A human-shaped robot safety communication method and related equipment in an industrial scene

Abstract

The application discloses a kind of industrial scene under humanoid robot safety communication method and related equipment, it is related to robot technical field, method includes: by robot end generates corresponding robot private key and robot public key, and distributes robot certificate based on robot public key to control end via industrial authentication center;Control end certificate is distributed via industrial authentication center by robot end and is received, wherein, control end certificate is generated based on control end public key;By robot end, the three-dimensional graphic code about the first signature information of control end certificate is presented, three-dimensional graphic code is used for control end reading and verifying;Test information is sent to control end by robot end by the test data signature through robot private key and through control end certificate encryption generation by robot private key;Session key is generated based on both sides key agreement.The application strengthens the security of physical layer verification by three-dimensional graphic code, solves the communication security problem of multi-robot cooperation in industrial scene in combination with end-to-end encryption mechanism.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a safe communication method and related equipment for humanoid robots in industrial settings. Background Technology

[0002] Humanoid robots are increasingly being used in industrial scenarios such as high-precision assembly, hazardous environments (e.g., chemical and nuclear industries), and warehousing and logistics. Industrial scenarios place extremely high demands on the security, real-time performance, and reliability of robot communication: if control commands are tampered with or intercepted, it may lead to production accidents (e.g., assembly accuracy errors, equipment collisions); when multiple robots collaborate, leakage of sensor data (e.g., force feedback, visual positioning information) may lead to the leakage of process secrets; industrial environments have problems such as electromagnetic interference and signal conflicts between multiple devices, and traditional encryption mechanisms are easily interfered with, leading to verification failure.

[0003] The existing technology has the following drawbacks: 1. Industrial robots mostly use simple key authentication, lack dynamic certificate management, and are difficult to cope with multi-node collaboration scenarios; 2. Physical layer verification methods are simple (such as QR codes), which are easy to copy and have low recognition rates in industrial environments such as dust and oil; 3. Session key generation does not combine industrial scenario characteristics (such as equipment identification and timestamps), and has weak resistance to replay attacks. Summary of the Invention

[0004] The main objective of this application is to propose a secure communication method and related equipment for humanoid robots in industrial scenarios, so as to improve the security of robot communication and realize a combination of end-to-end encryption and physical layer strong verification.

[0005] To achieve the above objectives, one aspect of this application proposes a safe communication method for humanoid robots in industrial scenarios, the method comprising the following steps:

[0006] The robot generates a corresponding private key and public key, and submits the robot public key and the device's unique identifier to the industrial certification center to apply for a robot certificate. After the industrial certification center verifies the certificate, it is encrypted and distributed to the control terminal.

[0007] The robot receives a control terminal certificate distributed by the industrial certification center; wherein the control terminal certificate is generated based on the control terminal public key, and the control terminal public key and the corresponding control terminal private key are generated by the control terminal.

[0008] The robot displays a 3D graphic code containing the first signature information of the control terminal certificate; the control terminal reads the 3D graphic code to obtain the first signature information, and verifies the first signature information obtained by reading it based on the control terminal's public key.

[0009] The robot terminal signs the test data using the robot's private key to generate a second signature, and encrypts the second signature using the control terminal certificate to generate test information, which is then sent to the control terminal. The control terminal decrypts the test information using its private key and verifies the decrypted data based on the robot certificate.

[0010] After the data obtained after decrypting the first signature information and the test information have been verified, the robot terminal negotiates with the control terminal to generate a session key based on the robot private key, the robot public key, the control terminal public key and the control terminal private key;

[0011] The robot communicates using the session key.

[0012] In some embodiments, verifying the first signature information read based on the control terminal public key includes the following steps:

[0013] The physical layer verification is completed by verifying the threshold matching degree of the spatial depth information and the legality of the color update frequency through the control terminal; wherein, the first signature information includes the spatial depth information and dynamic color encoding of the three-dimensional graphic code, the spatial depth information is bound to the industrial scene identifier through a preset threshold range, the dynamic color encoding is generated based on AES encrypted random numbers and is updated once every set period, and the dynamic color encoding is used to dynamically update the color.

[0014] In some embodiments, after verification by the industrial certification center, the encrypted distribution of the robot certificate to the control terminal includes the following steps:

[0015] The control terminal determines the robot certificate ID based on the unique device identifier of the robot terminal, and then obtains the robot certificate corresponding to the ID; wherein, the unique device identifier is bound to the ID of the corresponding robot certificate and the ID of the control terminal certificate.

[0016] In some embodiments, the communication via the robot using the session key includes the following steps:

[0017] The robot uses the session key to encrypt real-time collaboration instructions and generate encrypted instructions.

[0018] The encrypted command is sent from the robot to the control terminal or other robot terminals, wherein the encrypted command carries a timestamp and a command sequence number.

[0019] In some embodiments, the method further includes the following steps:

[0020] The encrypted instruction is decrypted using the session key by the control terminal or the other robot terminal, and the timestamp and instruction sequence number are verified to prevent replay attacks.

[0021] In some embodiments, the step of negotiating and generating a session key with the control terminal based on the robot's private key, the robot's public key, the control terminal's public key, and the control terminal's private key includes the following steps:

[0022] The robot terminal negotiates and generates the session key with the control terminal based on the robot's private key, the robot's public key, the control terminal's public key, and the control terminal's private key, according to the improved DH algorithm.

[0023] The expression for the improved DH algorithm is:

[0024] ;

[0025] in, This is the session key. For generators, Let 'a' be a prime number with a set number of digits and 'b' be the private key of the robot and the private key of the control terminal. This serves as the unique identifier for the device on the robot's end. This is the identifier for the control terminal. This is the current timestamp. The SHA-256 hash function is used. Represents prime numbers Modulo operation.

[0026] To achieve the above objectives, another aspect of this application proposes a safe communication system for humanoid robots in industrial settings. This system is used to implement the aforementioned safe communication method for humanoid robots in industrial settings. The system includes:

[0027] On the robot side, it generates the robot's private and public keys; displays a 3D graphical code containing signature information about the control terminal certificate; and performs data signing and encryption.

[0028] The control terminal is used to generate a control terminal private key and a control terminal public key; read the three-dimensional graphic code and verify the signature information; and decrypt and verify the test information.

[0029] An industrial certification center is used to generate robot certificates based on the robot's public key and distribute the robot certificates to the control terminal; generate control terminal certificates based on the control terminal's public key and distribute the control terminal certificates to the robot terminal; and manage the certificate revocation list.

[0030] In some embodiments, the robot end includes:

[0031] The key management module is used to generate and store robot private keys and robot public keys; and to negotiate session keys.

[0032] A 3D graphic code generation module is used to generate the 3D graphic code containing spatial depth information based on the signature information of the control terminal certificate.

[0033] An encrypted transmission module is used to encrypt industrial collaborative data using the session key.

[0034] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0035] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0036] To achieve the above objectives, another aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0037] The embodiments of this application include at least the following beneficial effects:

[0038] This application provides a secure communication method and related equipment for humanoid robots in industrial scenarios. The solution allows the robot to generate a corresponding private key and public key, and submit the robot public key and unique device identifier to an industrial certification center to apply for a robot certificate. After verification by the industrial certification center, the robot certificate is encrypted and distributed to the control terminal. The robot receives the control terminal certificate distributed by the industrial certification center. The control terminal certificate is generated based on the control terminal public key, and the control terminal public key and corresponding private key are generated by the control terminal. The robot displays a 3D graphic code containing the first signature information of the control terminal certificate. The control terminal reads the 3D graphic code to obtain the second signature information. The process involves: generating a first signature information and verifying it using the control terminal's public key; generating a second signature information by signing the test data using the robot's private key, encrypting the second signature information using the control terminal's certificate to generate test information, and sending the test information to the control terminal; decrypting the test information using the control terminal's private key and verifying the decrypted data using the robot's certificate; after both the first signature information and the decrypted test information have passed verification, negotiating a session key with the control terminal using the robot's private key, robot public key, control terminal public key, and control terminal private key; and communicating using the session key. This application addresses the issues of easy copying and low recognition rate of QR codes in industrial environments through 3D graphic codes, significantly improving physical layer verification strength; the session key generated through negotiation with the control terminal enhances resistance to replay attacks; and it also supports multi-robot mesh networks, enabling cross-factory collaboration through certificate chain management by an industrial certification center, demonstrating scalability. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart illustrating a safe communication method for humanoid robots in an industrial setting, provided as an embodiment of this application;

[0041] Figure 2 A schematic diagram of a safe communication system for humanoid robots in an industrial setting, provided in an embodiment of this application;

[0042] Figure 3 An example architecture diagram of a humanoid robot safety communication system in an industrial setting is provided as an embodiment of this application;

[0043] Figure 4A schematic diagram of the certificate initialization process provided for an embodiment of this application;

[0044] Figure 5 This is a schematic diagram of the structure of a three-dimensional graphic code provided in an embodiment of this application;

[0045] Figure 6 A timing diagram for negotiating the session key provided in the embodiments of this application;

[0046] Figure 7 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0049] Before providing a detailed description of the embodiments of this application, some related technologies involved in the embodiments of this application will be described first, as follows:

[0050] The embodiments of this application aim to solve three core problems of humanoid robot communication in industrial scenarios:

[0051] 1. Identity authentication security during multi-node collaboration;

[0052] 2. Physical layer verification of reliability in harsh industrial environments;

[0053] 3. Encrypted transmission and anti-attack capabilities for real-time collaborative data.

[0054] Reference Figure 1 This application provides a safe communication method for humanoid robots in industrial scenarios. This method may include, but is not limited to, steps S100 to S150, as detailed below:

[0055] S100: Generate the corresponding robot private key and robot public key through the robot terminal, and submit the robot public key and the device unique identifier to the industrial certification center to apply for a robot certificate; after the industrial certification center verifies and approves the certificate, encrypt and distribute the robot certificate to the control terminal.

[0056] S110: Receive a control terminal certificate distributed by the industrial certification center via the robot terminal; wherein, the control terminal certificate is generated based on the control terminal public key, and the control terminal public key and the corresponding control terminal private key are generated by the control terminal;

[0057] S120: Display a three-dimensional graphic code of the first signature information of the control terminal certificate on the robot terminal; read the three-dimensional graphic code through the control terminal to obtain the first signature information, and verify the first signature information obtained by reading it according to the control terminal public key;

[0058] S130: The robot terminal signs the test data using the robot's private key to generate second signature information, and encrypts the second signature information using the control terminal certificate to generate test information, which is then sent to the control terminal; the control terminal decrypts the test information using the control terminal's private key, and verifies the data obtained after decryption of the test information based on the robot certificate;

[0059] S140: After the data obtained after decrypting the first signature information and the test information have been verified, the robot terminal negotiates with the control terminal to generate a session key based on the robot private key, the robot public key, the control terminal public key and the control terminal private key;

[0060] S150: The robot communicates using the session key.

[0061] Optionally, verifying the first signature information read based on the control terminal public key includes the following steps:

[0062] The physical layer verification is completed by verifying the threshold matching degree of the spatial depth information and the legality of the color update frequency through the control terminal; wherein, the first signature information includes the spatial depth information and dynamic color encoding of the three-dimensional graphic code, the spatial depth information is bound to the industrial scene identifier through a preset threshold range, the dynamic color encoding is generated based on AES encrypted random numbers and is updated once every set period, and the dynamic color encoding is used to dynamically update the color.

[0063] Optionally, after verification by the industrial certification center, the robot certificate is encrypted and distributed to the control terminal, which includes the following steps:

[0064] The control terminal determines the robot certificate ID based on the unique device identifier of the robot terminal, and then obtains the robot certificate corresponding to the ID; wherein, the unique device identifier is bound to the ID of the corresponding robot certificate and the ID of the control terminal certificate.

[0065] Optionally, the communication via the robot using the session key includes the following steps:

[0066] The robot uses the session key to encrypt real-time collaboration instructions and generate encrypted instructions.

[0067] The encrypted command is sent from the robot to the control terminal or other robot terminals, wherein the encrypted command carries a timestamp and a command sequence number.

[0068] Optionally, the method further includes the following steps:

[0069] The encrypted instruction is decrypted using the session key by the control terminal or the other robot terminal, and the timestamp and instruction sequence number are verified to prevent replay attacks.

[0070] Optionally, the step of negotiating and generating a session key with the control terminal based on the robot's private key, the robot's public key, the control terminal's public key, and the control terminal's private key includes the following steps:

[0071] The robot terminal negotiates and generates the session key with the control terminal based on the robot's private key, the robot's public key, the control terminal's public key, and the control terminal's private key, according to the improved DH algorithm.

[0072] The expression for the improved DH algorithm is:

[0073] ;

[0074] in, This is the session key. For generators, Let 'a' be a prime number with a set number of digits and 'b' be the private key of the robot and the private key of the control terminal. This serves as the unique identifier for the device on the robot's end. This is the identifier for the control terminal. This is the current timestamp. The SHA-256 hash function is used. Represents prime numbers Modulo operation.

[0075] The following sections will provide a detailed description and explanation of some optional embodiments of this application, using specific application examples.

[0076] This embodiment relates to the field of secure communication for industrial robots, and discloses a method and system for secure communication between humanoid robots in industrial scenarios. The method includes: generating a corresponding robot private key and robot public key on the robot end, and distributing a robot certificate based on the robot public key to the control end via an industrial certification center; receiving the control end certificate distributed by the industrial certification center via the robot end, wherein the control end certificate is generated based on the control end public key; presenting a 3D graphic code of the first signature information of the control end certificate on the robot end, the 3D graphic code being used for reading and verification by the control end; signing test data with the robot private key and encrypting it with the control end certificate to generate test information and sending it to the control end; and generating a session key based on key negotiation between the two parties. This invention strengthens physical layer verification security through a 3D graphic code and combines it with an end-to-end encryption mechanism to solve the communication security problem of multi-robot collaboration in industrial scenarios, and is suitable for industrial scenarios such as high-precision assembly and hazardous environment operations.

[0077] Specifically, this embodiment provides a safe communication method for humanoid robots in an industrial setting, the method comprising the following steps:

[0078] The corresponding robot private key is generated by the robot. ) and robot public key ( And submit the robot's public key to the Industrial Certification Center (ICC). ) and equipment identification ( To apply for a robot certificate ( After verification by the industrial certification center, the robot certificate will be issued. Encrypted distribution to the control terminal;

[0079] Receive the control terminal certificate distributed by the industrial certification center via the robot. ), among which, control terminal certificate ( Based on the control terminal public key ( ) generated, and the control end public key ( ) and its corresponding control terminal private key ( (Generated by the control terminal)

[0080] The robot displays the control terminal certificate. The first signature information (Sig1) is a three-dimensional graphic code, which is used by the control terminal to read and pass through the control terminal's public key. Verify the first signature information (Sig1);

[0081] The robot uses the robot's private key ( ) test data ( The second signature information (Sig2) is generated by signing the control terminal certificate and then passed through the control terminal certificate. ) Encrypt the second signature information (Sig2) to generate test information ( ), will test information ( ) is sent to the control terminal, where the test information ( The control terminal uses the control terminal's private key ( Decryption, and based on the robot certificate ( Verify the decrypted data;

[0082] Based on the robot's private key (by the robot) Robot public key ( ), control terminal public key ( ) and control terminal private key ( The session key is generated through negotiation with the control terminal using an improved DH algorithm. ).

[0083] Furthermore, the spatial depth information of the 3D graphic code is compared with industrial scene identifiers within a preset threshold range (0-255mm). The binding is based on AES encrypted random numbers generated and updated every 100±10ms. The control end completes physical layer verification by verifying the depth information threshold matching degree and the legality of the color update frequency.

[0084] Furthermore, robot certificates are distributed to the control terminal. )include:

[0085] The control terminal uses the robot's unique device identifier ( Determine the ID of the robot certificate. ), and obtain a robot certificate in this way ( ), of which, the device's unique identifier ( ) Bind the corresponding robot certificate ID ( ) and the ID of the control terminal certificate ( ).

[0086] Furthermore, this embodiment also includes:

[0087] Using session keys ( Encrypting real-time collaboration commands to generate encrypted commands;

[0088] Send encrypted commands to the control terminal or other robot terminals, wherein the encrypted commands carry a timestamp ( ) and instruction serial number ( ).

[0089] Furthermore, it also includes:

[0090] The receiving end uses the session key ( Decrypt the encrypted command and verify the timestamp. ) and instruction serial number ( To prevent replay attacks.

[0091] Furthermore, the expression for the improved DH algorithm is:

[0092] ;

[0093] in, It is a generator (2≤g≤p-2); is a large prime number (length ≥ 2048 bits); a is the robot's private key (1 ≤ a ≤ p-2); b is the control terminal's private key (1 ≤ b ≤ p-2). A unique identifier for robot equipment; For control terminal identification; This is the current timestamp; Use the SHA-256 hash function; For large prime numbers Modulo operation.

[0094] To achieve the above objectives, this embodiment provides a safe communication method for humanoid robots in industrial scenarios, including the following steps:

[0095] Step 1: Key Generation and Certificate Distribution

[0096] The robot generates a public / private key pair. , Submit to the Industrial Certification Center and equipment identification ( Obtain a robot certificate ( );

[0097] The control terminal generates a public / private key pair. , ), obtain the control terminal certificate through the industrial certification center ( );

[0098] Industrial Certification Center will and Distributed to both the control terminal and the robot terminal via an encrypted channel, with certificate binding. and .

[0099] Step 2: Bidirectional physical layer verification:

[0100] Robot-side analysis Extract the first signature information (Sig1=Sign( , + Generate 3D graphic codes:

[0101] The xy plane of the three-dimensional graphic code is a two-dimensional code matrix containing the hash value of Sig1;

[0102] z-axis depth information encoding (Unique identifier for industrial scenarios);

[0103] Dynamic color layers generate random color levels over time, enhancing resistance to copying.

[0104] The control unit reads the 3D graphic code through the depth camera to verify the Sig1 and local data. If the consistency is verified, a verification confirmation message is returned.

[0105] Step 3: Test data encryption transmission:

[0106] Random test data is generated by the robot. ),pass Signature generation Sig2=Sign( , );

[0107] use In Encryption (Sig2+) )generate Send to the control terminal;

[0108] Control end Decryption ,pass Verify the Sig2 signature to confirm the robot's legitimacy.

[0109] Step 4: Session Key Negotiation and Communication

[0110] Generate based on the improved DH algorithm The expression can be found in the above example;

[0111] Robot end and control end use Encrypted industrial collaboration data (such as assembly instructions and sensor data) is carried in the transmission packet. (Serial Number) and To prevent replay attacks.

[0112] Beneficial effects:

[0113] High security: The 3D graphic code combines depth information and dynamic color to solve the problems of easy copying and low recognition rate of QR codes in industrial environments, and significantly improves the physical layer verification strength.

[0114] Scenario adaptability: The improved DH algorithm introduces device identifiers and timestamps, which significantly improves its resistance to replay attacks compared to traditional algorithms and meets industrial real-time requirements (latency ≤ 50ms).

[0115] Scalability: Supports multi-robot mesh networks, enables cross-plant collaboration through certificate chain management by industrial certification centers, and has a certificate revocation response time of ≤1s.

[0116] Reference Figure 2 This application also provides a safe communication system for humanoid robots in industrial settings, the system comprising:

[0117] On the robot side, it generates the robot's private and public keys; displays a 3D graphical code containing signature information about the control terminal certificate; and performs data signing and encryption.

[0118] The control terminal is used to generate a control terminal private key and a control terminal public key; read the three-dimensional graphic code and verify the signature information; and decrypt and verify the test information.

[0119] An industrial certification center is used to generate robot certificates based on the robot's public key and distribute the robot certificates to the control terminal; generate control terminal certificates based on the control terminal's public key and distribute the control terminal certificates to the robot terminal; and manage the certificate revocation list.

[0120] In some embodiments, the robot end includes:

[0121] The key management module is used to generate and store robot private keys and robot public keys; and to negotiate session keys.

[0122] A 3D graphic code generation module is used to generate the 3D graphic code containing spatial depth information based on the signature information of the control terminal certificate.

[0123] An encrypted transmission module is used to encrypt industrial collaborative data using the session key.

[0124] For example, such as Figure 3 As shown, this embodiment provides a safe communication system for humanoid robots in industrial scenarios. The system includes:

[0125] Robot end: An edge computing unit equipped with a humanoid robot, including a key management module, a 3D graphic code generation module, and an encrypted transmission module;

[0126] Control unit: Industrial control host or portable operation panel, equipped with depth camera (commonly available on the market such as Orbbec) and encryption chip;

[0127] Industrial Certification Center: Deployed on an industrial private cloud, responsible for certificate issuance, revocation and key hosting, supporting high concurrency (≥1000 nodes / second).

[0128] The detailed implementation steps of the system in this embodiment include:

[0129] 1. Certificate initialization (see...) Figure 4 ):

[0130] When the robot starts up, the key management module generates a 2048-bit RSA public-private key pair through the hardware security module (HSM). Sk_robot is stored in the HSM and cannot be exported.

[0131] The industrial certification center verifies the robot's physical identity (e.g., by reading the robot's built-in security chip via NFC) and issues a certificate. The validity period is set to 90 days (recommended period for industrial scenarios).

[0132] The control unit logs into the industrial certification center via a USB key to obtain... Bind the workshop number (e.g., "W1-F3-001").

[0133] 2. Three-dimensional graphic code verification (see...) Figure 5 ):

[0134] Parameters of the 3D graphic code generation module:

[0135] QR code version: Version 4 (33×33 matrix);

[0136] Spatial depth information: 8-bit grayscale value encoding (0-255 corresponding to scene ID);

[0137] Color dynamism: Color levels are updated every 100ms, based on AES-encrypted random number generation.

[0138] Control terminal verification process:

[0139] A depth camera acquires 3D graphic codes, extracts xy-plane data, and decodes it to obtain a Sig1 hash.

[0140] Analyze the z-axis depth information and compare it with the preset... Comparison;

[0141] Verify that the color dynamics match the expected pattern; if all conditions are met, proceed to the next step.

[0142] 3. Session key generation and application (see...) Figure 6 ):

[0143] Execution process of the improved DH algorithm:

[0144] The robot generates 'a' (a random private key) and calculates A = Send A to the control terminal;

[0145] The control terminal generates b (a random private key) and calculates B = Send B to the robot.

[0146] Both parties calculate K= and K= Through formula = (K, , , Generate a session key.

[0147] Application scenario example (automotive polishing workshop):

[0148] Robot end through Encryption polishing parameters (current = 50A, time = 0.5s), additional =1001、 =1620000000;

[0149] Verification after decryption on the control end Continuity (to prevent missed transmissions) and Validity (validity period ± 5s), execute the instruction after confirmation.

[0150] The results of the anti-attack performance test are shown in Table 1:

[0151]

[0152] Table 1

[0153] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method of this application. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0154] It is understood that the content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the methods of this application, and the beneficial effects achieved are the same as those achieved by the methods of this application.

[0155] Please see Figure 7 , Figure 7 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0156] The processor 701 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0157] The memory 702 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 702 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 702 and is called and executed by the processor 701.

[0158] The input / output interface 703 is used to implement information input and output;

[0159] The communication interface 704 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0160] Bus 705 transmits information between various components of the device (e.g., processor 701, memory 702, input / output interface 703, and communication interface 704);

[0161] The processor 701, memory 702, input / output interface 703, and communication interface 704 are connected to each other within the device via bus 705.

[0162] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of this application.

[0163] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0164] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0165] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0166] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0167] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0168] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0170] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0171] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0172] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0173] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0174] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0175] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0176] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A safe communication method for humanoid robots in industrial scenarios, characterized in that, The method includes the following steps: The robot generates a corresponding private key and public key, and submits the robot public key and the device's unique identifier to the industrial certification center to apply for a robot certificate. After the industrial certification center verifies the certificate, it is encrypted and distributed to the control terminal. The robot receives a control terminal certificate distributed by the industrial certification center; wherein the control terminal certificate is generated based on the control terminal public key, and the control terminal public key and the corresponding control terminal private key are generated by the control terminal. The robot displays a 3D graphic code containing the first signature information of the control terminal certificate; the control terminal reads the 3D graphic code to obtain the first signature information, and verifies the first signature information obtained by reading it based on the control terminal's public key. The robot terminal signs the test data using the robot's private key to generate a second signature, and encrypts the second signature using the control terminal certificate to generate test information, which is then sent to the control terminal. The control terminal decrypts the test information using its private key and verifies the decrypted data based on the robot certificate. After the data obtained after decrypting the first signature information and the test information have been verified, the robot terminal negotiates with the control terminal to generate a session key based on the robot private key, the robot public key, the control terminal public key and the control terminal private key; The robot communicates using the session key. The verification of the first signature information read based on the public key of the control terminal includes the following steps: The physical layer verification is completed by verifying the threshold matching degree of the spatial depth information and the legality of the color update frequency through the control terminal; wherein, the first signature information includes the spatial depth information and dynamic color encoding of the three-dimensional graphic code, the spatial depth information is bound to the industrial scene identifier through a preset threshold range, the dynamic color encoding is generated based on AES encrypted random numbers and is updated once every set period, and the dynamic color encoding is used to dynamically update the color.

2. The method of claim 1, wherein the method further comprises: After verification by the industrial certification center, the robot certificate is encrypted and distributed to the control terminal, which includes the following steps: The control terminal determines the robot certificate ID based on the unique device identifier of the robot terminal, and then obtains the robot certificate corresponding to the ID; wherein, the unique device identifier is bound to the ID of the corresponding robot certificate and the ID of the control terminal certificate.

3. The method of claim 1, wherein the method further comprises: The communication via the robot using the session key includes the following steps: The robot uses the session key to encrypt real-time collaboration instructions and generate encrypted instructions. The encrypted command is sent from the robot to the control terminal or other robot terminals, wherein the encrypted command carries a timestamp and a command sequence number.

4. The method of claim 3, wherein the method further comprises: The method further includes the following steps: The control end or the other robot end decrypts the encrypted instruction according to the session key, and verifies the timestamp and the instruction serial number to prevent a replay attack.

5. The method of claim 1 to 4, wherein, The robot end negotiates with the control end to generate a session key based on the robot private key, the robot public key, the control end public key and the control end private key, including the following steps: The robot end negotiates with the control end to generate the session key according to an improved DH algorithm based on the robot private key, the robot public key, the control end public key and the control end private key; The expression of the improved DH algorithm is: ； wherein, is the session key, is the generator, is a prime number with a length of set bits, a is the robot private key, b is the control end private key, is the device unique identifier of the robot end, is the identifier of the control end, is the current timestamp, is the SHA-256 hash function, represents the modulo operation on a prime number is the modulo operation.

6. A human-shaped robot safety communication system in an industrial scene, characterized in that, The system is used to implement the human-shaped robot safe communication method in an industrial scene as claimed in any one of claims 1 to 5, and the system comprises: The robot end is used to generate a robot private key and a robot public key, display a three-dimensional graphical code about signature information of a control end certificate, and perform data signature and encryption; The control end is used to generate a control end private key and a control end public key, read the three-dimensional graphical code and verify the signature information, decrypt and verify test information; An industrial authentication center is used to generate a robot certificate based on the robot public key, distribute the robot certificate to the control end, generate a control end certificate based on the control end public key, distribute the control end certificate to the robot end, and manage a certificate revocation list.

7. The human-shaped robot safety communication system in an industrial scene according to claim 6, wherein, The robot end comprises: A key management module is used to generate and store a robot private key and a robot public key, and negotiate a session key; A three-dimensional graphical code generation module is used to generate the three-dimensional graphical code containing space depth information based on signature information of a control end certificate; An encrypted transmission module is used to encrypt industrial collaboration data using the session key.

8. An electronic device, comprising: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method as claimed in any one of claims 1 to 5 when executing the computer program.

9. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 8. The computer program is executed by the processor to implement the method as claimed in any one of claims 1 to 5.

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