CN112565073A - Unmanned ship head-collar node dynamic election system and method based on block chain - Google Patents
Unmanned ship head-collar node dynamic election system and method based on block chain Download PDFInfo
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Abstract
The invention provides a block chain-based unmanned yacht head node dynamic election system, a block chain-based unmanned yacht head node dynamic election method and a block chain-based unmanned yacht head node dynamic election medium. Wherein the system includes: a node weight initialization unit configured to: loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node; a node quality query and commit unit configured to: inquiring the node address of a node of a trading partner based on a weight record list in the dynamic election intelligent contract so as to submit data submitted to the node of the trading partner by a current node; a leader node election unit configured to: updating the leader weight of each node and the weight record list to determine a new captain node; and a leader weight broadcasting unit configured to: broadcasting the status information of the new captain node to the respective nodes.
Description
Technical Field
The invention relates to the field of block chains, in particular to a block chain-based unmanned yacht head node dynamic election system, a block chain-based unmanned yacht head node dynamic election method and a block chain-based unmanned yacht head node dynamic election medium.
Background
In recent years, unmanned equipment gradually enters intellectualization, and is rapidly developed and also receives national attention. Especially in the aspect of an underwater unmanned ship, the unmanned ship is different from manned naval ship equipment, and the unmanned ship can break through the physiological limit of people in the design and improve the maneuvering performance. And because the design cost is reduced, a plurality of unmanned ship devices can be rapidly moved, and some devices are used for executing a certain task together, so that the task execution efficiency and the completion degree are improved.
However, under some extremely severe conditions under water, the difficulty of communication between devices is increased rapidly, and the problems of high disconnection rate and high failure rate of the devices can occur, so that the situation that the devices cannot be connected is shown in a cluster. In the case where multiple devices are required to perform a task together, dynamic changes in the cluster can greatly interfere with the completion of actions. If the main decision-making equipment is continuously disconnected and damaged, the cluster cannot perform decision-making deployment, and even cannot perform task allocation on other equipment nodes, so that normal execution of tasks is greatly interfered, and even major adverse results are generated. Therefore, in the case of a fast dynamic change of such a device cluster, it is very important to ensure a fast and reliable replacement of the key leader node after leaving the network during the task execution process.
At present, research and technology aiming at the unmanned ship cluster dynamic election do not exist, and the existing scheme aiming at the unmanned equipment cluster dynamic election is mostly theoretical technology aiming at the unmanned aerial vehicle. Patent CN201910599810.6, a method for electing a dynamically weighted cluster head of an unmanned aerial vehicle ad hoc network, relates to the field of ad hoc networks, and comprises the following steps for solving the problems that the cluster head change rate of the existing unmanned aerial vehicle algorithm is high and the network topology changes frequently: numbering all unmanned aerial vehicles: step two: firstly, the current node battery energy, the node correlation, the node mobility and the node distance sum of each node are obtained, and then the weight of each node is obtained: step three: and selecting the node with the largest weight as a first clustering cluster head, selecting the nodes in the effective communication distance as cluster members, and selecting the rest nodes as the cluster heads of a second cluster, except the cluster head and the cluster members of the first cluster, and repeating the steps until all the nodes are clustered. The invention effectively reduces the cluster head change rate of the unmanned aerial vehicle ad hoc network, enhances the network performance and balances the energy consumption of the unmanned aerial vehicle. Patent CN201911274036.8, a distributed cluster head election method based on wireless ad hoc network. The invention discloses a distributed cluster head election method based on a wireless self-organizing network, which is based on a highest node degree algorithm and is used under the condition that information of other nodes is unknown by each node during network initialization. In a dense scene, the network topology is too complex, and clustering is difficult to complete once through a single index, so the cluster head election process is divided into three stages, each stage selects a certain number of cluster heads, and the nodes elected for three times become final cluster heads. Through simulation test, the election method is high in clustering speed, the network connectivity rate reaches 100%, and the clustering result provides necessary preparation for optimization of subsequent clustering and optimization of network slicing and communication resource distribution.
The scheme cannot be applied to unmanned boat clusters working in severe environments. Different from other unmanned equipment, the unmanned ship usually works in an underwater environment, cannot be communicated in a wired mode and the like, and has a high signal attenuation rate in the underwater environment in a conventional wireless communication mode; and the underwater environment is unclear, and the equipment damage rate is high. Therefore, the election algorithm of the unmanned ship cluster has the communication capacity of resisting severe environment, and can dynamically adapt to the network and adjust. The existing technical scheme has high dependence on the communication environment and cannot deal with the problem that the leader node frequently fails.
The dynamic election capability after the failure of the leader node is poor. The existing election scheme cannot be applied to the dynamic adjustment of the leader node. Under the conditions that the unmanned terminal is insufficient in computing capability and limited in capacity and computing capability, the leader node is easily disconnected and repeatedly connected. The common distributed decision-making scheme can reinitiate the election process when the leader node is disconnected, and the frequent disconnection will inevitably increase the re-election probability and increase the operation burden and the communication cost; for nodes repeatedly connected in a network problem, election still can be elected due to the operational advantages of the nodes, but after the election is finished, the nodes cannot guarantee the normal operation of tasks.
Disclosure of Invention
The invention aims to provide a block chain-based unmanned yacht head node dynamic election scheme to solve the technical problems in the prior art. The scheme utilizes the block chain technology to construct a preferred election scheme supporting the dynamic change of equipment nodes, and ensures the flexibility of the election scheme and the credibility and reliability of the process. The scheme provides the tamper-proof guarantee in the election process and the sufficient robustness of consensus information transmission in the election process by utilizing the consensus mechanism of the block chain; the intelligent contract is used as a trusted party, so that the problem of frequent election initiation in a distributed environment is solved; and an election scheme of interval waiting is provided, so that the problem of election oscillation caused by repeated connection of nodes due to the outside or self reasons is solved.
The invention provides a block chain-based unmanned yacht head node dynamic election system, which comprises: a node weight initialization unit configured to: loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node; a node quality query and commit unit configured to: inquiring the node address of a node of a trading partner based on a weight record list in the dynamic election intelligent contract so as to submit data submitted to the node of the trading partner by a current node; a leader node election unit configured to: updating the leader weight of each node and the weight record list to determine a new captain node; and a leader weight broadcasting unit configured to: broadcasting the status information of the new captain node to the respective nodes.
According to the system provided by the first aspect of the present invention, each of the nodes includes: the challenge submodule is configured to submit data to other nodes; a reply submodule configured to reply to the request of the other node; and a broadcasting sub-module configured to broadcast the node status information.
According to the system provided by the first aspect of the present invention, the node challenge and submission unit is further configured to calculate a quantity deviation between challenge submission and challenge reply, and determine an end time for submitting the data based on the quantity deviation.
According to the system provided by the first aspect of the present invention, the leader node election unit is further configured to update the leader weight and the weight record list of the respective nodes based on the deal within the end time.
The invention provides a block chain-based unmanned ship leader node dynamic election method, which comprises the following steps: step S1, loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node; step S2, based on the weight record list in the dynamic election intelligent contract, inquiring the node address of the node of the transaction counterpart to submit the data submitted by the current node to the node of the transaction counterpart; step S3, updating the leader weight of each node and the weight record list to determine a new leader node; and step S4, broadcasting the status information of the new leader node to the respective nodes.
According to the method provided by the second aspect of the present invention, each node has an inquiry function, a reply function and a broadcast function, and the inquiry function is to submit data to other nodes; the reply function is to reply to the request of the other node; and the broadcast function is broadcasting node status information.
According to a second aspect of the invention there is provided a method further comprising: a quantity deviation of challenge submissions and challenge replies is calculated, and an end time of submission of the data is determined based on the quantity deviation.
According to a second aspect of the invention there is provided a method further comprising: updating the leader weight and the weight record list for the respective node based on the deal within the end time.
A third aspect of the invention provides a non-transitory computer readable medium having stored thereon instructions which, when executed by a processor, perform the steps of the blockchain-based unmanned kayak head node dynamic election method according to the second aspect of the invention.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a block chain-based configuration diagram of an unmanned yacht head node dynamic election system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a complete decision according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of division of work for a complete decision according to an embodiment of the present invention; and
fig. 4 is a flowchart of a method for dynamically electing an unmanned kayak head node based on a block chain according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
The invention provides a block chain-based unmanned yacht head-leading node dynamic election system, which aims to complete leader node election in dynamically-changed nodes and forms distributed leader node election operation based on a block chain by means of intelligent contracts and interval driving. The election operation is to adopt a mode of election based on a serial number, and obtain a serial number list of each node through the intelligent contract sequencing of identity authentication in the node dynamic group link module, wherein the larger the serial number is, the higher the capacity is. Because part of unmanned nodes fail to work due to battery exhaustion and return or malicious damage, and information sharing cannot be continued, the module also needs to complete election and determination of a new leader node in time when some unmanned equipment nodes fail, so that the residual nodes are prevented from hindering completion of subsequent tasks.
Fig. 1 is a block chain-based configuration diagram of an unmanned yacht head node dynamic election system according to an embodiment of the present invention; as shown in fig. 1, the system includes: a node weight initialization unit 101 configured to: loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node; a node-quality query and commit unit 102 configured to: inquiring the node address of a node of a trading partner based on a weight record list in the dynamic election intelligent contract so as to submit data submitted to the node of the trading partner by a current node; a leader node election unit 103 configured to: updating the leader weight of each node and the weight record list to determine a new captain node; and a leader weight broadcasting unit 104 configured to: broadcasting the status information of the new captain node to the respective nodes.
Wherein each of the nodes comprises: the challenge submodule is configured to submit data to other nodes; a reply submodule configured to reply to the request of the other node; and a broadcasting sub-module configured to broadcast the node status information.
Fig. 2 is a flowchart illustrating a complete decision according to an embodiment of the present invention. As shown in fig. 2, the whole decision process mainly includes four stages, node weight initialization and node weight initialization; node inquiry and submission; electing a leader node; and broadcasting the leader weight. Each phase will retain a timer as a phase interval and these four phases will be completed jointly by the dynamic election intelligence contract and the respective node.
For each node, the above functions are implemented by three sub-modules, including a proposal sub-module, a reply sub-module and a broadcast sub-module: a. a challenge submodule: each node can submit related affairs to other advanced nodes through the submodule, and also can simply submit survival inquiry to the advanced nodes, wherein the inquiry request has frequency limitation; b. a reply submodule: each node can reply transaction requests or survival requests from other nodes through the submodule, wherein the survival requests can record necessary information such as computing capacity, battery capacity, communication power and the like; c. a broadcasting sub-module: each leader node needs to broadcast leader information.
For the dynamic election intelligent contract, three sub-methods are required to be included, including a weight inquiry sub-method, a state recording sub-method and a weight updating sub-method: a. weight query submethod: maintaining a list containing leader weight and leader sequence of each node; b. status recording method: the contract records the frequency of replying transaction requests in each node, node information in survival requests and the like; c. weight update submethod: and updating the leader weight for each node according to the election record.
FIG. 3 is a schematic diagram of division of work for a complete decision according to an embodiment of the present invention. As shown in fig. 3, the various stages of the decision making process mainly work as follows.
The node weight initialization unit 101 loads and writes a weight record list in a dynamic election intelligent contract in an initial period of executing a task by equipment networking, completes initialization of node weight, and automatically enters a next node quality inquiry and submission stage.
The node query and submission unit 102 helps the nodes to complete interactive sharing of data. When the current node wants to submit information to another node with higher leader weight, the current node firstly calls a weight query sub-method of the contract, and the contract returns the address of the other node. Then, the current node initiates a transaction to another node address through the challenge submodule to complete data submission. And the leader node calls a state recording sub-method of the contract through the reply sub-module and submits data receiving confirmation or self equipment basic information.
The node challenge and submission unit 102 is further configured to calculate a quantity deviation of challenge submissions and challenge replies, and determine an end time for submitting the data based on the quantity deviation. Specifically, this phase maintains a timer to determine an end time based on the challenge submission n, and enters the next leader node election phaseqChallenge reply n with leader nodeaThe quantity deviation of (c) is determined by: t isq＝t2-α∑ωj(nq-na) Wherein t is2Alpha is the weight parameter, which is the initial timer for this phase.
The leader node election unit 103 is configured to update the leader weight and the weight record list of the respective node based on the deal within the end time. Specifically, the new leader weight of each node is obtained according to the response condition of the node in the previous stage. Each node sets a timer, and once the election request transaction is not received within the time of the timer ending, the nodes quickly call the weight updating sub-method of the contract to advance the election according to the leader sequence in the weight record list from small to large serving as a temporary leader. After the stage is finished, the next leader weight broadcasting stage is entered.
The leader weight broadcasting unit 104 determines the leader weight by calling a weight query submethod of the intelligent contract, and broadcasts the state of the leader node to each node and the dynamic election intelligent contract trade through a broadcasting submodule. The stage maintains a timer to determine the end time and enters the node quality inquiry and submission stage, and if the state broadcast of the highest leader node is not received, the stage immediately enters the leader node election stage. Because part of unmanned aerial vehicles can return due to battery exhaustion or be maliciously damaged, nodes in the blockchain system fail, and the network topology changes dynamically. The sub-module can complete the determination of a new leader node in time when some unmanned equipment nodes fail, and prevent the completion of subsequent tasks by the remaining nodes.
The invention provides a block chain-based unmanned ship leader node dynamic election method, which comprises the following steps: step S1, loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node; step S2, based on the weight record list in the dynamic election intelligent contract, inquiring the node address of the node of the transaction counterpart to submit the data submitted by the current node to the node of the transaction counterpart; step S3, updating the leader weight of each node and the weight record list to determine a new leader node; and step S4, broadcasting the status information of the new leader node to the respective nodes.
According to the method provided by the second aspect of the present invention, each node has an inquiry function, a reply function and a broadcast function, and the inquiry function is to submit data to other nodes; the reply function is to reply to the request of the other node; and the broadcast function is broadcasting node status information.
According to a second aspect of the invention there is provided a method further comprising: a quantity deviation of challenge submissions and challenge replies is calculated, and an end time of submission of the data is determined based on the quantity deviation.
According to a second aspect of the invention there is provided a method further comprising: updating the leader weight and the weight record list for the respective node based on the deal within the end time.
A third aspect of the invention provides a non-transitory computer readable medium having stored thereon instructions which, when executed by a processor, perform the steps of the blockchain-based unmanned kayak head node dynamic election method according to the second aspect of the invention.
In conclusion, the block chain-based unmanned submarine head-leading node dynamic election scheme provided by the disclosure is based on a block chain technology, and provides an election algorithm aiming at the node scale and the dynamic change of a leading node aiming at the special communication environment of the unmanned submarine. Through a consensus mechanism of the block chain, the tamper-proof guarantee of the election process and the sufficient robustness of consensus information transmission in the election process are provided; the intelligent contract is used as a trusted party, so that the problem of frequent election initiation in a distributed environment is solved; an election scheme of interval waiting is provided, so that the problem of election oscillation caused by repeated connection of nodes due to the outside or self reasons is solved; when the leader node is disconnected, a new round of election process is rapidly initiated according to the leader sequence, and the task is ensured to continue.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An unmanned yacht head node dynamic election system based on block chains is characterized by comprising:
a node weight initialization unit configured to: loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node;
a node quality query and commit unit configured to: inquiring the node address of a node of a trading partner based on a weight record list in the dynamic election intelligent contract to submit data submitted to the node of the trading partner by a current node;
a leader node election unit configured to: updating the leader weight of each node and the weight record list to determine a new captain node; and
a leader weight broadcasting unit configured to: broadcasting the status information of the new captain node to the respective nodes.
2. The blockchain-based unmanned yacht head-neck node dynamic election system according to claim 1, wherein each node comprises:
the challenge submodule is configured to submit data to other nodes;
a reply submodule configured to reply to the request of the other node; and
a broadcast submodule configured to broadcast node status information.
3. The blockchain-based unmanned yacht head-neck node dynamic election system according to claim 1, wherein the node challenge and submission unit is further configured to calculate a quantity deviation of challenge submissions and challenge replies and determine an end time for submitting the data based on the quantity deviation.
4. The blockchain-based unmanned yacht head node dynamic election system of claim 3, wherein the leader node election unit is further configured to update the leader weight and the weight record list of the respective nodes based on the trades within the end time.
5. A method for dynamically electing a leader node of an unmanned ship based on a block chain is characterized by comprising the following steps:
step S1, loading and writing a weight record list in a dynamic election intelligent contract to each node in the block chain so as to initialize the weight of each node;
step S2, based on the weight record list in the dynamic election intelligent contract, inquiring the node address of the node of the transaction counterpart to submit the data submitted by the current node to the node of the transaction counterpart;
step S3, updating the leader weight of each node and the weight record list to determine a new leader node; and
step S4, broadcasting the status information of the new leader node to the respective nodes.
6. The method for dynamically electing the unmanned ship leader node based on the blockchain according to claim 5, wherein each node has a challenge function, a reply function and a broadcast function, and the challenge function is to submit data to other nodes; the reply function is to reply to the request of the other node; and the broadcast function is broadcasting node status information.
7. The blockchain-based unmanned ship leader node dynamic election method according to claim 5, further comprising: a quantity deviation of challenge submissions and challenge replies is calculated, and an end time of submission of the data is determined based on the quantity deviation.
8. The blockchain-based unmanned ship leader node dynamic election method according to claim 7, further comprising: updating the leader weight and the weight record list for the respective node based on the deal within the end time.
9. A non-transitory computer readable medium having stored thereon instructions which, when executed by a processor, perform the steps of the blockchain-based unmanned kayak-bow node dynamic election method according to claims 5-8.
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