CN-122027152-A - Multi-robot communication system, method, storage medium and computer program product

CN122027152ACN 122027152 ACN122027152 ACN 122027152ACN-122027152-A

Abstract

The application discloses a multi-robot communication system, a method, a storage medium and a computer program product, which comprise aiming at cluster internal communication, a first target intelligent execution module in an intelligent execution module group directly executes a quantum key distribution protocol by utilizing respective quantum key distribution terminals to generate a first safety key which is only shared by the first target intelligent execution modules, wherein the first target intelligent execution module is an intelligent execution module which needs to be communicated in the intelligent execution modules which are accessed to the network, and the first safety key is used for encrypting task data transmitted among the first target intelligent execution modules. Therefore, aiming at the cluster internal communication, the first target intelligent execution module is regulated to directly execute a protocol to generate a shared key, and a cloud transit link is abandoned, so that the problems of high local cooperative delay and poor instantaneity caused by over-dependence on centralized scheduling are solved.

Inventors

CHEN CONGMING

Assignees

中科博特智能科技(安徽)有限公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (16)

1. A multi-robot communication system, comprising: the intelligent execution module group is characterized by comprising any intelligent execution module in the intelligent execution module group, wherein a quantum key distribution terminal is integrated with any intelligent execution module in the intelligent execution module group, and the intelligent execution module group comprises intelligent execution modules which are connected to the network; for intra-cluster communication, a first target intelligent execution module in the intelligent execution module group directly executes a quantum key distribution protocol by utilizing respective quantum key distribution terminals to generate a first security key shared only by the first target intelligent execution module; The first target intelligent execution module is an intelligent execution module which needs to be communicated in the intelligent execution modules which are connected to the network, and the first security key is used for carrying out encryption processing quantum key distribution on task data transmitted between the first target intelligent execution modules.
2. The multi-robot communication system of claim 1, further comprising a global cooperative management and control module integrated with cloud quantum key distribution transmitting nodes; for communication of the networked intelligent execution module, the cloud quantum key distribution transmitting node is configured to execute a quantum key distribution protocol with a second target intelligent execution module, and generate a second security key shared by the second target intelligent execution module and the global cooperative management and control module; The second security key is used for encrypting the working data transmitted between the global cooperative control module and the second target intelligent execution module, and the second target intelligent execution module is any intelligent execution module in the intelligent execution modules which are connected to the network.
3. The multi-robot communication system of claim 2, wherein the intelligent execution module group comprises intelligent execution modules to be networked; Aiming at the network access communication of the intelligent execution module to be network accessed, a third target intelligent execution module is used as a trusted relay to assist a fourth target intelligent execution module and a global cooperative management and control module to finish safety authentication and distribution of a first global key; The third target intelligent execution module is any intelligent execution module in the intelligent execution modules which are connected to the network, the fourth target intelligent execution module is any intelligent execution module in the intelligent execution modules to be connected to the network, and the first global secret key is used for conducting encryption processing on two-way communication between the fourth target intelligent execution module and the global cooperative control module.
4. The multi-robot communication system of claim 1, further comprising a key management module, wherein the first quantum key distribution terminal and the second quantum key distribution terminal are quantum key distribution terminals integrated by different intelligent execution modules of the first target intelligent execution module, respectively; The first quantum key distribution terminal is configured to select a first coding basis vector from at least two groups of linear polarization bases, determine a target polarization direction in orthogonal polarization directions included by the first coding basis vector according to preset quantum bit values, and generate single photons with a polarization state consistent with the target polarization direction; The second quantum key distribution terminal is configured to select a second coding basis vector from the at least two groups of linear polarization bases, measure each received single photon by using the second coding basis vector, and acquire a first measurement result; the first quantum key distribution terminal and the second quantum key distribution terminal are further configured to interact basic vector information through a classical channel, perform basic vector comparison to screen out a first measurement result corresponding to the basic vector consistency, generate a first original key, and estimate a first quantum channel error rate; The key management module is configured to perform security determination based on the first original key and the first quantum channel bit error rate, and if the determination passes, perform key post-processing on the first original key to generate a first intelligent execution module and a second intelligent execution module of the first security key.
5. The multi-robot communication system of claim 1 or 4, further comprising a cluster of multi-robot communication node modules; The first multi-robot communication node module is configured to encrypt task data to be transmitted based on a preset symmetric encryption algorithm by using the first security key, generate ciphertext data, and construct a data packet containing the ciphertext data, key identification information and a check code; The second multi-robot communication node module is configured to analyze the data packet to obtain the key identification information, and obtain the corresponding first security key from a local key storage area in a matching way based on the key identification information; The first multi-robot communication node module and the second multi-robot communication node module are respectively different multi-robot communication node modules in the multi-robot communication node module group; The second multi-robot communication node module is further configured to decrypt the data packet and perform integrity check on the check code by using the matched first security key, and restore the task data.
6. The multi-robot communication system of claim 4, wherein the first quantum key distribution terminal and the second quantum key distribution terminal are quantum key distribution terminals integrated by different intelligent execution modules of the first target intelligent execution module, respectively; The first quantum key distribution terminal is further configured to monitor a state parameter of a spatial quantum channel with the second quantum key distribution terminal, the state parameter including at least a quantum bit error rate; the key management module is configured to judge whether the state parameter meets a preset key updating condition or not, and if so, generate a key updating instruction; The first quantum key distribution terminal is further configured to respond to the key updating instruction, re-execute the step of selecting a first coding basis vector from at least two groups of linear polarization bases, determine a target polarization direction from orthogonal polarization directions included in the first coding basis vector according to preset quantum bit values, and prepare single photons with polarization states consistent with the target polarization direction.
7. The multi-robot communication system of claim 2, wherein the cloud quantum key distribution transmitting node is further configured to transmit single photons encoded with qubit information to a third quantum key distribution terminal; The third quantum key distribution terminal is a quantum key distribution terminal integrated by any intelligent execution module in the second target intelligent execution module, and the cloud quantum key distribution transmitting node and the third quantum key distribution terminal establish a quantum key distribution link; The third quantum key distribution terminal is configured to select a local decoding basis vector from at least two groups of linear polarization bases, measure each received single photon by using the local decoding basis vector to obtain a second measurement result, interact basis vector information with the global cooperative management and control module through a classical channel, locally screen out a second measurement result corresponding to the basis vector consistency to form a second original key, and estimate a second quantum channel error rate; The second original key and the second quantum channel error rate are used for executing security judgment, and when the judgment passes, key post-processing is executed on the second original key to generate the second security key.
8. A multi-robot communication system according to claim 3, wherein the global co-management module is configured to: After confirming that a quantum key distribution terminal integrated by a fourth quantum key distribution terminal and the third target intelligent execution module completes quantum handshake operation based on a quantum entanglement state, and receiving identity information uploaded by the fourth quantum key distribution terminal and the third target intelligent execution module through temporary negotiation key encryption, carrying out double identity validity verification on the fourth quantum key distribution terminal and the third target intelligent execution module based on a preset admission rule; The fourth quantum key distribution terminal is integrated by the fourth target intelligent execution module; If the verification is passed, an exclusive quantum key distribution link is established between the cloud quantum key distribution transmitting node and the fourth quantum key distribution terminal, so that the first global key shared only by the global cooperative management and control module and the fourth quantum key distribution terminal is generated based on a quantum key distribution protocol; And transmitting a key identification, a version number and a life cycle rule corresponding to the first global key to the fourth quantum key distribution terminal, and sending a key use permission activation instruction to instruct the fourth quantum key distribution terminal to store the first global key in a local security area of the fourth quantum key distribution terminal and activate the use permission.
9. The multi-robot communication system of claim 8, wherein the global coordination management module is further configured to: After the fourth quantum key distribution terminal is accessed to the network, monitoring the communication quality of a quantum key distribution link between the fourth quantum key distribution terminal and the global cooperative management and control module; If the communication quality is detected to be smaller than a preset standard or abnormal key synchronization occurs, triggering the updating operation of the first global key, and re-executing a quantum key distribution protocol through the cloud quantum key distribution transmitting node and the fourth quantum key distribution terminal to generate a second global key; If the fourth quantum key distribution terminal is detected to be in an offline or offline state, a first global key cancellation instruction is sent to the fourth quantum key distribution terminal so as to instruct the fourth quantum key distribution terminal to delete the first global key stored in the local security area of the fourth quantum key distribution terminal; And sending a channel cleaning instruction to the third target intelligent execution module to instruct the third target intelligent execution module to disconnect a temporary quantum channel established between the third target intelligent execution module and the fourth quantum key distribution terminal based on the quantum entanglement state, and destroying a temporary negotiation key shared by the third target intelligent execution module and the fourth quantum key distribution terminal.
10. The multi-robot communication system according to claim 8, wherein the fourth quantum key distribution terminal is configured to acquire local job data to be reported to the global cooperative control module, encrypt the local job data by using the first global key, and append a version number of the first global key to the encrypted data to construct an uplink encrypted data packet; the global cooperative management and control module is configured to analyze the uplink encrypted data packet to obtain a version number of the first global key and perform validity verification; the global cooperative management and control module is further configured to invoke the first global key matched with the version number of the first global key to decrypt the uplink encrypted data packet to obtain the local operation data, generate a service confirmation instruction based on the local operation data, encrypt the service confirmation instruction by using the first global key and construct a downlink encrypted data packet under the condition that verification is passed; the fourth quantum key distribution terminal is further configured to analyze the downlink encrypted data packet, decrypt the downlink encrypted data packet by using the first global key, and obtain the service confirmation instruction.
11. The multi-robot communication system of claim 8, wherein the global coordination management module is further configured to: Monitoring a real-time communication distance between the fourth quantum key distribution terminal and the fourth quantum key distribution terminal; If the real-time communication distance is larger than a preset local coverage threshold, judging that the fourth quantum key distribution terminal enters a wide area operation area, calling satellite-to-ground quantum relay resources through the cloud quantum key distribution transmitting node, establishing a space quantum link with the fourth quantum key distribution terminal, executing a quantum key distribution protocol based on the established space quantum link, and generating or updating the first global key; If the real-time communication distance is smaller than or equal to the preset local coverage threshold, the fourth quantum key distribution terminal is judged to be in a local operation area, a local free space quantum link is directly established with the fourth quantum key distribution terminal through the cloud quantum key distribution transmitting node, a quantum key distribution protocol is executed based on the established local free space quantum link, and the first global key is generated or updated.
12. A multi-robot communication method, applied to a multi-robot communication system, comprising: Aiming at the intra-cluster communication, a first target intelligent execution module in an intelligent execution module group directly executes a quantum key distribution protocol by utilizing respective quantum key distribution terminals to generate a first security key shared only by the first target intelligent execution module; The first target intelligent execution module is an intelligent execution module which needs to be communicated in the intelligent execution modules which are accessed to the network; And encrypting the task data transmitted between the first target intelligent execution modules according to the first security key.
13. The multi-robot communication method of claim 12, comprising: Aiming at the communication of the intelligent execution module which is accessed to the network, a quantum key distribution protocol is executed by the global cooperative management and control module through utilizing an integrated cloud quantum key distribution transmitting node and a second target intelligent execution module, and a second security key shared by the second target intelligent execution module and the global cooperative management and control module is generated; The second target intelligent execution module is any intelligent execution module in the intelligent execution modules which are accessed to the network; and encrypting the working data transmitted between the global cooperative control module and the second target intelligent execution module according to the second security key.
14. The multi-robot communication method of claim 13, comprising: Aiming at network access communication of an intelligent execution module to be network-accessed, a third target intelligent execution module is used as a trusted relay to assist a fourth target intelligent execution module and a global cooperative management and control module to finish security authentication and distribution of a first global key; The third target intelligent execution module is any intelligent execution module in the intelligent execution modules which are already connected with the network, and the fourth target intelligent execution module is any intelligent execution module in the intelligent execution modules to be connected with the network; And the second global key is used for encrypting the bidirectional communication between the fourth target intelligent execution module and the global cooperative control module.
15. A computer readable storage medium having stored therein program code that is callable by a processor to perform the multi-robot communication method of claim 12.
16. A computer program product, characterized in that the computer program product comprises a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the multi-robot communication method of claim 12.

Description

Multi-robot communication system, method, storage medium and computer program product Technical Field The present application relates to the field of communication technology and information security, and more particularly, to a multi-robot communication system, method, storage medium, and computer program product. Background With the rapid development of fields such as industrial automation, intelligent inspection, collaborative operation and the like, a multi-robot system (comprising an industrial assembly robot cluster, a warehouse logistics robot formation team, an emergency rescue robot team and the like) has become core equipment for improving the operation efficiency, the multi-robot system relies on real-time data interaction and cloud collaboration, and the safety, the instantaneity and the reliability of communication directly determine the operation efficiency and the safety boundary of the system. In the related art, a multi-robot communication scheme based on symmetric and asymmetric encryption faces the potential safety hazards of quantum computation cracking and key distribution eavesdropping. Disclosure of Invention In view of the above, the present application proposes a multi-robot communication system, a method, a storage medium and a computer program product, which can solve the above-mentioned problems. In a first aspect, the embodiment of the application provides a multi-robot communication system, which comprises an intelligent execution module group, wherein any intelligent execution module in the intelligent execution module group is integrated with a quantum key distribution terminal, the intelligent execution module group comprises intelligent execution modules which are connected to the internet, a first target intelligent execution module in the intelligent execution module group directly executes a quantum key distribution protocol by using the respective quantum key distribution terminal aiming at internal communication of the cluster to generate a first security key which is only shared by the first target intelligent execution modules, the first target intelligent execution module is the intelligent execution module which needs to be communicated in the intelligent execution modules which are connected to the internet, and the first security key is used for encrypting task data transmitted among the first target intelligent execution modules. Therefore, aiming at the cluster internal communication, the first target intelligent execution module is regulated to directly execute a protocol to generate a shared key, and a cloud transit link is abandoned, so that the problems of high local cooperative delay and poor instantaneity caused by over-dependence on centralized scheduling are solved. The embodiment of the application provides a multi-robot communication method which is applied to a multi-robot communication system and comprises the steps of directly executing a quantum key distribution protocol by using respective quantum key distribution terminals through a first target intelligent execution module in an intelligent execution module group aiming at cluster internal communication to generate a first safety key shared by the first target intelligent execution module, wherein the first target intelligent execution module is an intelligent execution module which needs to be communicated in the intelligent execution modules which are accessed to the network, and encrypting task data transmitted between the first target intelligent execution modules according to the first safety key. In a third aspect, embodiments of the present application provide a computer readable storage medium having program code stored therein, the program code being callable by a processor to perform a multi-robot communication method as described above. In a fourth aspect, embodiments of the present application provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the multi-robot communication method described above. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, not all embodiments. All other embodiments and figures obtained by a person skilled in the art without any inventive effort are within the scope of protection of the present application based on the embodiments of the present application. Fig. 1 shows a schematic structural diagram of a multi-robot communication system according to an embodiment of the present application. Fig. 2 is a schematic structural diagram of another multi-robot communication system according to an embodimen