Unmanned aerial vehicle cluster security collaboration method, system, device, medium and product

Abstract

The invention discloses an unmanned aerial vehicle cluster security collaboration method, system and device, a medium and a product. The unmanned aerial vehicle cluster comprises a plurality of pre-divided clusters, each cluster comprises a pre-selected first cluster head node and a plurality of in-cluster child nodes, and the credibility of the first cluster head node meets a preset condition and is larger than that of the in-cluster child nodes. According to the method, secure communication and data sharing among unmanned aerial vehicle cluster nodes are realized through a consensus mechanism, and the security and reliability of an unmanned aerial vehicle cluster are improved; an unmanned aerial vehicle is divided into a plurality of clusters under an unmanned aerial vehicle cluster hierarchical network, the plurality of clusters work cooperatively, and an unmanned aerial vehicle cluster consensus mechanism is divided into an intra-cluster consensus mechanism and a lightweight inter-cluster consensus mechanism by means of hierarchical network characteristics of an unmanned aerial vehicle cluster. The cluster head communication pressure is relieved, communication congestion between cluster head nodes is relieved, the communication complexity is reduced, and the communication efficiency of the unmanned aerial vehicle cluster is improved.

Description

Technical Field

[0001] The present application belongs to the field of drone safety technology, and in particular, relates to a drone cluster safety collaboration method, system, equipment, medium and product. Background Art

[0002] Clustering is one of the development trends of drones. Compared with a single drone, a drone cluster can work together to achieve complex tasks through mutual coordination, information sharing, and autonomous perception among drone nodes. Due to the large number of nodes in a drone cluster, the fast movement speed of the drone cluster, and the complex application environment, the network topology of the drone cluster is prone to change. In addition, the computing and storage resources of drone nodes are limited, and frequent data interactions will bring great pressure to the cluster head node of the drone cluster, thus causing the network to crash. The currently commonly used Practical Byzantine Fault Tolerant (PBFT) mechanism has a high communication complexity and is not suitable for highly dynamic, large-scale, and low-computing drone cluster systems. Summary of the invention

[0003] The embodiments of the present application provide a method, system, device, medium and product for safe collaboration of drone clusters, which are used to at least solve the problems in related technologies regarding the large number of nodes in drone clusters and the complex consensus mechanism.

[0004] In a first aspect, an embodiment of the present application provides a drone cluster security collaboration method, wherein the drone cluster includes a plurality of pre-divided clusters, each of the clusters includes a pre-selected first cluster head node and a plurality of cluster sub-nodes, and the trustworthiness of the first cluster head node meets a preset condition and is greater than that of the cluster sub-nodes;

[0005] The method comprises:

[0006] When receiving the first consensus request from the requesting party, the first cluster head node obtains the first consensus result corresponding to each of the sub-nodes in the cluster where the first cluster head node is located, and sends the first consensus result to the requesting party;

[0007] When receiving the second consensus request from the requester, the second cluster head node broadcasts to the third cluster head node according to the second consensus request, wherein the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node;

[0008] The second cluster head node verifies the second submission messages received and sent by each third cluster head node, and determines the global consensus result when the number of second submission messages identical to the local message is greater than or equal to the first preset number;

[0009] The first cluster head node sends the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

[0010] In a second aspect, an embodiment of the present application provides a drone cluster safety collaboration system, wherein the drone cluster includes a plurality of pre-divided clusters, each of the clusters includes a pre-selected first cluster head node and a plurality of cluster child nodes, and the trustworthiness of the first cluster head node meets a preset condition and is greater than that of the cluster child nodes;

[0011] The first cluster head node is configured to, upon receiving a first consensus request from a requesting party, obtain a first consensus result corresponding to each of the in-cluster child nodes of the cluster to which the first cluster head node belongs, and send the first consensus result to the requesting party;

[0012] The first cluster head node includes a second cluster head node and a third cluster head node, the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node;

[0013] The second cluster head node is used to, when receiving the second consensus request from the requesting party, broadcast to the third cluster head node according to the second consensus request; verify the second submission messages respectively sent by the received third cluster head nodes, and determine the global consensus result when the number of the second submission messages identical to the local message is greater than or equal to the first preset number;

[0014] The first cluster head node is further used to send the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the drone cluster safety collaboration method as described in any one of the embodiments of the first aspect are implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the drone cluster safety collaboration method as described in any one of the embodiments of the first aspect are implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the steps of the drone cluster safety collaboration method provided in the first aspect of the embodiment of the present application.

[0018] The drone cluster security collaboration method, system, device, medium and product of the embodiment of the present application are oriented to large-scale drone cluster scenarios. Through the drone cluster clustering solution, a PBFT-based intra-cluster consensus solution and a lightweight inter-cluster consensus solution are designed to achieve global lightweight consensus, which can reduce the communication pressure of the cluster head, alleviate the communication congestion of the drone cluster, reduce the communication complexity, and improve the communication efficiency of the drone cluster. It realizes secure communication and data sharing between drone cluster nodes, improves the security and reliability of drone clusters, and realizes secure collaboration of drone clusters under high real-time and high confrontation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of a drone cluster clustering provided by an embodiment of the present application;

[0021] Figure 2 It is a flowchart of a drone cluster safety collaboration method provided by an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of intra-cluster consensus provided by an embodiment of the present application;

[0023] Figure 4 This is a schematic diagram of an inter-cluster consensus provided by an embodiment of the present application;

[0024] Figure 5 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0025] Reference numerals:

[0026] Electronic device 500 , processor 501 , memory 502 , communication interface 503 , bus 510 . DETAILED DESCRIPTION

[0027] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0029] Clustering is one of the trends in the development of drones. Drone clusters have a wide range of applications: in the military field, drone clusters are usually used to achieve reconnaissance, strike, support and other tasks; in the civilian field, they can be used in flight performances, express logistics, precision agriculture, emergency rescue and other industry scenarios. Compared with a single drone, drone clusters can work together to achieve complex tasks through mutual coordination, information sharing, and autonomous perception between drone nodes.

[0030] Due to the large number of nodes in the drone cluster, the fast movement speed of the drone cluster and the complex application environment, the drone cluster network topology is prone to change. In addition, the computing resources and storage resources of the drone nodes are limited. Frequent data interaction will bring great pressure to the cluster head node of the drone cluster, thus causing the network to crash. Therefore, in harsh environments and complex tasks, how to ensure the safe collaboration of drone clusters under high real-time and high confrontation is a challenge.

[0031] Blockchain is a distributed storage structure that focuses on security. It cleverly combines distributed structures, cryptography, smart contracts and other technologies. It has the characteristics of decentralization, multiple copies, tamper-proof and traceability, providing an efficient solution to drone safety issues.

[0032] The consensus algorithm is the core of blockchain technology, and its main goal is to maintain the consistency and validity of the information of each node on the blockchain. However, the failure of a single node is inevitable. The Practical Byzantine Fault Tolerant (PBFT) mechanism can resist the Byzantine problem. Since the PBFT algorithm is suitable for distributed systems that require high fault tolerance and consensus, the PBFT algorithm has been widely used in drone cluster systems. Its advantage is that it can ensure that the system can reach a consensus when encountering a Byzantine failure. That is, assuming that the system has 2f nodes, when f or fewer nodes encounter failures and cannot participate in the consensus, the system can still reach a consensus. However, the PBFT communication complexity is relatively high, and it is not suitable for highly dynamic, large-scale, and low-computing-power drone cluster systems.

[0033] In order to solve the problems of related technologies, the embodiments of the present application provide a drone cluster security collaboration method, system, equipment, medium and product.

[0034] The following is a detailed description of the drone cluster safety collaboration method provided by the embodiment of the present application through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0035] It can be understood that drone networks can be divided into planar structures and hierarchical structures. The planar structure has low scalability and is not suitable for large-scale drone networks that handle complex tasks. The hierarchical structure can be divided into several clusters by drones, and multiple clusters can work together. At the same time, the hierarchical structure has stronger scalability and is suitable for large-scale complex drone networks. Therefore, in the embodiment of the present application, a consensus mechanism is designed based on the hierarchical multi-cluster solution of drone clusters.

[0036] refer to Figure 1 , is a schematic diagram of the clustering of drone clusters in the embodiment of the present application. Figure 1 As shown in the figure, the drone cluster includes several pre-divided clusters, each of which includes a pre-selected first cluster head node and several sub-nodes within the cluster. In this way, the drones are divided into several clusters by designing a hierarchical network of the drone cluster, and multiple clusters work together. Therefore, the drone cluster consensus mechanism can be divided into an intra-cluster consensus mechanism and an inter-cluster consensus mechanism by using the hierarchical network characteristics of the drone cluster.

[0037] Specifically, for the clustering method, the drone node can be authenticated with the drone nodes nearby according to the specific scene, task or number of the drone, and a cluster is formed after the authentication. This embodiment does not limit this.

[0038] It should be noted that the trust of the first cluster head node meets the preset conditions and is greater than that of the child nodes in the cluster, and the communication resources and computing resources of the first cluster head node are sufficient. In other words, the first cluster head node is a node with a high degree of trust. As for the child nodes in the cluster, they can be considered as ordinary drone nodes, that is, there is no requirement for the trust of the child nodes in the cluster. Therefore, based on the characteristics of the drone cluster head, the inter-cluster consensus mechanism of the drone cluster can be optimized, and the specific optimization method will be described in detail later.

[0039] Further, Figure 2 FIG. 2 is a flow chart of a drone cluster safety collaboration method 200 according to an embodiment of the present application. Figure 2 As shown, the drone cluster safety collaboration method 200 may specifically include the following steps:

[0040] S201: Upon receiving a first consensus request from a requesting party, the first cluster head node obtains a first consensus result corresponding to each of the sub-nodes in the cluster to which the first cluster head node belongs, and sends the first consensus result to the requesting party;

[0041] S202, when the second cluster head node receives the second consensus request from the requester, broadcasts to the third cluster head node according to the second consensus request, where the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node;

[0042] S203, the second cluster head node verifies the second submission messages respectively sent by the third cluster head nodes, and determines the global consensus result when the number of second submission messages identical to the local message is greater than or equal to the first preset number;

[0043] S204: The first cluster head node sends the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

[0044] Therefore, facing the large-scale drone cluster scenario, the PBFT-based intra-cluster consensus scheme and the lightweight inter-cluster consensus scheme are designed through the drone cluster clustering scheme to achieve global lightweight consensus, which can reduce the communication pressure of the cluster head, alleviate the communication congestion of the drone cluster, reduce the communication complexity, and improve the communication efficiency of the drone cluster. It realizes secure communication and data sharing between drone cluster nodes, improves the security and reliability of drone clusters, and realizes secure collaboration of drone clusters under high real-time and high confrontation.

[0045] The specific implementation methods of the above steps are introduced below.

[0046] In some embodiments, in S201, a first submission message broadcast by each of the sub-nodes in the cluster to which the cluster belongs is received, wherein the first submission message is generated by the sub-node in the cluster in response to the first cluster head node receiving the first consensus request of the requester and performing identity authentication; a plurality of the first submission messages are aggregated to obtain a first consensus result. That is, S201 realizes the intra-cluster consensus.

[0047] In another embodiment, the specific implementation of S201 can refer to Figure 3 .like Figure 3 As shown, the intra-cluster consensus process can include three phases: pre-preparation phase, preparation phase, and submission phase.

[0048] In the specific implementation, in the pre-preparation stage, the first cluster head node (i.e. Figure 3 After receiving the first consensus request from the requester, node 1 in the cluster packages the first consensus request into a first pre-prepared message, assigns a unique first request number, and then broadcasts it to all child nodes in the cluster participating in the consensus (i.e. Figure 3 In the case where the cluster child node successfully receives the first pre-preparation message, the first pre-preparation message is verified, and when the verification is passed, the pre-preparation phase is completed.

[0049] In the specific implementation, in the preparation stage, the child nodes in the cluster (i.e. Figure 3 In the process, cluster nodes 2 and 3 send the first preparation message to all other nodes in the cluster except themselves to indicate that they are ready to enter the next stage. Taking cluster node 2 as an example, the first preparation message is sent to cluster nodes 1, 3 and 4 respectively. For each cluster node, when the node receives the first preparation message from more than 2f different nodes, the preparation stage is completed.

[0050] In specific implementation, after the preparation phase is completed, each node in the cluster verifies the received first preparation message, enters the submission phase after verification, and broadcasts the first submission message to other nodes. For each node in the cluster, when the node receives more than 2f first submission messages, it sends the first consensus result to the requester. After the requester receives f+1 first submission messages, it considers that the consensus is completed.

[0051] Furthermore, inter-cluster consensus is achieved through S202 to S204. It should be noted that since the cluster head node is trustworthy and the cluster head node itself has high communication requirements, in order to reduce the pressure on the cluster head, the identity authentication process is optimized in the inter-cluster consensus mechanism to achieve lightweight inter-cluster consensus.

[0052] In some embodiments, in S202, when the second cluster head node receives the second consensus request from the requesting party, the second cluster head node packages the second consensus request to obtain a second pre-prepared message; generates a second request number associated with the second pre-prepared message; and broadcasts the second pre-prepared message to the third cluster head node according to the second request number.

[0053] In some embodiments, before S203, the third cluster head node generates a second preparation message and sends the second preparation message to the second cluster head node; when the number of second preparation messages received by the second cluster head node is greater than or equal to the second preset number, each third cluster head node generates a second submission message respectively.

[0054] In another embodiment, the specific implementation method of the inter-cluster consensus can refer to Figure 4 .like Figure 4 As shown, the inter-cluster consensus process can include three phases: pre-preparation phase, preparation phase, and submission phase.

[0055] In the specific implementation, in the pre-preparation stage, the second cluster head node (i.e. Figure 4 After receiving the second consensus request from the requester, cluster head 1 packages the second consensus request into a second pre-prepared message, assigns a unique second request number, and then broadcasts it to all third cluster head nodes (i.e. Figure 4 After receiving the second pre-preparation message, each third cluster head node verifies the second pre-preparation message. When the verification is passed, the pre-preparation phase is completed.

[0056] In the specific implementation, in the preparation stage, each third cluster head node generates a second preparation message and sends it to the second cluster head node. The second cluster head node compares the second preparation messages received from each third cluster head node with the local message respectively. When the second cluster head node receives the second preparation messages sent by at least 2f different nodes, it considers that the preparation stage is completed.

[0057] In specific implementation, during the submission phase, each third cluster head node generates a second submission message and sends it to the second cluster head node. The second cluster head node verifies the second submission message to determine whether the message is credible. When the second submission messages of at least f+1 third cluster head nodes are consistent with those of the second cluster head node, the submission phase is considered completed.

[0058] It can be seen that in the inter-cluster consensus process, in the preparation stage and the submission stage, since the credibility of the nodes participating in the consensus is high, the messages received by themselves do not need to be verified by other nodes. That is, compared with the intra-cluster consensus, the identity authentication process is optimized, thereby alleviating the communication congestion between cluster head nodes.

[0059] Therefore, with the help of the hierarchical network characteristics of drone clusters, the drone cluster consensus mechanism is divided into intra-cluster consensus mechanism and inter-cluster consensus mechanism. In the intra-cluster consensus process, the sub-nodes in the cluster participate in the intra-cluster consensus of the drone cluster and send the consensus results to the cluster head node. In the inter-cluster consensus, the cluster head node summarizes the consensus results of the sub-nodes in the cluster, then expands the lightweight inter-cluster consensus, and obtains the global consensus results. After the inter-cluster consensus is completed, each cluster head node sends the global consensus results to each cluster, and the sub-nodes in each cluster synchronize the consensus results. In this way, secure communication and data sharing between drone cluster nodes are realized, and the security and reliability of drone clusters are improved; in addition, the communication complexity is reduced and the communication efficiency of drone clusters is improved.

[0060] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0061] Based on the same technical concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a drone cluster safety collaboration system.

[0062] Specifically, the drone cluster includes several pre-divided clusters, each of which includes a pre-selected first cluster head node and several sub-nodes within the cluster, and the trustworthiness of the first cluster head node meets preset conditions and is greater than that of the sub-nodes within the cluster.

[0063] The first cluster head node is used to obtain the first consensus result corresponding to each of the sub-nodes in the cluster where the first cluster head node is located when receiving the first consensus request from the requesting party, and send the first consensus result to the requesting party;

[0064] The first cluster head node includes a second cluster head node and a third cluster head node, the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node;

[0065] The second cluster head node is configured to, upon receiving a second consensus request from the requesting party, broadcast to the third cluster head nodes according to the second consensus request; verify the second submission messages respectively sent by the received third cluster head nodes, and determine the global consensus result when the number of the second submission messages identical to the local messages is greater than or equal to the first preset number;

[0066] The first cluster head node is further used to send the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

[0067] In some embodiments, the second cluster head node is further used to: package the second consensus request to obtain a pre-prepare message; generate a request number associated with the pre-prepare message; and broadcast the pre-prepare message to a third cluster head node according to the request number.

[0068] In some embodiments, the third cluster head node is used to: generate a preparation message and send the preparation message to the second cluster head node; when the number of the preparation messages received by the second cluster head node is greater than or equal to a second preset number, each third cluster head node generates a second submission message respectively.

[0069] In some embodiments, the first cluster head node is also used to: receive a first submission message broadcast by each of the sub-nodes in the cluster to which it belongs, wherein the first submission message is generated by the sub-node in the cluster in response to the first cluster head node receiving a first consensus request from the requesting party and performing identity authentication; and aggregate several of the first submission messages to obtain a first consensus result.

[0070] Therefore, the drone cluster safety collaboration system of the embodiment of the present application can achieve global lightweight consensus, alleviate the communication congestion of the drone cluster, and achieve efficient consensus of the drone cluster. It should be understood that the system of the above embodiment is used to implement the corresponding drone cluster safety collaboration method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0071] Based on the same technical concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides an electronic device.

[0072] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided by this embodiment is shown.

[0073] The electronic device 500 may include a processor 501 and a memory 502 storing computer program instructions.

[0074] Specifically, the processor 501 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0075] The memory 502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 502 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 502 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 502 is a non-volatile solid-state memory.

[0076] In certain embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present application.

[0077] The processor 501 implements any one of the drone cluster safety collaboration methods in the above embodiments by reading and executing computer program instructions stored in the memory 502.

[0078] In some examples, the electronic device 500 may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0079] The communication interface 503 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0080] Bus 510 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus 510 may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 510 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0081] Exemplarily, the electronic device 500 may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA).

[0082] Based on the same technical concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a non-transitory computer-readable storage medium. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the drone cluster safety collaboration methods in the above-mentioned embodiments is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, etc.

[0083] Based on the same technical concept, corresponding to any of the above-mentioned embodiments, the present application also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer so that the computer and / or the processor execute the drone cluster safety collaboration method. Corresponding to the execution subject corresponding to each step in each embodiment of the drone cluster safety collaboration method, the processor that executes the corresponding step may belong to the corresponding execution subject.

[0084] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0085] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0086] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0087] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0088] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A drone cluster safety collaboration method, characterized in that: The drone cluster includes a plurality of pre-divided clusters, each of the clusters includes a pre-selected first cluster head node and a plurality of in-cluster child nodes, and the trust degree of the first cluster head node meets a preset condition and is greater than that of the in-cluster child nodes; The method comprises: When receiving the first consensus request from the requesting party, the first cluster head node obtains the first consensus result corresponding to each of the sub-nodes in the cluster where the first cluster head node is located, and sends the first consensus result to the requesting party; When receiving the second consensus request from the requester, the second cluster head node broadcasts to the third cluster head node according to the second consensus request, wherein the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node; The second cluster head node verifies the second submission messages received and sent by each third cluster head node, and determines the global consensus result when the number of second submission messages identical to the local message is greater than or equal to the first preset number; The first cluster head node sends the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

2. The method according to claim 1, characterized in that When the second cluster head node receives the second consensus request from the requester, broadcasting to the third cluster head node according to the second consensus request includes: The second cluster head node packages the second consensus request to obtain a pre-prepare message; generating a request number associated with the pre-prepare message; The pre-preparation message is broadcasted to the third cluster head node according to the request number.

3. The method according to claim 1, characterized in that: Before the second cluster head node verifies the second submission messages received and respectively sent by the third cluster head nodes, the method further includes: The third cluster head node generates a preparation message, and sends the preparation message to the second cluster head node; In the case that the number of the preparation messages received by the second cluster head node is greater than or equal to a second preset number, each third cluster head node generates a second submission message respectively.

4. The method according to claim 1, characterized in that When the first cluster head node receives the first consensus request from the requesting party, obtaining the first consensus result corresponding to each of the sub-nodes in the cluster where the first cluster head node is located includes: Receiving a first submission message broadcasted by each of the sub-nodes in the cluster where the cluster belongs, where the first submission message is generated by the sub-node in the cluster in response to the first cluster head node receiving a first consensus request from a requester and performing identity authentication; Aggregate a number of the first submission messages to obtain a first consensus result.

5. A drone swarm safety collaboration system, characterized in that: The drone cluster includes a plurality of pre-divided clusters, each of the clusters includes a pre-selected first cluster head node and a plurality of in-cluster child nodes, and the trust degree of the first cluster head node meets a preset condition and is greater than that of the in-cluster child nodes; The first cluster head node is configured to, upon receiving a first consensus request from a requesting party, obtain a first consensus result corresponding to each of the in-cluster child nodes of the cluster to which the first cluster head node belongs, and send the first consensus result to the requesting party; The first cluster head node includes a second cluster head node and a third cluster head node, the second cluster head node is any first cluster head node among the first cluster head nodes corresponding to the plurality of clusters, and the third cluster head node is a first cluster head node among the first cluster head nodes corresponding to the plurality of clusters except the second cluster head node; The second cluster head node is used to, when receiving the second consensus request from the requesting party, broadcast to the third cluster head node according to the second consensus request; verify the second submission messages respectively sent by the received third cluster head nodes, and determine the global consensus result when the number of the second submission messages identical to the local message is greater than or equal to the first preset number; The first cluster head node is further used to send the global consensus result to each of the sub-nodes in the cluster where the first cluster head node is located.

6. An electronic device, characterized in that: The device includes: a processor and a memory storing computer program instructions; when the processor calls the computer program instructions, the drone cluster safety collaboration method as described in any one of claims 1-4 is implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are called by the processor, the drone cluster safety collaboration method as described in any one of claims 1 to 4 is implemented.

8. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the drone cluster safety collaboration method as described in any one of claims 1 to 4.

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