CN115686778B - Block chain-based decentralization group robot system frame - Google Patents
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Abstract
The invention discloses a block chain-based decentralization group robot system framework, which mainly adopts a loss detection mechanism, a reputation mechanism, a block chain technology and the like. The centralized group robot system designed based on the framework can be compatible with robots of different types, has stable and rapid execution efficiency and capability of resisting various attacks, can well protect data interaction privacy, and provides global information, so that the robots in the system can better make decisions. Compared with the existing decentralised group robot frame, the technical scheme provided by the invention is safer and more stable, and is more suitable for being applied to the ground in actual production.
Description
Technical Field
The invention relates to the technical field of swarm robots, in particular to a block chain-based decentralization swarm robot system frame.
Background
The main objective of the swarm robot system (Swarm Robotic System) is to accomplish the collective behavior desired by the system user from robot to robot, from robot to environment, by a large number of simple robots. Meanwhile, the group robot system has the characteristics of good expansibility, strong flexibility, high fault tolerance and the like.
The existing group robot systems can be divided into two main types according to different architecture designs: a centralized group robot system and a decentralized group robot system. The centralized group robot system often has one or more central command roles, and the main responsibility of the centralized group robot system is to collect data from each robot to calculate and assign global behaviors of groups; the centralized group robot system is highly sensitive to the survival state of the central command, and once the central command is lost, the system falls into paralysis; in addition, due to the limitation of a system control strategy and system communication capacity, the system cannot support application scenes in which the number of robots is continuously increased, and further cannot complete more complex tasks. In the decentralized group robot system, the centralized decision role is not needed, and meanwhile, a distributed communication and control mode is adopted, so that delay caused by data processing centralization can be effectively avoided, and the calculation complexity of the whole system is not limited by the group size. However, existing decentralized swarm robot systems still face many challenges, such as: the sensing data collected by the group cannot be integrated into global knowledge; even if robots share global knowledge through local interaction, the robots cannot make decisions well according to the global knowledge; with the continuous increase of the number of robot individuals and the wider distribution of the robot individuals, the safety and stability of the global knowledge in the propagation process are difficult to ensure by the existing system.
Ferrer [ The blockchain: a new framework for robotic swarm systems [ C ]// Proceedings of The future technologies reference. Spring, cham,2018:1037-1058 ] proposes combining blockchain techniques with a decentralized swarm robot system and discussing The application scenario of blockchains in The system, emphasizing The importance of global knowledge, but failing to provide a detailed theoretical basis to guide The implementation of blockchain-based swarm robot systems. Ozyilmaz et al [ Ozyilmaz K R, yurdakul A.design a Blockchain-based IoT with Ethereum, swarm, and LoRa: the software solution to create high availability with minimal security risks [ J ]. IEEE Consumer Electronics Magazine,2019,8 (2): 28-34.] propose and initially implement a Blockchain-based Internet of things infrastructure framework (Blockchain-based Internet of Things Infrastructure), which, in combination with Blockchain technology, enables robots in a system to make decisions based on global knowledge, but still has insufficient security and robustness, and cannot effectively cope with malicious attacks, individual losses of robots. This means that the results of the existing research are difficult to put into practical use, but the existing system lacks generalization capability, and cannot provide sufficient security analysis, perfect testing mechanism and more excellent security protocol.
The above problems have hindered further development of the swarm robot system.
Patent document CN110597905a discloses a decentralised cluster control system based on blockchain implementation and a working method, the system is composed of not less than 2 robot cluster units; each robot monomer is a node in the cluster control system; the robot cluster unit is a LORA block chain network composed of not less than n blocks; the robot monomer consists of a LORA communication module, a motion device module, a sensor module, a state evaluation module and an intelligent contract module; the sensor is connected to the state evaluation module, a cooperative control algorithm is applied, the original data of the sensor are processed and fused to form a state code, the state code is sent to the intelligent contract module, voting is carried out according to the current state code, and when the clusters reach consensus, a corresponding strategy is adopted as an action instruction. The scheme forms a decentralization control system by utilizing a blockchain technology aiming at the unmanned aerial vehicle cluster, and has very strong practicability and research in the fields of solving the problems of the general of the Bayesian and the application safety of the military cluster. But the scheme is still not compatible with different types of robots and different application scenes.
Disclosure of Invention
In order to solve at least one technical problem existing in the background technology, the invention provides a block chain-based decentralised group robot system framework which is compatible with robots of different types, can adapt to different application scenes and can meet the production safety requirements in practice.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a blockchain-based decentralised swarm robot system framework, comprising:
a robot layer including a robot registration manager and a robot task manager; the robot registration manager is used for completing the robot registration process and managing the information of all robots, and provides service for inquiring the information of the specific robots for the robots; the robot task manager is used for providing task operation related services for the robot, including task issuing, task receiving and task completion;
an organization layer comprising an organization registration manager and a global knowledge manager; the mechanism registration manager is used for completing the mechanism registration process and managing the registration information of all mechanisms, and providing the mechanism with the service of inquiring the information of other mechanisms; the global knowledge manager is used for executing the saving and updating operation of the global knowledge;
the loss detection mechanism combines a blockchain technology and a heartbeat information mechanism to enable individuals in the group robot system to judge whether other robots are lost or not;
and the reputation mechanism is used for recording the reputation scores of the individuals in the group robot system and updating the reputation scores according to the individual behaviors.
Further, the organization registration manager and the global knowledge manager are both implemented by organization contracts.
Further, the loss detection mechanism combines a blockchain technology and a heartbeat information mechanism to enable individuals in a robot layer and a mechanism layer to judge whether other robots are lost or not, including:
generating a heartbeat packet: the robot first needs to select a random number
And according to self identity i, hash value Hv of the latest block on the block chain L Generating a heartbeat packet +.>
(symbol || refers to a string concatenation operation, the same applies below), wherein +|>
Will->
By private key->
A result of signing;
and sending a heartbeat packet: the robot must send heartbeat packets when a new block is generated
To a federated blockchain; if the robot for some reason fails to complete the transmission, the heart beat +.>
Increasing;
and (3) verifying a heartbeat packet: each organization obtains robot R from alliance blockchain i Public key of (a)
Data field +.for verifying heartbeat packet>
If the organization meeting the ratio requirement agrees that the heartbeat package is valid and the signature of the heartbeat package +.>
If the legality is verified, resetting the robot R i Heartbeat status on the chain->
0, otherwise the mechanism should discard the heartbeat packet +.>
If robot R j It is necessary to determine the robot R i Whether or not to lose R j First send request to federated blockchain fetch R i Is->
When->
In this case, the robot R j Still alive, otherwise consider robot R j Loss; wherein μ is a threshold value for determining whether the robot is lost;
loss remediation: if a task publisher R is detected i Lost during task execution, the task will be canceled
And tells that task has been received->
Is->
If it is a task helper R j Lost during the task execution, other idle states in the system are notified and meet the task +.>
The required robot replaces R j And ensuring the normal execution of the task.
Further, the reputation mechanism is configured to record the reputation scores of the individuals in the group robot system, and update the reputation scores according to the individual behaviors, including:
robot reputation initialization: reputation score of each newly registered robot
Initializing to a set value;
robot reputation update: if robot R i Initiating an illegal task attack or refusing a working attack, updating the reputation score
If the robot receives and completes the task normally, the reputation score is updated
Wherein α and β are constants, and α>β；
When (when)
When v is a threshold value for determining whether or not the robot is malicious, the robot R i Will be considered malicious by other individuals.
Further, the robot registration manager is configured to be responsible for completing a robot registration process and managing information of all robots, including:
the new robot first needs to use the public key Pk through the robot client r Robot type Rt r Description of robot Dp r Submitting the public key to a robot registration manager, wherein the robot registration manager is based on the public key Pk of the robot r Generating address As r Subsequent inspection of As r If so, the registration fails; if not, the identity i is allocated to the robot, namely the robot is marked as R i And will be i As r ||Pk r ||Rt r ||Dp r Saving the data in a blockchain, and registering successfully.
Further, the issuing task includes:
robot R i As a publisher, task descriptions are submitted first through a robotic client
Task helper type
Task helper demand quantity->
To the robot task manager, which will then verify the robot reputation score +.>
Whether or not to meet->
If so, it is said that the robot is good, then the robot task manager will create a new task with pending status +.>
If not, directly rejecting the issuing task +.>
The robotic task manager then also needs to check R i Whether the task is frequently issued or not, if so, the task is executed
The state change is cancelled and the robot R is updated at the same time i Reputation score->
If R is i Tasks are not issued frequently, the manager will +.>
The state of the task is changed to be not taken and added into the task list, so that the task is successfully released.
Further, the receiving task includes:
robot R when in idle state j To receive tasks
When the method is used, firstly, a request is required to be sent to a robot task manager through a robot client; the robot task manager is to be based on the robot R j Reputation score->
Verifying that it is not a malicious robot while ensuring that robot R i Type (2)>
Satisfy R i Robot type required in the task issued +.>
And the number of robots currently having received this task +.>
Still less than the number of robots indicated in the task +.>
When all three conditions are satisfied, i.e
The robot task manager will update +.>
At the same time will->
Added to R j Is finally checked +.>
Whether or not to meet->
If it is
Then +.>
And updating from the non-picked state when the release is successful to the picked state. />
Further, the completing tasks includes:
when the task is completed
Thereafter, include publisher R i All assistor->
The task performer in the task will initiate a vote only if most task performers agree to +.>
Has been completed, i.e.)>
n i For the number of helpers, the robot task manager will only acknowledge that the task has been performed, so that +.>
The status of (a) is updated from taken to completed, while +.>
Removing from the global task list, and from the received task list of all the facilitators; finally, the robot task manager will lift the task publisher and all assisting robots +.>
Is a reputation score of (c).
Further, the organization registration manager is configured to be responsible for completing an organization registration procedure and managing registration information of all organizations, and includes:
the new institution first submits the public key Pk of the institution to the institution registration manager through the institution client a Description of the mechanism Dp a Registration information included; the institution registration manager will be based on the institution public key Pk a Generating an organization address, if the organization address already exists, failing the registration, if the organization address does not exist in the blockchain record, assigning an identity k to the organization, and packaging k As a ||Pk a ||Dp a Into the blockchain to which the organization registers asWork.
Further, the global knowledge manager is configured to perform a saving and updating operation of the global knowledge, including:
for robot R i Uploaded global knowledge
The global knowledge manager first checks its hash value +.>
Whether or not it is equal to the hash value Hv of the latest block L If they are not equal, then determine +.>
Knowledge of the new upload; in addition, most institutions are required to agree on
Legitimacy of (1), i.e. when considered +.>
Is legal organization number->
m is the total number of mechanisms in the system, the global knowledge manager keeps the global knowledge +.>
Into a federated blockchain
Compared with the prior art, the invention has the beneficial effects that:
1) The invention reasonably plans the positioning and resource requirements of various roles in the framework based on the blockchain technology, and can effectively complete the synthesis of global information, so that the robot can combine global knowledge provided by the whole group with local knowledge collected by the sensor to make a comprehensively compatible decision action, and further the adaptability of the whole group to different environments and the coping capability of the whole group to emergency conditions are improved.
2) The invention combines with reputation mechanism to make the robot in the system able to quickly judge whether other individuals are malicious or not, and at the same time, because of the characteristic of non-falsification of the block chain, the robot individual can verify the validity of the message and the block data according to the public key submitted by other individuals on the chain when registering, so that the system under the framework can well resist illegal task attack, refusing work attack and falsifying global knowledge attack.
3) According to the technical scheme, the algorithm implementation of each intelligent contract can be guaranteed to obtain good stability and a lower expected execution time consumption value under the condition that the number of robots is continuously increased. Meanwhile, the technical scheme of the invention can obtain the task accuracy higher than the task accuracy of the existing framework in the environment with noise interference.
Drawings
FIG. 1 is a schematic diagram of a block chain based decentralised swarm robot system framework provided by embodiment 1 of the present invention;
FIG. 2 is a flowchart of an implementation of the blockchain-based decentralised group robot system framework provided by embodiment 2 of the present invention;
fig. 3 is a state transition diagram of a robot task in embodiment 2 of the present invention;
FIG. 4 is a schematic diagram of a loss detection mechanism according to embodiment 2 of the present invention;
FIG. 5 is a schematic diagram of a smart contract structure according to embodiment 2 of the present invention;
FIG. 6 is a graph showing average execution time of each algorithm in different cases in example 1 of the present invention;
FIG. 7 is a graph showing the comparison of the task completion rate with the conventional framework in example 1 of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Example 1:
referring to fig. 1, a schematic diagram of a block chain-based decentralization group robot system framework is provided in this embodiment. The technical scheme of the invention mainly comprises square elements, namely a Robot (Robot), a mechanism (Agency), a Robot Layer (Robot Layer) and a mechanism Layer (Agency Layer).
Robots are lightweight nodes that can be used as publishers and helpers of tasks, are not responsible for storing blockchain ledgers, have built-in Robot clients (robots clients) interacting with the Robot layer, and the framework assumes that there are more than half as many honest robots in the system.
The mechanism is a complete node, and has more computing resources than a robot serving as a light-weight node, and is mainly responsible for processing data requests, verifying transactions, integrating global knowledge and maintaining a blockchain ledger in the system, and a built-in mechanism Client (Agency Client) interacts with a mechanism layer.
The robot layer is the bridge for robots to communicate with the blockchain, including a robot registration manager (Robot Register Manager) and a robot task manager (Robot Task Manager). The function of the Robot registration manager is realized through a Robot Contract (Robot contact), registration service is provided for robots newly joining a group, reputation scores are initialized at the same time, and the function of the Robot Task manager is realized through a Task Contract (Task contact), so that service for issuing, receiving and completing tasks is provided for the robots;
the definitions referred to in the present invention are further described below:
definition 1, complete fraud resistance
If a robot acts as a malicious task publisher, frequently publishing tasks, then these tasks, as well as tasks that the robot subsequently publishes, will be discarded and the robot reputation score will be reduced. In addition, if a malicious robot acts as a task facilitator, a task is not performed on time or the task completion quality is poor, the corresponding task publisher may reclaim the task. Assuming that m mechanisms in the system are provided, wherein λ (λ∈ [0,0.5 ]) is a malicious mechanism, 1- λ is an honest mechanism, and the hash capability of the two mechanisms can be respectively represented as lp= (1- λ) ·m, and mp=λ·m. Then based on the above assumption, the inequality lp= (1- λ) ·m > λ·m=mp is always true, so the malicious authority cannot propose more blocks than the honest authority, thus completing the branch attack. Second, because the data on the federated blockchain is non-modifiable, the robot can determine the authenticity of the global knowledge received from the organization based on the hash value of the global knowledge recorded on the blockchain, so that malicious organizations cannot forge the global knowledge and save the forged global knowledge to the federated blockchain.
Definition 2, loss detection mechanism
By robot R i The latest activity information broadcast is used as the heartbeat of the robot and is used for reflecting the robot R i Is a survival condition of (a). When (when)
When (where μ is a threshold that determines whether the robot is lost, μmay be a positive integer, such as {1,2,..4 }), then the robot is considered to be still alive, and vice versa. Specifically, the robot can generate the following heartbeat packet
Wherein i is the identity of the robot, hv L Hash values for the latest blocks in the federated blockchain,
Is a robot R i The generated random number, ct, is then the current timestamp, at the same time +.>
Representing the robot passing through the private key
For->
The result of the signature is performed (where || stands for string concatenation, the following). Furthermore, the->
The specific updating method is as follows: 1. whenever a new block is proposed, robot R i Need to send->
To a federated blockchain. If robot R i Failing to do so, then R i Corresponding heartbeat state
Will increase by 1; 2. each organization obtains robot R from the alliance blockchain i Public key of->
And use +.>
Verifying heartbeat packet signature->
Only when more than half, i.e. more than + ->
Is->
Pass verification, ->
Is considered to be valid and the heart beat status of the robot +.>
Reset to 0, otherwise, heartbeat packet +.>
Will be discarded. If robot R j It is necessary to determine the robot R i Whether or not to lose R j First send request to federated blockchain fetch R i Is->
And compare->
Magnitude relation with mu, thereby rapidly judging R i Whether or not to be lost.
If the robot R is a task publisher i Lost during execution of a task, a task contract will hold the task
The status of (1) is updated from taken (Claimed) to Cancelled (activated) and task is informed +.>
Is->
Robot R i Has lost. If the robot R is used as a task helper j Lost during execution of the task, the task contract will inform other compliance tasks->
Required, and in an idle state, robots replace R j Thereby ensuring the normal execution of the task.
Definition 3, reputation mechanism
Robot reputation score
Is of the type [0,1 ]]And a quantization value in the robot for indicating a credit level of the robot. In the design of the present invention, each newly registered robot may be assigned an initial reputation score of 0.6. Furthermore, the reputation score is updated as follows:
wherein α and β are constants belonging to (0, 0.5), and α>Beta. That is, robot R i Reputation score of (a)
It can be reduced or increased depending on whether it is to launch an attack (e.g., an illegal task attack or a denial of service attack). In addition, if
(where v ε (0, 1), is a threshold that determines that a robot is a malicious robot), then robot R i Are malicious in other individual perspectives and vice versa.
Example 2:
the specific implementation steps of the block chain-based decentralised group robot system framework provided by the invention will be described in detail with reference to fig. 2-5:
in the process S1, the specific operation steps of the institution registration are as follows:
s101, submitting registration information by a new organization
The new organization firstly submits its registration information to the organization contract through a built-in organization client, including an organization public key Pk a Description of the mechanism Dp a 。
S102, generating address As a Assigning identities
The institution contract is based on the institution public key Pk a Generating address As a (the organization's unique address in the federated blockchain, unrepeatable) and assign a new identity k to the organization, then the organization can be marked as A accordingly k . If the organization contract detects address As a If the registration is already on the blockchain, the registration fails, otherwise, step S103 is executed.
S103, saving the data to the block chain to finish registration.
The structural contract links the identity k and the address As a Public key Pk a Description of the mechanism Dp a Word makingK As obtained after string splicing a ||Pk a ||Dp a Saving to the alliance block chain, ending the organization registration process and returning a success result.
In the process S2, the specific operation steps of robot registration are as follows:
s201, submitting registration information by new robot
The new robot firstly comprises a robot public key Pk through a built-in robot client r Robot type Rt r Description of robot Dp r The registration information is submitted to the robot contract.
S202, generating address As r Assigning identities
The robot contract is based on the received robot public key Pk r Generating a unique address As r As the unique identity of the robot in the alliance blockchain, and assign a new identity i to the robot, the corresponding robot can be denoted as R i . If the robot contract detects the address As generated at this time r Already present on the blockchain, registration fails.
S203, saving the data to the blockchain to finish registration
The robot contract submits the identity i and the public key Pk submitted by the robot r Robot type Rt r Description of robot Dp r In i Pk r ||Rt r ||Dp r And (5) storing the result in the block chain, ending the registration flow and returning a success result.
In the flow S3, the robot registered in the framework has the following steps of:
s301, submitting task information
When a robot R i When issuing a task (as a publisher), it first needs to send task information, including task descriptions
Type of helper->
The amount of helper demand +>
And submitting the task contract to the task contract through the built-in robot client.
S302, creating a task
After receiving the task information, the task contract first judges the robot R i Reputation score of (a)
Relationship with v, thereby determining R i Whether or not it is honest. If->
I.e. description R i Is honest, then the task contract will create a new task based on the received task information +.>
And sets the initial state of the initialization task to Pending (Pending).
S303, inspection robot R i Whether or not to frequently issue tasks
The task contract determines the robot R according to the task release information recorded in the block chain i Whether there is frequent issuing task, if yes, the robot R is described i An illegal task attack is initiated, and the update rule in the reputation mechanism is defined 3
Reducing R i Is to add task +.>
The status of (1) is set from Pending (Pending) to Cancelled (cancel), and finally a failure result is returned. If R is i The task is not frequently issued, step S304 is performed.
S304, completing task release
Task contracts link tasks
Update the state of (1) from Pending (Pending) to unarmed (Unclaimed) while task +.>
And adding the task into a task list, and finally returning the result of successfully issuing the task.
In the process S4, the steps of the idle robots in the group applying for receiving tasks are as follows:
s401 free robot R j Application receiving task
When an idle robot R j To be used as an assisting person to receive tasks
Firstly, a task receiving application is initiated to a task contract by means of a built-in robot client.
S402, verify R j Whether or not to meet the task demand
After receiving the application, the task contract needs to verify the robot R j Reputation score of (a)
Whether or not to meet->
And its type->
Whether or not to meet->
Secondly, check +.>
This requirement, wherein->
And->
Respectively, received task->
Robot number and task->
The number of robots required. If the conditions cannot be met at the same time, a failure result is returned. If so, the robot R is described j Meeting the receiving task->
Is required, at this time, the task is combined with the appointment to be task +.>
Added to robot R j And continues to step S403.
S403, checking whether to update
Status of
After the above steps are completed, the task contract will also check whether the status of the current task has been satisfied
If the condition is met, it is indicated that the precondition for executing the task is met (i.e. the number of robots of the specified type is met), and the task is combined with the appointment>
Change the state of (C) from not taken (Unclaimed) to taken (Claiimed) and send it to robot R i And returning the result of successful task reception.
In the process S5, after the task is executed, the robot expresses that the task is completed as follows:
s501, initiate voting
Task publisher R i With the task assistor
A vote needs to be initiated as a task executor together with a task contract. Only approve task->
Number of task performers completed->
Exceed->
When the task
The task contract is determined to be completed, and step S502 is executed, otherwise, it is determined that the task is not completed, and a failure result is returned.
S502, updating task state
Upon completion of the vote, and determine the task
After completion, the task is closed to the date>
The status of (a) is updated from the picked (Claimed) to the Finished (Finished) and the task is +.>
From the task list and all task helpers F' s Removed from the received task list, and continues to step S503.
S503, updating the credit score of the task executor
At the task
After completion, the task contract will also increase the reputation score of all task performers, i.e. perform +.>
In the process S6, whenever the activities involved in the above process cause a new block to be generated in the blockchain, the mechanism needs to integrate the information submitted by the robot into global knowledge and write the global knowledge into the blockchain, and the specific steps are as follows:
s601, checking the timeliness of global knowledge
For robot R i Uploaded global knowledge
The institution contract first checks +.>
Hash value +.>
Whether or not it is equal to the hash value Hv of the latest block L If not, then +.>
Is the newly uploaded knowledge, otherwise specify +.>
Previously uploaded without the need to reuse +.>
The global knowledge is updated.
S602, verifying the legitimacy of global knowledge
In addition to satisfying timeliness, most institutions are required to agree on
Is the legitimacy of (2). I.e. onlyHave a well-defined global knowledge->
Legal organization number->
When the organization contract can only make +.>
Save to alliance blockchain if +.>
In the case of (2), then specify->
Is illegal global knowledge, should not be integrated into the blockchain, should fail results be returned at this time; if it is determined that global knowledge->
If the result is legal, step S603 is performed.
S603, updating and synchronizing global knowledge
At the time of verifying global knowledge
After the timeliness and the legality of (a) meet the requirements, all the (a) belong to the set AS= { A 1 ，A 2 ，…，A m The organizations in } will all save global knowledge +.>
And after the storage is completed, the global knowledge updating is considered to be completed, and a successful result is returned.
Example 3:
fig. 6 is a graph showing average execution time consumption of the 6 intelligent contract algorithms related to embodiment 1 of the present invention in the cases of 10, 50, 100, 200 robots, respectively, where the number of institutions m=30 and the number of task helpers n i E {1,2}, blockThe proposal time tb=5s.
Fig. 7 is a graph comparing the number of task accuracy randomizers in an environment with 10% noise in embodiment 1 of the present invention with the existing framework (e.g., the blockchain-based infrastructure framework of the internet of things proposed by Ozyilmaz et al).
As can be seen from fig. 6, along with the increase of the number of robots in the group, the technical scheme provided by the invention can effectively ensure that the implementation algorithm of each intelligent contract still has good stability and lower execution time consumption expectations under the condition that the number of robots is increased.
Now define the task correct completion rate P c The following are listed below
Wherein N is o 、N w 、N u The number of task completed under the condition of no environment noise interference, the number of task completed under the condition of interference and the number of task not completed respectively. Then, as shown in fig. 7, in an environment with 10% noise interference, the task accuracy completion rate obtained by the technical scheme of the invention is better than that of the block-chain-based infrastructure framework of the internet of things proposed by Ozyilmaz et al.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the essence of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A blockchain-based decentralised swarm robot system frame, comprising:
a robot layer including a robot registration manager and a robot task manager; the robot registration manager is used for completing the robot registration process and managing the information of all robots, and provides service for inquiring the information of the specific robots for the robots; the robot task manager is used for providing task operation related services for the robot, including task issuing, task receiving and task completion;
an organization layer comprising an organization registration manager and a global knowledge manager; the mechanism registration manager is used for completing the mechanism registration process and managing the registration information of all mechanisms, and providing the mechanism with the service of inquiring the information of other mechanisms; the global knowledge manager is used for executing the saving and updating operation of the global knowledge;
the loss detection mechanism combines a blockchain technology and a heartbeat information mechanism to enable individuals in the group robot system to judge whether other robots are lost or not;
the reputation mechanism is used for recording the reputation scores of each entity in the group robot system and updating the reputation scores according to the individual behaviors;
the loss detection mechanism combines a blockchain technology and a heartbeat information mechanism to enable individuals in a robot layer and a mechanism layer to judge whether other robots are lost or not, and the loss detection mechanism comprises the following steps:
generating a heartbeat packet: the robot first needs to select a random number
And according to self identity i, hash value Hv of the latest block on the block chain L Generating a heartbeat packet +.>
Wherein->
Will->
By private key->
A result of signing;
and sending a heartbeat packet: the robot must send heartbeat packets when a new block is generated
To a federated blockchain; if the robot for some reason fails to complete the transmission, the heart beat +.>
Increasing;
and (3) verifying a heartbeat packet: each organization obtains robot R from alliance blockchain i Public key of (a)
Data field +.for verifying heartbeat packet>
If the organization meeting the ratio requirement agrees that the heartbeat package is valid and the signature of the heartbeat package +.>
If the legality is verified, resetting the robot R i Heartbeat status on the chain->
0, otherwise the mechanism should discard the heartbeat packet +.>
If robot R j It is necessary to determine the robot R i Whether or not to lose R j First send request to federated blockchain fetch R i Is->
When->
When in use, thenConsider robot R j Still alive, otherwise consider robot R j Loss; wherein μ is a threshold value for determining whether the robot is lost;
loss remediation: if a task publisher R is detected i Lost during task execution, the task will be canceled
And tells that task has been received->
Is->
If it is a task helper R j Lost during the task execution, other idle states in the system are notified and meet the task +.>
The required robot replaces R j The normal execution of the task is ensured;
the reputation mechanism is used for recording the reputation scores of the individuals in the group robot system and updating the reputation scores according to the individual behaviors, and comprises the following steps:
robot reputation initialization: reputation score of each newly registered robot
Initializing to a set value;
robot reputation update: if robot R i Initiating an illegal task attack or refusing a working attack, updating the reputation score
If the robot receives and completes any one normallyBusiness, then update reputation score
Wherein α and β are constants, and α > β;
when (when)
When v is a threshold value for determining whether or not the robot is malicious, the robot R i Will be considered malicious by other individuals. />
2. The blockchain-based decentralized swarm robot system framework of claim 1, wherein the organization registration manager and the global knowledge manager are both implemented by an organization contract.
3. The blockchain-based decentralized swarm robot system framework of claim 1, wherein the robot registration manager for being responsible for completing a robot registration process and managing information of all robots comprises:
the new robot first needs to use the public key Pk through the robot client r Robot type Rt r Description of robot Dp r Submitting the public key to a robot registration manager, wherein the robot registration manager is based on the public key Pk of the robot r Generating address As r Subsequent inspection of As r If so, the registration fails; if not, the identity i is allocated to the robot, namely the robot is marked as R i And will be i As r ||Pk r ||Rt r ||Dp r Saving the data in a blockchain, and registering successfully.
4. The blockchain-based decentralized swarm robot system frame of claim 1 or 3, wherein said issuing tasks comprises:
robot R i As a publisher, task descriptions are submitted first through a robotic client
Task helper type->
Task helper demand quantity->
To the robot task manager, which will then verify the robot reputation score +.>
Whether or not to meet->
If so, it is said that the robot is good, then the robot task manager will create a new task with pending status +.>
If not, directly rejecting the issuing task +.>
The robotic task manager then also needs to check R i Whether the task is frequently issued or not, if so, the task is executed
The state change is cancelled and the robot R is updated at the same time i Reputation score->
If R is i Tasks are not issued frequently, the manager will +.>
State change to notAnd (5) retrieving and adding the tasks to the task list, and successfully publishing the tasks.
5. The blockchain-based decentralized population robot system framework of claim 4, wherein the receiving task comprises:
robot R when in idle state j To receive tasks
When the method is used, firstly, a request is required to be sent to a robot task manager through a robot client; the robot task manager is to be based on the robot R j Reputation score->
Verifying that it is not a malicious robot while ensuring that robot R i Type (2)>
Satisfy R i Robot type required in the task issued +.>
And the number of robots currently having received this task +.>
Still less than the number of robots indicated in the task +.>
When all three conditions are satisfied, i.e
The robot task manager will update +.>
At the same time will->
Added to R j Is finally checked +.>
Whether or not to meet->
If it is
Then +.>
And updating from the non-picked state when the release is successful to the picked state.
6. The blockchain-based decentralized swarm robot system frame of claim 5, wherein said completing tasks comprises:
when the task is completed
Thereafter, include publisher R i All assistor->
The task performer in the task will initiate a vote only if most task performers agree to +.>
Has been completed, i.e.)>
n i For the number of helpers, the robot task manager will only acknowledge that the task has been performed, so that +.>
The status of (a) is updated from taken to completed, while +.>
Removing from the global task list, and from the received task list of all the facilitators; finally, the robot task manager will lift the task publisher and all assisting robots +.>
Is a reputation score of (c).
7. The blockchain-based decentralized swarm robot system framework of claim 1, wherein the organization registration manager for responsible for completing the organization registration process and managing the registration information of all organizations comprises:
the new institution first submits the public key Pk of the institution to the institution registration manager through the institution client a Description of the mechanism Dp a Registration information included; the institution registration manager will be based on the institution public key Pk a Generating an organization address, if the organization address already exists, failing the registration, if the organization address does not exist in the blockchain record, assigning an identity k to the organization, and packaging k As a ||Pk a ||Dp a Logging into the blockchain until the organization registers successfully.
8. The blockchain-based decentralized swarm robot system framework of claim 1 or 7, wherein said global knowledge manager is configured to perform a save and update operation of global knowledge comprising:
for robot R i Uploaded global knowledge
The global knowledge manager first checks its hash value +.>
Whether or not it is equal to the hash value Hv of the latest block L If they are not equal, then determine +.>
Knowledge of the new upload; in addition, a plurality of institutions are required to agree about +>
Legitimacy of (1), i.e. when considered +.>
Is legal organization number->
m is the total number of mechanisms in the system, the global knowledge manager keeps the global knowledge +.>
Into the federated blockchain. />
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