CN113709128A - IROS system communication method and device based on block chain - Google Patents
IROS system communication method and device based on block chain Download PDFInfo
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- 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
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- 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
- H04L41/08—Configuration management of networks or network elements
- H04L41/0803—Configuration setting
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- 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
- H04L63/08—Network architectures or network communication protocols for network security for authentication of entities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/104—Peer-to-peer [P2P] networks
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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
- H04L9/30—Public key, i.e. encryption algorithm being computationally infeasible to invert or user's encryption keys not requiring secrecy
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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
Abstract
The application discloses a communication method and device of an IROS (inter-range operating System) system based on a block chain, which are used for solving the technical problem that the existing IROS system is unsafe to communicate. The method comprises the following steps: a sender node acquires an encrypted public key and communication port information of a receiver node on a block chain network; the sender node encrypts data to be transmitted based on the encryption public key of the receiver node, and signs the encrypted data to be transmitted through an encryption private key of the sender node to obtain encrypted data; the sender node sends the encrypted data to the receiver node through the communication port information; after receiving the encrypted data, the node of the receiving party verifies the signature of the encrypted data through the encrypted public key of the node of the sending party; after the verification is passed, the receiving party node decrypts the encrypted data through the own encryption private key to complete the communication. The encryption transmission of the important information is realized through the method, and the communication safety of the IROS node is ensured.
Description
Technical Field
The application relates to the technical field of intelligent robot operating systems, in particular to an IROS system communication method and device based on a block chain.
Background
The intelligent robot plays an increasingly important role in production and life of people. The Robot has more and more powerful functions, but the control is more and more complex, and in order to more conveniently perform secondary development and later maintenance, an Intelligent Robot Operating System (IROS) is produced. The IROS system is a secondary operating system, runs on a Linux system and a Windows system, and provides standardized development interfaces and data processing flows including hardware abstract description, inter-program message communication, package management and the like.
In the IROS system, all tasks are executed in the form of information interaction, and the information interaction is realized through an IROS communication API. And calling related configuration information by the communication API in the communication process, and carrying out information interaction according to a certain data format. Therefore, how to ensure the security of the related configuration information and the communication information in the communication process, that is, how to ensure the communication security of the IROS system, becomes an important part in the security verification work of the IROS system.
Disclosure of Invention
The embodiment of the application provides an IROS system communication method and device based on a block chain, which are used for solving the following technical problems: how to secure the communication of the IROS system.
In one aspect, an embodiment of the present application provides a communication method for an IROS system based on a block chain, including: a sender node acquires an encrypted public key and communication port information of a receiver node on a block chain network; the sender node encrypts data to be transmitted based on the encryption public key of the receiver node, and signs the encrypted data to be transmitted through an encryption private key of the sender node to obtain encrypted data; the sender node sends the encrypted data to the receiver node through the communication port information; after receiving the encrypted data, the node of the receiving party verifies the signature of the encrypted data through the encrypted public key of the node of the sending party; and after the verification is passed, the receiving party node decrypts the encrypted data through the own encryption private key to finish the communication.
According to the communication method of the IROS system, the characteristics of decentralized features, encryption algorithm, privacy protection and the like of a block chain network are utilized, the block chain technology is introduced into IROS communication, encryption of transmission information is achieved through the block chain, safe transmission of the transmission information between different nodes or terminals can be guaranteed, communication safety between IROS nodes can be further guaranteed, the purpose of safe communication between different nodes is achieved, and the related problems of IROS communication safety are finally solved.
In one possible implementation manner of the present application, after the receiving node receives the encrypted data, the method further includes: and the receiver node acquires the encrypted public key of the sender node on the block chain network.
In a possible implementation manner of the present application, after the receiver node verifies the signature of the encrypted data by using the encrypted public key of the sender node, the method further includes: and if the signature verification of the encrypted data fails, the receiver node terminates the communication with the sender node.
In one possible implementation manner of the present application, after completing the communication, the method further includes: the receiver node and/or the sender node stores a communication record on the blockchain network.
In a possible implementation manner of the present application, before the sender node obtains the encrypted public key and the communication port information of the receiver node on the blockchain network, the method further includes: a sender terminal and a receiver terminal are used as block chain nodes to construct a block chain network; the sender terminal is provided with a plurality of sender nodes in operation, and the receiver terminal is provided with a plurality of receiver nodes in operation; and the block chain link point writes the configuration information of the block chain link point into the block chain network.
In one possible implementation manner of the present application, the configuration information of the block nodes includes at least one of the following: communication port information of the block chain node, and IROS node information of the block chain node; wherein the IROS node information of the block chain node comprises at least one of: the number of IROS nodes running on the block chain node, the type of each IROS node on the block chain node, and the encryption public key of each IROS node on the block chain node.
In a possible implementation manner of the present application, the writing, by the block link node, configuration information of the block link node into the block link network specifically includes: the block chain node writes the configuration information of the block chain node into the node and sends the configuration information to a verification node of the block chain network; the verification node verifies the configuration information through a preset intelligent contract; and after the verification is passed, the verification node issues the configuration information to all the block chain nodes.
In one possible implementation manner of the present application, the sender terminal and/or the receiver terminal includes at least one of the following: computer workstation, server, embedded platform that supports Linux system.
In one possible implementation manner of the present application, after the block chain node writes its own configuration information into the block chain network, the method further includes: if the configuration information is changed, the block link point needs to rewrite the changed configuration information into the block link network; and the verification node in the block chain network stores the change record of the configuration information.
On the other hand, an embodiment of the present application further provides an IROS system communication device based on a block chain, including: a processor; and a memory having executable code stored thereon, which when executed, causes the processor to perform a block chain based IROS system communication method as described above.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a communication method of an IROS system based on a block chain according to an embodiment of the present application;
fig. 2 is a flowchart of data encryption and decryption performed by an IROS node according to an embodiment of the present application.
Fig. 3 is a block chain network architecture according to an embodiment of the present application;
fig. 4 is a flowchart of a terminal joining a blockchain network according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an IROS system communication device based on a block chain according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
The embodiment of the application provides an IROS system communication method and device based on a block chain, the block chain technology is combined, the data security is guaranteed, meanwhile, transmission data are encrypted when IROS nodes communicate, the secure communication between the IROS nodes is achieved, and further the problem of the communication security of the existing IROS system is solved.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a communication method of an IROS system based on a block chain according to an embodiment of the present application. As shown in fig. 1, the communication method provided in the embodiment of the present application mainly includes the following steps:
The communication method provided by the embodiment of the application combines the block chain technology, and the sender terminal and the receiver terminal are deployed on the block chain network as block chain link points. It should be noted that, in the embodiment of the present application, both the sender terminal and the receiver terminal include a plurality of IROS nodes running thereon. When the IROS system performs communication, IROS nodes on different terminals actually perform communication. Therefore, the sender node in the embodiment of the present application refers to an IROS node that sends data, and the receiver node is an IROS node that receives data.
Further, before the sender node wants to communicate with the receiver node to send data, an encrypted public key and communication port information corresponding to the receiver node are first obtained on the blockchain network. It should be noted that, after the sender terminal corresponding to the sender node or the receiver terminal corresponding to the receiver node joins the blockchain network, the communication port information and the encryption information of the locally running IROS are written into the blockchain. Therefore, the sender node in the embodiment of the present application can obtain, through its corresponding sender terminal, the relevant information of the receiver node that the sender node wants to communicate, that is, the encryption public key and the communication port information, on the blockchain network.
And 102, encrypting data to be transmitted by the sender node based on the encryption public key of the receiver node, and signing the encrypted data to be transmitted by the own encryption private key to obtain encrypted data.
After the sender node acquires the communication port information and the encryption public key of the receiver node on the blockchain network, the local data to be transmitted can be encrypted through the encryption public key of the receiver node, then the encrypted data to be transmitted is signed through the own encryption private key, and finally the encrypted data is obtained. It should be noted that, in this embodiment of the present application, the sender node encrypts through the encrypted public key of the receiver node, and then signs through the own encrypted private key, and performs the next transmission after obtaining the encrypted data, so as to ensure the security and privacy of the data in the transmission process, and ensure the communication security of the IROS node through the security of the transmitted data. It should be further noted that, in the embodiment of the present application, the encryption process or the encryption algorithm used for the data to be transmitted may be implemented by using an existing encryption process or encryption algorithm, which is not limited in the embodiment of the present application.
And 103, the sender node sends the encrypted data to the receiver node through the communication port information.
Further, after the sender node determines the encrypted data, the encrypted data is sent to the receiver node through the communication port information of the receiver node acquired on the block link network before.
At this point, the communication work of the sender node is completed.
And 104, after receiving the encrypted data, the receiver node verifies the signature of the encrypted data through the encrypted public key of the sender node.
After the sender node sends the encrypted data to the receiver node through the communication port information, the receiver node receives the encrypted data. The received encrypted data then needs to be decrypted.
Specifically, after receiving encrypted data, a receiver node in the embodiment of the present application determines, based on information carried in the encrypted data, a sender node that sends the encrypted data, and then obtains, on a blockchain network, an encrypted public key of the sender node corresponding to the encrypted data. Further, after the encrypted public key of the sender node is obtained, the signature of the received encrypted data is verified through the encrypted public key. It should be noted that a process of acquiring, by a receiver node, an encrypted public key of a sender node on a blockchain network is the same as or similar to a process of acquiring, by a sender node, an encrypted public key of a receiver node on a blockchain network, and details of the embodiment of the present application are not repeated herein.
If the signature is verified, execution continues with step 105. And if the signature verification on the encrypted data fails, the receiver node immediately terminates the communication with the current sender node.
And 105, after the verification is passed, the receiving party node decrypts the encrypted data through the own encryption private key to complete the communication.
After the signature verification of the received encrypted data is passed, the receiving node continues to decrypt the encrypted data through the own encrypted private key, and after the decryption is completed, the data to be transmitted of the sending node is obtained, so that the IROS communication process between the receiving node and the sending node is realized.
It should be noted that the receiver node verifies the signature of the sender node by using its own encryption private key by using the encryption public key of the sender node, that is, the encryption public key of the sender node verifies the encryption private key of the sender node. And the receiving party node decrypts the encryption of the sending party node by using the encryption public key of the receiving party node by using the own encryption private key, namely the encryption private key of the receiving party node decrypts the encryption public key of the receiving party node. It should be further noted that, in the embodiment of the present application, both the encryption algorithm and the decryption algorithm may be implemented by using an existing algorithm, as long as the encryption algorithm and the decryption algorithm correspond to each other, and the receiving-side node can finally acquire the data to be transmitted, which is not limited in the embodiment of the present application.
Further, after the communication relationship between the receiver node and the sender node is established and the communication process is realized, the sender terminal corresponding to the sender node or the receiver terminal corresponding to the receiver node writes the communication data and the communication related information between the sender terminal and the receiver node into the block chain network for storage, so that the later technicians can conveniently inquire and check the communication data and the communication related information.
Based on the method of fig. 1, the examples of the present application also provide some specific embodiments and extensions of the method, and the following description is continued.
In one embodiment of the present application, the sender node or the receiver node needs to construct a blockchain network in advance before performing communication. Specifically, a plurality of terminals in the IROS system, or a sender terminal corresponding to a sender node and a receiver terminal corresponding to a receiver node, serve as blockchain nodes in a blockchain network to initially build the blockchain network. It should be noted that a plurality of IROS nodes are run on the sender terminal, and one of the plurality of IROS nodes is the sender node, and similarly, a plurality of IROS nodes are run on the receiver terminal, and one of the plurality of IROS nodes is the receiver node. Then, each block link point writes its own configuration information into the block link network. Specifically, the blockchain network includes a plurality of verification nodes, and each verification node stores an intelligent contract, when a certain blockchain link point wants to write its own configuration information into the blockchain network, it will first write the configuration information into this node and then send it to the verification node, and then the verification node verifies the configuration information through the pre-deployed intelligent contract, and if the verification passes, it will publish the configuration information to all blockchain nodes, that is, it completes the process of writing the configuration information into the blockchain network. And if the verification node fails to verify the configuration information needing to be written, discarding the configuration information, namely the configuration information cannot be published to the blockchain network and cannot be seen by other blockchain nodes on the blockchain network.
It should be noted that, the sender terminal in the embodiment of the present application includes at least one of the following: computer workstation, server, embedded platform that supports Linux system. Similarly, the receiver terminal in the embodiment of the present application may also be any one of a computer workstation, a server, and an embedded platform supporting a Linux system.
Further, when the sender terminal or the receiver terminal serves as a blockchain node on the blockchain network, the configuration information that is desired to be written into the blockchain network includes at least one of the following: communication port information of the block chain node and IROS node information of the block chain node. The IROS node information at least comprises any one or more of the number of IROS nodes running on the block chain node, the type of each IROS node on the block chain node, and the encryption public key of each IROS node on the block chain node. It should be noted that the encrypted public key of each IROS node on the same block link point may be the same, and the encrypted public keys of the block link points are all adopted; or, different encryption public keys may be used by each IROS node, which is not limited in this embodiment of the present application.
In an embodiment of the present application, due to the characteristics of the blockchain technology, data written into the blockchain network may not be changed, and therefore, if a certain blockchain link point in the blockchain network wants to change configuration information written before itself, the change information needs to be written into the blockchain network again, but the configuration information written before cannot be directly changed. Specifically, if the configuration information of a block link point is changed, the block link point needs to rewrite the changed configuration information into the block chain network; moreover, the verification node in the blockchain network keeps the change record of the configuration information. It should be noted that, the process of rewriting the modified configuration information into the block chain is the same as the process of writing the configuration information before, and all the processes need to be verified by the intelligent contract of the verification node, and the relevant portions may refer to the previous description or illustration, which is not described herein again in this embodiment of the present application.
From the foregoing description, it is more intuitive that, in conjunction with fig. 2 to 4, the communication scheme in the embodiment of the present application is described in more detail in a specific application scenario.
Fig. 2 is a flowchart of data encryption and decryption performed by an IROS node according to an embodiment of the present application.
As shown in fig. 2, the steps of the IROS node to encrypt and decrypt data are as follows:
step 1: the IROS node A acquires information such as an encryption public key and a communication port of the IROS node B from a block chain network;
step 2: the IROS node A encrypts data of the plaintext data by using the encryption public key of the IROS node B to obtain encrypted data 1;
step3, the IROS node A signs the encrypted data 1 by using the own encryption private key to obtain encrypted data 2, and sends the encrypted data 2 to the IROS node B;
step 4: the IROS node B receives the encrypted data 2 sent by the IROS node A, and acquires an encrypted public key of the IROS node A from the block chain and the network;
step 5: the IROS node B verifies the data signature of the encrypted data 2 by using the encrypted public key of the IROS node A, if the verification fails, the communication is terminated, otherwise, the encrypted data 1 is obtained, and the step6 is entered;
step 6: and the IROS node B decrypts the encrypted data 1 by using the own encryption private key, the plaintext data is obtained after the decryption is successful, the communication is successful, and otherwise, the communication is terminated.
Fig. 3 is a block chain network architecture according to an embodiment of the present disclosure. As shown in FIG. 3, a block represents a terminal in the IROS system, and the terminals are connected through a 4G/5G, wifi data line. Each terminal includes N IROS nodes, that is, a terminal may have multiple IROS nodes running thereon, and each terminal includes a block chain module, and each terminal or the block chain module on each terminal constitutes the block chain network in the embodiment of the present application.
According to the method and the device, the characteristics of decentralized characteristics, encryption algorithm, privacy protection and the like of the block chain network are utilized, the block chain technology is introduced into IROS communication, the relevant configuration information and the safety encryption information of the equipment are stored in the block chain network, the centralized cloud platform is removed, the information is encrypted and transmitted in the block chain network, the IROS node acquires a public key, the relevant configuration information and a data encryption algorithm through the block chain network, and then the IROS information encryption and node communication are started by utilizing the acquired information, so that the safety communication among the IROS nodes is realized, and further the related problems of the communication safety of the existing IROS system are solved.
Fig. 4 is a flowchart of a method for a terminal to join a blockchain network according to an embodiment of the present disclosure. As shown in fig. 4, in the embodiment of the present application, when a new running terminal needs to be started, configuration information such as the number of IROS nodes to be run on the terminal, the type of the IROS nodes, and the encryption mode of the IROS node information is configured; and then, starting a block chain module of the terminal, sending the public key information of the terminal to other block chain nodes (for example, verification nodes with intelligent contracts stored therein) through the block chain network, calling an intelligent contract interface after the other block chain nodes pass the verification according to the asymmetric encryption and decryption algorithm, and uploading the terminal information to the block chain network. If the verification fails, the relevant configuration information is discarded.
It should be noted that the blockchain network in the embodiment of the present application supports addition of a terminal and also supports removal and modification of the terminal, and all operation records of addition, removal and modification are stored in a blockchain due to the full information recording function of the blockchain, which is convenient for future history query. In addition, in order to reduce the pressure of the terminals, not all terminals need to store the complete blockchain copies, and only one or two terminals need to be designated for storage. Other terminals only need to store the nearest block.
Based on the same inventive concept, the foregoing is an embodiment of a method in the embodiment of the present application, and the embodiment of the present application further provides an IROS system communication device based on a block chain, where the structure is shown in fig. 5.
Fig. 5 is a schematic structural diagram of an IROS system communication device based on a block chain according to an embodiment of the present application. As shown in fig. 5, the apparatus includes: a processor; and a memory having code stored thereon that is executable to, when executed, cause the processor to perform a block chain based IROS system communication method as described above.
In one embodiment of the present application, the processor is configured to obtain an encrypted public key and communication port information of a receiver node on a blockchain network; the system comprises a receiver node, a public key and a private key, wherein the receiver node is used for receiving encrypted data to be transmitted, and the public key is used for encrypting the data to be transmitted based on the encrypted public key of the receiver node and signing the encrypted data to be transmitted through the private key of the receiver node to obtain encrypted data; and the encryption module is further used for sending the encrypted data to the receiver node through the communication port information. Further, after receiving the encrypted data, the receiver node verifies the signature of the encrypted data through an encryption public key of the processor; and after the verification is passed, the receiving party node decrypts the encrypted data through the own encryption private key to finish the communication.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A communication method of an IROS system based on a block chain is characterized in that the method comprises the following steps:
a sender node acquires an encrypted public key and communication port information of a receiver node on a block chain network;
the sender node encrypts data to be transmitted based on the encryption public key of the receiver node, and signs the encrypted data to be transmitted through an encryption private key of the sender node to obtain encrypted data;
the sender node sends the encrypted data to the receiver node through the communication port information;
after receiving the encrypted data, the node of the receiving party verifies the signature of the encrypted data through the encrypted public key of the node of the sending party;
and after the verification is passed, the receiving party node decrypts the encrypted data through the own encryption private key to finish the communication.
2. The method of claim 1, wherein after the recipient node receives the encrypted data, the method further comprises:
and the receiver node acquires the encrypted public key of the sender node on the block chain network.
3. The method of claim 1, wherein after the receiver node verifies the signature of the encrypted data with the sender node's public encryption key, the method further comprises:
and if the signature verification of the encrypted data fails, the receiver node terminates the communication with the sender node.
4. The communication method of the IROS system based on the block chain according to claim 1, wherein after the communication is completed, the method further comprises:
the receiver node and/or the sender node stores a communication record on the blockchain network.
5. The communication method of the IROS system based on the blockchain of claim 1, wherein before the sender node obtains the encrypted public key and the communication port information of the receiver node on the blockchain network, the method further comprises:
a sender terminal and a receiver terminal are used as block chain nodes to construct a block chain network; the sender terminal is provided with a plurality of sender nodes in operation, and the receiver terminal is provided with a plurality of receiver nodes in operation;
and the block chain link point writes the configuration information of the block chain link point into the block chain network.
6. The communication method of block chain based IROS system according to claim 5,
the configuration information of the block nodes comprises at least one of the following items: communication port information of the block chain node, and IROS node information of the block chain node;
wherein the IROS node information of the block chain node comprises at least one of: the number of IROS nodes running on the block chain node, the type of each IROS node on the block chain node, and the encryption public key of each IROS node on the block chain node.
7. The communication method of the IROS system according to claim 5, wherein the block link node writes its configuration information into the block link network, and specifically includes:
the block chain node writes the configuration information of the block chain node into the node and sends the configuration information to a verification node of the block chain network;
the verification node verifies the configuration information through a preset intelligent contract;
and after the verification is passed, the verification node issues the configuration information to all the block chain nodes.
8. The communication method of block chain based IROS system according to claim 5,
the sender terminal and/or the receiver terminal comprises at least one of: computer workstation, server, embedded platform that supports Linux system.
9. The communication method of IROS system based on block chain as claimed in claim 5, wherein the block chain node writes its own configuration information into the block chain network, the method further comprising:
if the configuration information is changed, the block link point needs to rewrite the changed configuration information into the block link network;
and the verification node in the block chain network stores the change record of the configuration information.
10. An IROS system communication device based on a block chain, the device comprising:
a processor;
and a memory having executable code stored thereon, which when executed, causes the processor to perform a method of block chain based IROS system communication according to any of claims 1-9.
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| CN202110954735.8A CN113709128A (en) | 2021-08-19 | 2021-08-19 | IROS system communication method and device based on block chain |
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| Publication number | Priority date | Publication date | Assignee | Title |
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