CN113395170B - Intelligent robot data transmission method based on linear topology transmission - Google Patents
Intelligent robot data transmission method based on linear topology transmission Download PDFInfo
- Publication number
- CN113395170B CN113395170B CN202110474285.2A CN202110474285A CN113395170B CN 113395170 B CN113395170 B CN 113395170B CN 202110474285 A CN202110474285 A CN 202110474285A CN 113395170 B CN113395170 B CN 113395170B
- Authority
- CN
- China
- Prior art keywords
- data
- key
- character
- electrical data
- nodes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/12—Discovery or management of network topologies
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0478—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload applying multiple layers of encryption, e.g. nested tunnels or encrypting the content with a first key and then with at least a second key
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/126—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Security & Cryptography (AREA)
- Computer Hardware Design (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention discloses an intelligent robot data transmission method based on linear topology transmission, which comprises the following steps: s1, deploying relay nodes between the intelligent robot and the control platform, and enabling the relay nodes to communicate with each other; s2, configuring an encryption algorithm for the intelligent robot and each relay node, and configuring a decryption algorithm for each relay node and the control platform; s3, each relay node performs communication authentication on adjacent nodes, and records trusted nodes passing authentication and suspicious nodes not passing authentication; s4, forwarding electrical data by each relay node and the trusted nodes around the relay node, and establishing a trusted link transmission topological graph between the intelligent robot and the control platform; and S5, selecting a trusted link according to the trusted link transmission topological graph by the intelligent robot to transmit the electrical data to the control platform. A plurality of communication links which can be used for data transmission exist between the intelligent robot and the control platform, so that the stability of data transmission is improved.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an intelligent robot data transmission method based on linear topology transmission.
Background
The automatic inspection of an intelligent robot is realized in the existing transformer substation, and the intelligent robot uploads the electrical data detected by inspection to a control platform behind the intelligent robot through a communication link. However, only one communication link is often provided between the existing intelligent robot and the control platform, once the communication link fails, the intelligent robot cannot upload detected electrical data to the control platform, and the stability of data transmission is poor.
For example, chinese patent document CN104219282A discloses a "transformer substation data acquisition remote wireless transmission system", which includes three parts, namely a management center master station, a wireless data transmission unit and a data acquisition unit, and provides a transformer substation data acquisition remote wireless transmission system constructed on a GPRS service network platform by using a wireless IP provided in a GPRS mobile network system, so as to achieve the purposes of automatically acquiring transformer substation data and remotely transmitting transformer substation data. The disadvantages of the above patent are that the communication link is single, and once the communication link appears, the data transmission is interrupted, and the stability of the data transmission is poor.
Disclosure of Invention
The invention mainly solves the technical problems of poor stability and reliability of data transmission of the intelligent robot in the prior art; the relay nodes are arranged between the intelligent robot and the control platform, each relay node performs communication authentication on adjacent nodes to obtain a credible node, the credible nodes are mutually connected to obtain a plurality of credible links and form a credible link transmission topological graph, namely a plurality of communication links which can be used for data transmission exist between the intelligent robot and the control platform, and the stability of data transmission is improved.
The technical problem of the invention is mainly solved by the following technical scheme: the invention comprises the following steps:
s1, deploying relay nodes between the intelligent robot and the control platform, and enabling the relay nodes to communicate with each other;
s2, configuring an encryption algorithm for the intelligent robot and each relay node, and configuring a decryption algorithm for each relay node and the control platform;
s3, each relay node performs communication authentication on adjacent nodes, and records trusted nodes passing authentication and suspicious nodes not passing authentication;
s4, each relay node forwards electrical data with the trusted nodes around the relay node, and a trusted link transmission topological graph between the intelligent robot and the control platform is established;
and S5, the intelligent robot selects a trusted link according to the trusted link transmission topological graph to transmit the electrical data to the control platform.
The relay nodes are arranged between the intelligent robot and the control platform, each relay node performs communication authentication on adjacent nodes to obtain a credible node, the credible nodes are connected with each other to obtain a plurality of credible links and form a credible link transmission topological graph, the intelligent robot can select the communication links from the credible link transmission topological graph to perform data transmission, namely a plurality of communication links which can be used for data transmission exist between the intelligent robot and the control platform, and the stability of data transmission is improved. And an encryption algorithm is configured for the intelligent robot and each relay node, and a decryption algorithm is configured for each relay node and the control platform, so that the safety of data transmission is improved.
Preferably, the encryption algorithm is as follows:
a1, generating a double secret key, and encrypting the electrical data to generate a data ciphertext;
a2, encrypting a multiple key by using the public key to generate a key ciphertext.
The transmission data is encrypted by adopting a double encryption method, so that the safety of data transmission is improved.
Preferably, the step a1 specifically includes:
a11, converting the electrical data acquisition time into a binary form, wherein the electrical data acquisition time represented by the binary form is the corresponding initial key M;
a12, converting the electrical data Q according to a transcoding rule to obtain electrical data Q ' consisting of numbers ' 0 ' and ' 1 ';
a13, calculating a remainder S of dividing i by N, wherein i is the transmission order of the electrical data in the intelligent robot or the relay node, N is the rotation frequency set by the intelligent robot or the relay node, i is a positive integer, N belongs to {0,1,2 …, 9} and N is less than the character number of the initial key;
a14, rearranging the first S characters of the initial key M to the end to obtain a re-key M';
a15, adding a key M 'and electric data Q' to obtain the data cipher text.
The first secret key is obtained through conversion deformation on the basis of the detection and acquisition time of the electrical data, and the detection and acquisition time of each group of electrical data is different, so that the first secret key finally generated through conversion deformation is also different, a potential attacker is prevented from intercepting and deciphering the data in the data transmission process, and the safety of data transmission is improved.
The electrical data and the first key are both composed of numbers "0" and "1", which reduces the characteristic appearance of the electrical data and the first key.
Preferably, the rearranging, in the step a14, the first S characters of the initial key M to be placed at the end to obtain the first secret key M' includes the following 4 ways:
1) placing the first S characters of the initial secret key M at the tail of the secret key according to the original sequence to obtain a repeated secret key M';
2) inverting the first S characters of the initial secret key M end to end and then placing the tail of the secret key to obtain a repeated secret key M';
3) if the total number of the first S characters is an even number, the first S characters of the initial secret key M are subjected to parity replacement, and the tail of the secret key is placed to obtain a repeated secret key M';
4) if the total number of the first S characters is odd, the position of the first character or the last character or the middle character is kept unchanged, and the tail of the secret key is placed after the parity replacement of the rest S-1 characters to obtain a double secret key M'.
The initial secret key is generated according to the detection acquisition time of the electrical data, and the initial secret key is transformed and deformed, so that the complexity of the finally generated first secret key is improved, the decoding difficulty of the transmitted data is improved, and the safety of data transmission is indirectly improved.
Preferably, the step a15 of adding the multiple key M 'and the electrical data Q' to obtain the data ciphertext includes the following 2 ways:
1) if the number of characters of a repeated key M 'is larger than or equal to the number of characters of the electric data Q', adding a first character of the electric data Q 'and a first character of the repeated key M', adding a second character of the electric data Q 'and a second character of the repeated key M' … and so on to obtain a data ciphertext;
2) if the number of characters of a duplicate key M 'is less than the number of characters of the electrical data Q', adding … a first character of the duplicate key M 'to a first character of the electrical data Q', adding … a second character of the duplicate key M 'to a second character of the electrical data Q' until a last character of the duplicate key M 'is added to a T-th character of the electrical data Q', adding … a first character of the duplicate key M 'to a T + 1-th character of the electrical data Q', and so on to obtain a data ciphertext.
Preferably, the decryption algorithm is:
b1, decrypting the key ciphertext by using the private key to obtain a duplicate key;
b2, subtracting the data ciphertext from a key M 'to obtain electrical data Q';
and B3, inversely transcoding the electrical data Q' to obtain the electrical data Q.
Preferably, in step S3, each relay node performs communication authentication on an adjacent node, and records a trusted node that passes authentication and a suspicious node that does not pass authentication, which specifically includes:
each relay node sends message information with the number and the communication request signal to the adjacent relay node;
after receiving the message information, the adjacent relay nodes evaluate the data forwarding flow of the relay nodes, and if the data forwarding flow cannot support the data forwarding, the adjacent relay nodes do not send feedback information to the relay nodes corresponding to the serial numbers in the message information; if the data forwarding flow supports the forwarding of data, sending feedback information and the number of the relay node to the relay node corresponding to the number in the message information;
and each relay node authenticates the adjacent relay points which receive the feedback information as credible nodes, and authenticates the adjacent relay points which do not receive the feedback information as suspicious nodes.
Each relay node performs communication authentication on adjacent nodes to obtain a credible node, the credible nodes are connected with each other to obtain a plurality of credible links and form a credible link transmission topological graph, and therefore the situation that the selectable communication links of the intelligent robot can normally transmit data and the communication link fails when the data is transmitted to half of the links is avoided.
Preferably, in step S3, each relay node periodically performs communication authentication on neighboring nodes, and updates an authenticated trusted node and an unauthenticated trusted node.
Each relay node performs communication authentication on adjacent nodes at regular intervals, so that the communication condition between the relay nodes can be known in time, fault points are eliminated in time, and the stability of data transmission is ensured.
The invention has the beneficial effects that:
1) relay nodes are deployed between the intelligent robot and the control platform, each relay node performs communication authentication on adjacent nodes to obtain a trusted node, the trusted nodes are connected with one another to obtain a plurality of trusted links and form a trusted link transmission topological graph, and the intelligent robot and the control platform have a plurality of communication links which can be used for data transmission, so that the stability of data transmission is improved;
2) the intelligent robot and each relay node are configured with an encryption algorithm, and each relay node and the control platform are configured with a decryption algorithm, so that the safety of data transmission is improved;
3) each relay node performs communication authentication on adjacent nodes at regular intervals, so that the communication condition between the relay nodes can be known in time, fault points can be eliminated in time, and the stability of data transmission is ensured.
Drawings
FIG. 1 is a flow chart of a method of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b): the intelligent robot data transmission method based on linear topology transmission in the embodiment, as shown in fig. 1, includes the following steps:
s1, deploying relay nodes between the intelligent robot and the control platform, and enabling the relay nodes to communicate with each other;
s2, configuring an encryption algorithm for the intelligent robot and each relay node, and configuring a decryption algorithm for each relay node and the control platform;
the encryption algorithm is as follows:
a1, generating a duplicate key, encrypting the electrical data to generate a data ciphertext, specifically comprising:
a11, converting the electrical data acquisition time into a binary form, wherein the electrical data acquisition time represented by the binary form is the corresponding initial key M;
the detection acquisition time of the electrical data has the following 3 formats: year, month, day, hour, minute and second (202112311635), month, day, hour, minute and second (12311635) and hour, minute and second (1635), wherein 2021 represents year, 12 represents month, 31 represents day, 16 represents hour, and 35 represents minute. The original key M is obtained by converting 202112311635, 12311635 or 1635 into binary format.
A12, converting the electrical data Q according to a transcoding rule to obtain electrical data Q ' consisting of numbers ' 0 ' and ' 1 ';
the electrical data comprises a device number, an electrical data type, specific parameter values of the electrical data and electrical data parameter units, wherein the electrical data type is current (I), voltage (U), resistance (R) and the like, and the electrical data parameter units are A, V, omega and the like. For example, the electrical data is K1201I6A, where K1201 is the device number, I is the electrical data type, 6 is the electrical data specific parameter value, and a is the electrical data parameter unit.
The equipment number, the electrical data type, the electrical data specific parameter value and the electrical data parameter unit all have corresponding transcoding values consisting of numbers '0' and '1', and the digits of the transcoding values corresponding to the equipment number, the electrical data type, the electrical data specific parameter value and the electrical data parameter unit are different and are manually specified. The transcoding rule is that the equipment number, the electrical data type, the specific parameter value of the electrical data and the transcoding value corresponding to each part of the electrical data parameter unit are selected according to the actual content of the electrical data Q to be combined to obtain the electrical data Q'.
The electrical data and the first key are both composed of numbers "0" and "1", which reduces the characteristic appearance of the electrical data and the first key.
A13, calculating a remainder S of dividing i by N, wherein i is the transmission order of the electrical data in the intelligent robot or the relay node, N is the rotation frequency set by the intelligent robot or the relay node, i is a positive integer, N belongs to {0,1,2 …, 9} and N is less than the character number of the initial key;
a14, rearranging the first S characters of the initial key M to end to obtain a re-key M', including the following 4 ways:
1) placing the first S characters of the initial secret key M at the tail of the secret key according to the original sequence to obtain a repeated secret key M';
for example, when M is (1101101010), S is 3, then M is (1101010110).
2) Inverting the first S characters of the initial secret key M from beginning to end, and then placing the tail of the secret key to obtain a repeated secret key M';
for example, M ═ 1101101010, S ═ 3, then M ═ 1101010011.
3) If the total number of the first S characters is an even number, the first S characters of the initial secret key M are subjected to parity replacement, and the tail of the secret key is placed to obtain a repeated secret key M';
for example, M ═ 1101101010, S ═ 4, then M ═ 1110101010.
4) If the total number of the first S characters is odd, keeping the position of the first character or the last character or the middle character unchanged, and performing parity replacement on the rest S-1 characters and then placing the tail of the secret key to obtain a double secret key M';
for example, when M ═ 1101101010, S ═ 3, then M ═ 1011101010, or M ═ 1101101010, or M ═ 0111101010.
The initial secret key is converted and deformed by the detection and acquisition time of the electrical data, so that the complexity of the finally generated first secret key is improved, the deciphering difficulty of transmitted data is improved, and the safety of data transmission is indirectly improved.
The initial secret key is generated on the basis of the detection acquisition time of the electrical data, and the initial secret key is converted and deformed to generate the first secret key, so that the complexity of the first secret key is improved, and the deciphering difficulty of the transmission data is improved. Because the detection acquisition time of each group of electrical data is different, the first secret keys finally generated through conversion and deformation are also different, a potential attacker is prevented from intercepting and decoding the data in the data transmission process, and the safety of data transmission is improved.
A15, adding a duplicate key M 'and electric data Q' to obtain data ciphertext, including the following 2 ways:
1) if the number of characters of a repeated key M 'is larger than or equal to the number of characters of the electric data Q', adding a first character of the electric data Q 'and a first character of the repeated key M', adding a second character of the electric data Q 'and a second character of the repeated key M' … and so on to obtain a data ciphertext;
for example, when M is (1101101010), Q is (101101), the data cipher text is (211211).
2) If the number of characters of a duplicate key M 'is less than the number of characters of the electrical data Q', adding … a first character of the duplicate key M 'to a first character of the electrical data Q', adding … a second character of the duplicate key M 'to a second character of the electrical data Q' until a last character of the duplicate key M 'is added to a T-th character of the electrical data Q', adding … a first character of the duplicate key M 'to a T + 1-th character of the electrical data Q', and so on to obtain a data ciphertext;
for example, M ═ 1101101010, Q ═ 101101001110101001, then the data cipher text ═ 211211102121112011.
A2, encrypting a multiple key by using the public key to generate a key ciphertext.
The decryption algorithm is as follows:
b1, decrypting the key ciphertext by using the private key to obtain a heavy key;
b2, subtracting the data ciphertext from a key M 'to obtain the electrical data Q', which includes the following 2 ways:
1) if the number of characters of a duplicate key M 'is greater than or equal to the number of characters of the data ciphertext, subtracting the first character of the duplicate key M' from the first character of the data ciphertext, subtracting the second character of the duplicate key M 'from the second character of the data ciphertext, … and the like to obtain electrical data Q';
2) if the number of characters of a multiple key M ' is less than the number of characters of the data ciphertext, subtracting a first character of the multiple key M ' from a first character of the data ciphertext, subtracting a second character … of the multiple key M ' from a second character of the data ciphertext until the last character of the multiple key M ' is subtracted from the T-th character of the data ciphertext, subtracting the first character of the multiple key M ' from the T + 1-th character of the data ciphertext, subtracting the second character … of the multiple key M ' from the T + 2-th character of the data ciphertext, and so on to obtain the electrical data Q ';
b3, inversely transcoding the electrical data Q' to obtain electrical data Q: the method comprises the steps of dividing electrical data Q' according to the number of the transcoding values corresponding to the equipment number, the type of the electrical data, the specific parameter value of the electrical data and the unit of the electrical data parameter, and converting the transcoding values into the corresponding equipment number, the type of the electrical data, the specific parameter value of the electrical data and the unit of the electrical data parameter according to the dividing result, so that the electrical data Q is obtained.
Each relay node has a corresponding set of keys suitable for asymmetric encryption, including a public key and a private key, and each relay node reserves the private key itself and publicly transmits the public key to an adjacent relay node.
S3, each relay node performs communication authentication on neighboring nodes, and records a trusted node that passes authentication and a suspicious node that does not pass authentication, which specifically includes:
each relay node sends message information with self number and communication request signals to adjacent relay nodes;
after receiving the message information, the adjacent relay nodes evaluate the data forwarding flow of the relay nodes, and if the data forwarding flow cannot support the data forwarding, the adjacent relay nodes do not send feedback information to the relay nodes corresponding to the serial numbers in the message information; if the data forwarding flow supports the forwarding of data, sending feedback information and the number of the relay node to the relay node corresponding to the number in the message information;
and each relay node authenticates the adjacent relay point which receives the feedback information as a credible node, and authenticates the adjacent relay point which does not receive the feedback information as a suspicious node.
In step S3, each relay node periodically performs communication authentication on the neighboring node, and updates the authenticated trusted node and the unauthenticated node.
S4, each relay node forwards electrical data with the trusted nodes around the relay node, and a trusted link transmission topological graph between the intelligent robot and the control platform is established;
and S5, the intelligent robot selects a trusted link according to the trusted link transmission topological graph to transmit the electrical data to the control platform.
When the intelligent robot determines a credible link to transmit electric data, the intelligent platform encrypts the electric data through an encryption algorithm, and the encrypted data ciphertext and the key ciphertext are sent to the next relay node, the next relay node receives the data ciphertext and the key ciphertext and decrypts through a decryption algorithm to obtain the electrical data Q ', the electrical data Q' does not need to be reversely transcoded to obtain the electrical data Q, and then, taking the receiving time of the data ciphertext and the key ciphertext as the electric data obtaining time, encrypting the electric data Q 'through an encryption algorithm to obtain a new data ciphertext and a new key ciphertext, continuously transmitting the new data ciphertext and the new key ciphertext to the next relay node, repeating the process until the control platform arrives, and decrypting the key ciphertext and the data ciphertext obtained from the previous relay node through a decryption algorithm by the control platform to obtain the electric data Q'.
The relay nodes are deployed between the intelligent robot and the control platform, each relay node performs communication authentication on adjacent nodes to obtain a trusted node, the trusted nodes are connected with one another to obtain a plurality of trusted links and form a trusted link transmission topological graph, the intelligent robot can select the communication links from the trusted link transmission topological graph to perform data transmission, namely, a plurality of communication links which can be used for data transmission exist between the intelligent robot and the control platform, and the stability of data transmission is improved. And an encryption algorithm is configured for the intelligent robot and each relay node, and a decryption algorithm is configured for each relay node and the control platform, so that the safety of data transmission is improved.
Claims (6)
1. An intelligent robot data transmission method based on linear topology transmission is characterized by comprising the following steps:
s1, deploying relay nodes between the intelligent robot and the control platform, and enabling the relay nodes to communicate with each other;
s2, configuring an encryption algorithm for the intelligent robot and each relay node, and configuring a decryption algorithm for each relay node and the control platform;
the encryption algorithm is as follows:
a1, generating a double secret key, and encrypting the electrical data to generate a data ciphertext; the method specifically comprises the following steps:
a11, converting the electrical data acquisition time into a binary form, wherein the electrical data acquisition time represented by the binary form is the corresponding initial key M;
a12, converting the electrical data Q according to a transcoding rule to obtain electrical data Q ' consisting of numbers ' 0 ' and ' 1 ';
a13, calculating a remainder S of dividing i by N, wherein i is the transmission order of the electrical data in the intelligent robot or the relay node, N is the rotation frequency set by the intelligent robot or the relay node, i is a positive integer, N belongs to {0,1,2 …, 9} and N is less than the character number of the initial key;
a14, rearranging the first S characters of the initial key M to the end to obtain a re-key M';
a15, adding a multiple secret key M 'and the electric data Q' to obtain a data ciphertext;
a2, encrypting a key by using the public key to generate a key ciphertext;
s3, each relay node performs communication authentication on adjacent nodes, and records a trusted node passing authentication and a suspicious node not passing authentication;
s4, each relay node forwards electrical data with the trusted nodes around the relay node, and a trusted link transmission topological graph between the intelligent robot and the control platform is established;
and S5, selecting a trusted link according to the trusted link transmission topological graph by the intelligent robot to transmit the electrical data to the control platform.
2. The intelligent machine data transmission method based on linear topology transmission as claimed in claim 1, wherein the step a14 of rearranging the first S characters of the initial key M to the end to obtain the first secret key M' includes the following 4 ways:
1) placing the first S characters of the initial secret key M at the tail of the secret key according to the original sequence to obtain a repeated secret key M';
2) inverting the first S characters of the initial secret key M end to end and then placing the tail of the secret key to obtain a repeated secret key M';
3) if the total number of the first S characters is an even number, the first S characters of the initial secret key M are subjected to parity replacement, and the tail of the secret key is placed to obtain a repeated secret key M';
4) if the total number of the first S characters is odd, the position of the first character or the last character or the middle character is kept unchanged, and the tail of the secret key is placed after the parity replacement of the rest S-1 characters to obtain a double secret key M'.
3. The intelligent robot data transmission method based on linear topology transmission as claimed in claim 1, wherein the step a15 of adding a re-key M 'and the electrical data Q' to obtain a data ciphertext includes the following 2 ways:
1) if the number of characters of a duplicate key M 'is greater than or equal to the number of characters of the electrical data Q', adding a first character of the electrical data Q 'to a first character of the duplicate key M', adding a second character of the electrical data Q 'to a second character of the duplicate key M' … and so on to obtain a data ciphertext;
2) if the number of characters of a duplicate key M 'is less than the number of characters of the electrical data Q', adding … a first character of the duplicate key M 'to a first character of the electrical data Q', adding … a second character of the duplicate key M 'to a second character of the electrical data Q' until a last character of the duplicate key M 'is added to a T-th character of the electrical data Q', adding … a first character of the duplicate key M 'to a T + 1-th character of the electrical data Q', and so on to obtain a data ciphertext.
4. The intelligent robot data transmission method based on linear topology transmission as claimed in claim 1, wherein the decryption algorithm is:
b1, decrypting the key ciphertext by using the private key to obtain a heavy key;
b2, subtracting the data ciphertext from a key M 'to obtain electrical data Q';
and B3, inversely transcoding the electrical data Q' to obtain the electrical data Q.
5. The intelligent robot data transmission method based on linear topology transmission according to claim 1, wherein in the step S3, each relay node performs communication authentication on an adjacent node, and records a trusted node that passes authentication and a suspicious node that does not pass authentication, specifically including:
each relay node sends message information with self number and communication request signals to adjacent relay nodes;
after receiving the message information, the adjacent relay nodes evaluate the data forwarding flow of the relay nodes, and if the data forwarding flow cannot support the data forwarding, the adjacent relay nodes do not send feedback information to the relay nodes corresponding to the serial numbers in the message information; if the data forwarding flow supports the forwarding of data, sending feedback information and the number of the relay node to the relay node corresponding to the number in the message information;
and each relay node authenticates the adjacent relay points which receive the feedback information as credible nodes, and authenticates the adjacent relay points which do not receive the feedback information as suspicious nodes.
6. The intelligent machine data transmission method based on linear topology transmission as claimed in claim 1 or 5, wherein in step S3, each relay node periodically performs communication authentication on neighboring nodes and updates authenticated trusted nodes and unauthenticated suspect nodes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110474285.2A CN113395170B (en) | 2021-04-29 | 2021-04-29 | Intelligent robot data transmission method based on linear topology transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110474285.2A CN113395170B (en) | 2021-04-29 | 2021-04-29 | Intelligent robot data transmission method based on linear topology transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113395170A CN113395170A (en) | 2021-09-14 |
| CN113395170B true CN113395170B (en) | 2022-08-23 |
Family
ID=77617821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110474285.2A Active CN113395170B (en) | 2021-04-29 | 2021-04-29 | Intelligent robot data transmission method based on linear topology transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113395170B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104486304A (en) * | 2014-12-04 | 2015-04-01 | 湖南科技大学 | Wireless sensor network data security protection method based on digital watermarking |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101958843A (en) * | 2010-11-01 | 2011-01-26 | 南京邮电大学 | Intelligent routing selection method based on flow analysis and node trust degree |
| CN110768787B (en) * | 2018-07-27 | 2022-12-13 | 中国移动通信集团吉林有限公司 | Data encryption and decryption method and device |
| CN110995716B (en) * | 2019-12-06 | 2022-09-02 | 国网浙江省电力有限公司电力科学研究院 | Data transmission encryption and decryption method and system for transformer substation inspection robot |
| CN112565230B (en) * | 2020-11-30 | 2022-08-19 | 国网山东省电力公司电力科学研究院 | Software-defined Internet of things network topology data transmission safety management method and system |
-
2021
- 2021-04-29 CN CN202110474285.2A patent/CN113395170B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104486304A (en) * | 2014-12-04 | 2015-04-01 | 湖南科技大学 | Wireless sensor network data security protection method based on digital watermarking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113395170A (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kong | A review of quantum key distribution protocols in the perspective of smart grid communication security | |
| EP2555466B1 (en) | System for distributing cryptographic keys | |
| CN108566436B (en) | Distributed power equipment information acquisition system and method based on block chain | |
| CN113765664B (en) | Block chain network secure communication method based on quantum key | |
| WO2023082600A1 (en) | Quantum key-based blockchain network and data secure transmission method | |
| CN109981584B (en) | Block chain-based distributed social contact method | |
| CN108847928B (en) | Communication system and communication method for realizing information encryption and decryption transmission based on group type quantum key card | |
| CN113114460A (en) | Quantum encryption-based power distribution network information secure transmission method | |
| CN104080059A (en) | Method, device and system of implementing short message sending and receiving | |
| CN1323523C (en) | Method of forming dynamic key in radio local network | |
| CN101296107B (en) | Safe communication method and device based on identity identification encryption technique in communication network | |
| CN108206738B (en) | Quantum key output method and system | |
| CN105681362A (en) | Client and server communication method capable of protecting geographic position privacy | |
| CN113395170B (en) | Intelligent robot data transmission method based on linear topology transmission | |
| CN114205090A (en) | Safe file sharing method and system based on state cryptographic algorithm | |
| CN111490874B (en) | Distribution network safety protection method, system, device and storage medium | |
| CN113271586B (en) | Power equipment body area network safety communication method and system and storage medium | |
| CN114374550A (en) | Electric power measurement platform that possesses high security | |
| CN113364733B (en) | Transformer substation field data encryption transmission method | |
| CN113352318B (en) | Intelligent robot communication link self-checking selection method | |
| CN101242453A (en) | A transmission method and system for dual-audio multi-frequency signal | |
| CN114389845A (en) | Intelligent terminal data cooperation method based on block chain | |
| KR20220036141A (en) | Security device and method for power control system | |
| CN110650121A (en) | Stream media data security system based on distributed system | |
| CN101640840B (en) | Broadcast or multicast-based safe communication method and broadcast or multicast-based safe communication device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |