<p>面对现场环境未知且状态不稳定的应急场景，使用群组机器人进入该场景完成救援前期基础设施的构建，可以有效提高整体救援效率，避免人员伤亡。救援业务的实施主要通过机器人之间的合作与协作实现，而数据安全问题是其合作与协作能否有效开展的关键。区块链作为一种具有去中心化、防篡改、不可删除等特性的数据存储系统，能够保证无固定中心节点的群组机器人系统中的数据安全。针对应急场景群组机器人中的数据安全问题，提出了应急场景下基于区块链的群组机器人数据安全方案，主要研究内容如下：</p> <p>（1）为了解决环境复杂多变的应急场景下因通信链路不稳定引起的数据安全问题，结合区块链技术采用去中心化群组机器人网络拓扑结构，构建一个去中心化的群组机器人区块链网络。网络中的加密算法、链式数据存储结构以及共识算法等机制保证了系统中机器人数据交互的安全性。</p> <p>（2）针对上述网络结构中区块链共识数据所造成通信负荷大的问题，提出了一种基于主侧链的数据存储模型。该模型采用分层共识的方式处理系统中的机器人数据，系统中的机器人在组网过程中根据业务类型的不同被划分为不同类型的侧链，形成该业务所在侧链上的局部共识；其次从每个侧链上选举出记账节点组成主链，形成分层共识的结构，完成整个系统的全局共识。该模型采用委托权益证明（Delegated proof of Stake, DPoS）共识算法完成机器人数据的共识任务，使得该系统在无中心节点的情况下，保证数据的一致性。</p> <p>（3）针对上述基于主侧链的数据存储模型中DPoS共识算法存在记账节点逐渐&ldquo;中心化&rdquo;的问题，提出了一种基于概率语言术语集（Probabilistic Language Term Set, PLTS）改进的DPoS共识算法。该算法通过模糊决策的方法设计了一种弹性的投票模型，在该模型中增加了投票节点的投票选项，以此来提高群组机器人记账节点选举的公平性；其次考虑到不同投票类型对记账节点选择产生影响，设计了一种基于权重设置的得分函数计算公式，降低恶意节点的恶意投票态度。</p> <p>最后，仿真实验验证了本文所提方案在时延、吞吐量以及容错性等方面均优于基于单链的模型，证明了本文所提方案可以有效地解决应急场景下存在的数据安全问题，在保证机器人数据安全的前提下进一步提升了系统的通信效率。</p>

<p>In the face of an emergency scenario with unknown on-site environment and unstable state, using swarm robotics to enter the scene to complete the construction of infrastructure in the early stage of rescue can effectively improve the overall rescue efficiency and avoid casualties. The implementation of rescue business is mainly realized through cooperation and cooperation among robotics, and data security is the key to the effective implementation of cooperation and cooperation. As a decentralized, tamper-proof, unerasable data storage system, blockchain can ensure the data security of swarm robotics system without fixed central nodes. Aiming at the data security problem of swarm robotics in emergency scenarios, a data security scheme of swarm robotics in emergency scenarios based on blockchain is proposed. The main research contents are as follows.</p> <p>(1) In order to solve the data security problem caused by unstable communication links in the complex and changeable emergency scenario, a decentralized swarm robotics blockchain network is built by combining blockchain technology and adopting the decentralized swarm robotics network topology. The encryption algorithm, the chain data storage structure, and the consensus algorithm mechanism in the network ensure the security of the robot data interaction in the system.</p> <p>(2) A data storage model based on the master-slave blockchain is proposed to solve the problem of high communication load caused by consensus data of blockchain in the above network structure. The model uses a hierarchical consensus approach to handle the robot data in the swarm. During the networking process, the robotics in the system are divided into different types of slave chains according to their business types to form a local consensus on the business, and bookkeeping nodes are elected from each slave chain to form the master chain, forming a hierarchical global consensus structure.&nbsp; The model uses the Delegated Proof of Stake(DPoS) consensus algorithm to share robot data, ensuring data consistency in the system without a central node.</p> <p>(3) Aiming at the problem of gradual &quot;centralization&quot; of billing nodes in the DPoS consensus algorithm in the above data storage model based on the master-slave blockchain， an improved DPoS consensus algorithm based on the Probabilistic Language Term Set(PLTS) is proposed. In this algorithm, an elastic voting model is designed by fuzzy decision method, and voting options of voting nodes are added to the model, so as to improve the fairness of swarm robotics accounting node election. Secondly, considering the influence of different voting types on the selection of accounting nodes, a scoring function calculation formula based on the weight set is designed to reduce the malicious voting attitude of malicious nodes.</p> <p>Finally, simulation experiments verify that the proposed scheme is superior to the model based on a single chain in terms of delay, throughout, and fault tolerance, which proves that the proposed scheme can effectively solve the data security problems existing in emergency scenarios and further improve the communication efficiency of the system on the premise of ensuring the data security of robotics.</p>

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