key used for signature can be generated and stored in the USB Key, and can not be read out under any condition, the signature process is also completed in the USB Key, and the USB Key is safer and more reliable than the host end downloading in the traditional mode.
In step 400, the validity of the combined data signature is verified by the consensus management module after the broadcast is received
The digital signature format of (a) to achieve self-verification,
the authentication code is a digital signature format which can be used for verifying the source and integrity of binary software, and the authentication code signs data based on public key encryption standard (PKCS) #7 and uses an X.509 certificate to bind the digitally signed binary program with the identity of an information issuer thereof, and the signature can ensure the source of the information and the unmodified information.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A robot competition rule management system is characterized in that: the robot competition system comprises a plurality of evaluation nodes representing different competition participants, each evaluation node has independent voting qualification, the hardware part of each evaluation node comprises an interface layer with a man-machine interaction function, a service layer for service logic processing and a data acquisition layer for collecting robot competition data in real time, one end of the service layer is connected with the data acquisition layer, the other end of the service layer is connected with the interface layer, the interface layer comprises a data visualization module and a system management module, the service layer comprises an identity management module, a consensus management module and an intelligent contract module, and the data acquisition layer comprises a plurality of data acquisition modules;
the identity management module is responsible for identifying whether each judgment node of the system is legal or not, and the authenticity of the user identity is ensured through an X.509 certificate mechanism;
the judging method of the management system comprises the following steps:
step 100, a competition participant corresponding to each evaluation node deploys and configures a respective server, wherein the respective server comprises three modules of a service layer;
200, a data acquisition module of each judgment node starts to acquire robot competition data and judges the robot competition according to the acquired robot competition data and judgment rules executed by an intelligent contract module;
300, each judging node signs the collected robot competition data and the judging result obtained according to the judging rule by using a respective independent certificate, and then broadcasts the signed combined data to a network;
step 400, the consensus management module of each evaluation node verifies the validity of the combined data signature after receiving the broadcast;
500, voting by all the evaluation nodes according to the combined data with legal signatures to obtain a final evaluation result;
and step 600, all the evaluation nodes store the evaluation results selected by the respective votes into a local database.
2. A robotic competition rules management system according to claim 1, wherein: the consensus management module is responsible for voting decision-making, and each evaluation node only has one vote.
3. A robotic competition rules management system according to claim 1, wherein: the intelligent contract module is responsible for executing specific judgment rules.
4. A robotic competition rules management system according to claim 1, wherein: in the step 200, the intelligent contract module processes and analyzes the robot competition data acquired by the data acquisition module through a multi-sensing information fusion technology, and the multi-sensing information fusion technology adopts a hybrid architecture.
5. A robotic competition rules management system according to claim 4, wherein: the data acquisition module comprises a position sensor, a speed measurement sensor and an angle sensor, wherein the position sensor is arranged on the robot and used for acquiring the position information of the robot, the speed measurement sensor is used for acquiring the speed information of the robot, and the angle sensor is used for acquiring the direction information of the robot.
6. A robotic competition rules management system according to claim 2, wherein: the consensus management module is internally provided with an online voting system for realizing voting decision, the online voting system comprises a foreground voting part and a background management part, the foreground voting part comprises a referee identity verification management module, a voting module after the referee identity is confirmed, an IP (Internet protocol) for limiting or not limiting referees, a voting management module for allowing repeated voting within a specified time and a voting result viewing module, the background management part comprises a manager identity information management module, a voting title management module and a voting item management module aiming at each voting title, and the voting mode setting and the voting time limitation are also included when the voting title is added in the voting title management module.
7. A robotic competition rules management system according to claim 1, wherein: the specific workflow of the identity management module for ensuring the authenticity of the user identity comprises the following steps:
s101, certificate making and issuing:
(1) the user applies for, the server verifies the application submitted by the user, and issues an X.509 certificate to the user who passes the verification, and the CA authentication center generates a digital certificate, wherein the digital certificate comprises user identity information and a public key of a certificate holder;
(2) the user submits ID and password PW to the server, the server records hardware PIN code of user USB Key, i.e. serial number, the individual server generates random number r, obtains current system time T, calculates
Computing
Wherein
Initializing a USB Key by using R, N, Hk (), R and T, storing a digital certificate and a user private Key in the USB Key by a server and issuing the digital certificate and the user private Key to a user to generate the USB Key held by the final user;
s102, login of a server for identity verification:
(1) a user logs in a server and then inserts USB Key equipment, the server automatically detects whether a hardware PIN code of the inserted equipment is legal or not, if not, error information is prompted, and the server is quitted; if the PIN passes the verification, the next step is carried out;
(2) the server obtains the ID and PW input by the user, r and T stored in the USB Key, and calculates
Then pass through
To obtain
Computing with a hash function with a secret key K
Comparing with N, if not, refusing the login, alarming and recording to the server by the server, and quitting the server; if the authentication request is equal to the authentication request sent by the USB Key, the server agrees to send the authentication request to the USB Key, and then the next step is carried out;
s103, the server verifies the identity process:
(1) USB Key generates a random number R2And uses the user private key P stored in the internal part to carry out the authentication request message (R)2，TCAnd d) signing, generating a signature message: m ═ R2，TCD }, wherein TCThe authentication request information M is sent to a server by the USB Key, wherein the current time is marked, d is identity data information;
(2) after the server receives the authentication request, checking whether the server is a message receiver, if so, acquiring the certificate of the user, verifying the validity of the certificate, and acquiring the current time mark TSCalculating Δ T ═ TS-TCIf T isSIs equal to TCOr Δ T1>Delta T, refusing the login request, Delta T1An effective time interval representing a time delay;
(3) extracting public key 0 from user's certificate to verify user's digital signature, i.e. decrypting identity authentication request M, d is 0(P { R ═ 0)2，TCD), so as to obtain the identity information of the USB Key user, if an error occurs in the process or the USB Key is pulled out, the identity management module immediately alarms, records on the server and quits the verification system.
8. A robotic competition rules management system according to claim 1, wherein: in step 400, the validity of the combined data signature is verified by the consensus management module after the broadcast is received
In the digital signature format of (1).
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