KR102026580B1 - A control system for unmanned moving vechicle using blockchain and a control method thereof - Google Patents

Abstract

The present invention relates to an unmanned moving object control system using a block chain, capable of increasing security, and a control method using the same. According to the present invention, the unmanned moving object control system comprises: at least one unmanned moving body; a path management information block chain in which path information is distributively stored; a traffic control information block chain in which traffic control information is distributively stored; a payment information block chain in which payment information is distributively stored; a management server; and a path creator terminal which receives pre-created path information from the management server.

Description

Unmanned moving control system using blockchain and control method using unmanned moving vehicle {A control system for unmanned moving vechicle using blockchain and a control method

The present invention relates to an unmanned mobile control system using a blockchain and a method of controlling an unmanned mobile vehicle using the same, and more particularly, to control the unmanned mobile vehicle using a blockchain technology and multiple encryption protocols to prevent hacking of the unmanned mobile vehicle. Relates to an invention which can be carried out.

Recently, technology development and base expansion for unmanned mobile vehicles requiring remote control based on wireless communication, such as drones, have been continuously made. In the case of an unmanned moving object, as shown in Korean Patent Laid-Open Publication No. 10-2018-0054007, remote control is performed while transmitting and receiving a communication packet in a frequency band given to a zone, and when the interference of frequency occurs, the control of the unmanned moving object becomes impossible. In addition, there could be problems such as kidnapping of unmanned mobile vehicles and use of terrorism by malicious hacking, and thus there was a problem of weakness in security.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object thereof is to provide a network and a control method that can improve security of an unmanned mobile by incorporating blockchain technology into an unmanned mobile.

The present invention for achieving the above object is at least one unmanned moving object in which at least one block containing the hash value and data is stored; A path management information block chain in which path information for the unmanned mobile object is distributed and stored; A traffic control information block chain in which traffic control information for the unmanned mobile object is distributed and stored; A payment information block chain in which payment information for a service provided to the unmanned mobile object is distributed and stored; A management server communicatively coupled to the unmanned mobile body, the path management information block chain, the traffic control information block chain, and the payment information block chain; A route creator provided to communicate with the management server and inputting new route information or modified route information to which an unmanned mobile object can move, transmits it to the management server, and receives previously created route information from the management server. Including a terminal, when the unmanned mobile makes a request for the route information for the movement to a specific destination to the management server, the management server requests the route information to the path management information blockchain, and based on this the optimal path to a specific destination Search and transmit it to the unmanned mobile to move the unmanned mobile, and the management server transmits the movement information of the completed unmanned mobile to the traffic control information blockchain, and validates it through the consensus process at the traffic control information blockchain node. If it is determined that the movement information, the existing traffic control information block It provides a control system of the unmanned movable body using a chain block, characterized in that to add to the chain.

Further, in the present invention, a block of the traffic control block chain includes a hash value of a block of the previous order, unmanned vehicle information, a nonce value, control data of the unmanned vehicle, and task performance result data of the unmanned vehicle. It is done.

Further, in the present invention, the block of the path management information block chain is characterized by including a hash value, path creator information, station information, nonce value, and path data of the immediately preceding block.

Further, in the present invention, the block of the payment information block chain is characterized in that it comprises a hash value, the unmanned vehicle information, the nonce value, and the payment information data of the block of the previous order.

In addition, in the present invention, further includes a station for providing a service to the unmanned mobile object, when the unmanned mobile object requests the management server information of the station that can provide the necessary service, the management server is a path management information block chain Obtaining station information from the mobile station, considering the state of the unmanned mobile vehicle, providing station information of the optimal position to the unmanned mobile vehicle, and allowing the unmanned mobile vehicle to move to the corresponding station and receive a service.

Also, in the present invention, when the service is provided at the corresponding station, the unmanned mobile unit transmits a payment information block related to payment for the service to the payment information blockchain node, and verifies its validity through agreement at the payment information block node. After that, the new payment information block is added to the existing payment information blockchain block.

In addition, in the present invention, the path management information blockchain and the traffic control information blockchain are implemented as a private consensus algorithm SBFT (Simplified Byzantine Fault Tolerance) scheme of Hyper Ledger Fabric and Hyper Ledger Fabric. It is composed of a blockchain, the payment information blockchain is characterized in that the public blockchain using Ethereum or EOS.

In addition, in the present invention, the consensus method used in the path management blockchain and the traffic control information blockchain is a POP (Proof of Prestige) consensus algorithm.

In addition, the present invention comprises the steps of requesting the route information for the movement to a specific destination to the management server unmanned mobile; Requesting management information from the path management information block chain by the management server receiving the request from the path management information block chain; Searching for an optimal route for a specific destination based on the received route information; Transmitting the found optimal path to an unmanned moving object; When the movement of the unmanned vehicle is completed, providing the task completion information to the management server by the unmanned vehicle; The management server transmits the movement information of the unmanned mobile vehicle that has completed the task to the traffic control information blockchain, and if it is determined that the movement information is valid through the agreement process in the traffic control information blockchain node, It provides a method for controlling an unmanned moving object using a block chain characterized in that the step of adding.

Further, in the present invention, a block of the traffic control block chain includes a hash value of a block of the previous order, unmanned vehicle information, a nonce value, control data of the unmanned vehicle, and task performance result data of the unmanned vehicle. A block of the path management information blockchain includes a hash value of a block of the previous order, path creator information, station information, a nonce value, and path data, and the block of the payment information blockchain is a hash of a block of the previous order. Value, unmanned vehicle information, nonce value, and payment information data.

The present invention may further include a station providing a service to an unmanned mobile vehicle, the method comprising: requesting a management server for information on a station capable of providing a service required by the unmanned mobile vehicle; Acquiring station information from the path management information blockchain by the management server and providing station information of an optimal position to the unmanned mobile vehicle in consideration of the state of the unmanned mobile vehicle; And controlling, by the management server, a control command to cause an unmanned mobile object to move to a corresponding station and to receive a service.

Also, in the present invention, when the service is provided at the corresponding station, the unmanned mobile unit transmits a payment information block related to payment for the service to the payment information blockchain node, and verifies its validity through agreement at the payment information block node. After that, the method further includes adding a new payment information block to the existing payment information blockchain block.

In addition, in the present invention, the path management information blockchain and the traffic control information blockchain are implemented as a private consensus algorithm SBFT (Simplified Byzantine Fault Tolerance) scheme of Hyper Ledger Fabric and Hyper Ledger Fabric. It is composed of a blockchain, the payment information blockchain is characterized in that the public blockchain using Ethereum or EOS.

In addition, in the present invention, the consensus method used in the existing path management blockchain and the traffic control information blockchain is a POP (Proof of Prestige) consensus algorithm.

According to the present invention, it is possible to provide a path (2d, 3d information) and GIS information that the unmanned moving object can safely move.

In addition, it is possible to provide efficient traffic control by providing data such as flight rules, weather information, geomagnetic disturbance index information, etc. required for unmanned mobile vehicles, especially drones.

In addition, it can reduce traffic traffic by providing optimal route information in real time, and can quickly provide all information such as the position and status of a station during takeoff and landing control.

In addition, by combining secure blockchain technology, it is possible to implement a platform that provides route information and communication information safely, transparently and reliably from hacking.

Particularly, in the present invention, an unmanned mobile object can be secured from radio frequency hacking by using a blockchain multiple encryption protocol rather than a general transmission / reception scheme, and fully protected path usage information can be used.

In addition, since it is a distributed network, it also has the advantage of overcoming the security gap of the centralized control system with a block chain with a single server group, and records and manages the data of all unmanned mobile vehicles that are controlled in real time on the blockchain. It is possible to improve the security and transparency of management of all unmanned mobile objects on the network.

In addition, the general users to create the path directly, and stored in the blockchain, if the unmanned mobile uses the path created by the path creator, there is an advantage that can share the benefits by appropriate compensation for it.

1 is a schematic diagram of a network according to the present invention.
2 is a structural diagram of a hyperledger fabric which is a kind of private blockchain used in some blockchains of the present invention.
3 is a schematic diagram of a peer which is one component of the hyperledger fabric used in the present invention.
4 is a schematic diagram of a Ledger as one component of the Hyperledger Fabric of the present invention.
5 is a schematic flowchart of an application process of the hyperledger fabric of the present invention.
Figure 6 is a schematic diagram of the Mutiple Channel in the Hyperledger Fabric of the present invention.
7 is a schematic diagram of an organization in the Hyperledger Fabric of the present invention.
8 is a schematic flowchart showing that a proposal is processed in a relationship including an orderer and a peer of the hyperledger fabric of the present invention.
9 is a schematic diagram showing a result of processing a proposal in a relationship including an orderer and a peer of the hyperledger fabric of the present invention.
10 is a schematic diagram illustrating a process in which an orderer of a hyperledger fabric of the present invention is recorded in validation, transmission, propagation, and ledger.
11 is a schematic diagram showing the relationship between the management server and each blockchain, unmanned mobile body, station, and user terminal in the present invention.
12 is a block diagram showing a relationship between a management server and each block chain, an unmanned mobile body, a station, and a user terminal.
Figure 13 is a block diagram of a management server in the present invention.
14 is a block diagram of a path management blockchain (PM blockchain) node in the present invention.
15 is a block diagram of a traffic information blockchain (TC blockchain) node in the present invention.
16 is a block diagram of a payment information blockchain (HE blockchain) node in the present invention.
17 is a block diagram of an unmanned moving object in the present invention.
18 is a block diagram of transmission data sent from the unmanned mobile vehicle to the management server of the present invention.
19 is a block diagram of transmission data sent from a management server to an unmanned mobile object in the present invention.
20 is a flowchart illustrating a communication process through encryption between an unmanned mobile object, a management server, and a TC blockchain in the present invention.
21 is a structural diagram of a TC blockchain used in the present invention.
22 is a control flowchart of the unmanned moving object in the present invention.
23 is a structural diagram of a PM blockchain used in the present invention.
24 is a structural diagram of an HE blockchain used in the present invention.
25 is a flowchart showing a sequence of path creation and storage in the present invention.
26 is a flowchart showing a control sequence of the unmanned moving object in the present invention.
27 is a flowchart showing a communication control sequence of a station and an unmanned moving object in the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated and described in the drawings.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms.

The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component.

The term and / or includes a combination of a plurality of related items or any item of a plurality of related items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be.

On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

 DETAILED DESCRIPTION Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

<Business Model Overview>

1 is a diagram schematically illustrating a business model based on a control system of an unmanned mobile vehicle using a blockchain according to the present invention. The unmanned moving object used in the present invention is representative of the drone, but is not limited thereto. If the moving object can be controlled remotely, a moving object such as an automobile or another moving object can be used.

As shown in Fig. 1, the present invention is composed of three blockchains. Focusing on the unmanned mobile vehicle 500 and the management server 100 for controlling and managing the traffic control information block chain (hereinafter, referred to as 'TC block chain'), the traffic control information is distributed and stored in nodes and clients connected thereto. 300, a path management blockchain (hereinafter referred to as a PM blockchain) that stores path information provided for the unmanned mobile object 500 in a node and a client connected thereto, and A payment information blockchain (hereinafter referred to as HE blockchain) 400 that stores and stores information on the overall economic circulation structure including costs for management of the mobile body 500, battery charging, use of route information, and the like. Include.

The HE blockchain 400 is communicatively connected with the management server 100 and the smart contract API 400a and the station control API 710, and the station control API 710 is connected with the respective stations 700. .

Here, the station 700 is a station that controls the departure (taking) and arrival (landing) of the unmanned vehicle, and provides services such as repair and battery charging.

Meanwhile, the TC blockchain 300 is connected to the management server 100 and the traffic view UI 300a for viewing traffic or control information. The PM block chain 200 may be connected to the management server 100, a terminal 620 including a route creation tool used by route creators to be described later, and a station control API 710.

Here, the PM blockchain 200 and the TC blockchain 300 have the characteristics of a private blockchain, and the HE blockchain 400 preferably has the characteristics of a public blockchain.

A smart contract is a digital contract method in which contract terms are coded based on blockchain technology, and the contract contents are fulfilled if the conditions are met. It's a kind of automated contract system.

By the conclusion of such a smart contract, as will be described later, tolls or route fees to be paid when the unmanned mobile vehicle 500 takes a specific payment obligation through charging a battery or using a station, or uses a route created by a specific route creator. If you are obligated to pay, such expenses are automatically paid, and the balance (e.g. coins) in each stakeholder's electronic wallet is automatically increased.

Specific characteristics of each blockchain are as follows.

<PM Blockchain 200>

The PM blockchain 200 is responsible for recording geographic information. It is a private blockchain storage unit that stores path (route) information that the unmanned vehicle can move, and station information that the unmanned vehicle 500 can take off and land and further charges the battery.

In the present invention, the route (route) is not preset or fixed, but consists of a set of routes created and uploaded by individual path producers.

The route creators receive a resource called 'energy' by paying a coin to the network including the present invention, and the energy can be exchanged with the coin at a certain rate.

 The route creators consume energy when creating a three-dimensional route on a map by using the terminal 620 including the route creation tool, and create the minimum unit cell of the route.

Efforts to create the route can be 100% confirmed, additional rewards can be obtained in the form of mining and airdrops, and a predetermined fee can be paid.

All of the available energy can be exchanged back freely for coins, without compensation or consumption in the route creation tool.

When two or more cells are gathered together, they form a line and are connected to several cells to form a path. One path information is divided and stored in a certain standard unit, and the PM block is processed through the verification process by translating the length of the route, GPS coordinate value, altitude, owner, stability, frequency of use, route score, route grade, route identification, etc. Are written on the chain.

On the other hand, the path recorded in the PM blockchain 200 is updated on the PM blockchain 200 as the path verification process is continuously transactioned by the simulation of the management server, and the stability and reliability of the path will be increased through this process. Can be.

On the other hand, a separate side chain is provided to securely store information such as map data, terrain, geofence, station position, takeoff and landing position, and the like displayed on the route creation tool, and the information is stored in a separate side chain.

This can prevent various accidents, accidents and attacks using unmanned mobile vehicles, especially drones or drones, such as severe damage from map information, kidnapping and terrorism.

For example, criminals or terrorist groups transform protected data such as spaces, geofences, or locations that drones such as buildings, airports, power plants, and military facilities cannot fly into hacking zones. It essentially blocks the possibility of forging into a moveable area.

The present invention is the most basic safety device that can prevent the possibility of stealing, kidnapping, or terrorist use by transmitting the modulated signal through hacking or the like.

The PM blockchain 200 serves as a secure blockchain route storage unit which is completed by recording and updating a series of all processes for creating and verifying route data and basic map data for constructing route data.

<TC blockchain 300>

The TC blockchain 300 is in charge of real time control through the management server 100. A blockchain storage unit that stores statistical information of a route used by an unmanned mobile vehicle. For example, when moving from area A to area B, information such as time required and data can be stored.

Before the unmanned vehicle 500 departs (eg, the drone takes off) and approaches a path (eg, a route), the TC blockchain activity starts from the flight approval stage. Obtain permission to approve a move, take a start point and a destination, and query a move schedule to access a defined route.

At this time, the mission information of the unmanned vehicle 500, that is, the movement approval (flight approval), the starting point, the destination, the movement schedule (flight schedule), the route (route) approach coordinates, the location, altitude of the real-time unmanned vehicle (drone), All movement information (flight information) and other states of the unmanned vehicle (drone) such as movement purpose (flight purpose), transport items, and modification schedules processed by the management server and big data are generated like a black box. The transaction is stored in the TC blockchain 500.

This information can also be optimized by the management server 100, respectively, to help the unmanned mobiles 500 to reach their destination by organically dispersing each other.

In addition, various data such as weather information, geomagnetic information, and the state of charge, generating big data based on multifaceted information, and using this data to efficiently control the unmanned mobile (eg, drone) (500) Can be safely recorded on the TC blockchain (300). In the unmanned vehicle management and control network utilizing the system according to the present invention, the unmanned vehicle 500 is securely and efficiently provided with path coordinates and altitude information by a protocol of multiple encryption (asymmetric key encryption and symmetric key cryptography). You can send continuously.

In addition, the unmanned mobile vehicle 500 verifies the state connected to the TC blockchain 300 by decrypting the data received through wireless communication with a multi-encryption protocol, and processes only the information generated by the consensus algorithm, and thus cannot be modified or changed. It can be operated based on data, that is, secure data that is prevented forgery.

The blockchain multiple encryption protocol that sends and receives time-critical control data is distributed and managed by channel technique for faster processing speed on the private blockchain created by consensus algorithm.

In addition, the unmanned mobile vehicle 500 does not verify the entire block data generated to the nodes in the process of verifying the blockchain multi-encryption protocol data, but block data in a manner that verifies block data at a randomly encrypted specific location together. You can also verify the integrity of

In this way, an unmanned mobile vehicle can check the integrity of a block without having to be a full node with full block data. This goes beyond the speed and limits of blockchain and can be used to send and receive data as a protocol.

Of course, if the unmanned moving object 500 becomes a full node, it may have a more robust verification process, but when operated as a full node that undergoes a number of computational processes, current battery technology is limited.

Data is sent and received repeatedly every second, and light and iterative verification process is enough to communicate safely.

<HE blockchain>

HE blockchain 400 is responsible for the economic circulation structure in the network. It is a public blockchain that stores coin ownership and transaction information in each stakeholder's electronic wallet, and is a blockchain storage unit similar to Bitcoin or Ethereum.

Each block transacts and records data such as coin's owner, holding amount, usage, usage time, and place of use, and provides control server and other services (e.g. station) or main chain (TC block). Chain, PM blockchain) and side chain.

The HE blockchain 400 is a cryptographic electronic money system used in the network platform according to the present invention. It is a public blockchain that is the basis for payments in exchange for all tasks or exchanges that occur on the network, and uses cryptocurrency and electronic wallets for economic activities associated with unmanned mobiles.

It is closely related to the network system according to the present invention and can be used for all economic activities such as shopping, shipping, purchase of moving objects, flights, charging, repair, insurance, rental, tax, and other value-added services.

For example, when paying for the purchase of goods or shipping costs in everyday life, when the drone visits the charging station during the flight and pays the bill automatically, when the abnormalities are discovered and checked during the flight, When paying for drone taxis, automatic payment of drones' permits or taxes required for holding, paying for insurance or paying premiums, paying for various services connected to the IOT or through drones It can also be used to build various services and make automatic payments.

Transactions of all these electronic payments are transparently and securely recorded and managed on a decentralized public blockchain, primarily using already verified Ethereum tokens.

The network using the present invention is completed as one platform consisting of three multiple blockchains, each containing a unique performance function for each blockchain (HE blockchain, TC blockchain, PM blockchain).

The network of the present invention uses a consensus algorithm called POP (Proof of Prestige), which is an evolution of the Proof of Stake consensus algorithm. In the POP consensus algorithm, path producers who contribute to the block generation of the PM blockchain participate by using the path generation tool as the node's operation principal. The prestige point is given to the node operator with a high score by combining the length, frequency of use, path score, and reliability based on the stability evaluated by the management server. The summation is an algorithm that is selected as a valid blockchain with a higher score.

<Consensus Model>

Bitcoin, the first-generation blockchain cryptocurrency, and the POW (Proof of Work), a consensus model used in the second-generation blockchain Ethereum, require a lot of power consumption and CPU power for transaction verification.

In addition, since a large number of nodes participate in the consensus, the speed is slowed down, which has a fatal disadvantage for services requiring fast processing.

Therefore, in the present invention, it is not suitable to apply only the public blockchain to the network alone, and thus, it is implemented by using two types of consensus models of the public blockchain and a consensus model suitable for the private blockchain in a hybrid form.

TC blockchain 200 and PM blockchain 300, which require fast processing of large transactions, are the basic consensus algorithm SBFT (Simplified Byzantine Fault Tolerance) method of Hyper Ledger Fabric and Hyper Ledger Fabric. Alternatively, the main network is constructed using a slightly modified manner in SBFT.

Meanwhile, the HE blockchain 400 that is in charge of a currency may have a blockchain for its own coin or a token having a Proof of Stake (POS) method or even a Delegated Proof of Stake (DPOS) method.

 Afterwards, the network's own Proof of Prestige consensus algorithm will be applied.

The POP consensus algorithm includes a list of prestige points of validators in each block. The more Prestige Points each node has, the more privilege it has to update the block. When a branch occurs, the blockchain with the higher Prestige Point is selected.

As in the POW, when a block is confirmed, a reward is paid in new coins to the node participating in the block determination.

The service provided by the network according to the present invention includes geographic information, altitude information, station location information, weather information, geomagnetic index information, non-flight zone information, safe route information agreed by social / institutional systems, automatic acquisition of flight approval by country, route Receive control data using information, automatic control of station take-off and landing, automatic control, real-time location correction and altitude correction according to the route when using services such as control data encryption using blockchain multiple encryption protocol, charge / repair / logistics, etc. Time required information of data, automatic control using big data and AI (intelligence), correction of gap and speed between drones, control data correction using tripak situation and accident information, non-physical anti-drone prevention, black box function, etc. Also provides services.

And the communication network using the network of the present invention can use Wifi, Bluetooth, BLE, ZigBee, Z-wave, satellite communication, cellular system, LTE, 5G and the like.

The role of the service according to the present invention will be described. Here, a drone is described as a representative example of an unmanned mobile vehicle, but an example of an unmanned mobile vehicle is not limited thereto, and all kinds of unmanned mobile vehicles such as unmanned vehicles, unmanned vessels, and unmanned aerial vehicles are applicable.

In general, drones that require route information are provided with all the services we provide (geography, altitude, weather, traffic, no-fly zone, etc.) to fly on the promised route, and are directly controlled by the network according to the present invention. You can monitor and directly control all the information of drones that are being controlled and controlled (the entire route usage plan, current location, delivery information, etc.) through the open API.

Direct control is a single control method for all drones accessing the network.It applies AI, big data and various service items to generate routes and coordinates from the origin to the destination, and transmits each flight schedule data in advance. In addition, it processes fluidity data such as traffic, weather, geomagnetic, etc. generated at specific coordinates on each flight path, and continuously modifies flight schedule data so that drones using the corresponding route can move quickly and organically. Do it.

It means to process their information securely with real-time data using blockchain multiple encryption protocol to generate one huge information in the network, and to control and view them.

Indirect control refers to a role of inputting a drone's origin or destination through an open API that allows a user to view and manage drone movement data of one or a specific group on the network. Can be identified.

In addition, it is possible to grasp data of a mission state performed by specific drones, for example, a delivery state of a transport drone, a photographing screen, and a pesticide spraying status. It also manages all the costs of drones flying, recharging and repairing.

Indirect control allows individuals and companies to locate drones and view the details of the drones, allowing them to freely control the drones and program their own special control environment.

<Communication and Control Structure>

Hereinafter, a detailed communication and control structure and a communication and control method of the present invention will be described.

As described above, the network according to the present invention is a multi-blockchain network platform in which a public blockchain such as Bitcoin or Ethereum and a private blockchain are collectively composed of at least three blockchains.

Private blockchain is a blockchain model that is a bit more suitable for corporate business, and can achieve much faster transaction speeds than public blockchain by reducing the number of consensus nodes.

As described above, since the HE blockchain 400 is related to payment, it is configured as a public blockchain in order to secure safety and reliability, and the TC blockchain 300 and the PM blockchain 200 make a quick decision between interested parties. And a private blockchain in consideration of improvement of data movement speed and reduction of consensus time.

The private blockchain used in the present invention uses a hyperledger fabric. It is a platform for distributed ledger solutions based on a modular architecture that provides high confidentiality, resilience, flexibility, and scalability. It runs on Linux Ubuntu and Docker and aims at speeds of at least 1000 TPS, so it has a high processing speed.

There is a chain code that performs the smart contract function of Ethereum, and business logic can be developed using languages such as Java / Go / NOode.js / Python.

It is based on concepts such as smart contracts, digital assets, storage systems, distributed consensus-based networks, plug-in-based consensus algorithms / models, and cryptographic security, making it easy to implement business blockchain services.

The structure of the hyperledger fabric is shown in FIG. 2, and basically provides the following functions.

-Membership Services: Blockchain Network Membership Authentication Service

Blockchain Services: Distributed Ledger Engine through HTTP / 2 based P2P protocol

-Chaincode Services: Code function to implement contract added to blockchain

The basic components of the Hyperledger Fabric are described below.

First of all, peer can be seen as meaning blockchain storage in the present invention.

As shown in Fig. 3, Peer is a node of the Hyperledger Fabric Network that owns Ledger (blockchain data, ledger) and chaincode. Each peer has a unique IP address and port number, and is responsible for handling and responding to direct requests from applications and is the most basic element of the Hyperledger Fabric Network.

Peer includes Principal Peer and General Peer. Principal Peer is a kind of master peer concept. It is a peer that directly communicates with the orderer (corresponding to the management server in the present invention) to receive new block information and propagate it to the general peer in the channel through the Gossip protocol.

The Gossip protocol has the convenience of not having to send to all peers. The order of arrival at the final delivery destination is not fixed, and even if any path is broken, it can be delivered through other paths or may be duplicated.

If you look at the rules for this,

One node must know the addresses of all other nodes.

One node must keep alive the surrounding nodes.

One node keeps the surrounding nodes informed about the nodes they know so that the entire network knows about the current situation.

-When rumors are posted, randomly select some of the nodes and spread the rumors.

Ethereum creates credibility by accepting false information, and hyperresistance fabrics withhold through authentication.

Briefly describing the workflow of the hyper leisure fabric,

1) A user executes a transaction to peers through an application.

2) These peers, which act as endorsements, execute the chaincode and return the read / write set back to the user according to the installed consensus algorithm (not updating the books in the process).

3) Take the result set and ask the orderer service to order and block it.

4) The orderer service blocks and sends the peers to verify and store this block.

In the process, the Gossip protocol is used in step 4).

In other words, the orderer does not communicate with all peers, but if one notifies the representative peer, this peer is gradually delivered to the whole through gossip. Each peer verifies the received blocks (transaction bundles) and stores them in a ledger.

The three main functions of the gossip data propagation protocol in the fabric network are:

1) Manage peer discovery and channel membership. (Continue checking for available peers)

2) Propagates data to be recorded in books to peers on all channels. Identify peers that are out of sync and continue supplying missing block information.

3) When a new peer joins, the book data is updated to peer to peer.

Peers on the same channel continue to receive messages, propagate to neighboring peers, and synchronize. The number of neighboring peers is fixed by setting and follows the pull mechanism. So don't wait for the message to come, but try to bring it back.

The principal peer of each organization on the channel pulls the data to the orderer and then begins to propagate to peers in its organization.

In other words, by separating the peer peer without connecting all the peers, the orderer's network load is reduced and the overall consensus speed is increased.

Source code developed in CHAINCODE Node.js + javascript or Go Language, also known as Smart Contract, used to implement Smart Contract or business logic. It plays a role similar to the stored procedure of existing database.

Next, a ledger will be described with reference to FIG.

Ledger represents blockchain data and consists of two parts, NoSQL world state and blockchain file. World State is a role to store the data before the block is confirmed or temporary data and SnapShot of the current blockchain. The blockchain file is a binary file that stores the blockchain. If inconsistency occurs, BlockChain file is used as standard to update World State DB.

Next, an application process will be described with reference to FIG. 5.

Application is an application that creates and retrieves blockchain using Hyperledger Fabric blockchain network. The following is a brief summary of the application and peer processes.

1) An application developed with Hyperledger Fabric connects to one peer.

2) The application proposes a CHAINCODE call that Peer has to Peer.

3) Peer executes CHAINCODE and saves the result in Ledger's World State DB and returns the response value to the application.

4) Application executes consensus model of transaction response value and delivers to Orderer in charge of propagating block and requests registration as formal block.

5) The orderer creates and verifies the block every 2 seconds through the SBFT consensus model to propagate the block asynchronously to the peers in the hyperledger fabric network.

6) Peer receiving a block reflects the block in its Ledger.

7) Peer transmits the reflection result of Ledger to the application asynchronously so that the application can know the block's confirmation status.

The following describes the channel.

A particular feature of the HyperLedger Fabric in the network according to the present invention is Channel. Channel is a function to logically group specific peers.

By using the channel function, traffic data of the unmanned mobile vehicle can be divided and stored in each channel by country without storing all the blocks identically in all nodes of the TC blockchain.

For example, traffic data in Los Angeles, USA would not need to be stored at the Peer node in London, England. Because it is a large amount of data that is geographically distant and uncorrelated.

Therefore, only traffic information belonging to each region can be maintained for each channel, thereby reducing the block size of traffic data to be transmitted in real time and maintaining lighter and more efficient.

As shown in FIG. 6, the peers of the hyperledger used in the present invention basically subscribe to a channel and may subscribe to one or more channels (multi channel).

On the other hand, as shown in Figure 7, Peer node and Application can be grouped into a logical group called Organization. If you organize and manage organization by unit or organization that manages peer node servers, network management can be easy.

The network according to the present invention entrusts node operation to a trusted institution or organization for each country and manages it as an organization. In addition, some peer node servers may operate on their own network.

Application creates a transaction and proposes to each peer node of the channel. Each peer node returns responses R1 and R2 to the application, along with endorsed information about the response. This is illustrated in FIG. 8.

The executed applications deliver the response from the peer to the orderer, request the verification process and block creation, and the orderer creates the block according to the consensus algorithm. Fig. 9 shows the result.

The orderer (corresponding to the management server in the present invention) verifies the generated block and transmits it to the Principal Peers of the corresponding channel to propagate the block and to be recorded in the ledger. Through this series of processes, blockchain is recorded by communication between Application, Peer and Orderer, and Hyperledger Fabric blockchain network is composed. This is illustrated in FIG. 10.

As shown in Figs. 11 and 12, the network or unmanned moving object control system according to the present invention has the following configuration.

First, AI (Artificial Intelligence) is installed at the center of the network, and controls and manages the entire network by using big data, and external terminals (for example, path creation terminal 620 and unmanned mobile control terminal 610) and While communicating, a management server 100 is provided which communicates with and controls external unmanned moving objects (eg, drones) 500 and stations 700 and manages their information.

In addition, the management server 100 is communicatively connected to the above-described PM blockchain 200, TC blockchain 300, and HE blockchain 400. Here each blockchain has two main components. One is a blockchain node and the other is a client.

From the user's point of view, a blockchain node acts as a backend for a typical service, and a blockchain client acts as a client. When a client initiates a new transaction, the nodes share the transaction through a process of distributing and executing the transaction.

The client can check the outcome of the transaction. Accordingly, the PM blockchain 200 is composed of a PM blockchain node 210 and a plurality of clients 220 connected thereto, where the client 220 has a path creation tool, a terminal having a storage device, or a storage. It can be an unmanned vehicle with a device. Or the client can be multiple storage servers.

Meanwhile, the TC blockchain 300 is composed of a TC blockchain node 310 and a plurality of clients 320 connected thereto, where the client 320 owns an unmanned mobile or receives a management entrustment (eg, a company). , A subject, a public institution, etc.) may be a terminal having a storage device or an unmanned mobile device having a storage device or a plurality of storage servers.

The HE blockchain 400 is composed of an HE blockchain node 410 and a plurality of clients 420 connected thereto, wherein the client 420 is a terminal or storage device of a path creator having a storage device and an electronic wallet, and It may be a drone with an electronic wallet, a station with a storage device and an electronic wallet, or a plurality of storage servers.

As shown in Fig. 13, the management server (or AI system) 100 includes an arithmetic processing unit 101, a public key storage unit 102, a communication unit 103, an encryption / decryption processing unit 104, An optimum path search unit 105, a path information storage unit 106, and a traffic information storage unit 107 are provided.

The public key stored in the public key storage 102 forms a key pair with the private key of each unmanned mobile vehicle used in the asymmetric encryption / decryption operation, and stores the public key used for user registration and verification, verification and storage of data transmitted and received. It's a place to do it.

There are symmetric and asymmetric encryption technology. The symmetric encryption setting method is to solve the password if the ID and password that we are familiar with are matched. The asymmetric encryption technology is public-key and private key ( Private-Key is divided into Private-Key, which has full access to encrypted contents, and Public-Key, which can verify its authenticity by symmetrical with the Private Key. Chain-based wallets have asymmetric encryption technology.

The encryption / decryption in the management server 100 according to the present invention is made in an asymmetrical manner, and as described below, the encryption / decryption in each unmanned mobile vehicle 500 uses both asymmetrical and symmetrical methods.

The communication unit includes external terminals (e.g., route creator terminal 620, terminal 610 of an unmanned mobile manager), an external unmanned mobile (e.g., a drone) 500, an external station 700, and each blockchain. Means an API that can communicate with (200, 300, 400).

Here, the communication network used by the communication unit may use Wifi, Bluetooth, BLE, ZigBee, Z-wave, satellite communication, cellular system, LTE, 5G, and the like.

The communication unit 103 refers to a network routing module that broadcasts a transaction to a blockchain distributed network, a gateway router that is connected to a pool mining node, or the like. can do.

Meanwhile, the encryption / decryption processing unit 104 uses the private key provided in each unmanned mobile object 500 and the private key provided in the path creator terminal 620 and the public key stored in the public key storage unit 102. A component that can encrypt or decrypt information or data.

The encryption / decryption processing unit 104 decrypts the received data transmitted in an encrypted state in an asymmetric manner or externally (for example, to an unmanned mobile or path creator terminal, or TC / PM / HE blockchain). Asymmetrically encrypts data to be sent.

The optimal route search unit 105 considers the current position, the destination, the altitude, the weather, the current traffic information situation, and the valid route information (for example, the flightable area) of the specific unmanned vehicle under control, to the destination as quickly or efficiently as possible. It is a component that can search for a path that can be reached, and a typical optimal path search algorithm is Dijkstra Algorithm or Uniform cost search (USC) algorithm.

The path information storage unit 106 is a place where data about a path that has been created and verified by the outsiders is mainly stored, and the path information storage unit 106 may store data about a past path moved by each unmanned moving object. Can also be.

 The data on such a path is data obtained by consensus process of the nodes 210 of the PM blockchain constituting the PM blockchain 200.

 Therefore, the data stored in the path information storage unit 106 should be the same as or related to the data stored in the client (eg, route creator terminal or drone) 210 of the PM blockchain 200.

The traffic information storage unit 107 may also be referred to as a control information storage unit, and control information (origin / destination information, altitude / speed information, used route information, travel time, used station information, mission information) for each unmanned vehicle is This is where it is stored. Data about driving information and control information that a specific unmanned mobile vehicle has performed in the past is provided in a block form, and these blocks are connected to form a block chain, and this block chain refers to the TC block chain 300.

Therefore, by the existence of such a TC blockchain 300 that has been agreed and verified, it is possible to prevent hacking on a specific unmanned mobile body.

14 shows a configuration of the PM block chain node 210. The PM blockchain node 210 formally establishes a consensus algorithm processing unit 211 that derives consensus between a plurality of storage devices connected to the node itself or clients having such storage devices, and a new spare block verified through the consensus. And a storage processing unit 212 for generating a new PM blockchain in addition to the PM blockchain, and transmitting and storing the new PM blockchain to each storage device or a client having such storage device.

In addition, the PM block chain node 210 may include a path information storage DB 213 to store data regarding path information received from the management server.

15 shows a configuration for the TC block chain node 310. The PM blockchain node 310 formally establishes a consensus algorithm processing unit 311 which derives consensus between a plurality of storage devices connected to the node itself or clients having such storage devices, and a new spare block verified through the consensus. A storage processing unit 312 is provided to generate a new TC blockchain in addition to the TC blockchain, and transmit the data to each storage device or a client having the storage device.

In addition, the TC block chain node 310 may include a traffic information storage DB 313 to store data about traffic information or control information received from the management server 100.

16 shows a configuration of an HE block chain node 410. The HE blockchain node 410 formally establishes a consensus algorithm processing unit 411 which derives consensus among a plurality of storage devices connected to a node or clients having such storage devices, and a new spare block verified through the consensus. In addition to the HE blockchain 400, a new HE blockchain is generated, and is provided with a storage processor 412 for transmission to each storage device or a client having such storage device and stored therein.

In addition, the HE block chain node 410 may include a payment information storage DB 413 to store payment information received from the management server 413 or data regarding the electronic wallet of each client connected to the node.

17 is a block diagram of the components that make up an unmanned moving object (eg, a drone) 500.

The unmanned moving object 500 includes a control unit 503 for giving a control command necessary to perform a given task, the control unit 503 is a communication unit 501 for communicating with the management server 100 and the station 700, and the TC block A blockchain storage unit 504 in which the chain 300 / PM blockchain 200 / HE blockchain 400 is stored, and a private key storage unit 502 in which a private key used for asymmetric encryption / decryption is stored; It includes an electronic wallet 505 in which coins are stored.

The blockchain multiple encryption protocol used in the network according to the present invention uses asymmetric encryption and symmetric key encryption in multiple to secure the unmanned mobile vehicle from forgery of data due to hacking.

In the present invention, the management server 100 and the unmanned mobile vehicle 500 stores the data transmitted and received in a block chain form, respectively, so as to mutually verify whether there is a modulation in each block communication.

All unmanned mobile vehicles 500 generate asymmetric cryptographic public and private keys in pairs upon network join according to the present invention, and periodically update them. The public key is stored in the management server 100 of the network, the private key is stored by the unmanned mobile object (500).

The data is encrypted / decrypted using the generated key value, and the management server 100 encrypts the data using the public key of the unmanned mobile object and transmits the data, and the unmanned mobile object 500 uses the private key thereof. Decrypt

The decrypted data can be decrypted once again through symmetric key encryption using a specific rule and used as final control data.

When sending data from the unmanned mobile vehicle 500 to the management server 100 is encrypted using a specific token value and a symmetric key algorithm having a restriction period received from the management server 100 and then transmits the data to the server.

FIG. 18 illustrates a structure of data transmitted from the unmanned mobile vehicle 500 to the management server 100. FIG. 19 illustrates a structure of data transmitted from the management server 100 to the unmanned mobile vehicle 500. 20 illustrates a communication process between the unmanned moving object 500 and the management server 100.

As shown in FIG. 18, the data 550 generated by the unmanned mobile object 500 and transmitted to the management server 100 includes an identification ID (corresponding to personal identification information PI) 551 of the unmanned mobile object 500; Send data (query related to specific mission such as destination or movement route, or report on mission completion or completion of mission) 552, authentication token information 553 corresponding to private key, and transmission data hash value 554 And they are encrypted and transmitted.

The hash value is used to identify the user on the blockchain network. Hash values can be generated in a variety of ways. Representative hash value generation algorithms include MD5 and SHA-256. The hash value is the only value present for a particular user.

Meanwhile, the data 450 transmitted from the management server 100 to the unmanned mobile object 500 is also encrypted and transmitted, and includes transmission data (control command for the designated unmanned mobile object) 451 and a transmission data hash value 452. It is encrypted with a public key and transmitted to the unmanned mobile 500, the unmanned mobile 500 is decrypted using an asymmetric key encryption method using a private key, and then decrypted by a symmetric key encryption method.

As shown in FIG. 20, the unmanned vehicle 500 sends data including a query (destination, route to a destination, takeoff time, etc.) to the management server 100 to request a query for performing its own task. send.

To this end, the unmanned mobile vehicle 500 encrypts the data using a symmetric key encryption method using its private key and transmits it to the management server 100 (S2001). The data structure transmitted at this time is as described in FIG.

The received management server 100 decrypts the received data with the public key, checks the token validity of the received data, and verifies whether the unmanned mobile is an authorized principal (S2002, S2003).

In addition, communication with the PM blockchain 200 receives route information for finding an optimal route in consideration of a current position, a weather condition, etc. of an unmanned mobile vehicle to be controlled among the routes stored in the PM blockchain 200.

In consideration of the received route information, local location, unmanned vehicle state, weather condition, etc., the optimal route search unit of the management server extracts the optimal route, and forms this data in the unit block form to the PM blockchain 200. Propagation (S2004).

The node of the PM blockchain 200 receives this and generates a block of data including an optimal path as a formal block through consensus of each client and connects it to an existing block chain (S2005, S2006).

The management server 100 encrypts the data related to the optimal path with the public key of the unmanned mobile object and transmits the data to the unmanned mobile object. The data structure (transmission data + hash value) at that time is as described in FIG. 18 (S2007).

The unmanned mobile 100 receives the decryption using the private key held therein, and the decrypted data is once again decrypted through a symmetric key encryption method (S2008).

The data decrypted through the multi-encryption process becomes raw data that the unmanned mobile can actually use to perform its mission, and based on this, the unmanned mobile moves along the commanded path to the destination set up.

On the other hand, during the execution of the command, it is preferable that the unmanned mobile unit 500 communicates with the management server 100 periodically (for example, once every 10 seconds), in this case, the unmanned mobile unit 500 The relevant information (current position, time required, speed, destination arrival, etc.) is encrypted by the symmetric key encryption method and transmitted to the management server 100 (S2009), the management server 100 is the unmanned moving object 500 It decrypts using the public key and verifies the validity of the unmanned mobile vehicle using the corresponding token value (S2010, S2011).

The data are made in the form of blocks, transmitted to the TC blockchain 300, and connected to the TC blockchain 300 through a consensus process.

FIG. 21 illustrates a configuration of the TC blockchain 300 in which N-th blocks are connected and updated. Referring to FIG. 21, the N-th block is connected to the last block, that is, the block connected to the end of the updated blockchain by being connected to the N-th block.

At this time, the N-th block is a hash value 301 of the N-first block, the unmanned moving object information 302, and a nonce (a counter that allows an individual transaction to be processed only once, also referred to as an 'answer value') (303). Mission performance data including time stamps, control data (origin, destination, optimal travel path, travel time) 304, information related to the current mission performance (during current mission completion or completion of a mission). 305 may be included.

Here, the management server 100 may calculate the hash value of the N-th block, and the ownership or management authority for the unmanned mobile object 500 and the unmanned mobile object 500 to be controlled by the calculated hash value of the N-th block. It can be transmitted to the terminal 610 of the subject having a.

At this time, the unmanned moving object 500 or the terminal 610 that has received the hash value of the N-th block may store the hash value of the N-th block.

In addition, the terminal 610 may modify the terminal block hash value with the hash value of the N-th block.

In other words, the terminal block hash value may always be maintained as the hash value of the last one block constituting the blockchain.

Similarly, the unmanned mobile vehicle 500 may modify the block hash value of the unmanned mobile vehicle 500 with the hash value of the Nth order block, and the block hash value of the unmanned mobile vehicle 500 always constitutes the last one of the blockchain. It can be kept as a hash value of the block.

Through this, even if the terminal 610 and the unmanned mobile vehicle 500 of the subject having ownership or management authority for the unmanned mobile vehicle 500 do not store all the block chains, the hash value of the last one block constituting the block chain Can be validated by the management server.

Each blockchain storage device may be connected to a server and provided to transmit and receive data with the server.

In addition, the blockchain storage device may store each blockchain (TC blockchain 300, PM blockchain 200, HE blockchain 100), each block chain shown in FIG. As described above, each block may be sequentially connected and configured.

On the other hand, the management server may generate the N-th block, and then transmit the N-th block to the blockchain storage device, and the blockchain storage device may update the blockchain by connecting the N-th block to the blockchain.

In other words, the blockchain storage device may store a blockchain in which 1 to 1-1 blocks are connected. When the N-th block is received from a management server, the blockchain storage device connects the N-th block to the blockchain. The blockchain may be updated so that the 1 st to N th blocks are connected.

According to the present invention, the hash value of the last block stored in the terminal and the unmanned mobile object and the hash value of the last block calculated from the block chain stored in the blockchain storage device are compared in the unmanned mobile control process to verify the validity of the terminal and the unmanned mobile object. can do.

Through this, it is possible to ensure safety from external attacks, such as hacking that can occur in the remote control process of the unmanned vehicle can be enhanced security.

Figure 22 shows the control process of the unmanned moving object according to the present invention.

First, a destination and a travel time input by an administrator terminal authorized to control a specific unmanned mobile object are transmitted through the management server, and this information is again transmitted to the unmanned mobile object to be controlled.

In this case, the process of validating the manager terminal and the unmanned mobile object by the management server is performed by comparing the last hash value stored in the manager terminal and the unmanned mobile object.

When the validation is completed and is determined to be a valid manager terminal and an unmanned moving object, the management server receives an optimal moving path from the PM blockchain, and the consensus process on the TC blockchain for the optimal moving path data related thereto. When generated through the transmission and transmitted to the unmanned mobile object to be controlled by the asymmetric encryption method, the unmanned mobile receives it, and decrypts it by the asymmetric encryption and the symmetric encryption method (S2201).

Thereafter, based on the finally decoded control data, GPS, altitude, and speed adjustment may occur in the unmanned moving object, and further, collision detection with another unmanned moving object may also operate. On the other hand, in order to prevent the hijacking or arbitrary path change of the unmanned mobile by hacking, communication is periodically performed between the management server and the unmanned mobile, and a block is generated at each communication and continuously connected to the TC block chain through validation. (S2202, S2203).

If an uncontrolled or error condition of the unmanned vehicle is suddenly detected (S2204), a fail safe process that protects the unmanned vehicle is started in such a situation (S2205), and the unmanned vehicle is operated unattended mainly on the area in which normal operation was finally performed. The search and rescue process of the moving object takes place. And a failure report is created based on this (S2206).

On the other hand, if the unmanned mobile body operates normally, but it is determined that the state of the battery is not normal (S2207), the management server extracts the information about the adjacent station contained in the PM blockchain (S2208), and transmits it to the corresponding unmanned mobile object Command to move station. The unmanned moving object that has received this moves to the station that received the movement instruction (S2209), performs battery charging, and when charging is completed, takes off again and performs the originally instructed mission (S2210).

If it is determined that it is in a normal controllable state and the battery is sufficient, it periodically communicates with the management server until it reaches the target point along the commanded optimal path, and the result is continuously transmitted from the management server to the manager terminal.

Data on the status of such tasks is generated in the form of blocks, which are sent to the TC blockchain through the management server, verified and agreed on in the TC blockchain, and then connected to the last block of the TC blockchain. This forms part of the TC blockchain.

Finally, when the target point is finally reached, the task termination status is transmitted to the management server, and data on the completion of the task is generated in the form of a block, and the block is transmitted to the TC blockchain through the management server to be transferred to the TC blockchain. After the verification and consensus process in, it is connected to the last block of the TC blockchain to form a part of the TC blockchain continuously (S2211).

FIG. 23 illustrates a configuration of the PM blockchain 200 in which N-th blocks are connected and updated. The overall connection structure of the blockchain is similar to the TC blockchain 300 shown in FIG. 21, but the detailed configuration thereof is different.

Referring to Figure 23, the N-th block is the last block, that is, the block connected to the end of the updated block chain connected to the N-1 order block.

At this time, the N-th block is a hash value 201, path creator information 202, station information 203, nonce (counter that allows individual transactions to be processed only once, 'answer value' 204, a time stamp that is information for the generated time, and route data (optimal route between a specific origin and a specific destination or optimal route to a specific station) 205.

Here, the management server 100 may calculate a hash value of the N-th block, and transmit the calculated hash value of the N-th block to the unmanned moving object 500 and the management server 100 to be controlled.

At this time, the unmanned moving object 500 or the management server that has received the hash value of the N-th block may store the hash value of the N-th block.

In addition, the unmanned mobile body 500 or the management server 100 may modify the terminal block hash value to the hash value of the N-th block.

In other words, the terminal block hash value may always be maintained as the hash value of the last one block constituting the block chain.

Similarly, the unmanned mobile vehicle 500 or the management server 100 may modify the block hash value of the unmanned mobile vehicle with the hash value of the N-th block, and the block hash value of the unmanned mobile vehicle always constitutes the last one of the blockchain. It can be kept as a hash value of the block.

Through this, the unmanned mobile vehicle 500 may be verified by the management server 100 through the hash value of the last one block constituting the block chain, even if not all of the block chain.

Each blockchain storage device may be connected to the management server 100 and provided to transmit and receive data with the management server 100.

In addition, as illustrated in FIG. 23, each block may be sequentially connected to the blockchain storage device.

Meanwhile, the management server 100 may generate the Nth block and then transmit the Nth block to the blockchain storage device, and the blockchain storage device may update the blockchain by connecting the Nth block to the blockchain. have.

In other words, the blockchain storage device may store a blockchain in which primary blocks are connected to the N-th order block. When the N-th block is received from a management server, the blockchain storage device connects the N-th block to the PM blockchain, thereby preventing the PM block. The blockchain may be updated so that the chain is in the form of the 1st to Nth order blocks.

According to the present invention, by comparing the hash value of the last block stored in the management server 100 and the unmanned mobile vehicle 500 and the hash value of the last block calculated from the PM blockchain stored in the blockchain storage device in the unmanned mobile control process You can verify the validity of the created path or the path that a specific unmanned vehicle should move.

In this way, the stability of the pathway can be ensured.

24 illustrates a configuration of the HE blockchain 400 in which N-th blocks are connected and updated. The overall connection structure of the blockchain is similar to the TC blockchain 300 shown in FIG. 21 and the PM blockchain 200 shown in FIG. 23, but the detailed configuration thereof is different.

Referring to FIG. 24, the N-th block is connected to the last block, that is, the block connected to the end of the updated blockchain by being connected to the N-th block.

At this time, the N-th block is a hash value 401 of the N-first block, unmanned moving object information 402, nonce (counter that allows individual transactions to be processed only once, also referred to as 'answer value') (403) In addition, the generated time may include time stamps and payment information data (history of payment at a specific station, balance information of an electronic wallet of an unmanned mobile object, money amount charging information, etc.) 404.

Here, the management server 100 may calculate a hash value of the N-th block, and transmit the calculated hash value of the N-th block to the unmanned moving object 500 and the management server 100 to be controlled.

At this time, the unmanned mobile 500 or the management server 100 receiving the hash value of the N-th block may store the hash value of the N-th block.

In addition, the unmanned mobile body 500 or the management server 100 may modify the terminal block hash value to the hash value of the N-th block.

In other words, the terminal block hash value may always be maintained as the hash value of the last one block constituting the block chain.

Similarly, the unmanned mobile or the management server can modify the block hash value of the unmanned mobile with the hash value of the N-th block, and the block hash value of the unmanned mobile always keeps the hash value of the last block of the block chain. You can do that.

Through this, the unmanned mobile vehicle 500 may be verified by the management server 100 through the hash value of the last one block constituting the block chain, even if not all of the block chain.

Each blockchain storage device may be connected to the management server 100 and provided to transmit and receive data with the management server 100.

In addition, as illustrated in FIG. 24, each block may be sequentially connected to the blockchain storage device.

Meanwhile, the management server 100 may generate the Nth block and then transmit the Nth block to the blockchain storage device, and the blockchain storage device may update the blockchain by connecting the Nth block to the blockchain. have.

In other words, the blockchain storage device may store the blockchain to which the first to Nth primary blocks are connected. When the Nth block is received from the management server 100, the Nth block is stored in the HE blockchain 400. By connecting the HE blockchain 400, the blockchain can be updated so that the 1st to Nth order blocks are connected.

According to the present invention, by comparing the hash value of the last block stored in the management server 100 and the unmanned mobile vehicle 500 and the hash value of the last block calculated from the PM blockchain stored in the blockchain storage device in the unmanned mobile control process It is possible to verify the validity of paying for the station fee or charging the battery and to prevent the electronic wallet hacking.

Hereinafter, the communication control sequence such as a path creation and storage sequence, a drone control sequence, a drone and a station based on the above description will be described.

<Path creation and save sequence>

As shown in FIG. 25, after a route creator who wants to create a route (for example, a drone moving route) for an unmanned mobile vehicle in a specific region logs in using his terminal 620 connected to a communication network (S2501). ), In order to receive the basic information for creating the route, requests the management server to load the 2D geographic information and 3D geographic information of the region, and the route information (pre-written route information) of the region (S2502 to S2504).

Such a request is encrypted and transmitted in an asymmetric key method, and the management server receives and decrypts it. Based on this, the local area information information request is made to the PM blockchain, and this request is also encrypted and transmitted using an asymmetric key method (S2505).

The PM blockchain node receives it, decrypts it, and transmits the corresponding local path information stored in the PM blockchain storage (eg, a client) to the management server by an encryption method (eg, an asymmetric key method).

The management server encrypts the received local route information and transmits the loading request to one route creator terminal, and the route information already created is displayed on the screen of the route creator terminal (S2506).

When the route creator creates a new route in a region other than the route already created or modifies the route already created, when the data about the newly created route or the modified route is transmitted to the administration server (S2507), the management server In step S2508, the validity of the created route is verified in consideration of the surrounding situation information (eg, an air ban area, a military secret area, etc.).

If it is determined that the created path is valid, a new block is generated and transmitted to the PM blockchain to request storage (S2509). The PM blockchain node adds a new block including path data created in the PM blockchain previously stored in each blockchain storage after consensus (S2510).

<Unmanned Vehicle (eg Drone) Control Sequence>

An unmanned moving object control sequence will be described with reference to FIG.

First of all, the terminal 610 of a company that performs a drone business or a business using an unmanned mobile vehicle, such as a logistics company, prepares a flight schedule or a travel schedule (departure, destination, departure time, estimated time required, purpose of movement, etc.) of the unmanned mobile vehicle. And, it encrypts and transmits it to the management server (S2601).

Then, when the control signal (destination, departure time, mission information) for the unmanned mobile object to be moved to the unmanned mobile object (S2602), the unmanned mobile object performs an encryption process with the management server based on the information included in the control signal. Route information is requested (S2603).

The management server that received the request encrypts the path information request to the PM blockchain node for optimal path search, and the PM blockchain node encrypts and manages various path information to the corresponding destination stored in the blockchain storage (eg, client). Provide it to the server.

Based on the path information received from the PM blockchain node, the management server constructs an optimal path to reach the destination, encrypts it, and transmits the encrypted path to the unmanned mobile (S2604, S2605).

The unmanned vehicle that has received the best route information starts based on this (eg, takeoff) and starts moving (eg, flying) (S2605, S2606, S2607).

<Station Communication Control>

FIG. 27 shows a sequence for when a station needs to go through a station for temporary waiting, repair, or battery charging.

First, it is determined whether the unmanned moving object is low during battery movement (eg, in flight) (S2702) or needs to go through a station through self-diagnosis (S2703).

In such a case, the candidate list and the location of the station to be visited are encrypted in consideration of the current location of the user and requested to the management server (S2703).

The management server receives the inquiry of the station of the optimal position for the requested unmanned mobile object, in this case, the PM blockchain node is encrypted and requests the station position (S2704).

The PM blockchain node provides the management server with information about the station location stored in the blockchain storage (e.g. client) to the management server, and the management server that receives it selects the optimal station for the unmanned mobile vehicle based on the received information. And by configuring the path to reach this information is created and encrypted, and transmitted to the unmanned mobile (S2705).

The unmanned moving object that has received this is moved near the optimal station selected based on the received information (S2706). When the control request is made to the corresponding station, the corresponding station receives the control process and performs a control process with the unmanned moving object which has made the control request (S2707 ~ 2709).

According to the control process, when the unmanned vehicle arrives (eg, lands) at the station, the station performs necessary services (eg, battery charging, repair, etc.) (S2710, S2711).

When the required service is completed, the station notifies the owner company terminal 610 of this, and the unmanned mobile vehicle pays for the service through the HE blockchain node (S2713).

In this case, a new temporary block is created, and the HE blockchain node validates the transaction details of the unmanned mobile vehicle through a consensus process, and if the verification passes, the block associated with the new payment details or transaction details is HE blockchain. In addition to storing it in the blockchain storage.

When the payment is completed, the unmanned vehicle leaves the station and enters the control sequence mode through the management server (S2714, S2715).

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but it is only for the purpose of describing the present invention, and those skilled in the art to which the present invention pertains various modifications or equivalents from the detailed description of the invention. It will be appreciated that one embodiment is possible.

Therefore, the true scope of the present invention should be determined by the technical spirit of the claims.

100: management server 200: PM blockchain
300: TC Blockchain 400: HE Blockchain
500: unmanned mobile body 610: manager (owner) terminal
620: route creator terminal 700: station

Claims (14)

At least one unmanned moving object storing at least one block containing a hash value and data;
A path management information block chain in which path information for the unmanned mobile object is distributed and stored;
A traffic control information block chain in which traffic control information for the unmanned mobile object is distributed and stored;
A payment information block chain in which payment information for a service provided to the unmanned mobile object is distributed and stored;
A management server communicatively coupled to the unmanned mobile body, the path management information block chain, the traffic control information block chain, and the payment information block chain;
A route creator provided to communicate with the management server and inputting new route information or modified route information to which an unmanned mobile object can move, transmits it to the management server, and receives previously created route information from the management server. Including a terminal,
Data transmitted and received between the management server and the unmanned mobile is first decrypted in the unmanned mobile by asymmetric key encryption, and the decrypted data is secondly decrypted by the symmetric key encryption.
When the unmanned vehicle makes a request for path information for movement to a specific destination to the management server, the management server requests the path information from the path management information blockchain, and searches for the optimal path to the specific destination based on this. Send it to the unmanned moving object,
The management server transmits the movement information of the unmanned mobile body that has been completed to the traffic control information blockchain, and adds it to the existing traffic control information blockchain when it is determined to be valid movement information through a consensus process in the traffic control information blockchain node. Characterized in that
The block of the traffic control block chain includes the hash value of the previous order block, the unmanned vehicle information, the nonce value, the control data of the unmanned vehicle, and the mission performance data of the unmanned vehicle,
The block of the path management information block chain includes a hash value of a previous order block, path creator information, station information, nonce value, and path data,
The block of the payment information blockchain includes a hash value of the previous block, unmanned vehicle information, a nonce value, and payment information data.
The path management information blockchain and the traffic control information blockchain are composed of a private blockchain implemented by a basic consensus algorithm SBFT (Simplified Byzantine Fault Tolerance) method of a Hyper Ledger Fabric and a Hyper Ledger Fabric.
The payment information blockchain is composed of a public blockchain using Ethereum or EOS, and the consensus method used by the path management blockchain and the traffic control information blockchain is composed of a POP (Proof of Prestige) consensus algorithm. It consists of a hybrid form of the chain consensus model and the private blockchain consensus model,
Private blockchain consensus model is a unmanned mobile control system using a blockchain, characterized in that the number of consensus nodes is reduced than the public blockchain to implement a relatively fast transaction speed. delete delete delete The method of claim 1,
Further comprising a station for providing a service to the unmanned vehicle,
When the unmanned vehicle requests a management server information of a station capable of providing a required service,
The management server acquires the station information from the path management information blockchain, and provides the station information of the optimum position to the unmanned mobile vehicle in consideration of the state of the unmanned mobile vehicle,
A control system for an unmanned mobile vehicle using a block chain, characterized in that the unmanned mobile vehicle is moved to a corresponding station and controlled to receive a service. The method of claim 5,
When the service is provided at the corresponding station, the unmanned mobile unit transmits a payment information block related to payment for the service to the payment information blockchain node, validates it through consensus at the payment information block node, and then generates new payment information. Unmanned mobile control system, characterized in that the addition of the block to the existing payment information blockchain block. delete delete Requesting, by an unmanned mobile vehicle, route information for movement to a specific destination to a management server;
Requesting management information from the path management information block chain by the management server receiving the request from the path management information block chain;
Searching for an optimal route for a specific destination based on the received route information;
Transmitting the found optimal path to an unmanned moving object;
When the movement of the unmanned vehicle is completed, providing the task completion information to the management server by the unmanned vehicle;
Transmitting, by the management server, the movement information of the unmanned mobile vehicle whose mission is completed, to the traffic control information blockchain;
Transmitting, by the management server, payment information for the unmanned mobile vehicle whose mission is completed, to the payment information block chain;
If it is determined that the traffic control information blockchain node is valid mobile information through a consensus process, adding to the existing traffic control information blockchain,
The block of the traffic control block chain includes the hash value of the previous order block, the unmanned vehicle information, the nonce value, the control data of the unmanned vehicle, and the mission performance data of the unmanned vehicle,
The block of the path management information block chain includes a hash value of a previous order block, path creator information, station information, nonce value, and path data,
The block of the payment information blockchain includes a hash value of the previous block, unmanned vehicle information, a nonce value, and payment information data.
The path management information blockchain and the traffic control information blockchain are composed of a private blockchain implemented by a basic consensus algorithm SBFT (Simplified Byzantine Fault Tolerance) method of a hyper ledger fabric and a hyper ledger fabric.
The payment information blockchain is characterized in that the public blockchain using Ethereum or EOS,
The consensus method used by the path management blockchain and the traffic control information blockchain consists of a POP (Proof of Prestige) consensus algorithm.
It consists of a hybrid form of the blockchain consensus model and the private blockchain consensus model,
Private blockchain consensus model is a control method of an unmanned mobile vehicle using a blockchain, characterized in that the number of consensus nodes is reduced than a public blockchain to implement a relatively fast transaction speed. delete The method of claim 9,
Further comprising a station for providing a service to the unmanned vehicle,
Requesting a management server for information on a station capable of providing a service required by the unmanned mobile vehicle;
Acquiring station information from the path management information blockchain by the management server and providing station information of an optimal position to the unmanned mobile vehicle in consideration of the state of the unmanned mobile vehicle;
The control method of the unmanned mobile vehicle using a block chain, characterized in that the management server further comprises the step of controlling the unmanned mobile to move to the station and receive a service by the control command The method of claim 11,
If you received services from that station,
The unmanned mobile unit sends the payment information block related to the payment for the service to the payment information blockchain node, validates it through consensus at the payment information block node, and then transfers the new payment information block to the existing payment information blockchain block. The control method of the unmanned moving object further comprising the step of adding to.





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