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

Abstract

The invention discloses a multi-robot communication system and method, a storage medium and a computer program product, and the method comprises the steps: enabling a first target intelligent execution module in an intelligent execution module group to directly execute a quantum key distribution protocol through a quantum key distribution terminal of the first target intelligent execution module for cluster internal communication, generating a first security key shared only by the first target intelligent execution module; the first target intelligent execution modules are intelligent execution modules needing to communicate in the intelligent execution modules accessed to the network, and the first security key is used for encrypting task data transmitted between the first target intelligent execution modules. Therefore, for cluster internal communication, it is stipulated that the first target intelligent execution module directly executes the protocol to generate the shared key, and a cloud transfer link is abandoned, so that the problems of high local coordination delay and poor real-time performance caused by excessive dependence on centralized scheduling are solved.

Description

Technical Field

[0001] This application relates to the technical fields of communication technology and information security, and more specifically, to a multi-robot communication system, method, storage medium, and computer program product. Background Technology

[0002] With the rapid development of industrial automation, intelligent inspection, and collaborative operations, multi-robot systems (including industrial assembly robot clusters, warehousing and logistics robot formations, and emergency rescue robot teams) have become core equipment for improving operational efficiency. Relying on real-time data interaction and cloud collaboration, the security, real-time performance, and reliability of their communication directly determine the system's operational efficiency and security boundaries. Among related technologies, multi-robot communication schemes based on symmetric and asymmetric encryption face security risks from quantum computing cracking and key distribution eavesdropping. Summary of the Invention

[0003] In view of the above problems, this application proposes a multi-robot communication system, method, storage medium, and computer program product that can solve the above problems.

[0004] In a first aspect, embodiments of this application provide a multi-robot communication system, which includes: an intelligent execution module group, wherein any intelligent execution module in the intelligent execution module group integrates a quantum key distribution terminal, and the intelligent execution module group includes intelligent execution modules that have been connected to the network; for communication within the cluster, a first target intelligent execution module in the intelligent execution module group directly executes a quantum key distribution protocol using its respective quantum key distribution terminal to generate a first security key shared only by the first target intelligent execution module; the first target intelligent execution module is the intelligent execution module that needs to communicate with the intelligent execution modules that have been connected to the network, and the first security key is used to encrypt the task data transmitted between the first target intelligent execution modules.

[0005] Therefore, for internal cluster communication, the first target intelligent execution module is required to directly execute the protocol to generate a shared key, eliminating the cloud relay link, thereby solving the problem of high local collaboration latency and poor real-time performance caused by excessive reliance on centralized scheduling.

[0006] Secondly, embodiments of this application provide a multi-robot communication method applied to a multi-robot communication system. The multi-robot communication method includes: for communication within a cluster, a first target intelligent execution module in a group of intelligent execution modules directly executes a quantum key distribution protocol using its respective quantum key distribution terminal to generate a first security key shared only by the first target intelligent execution module; wherein, the first target intelligent execution module is an intelligent execution module that needs to communicate among the networked intelligent execution modules; and the task data transmitted between the first target intelligent execution modules is encrypted according to the first security key.

[0007] Thirdly, embodiments of this application provide a computer-readable storage medium storing program code, which can be called by a processor to execute the multi-robot communication method described above.

[0008] Fourthly, embodiments of this application provide a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the aforementioned multi-robot communication method. Attached Figure Description

[0009] 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 drawings described below are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments and drawings obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0010] Figure 1 A schematic diagram of the structure of a multi-robot communication system according to an embodiment of this application is shown.

[0011] Figure 2 A schematic diagram of another multi-robot communication system according to an embodiment of this application is shown.

[0012] Figure 3 A schematic diagram of another multi-robot communication system provided in an embodiment of this application is shown.

[0013] Figure 4 A schematic diagram of another multi-robot communication system provided in an embodiment of this application is shown.

[0014] Figure 5 A schematic diagram of another multi-robot communication system provided in an embodiment of this application is shown.

[0015] Figure 6 A flowchart illustrating a multi-robot communication method provided in an embodiment of this application is shown.

[0016] Figure 7 This illustration shows a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this application.

[0017] Figure 8 A schematic diagram of the structure of a computer program product provided in an embodiment of this application is shown. Detailed Implementation

[0018] To enable those skilled in the art to better understand the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the embodiments of the present invention.

[0019] Please see Figure 1 , Figure 1 A schematic diagram of the structure of a multi-robot communication system according to an embodiment of this application is shown, as follows: Figure 1 As shown, the multi-robot communication system 100 includes a group of intelligent execution modules 110. Each intelligent execution module in the group of intelligent execution modules 110 integrates a quantum key distribution terminal. The group of intelligent execution modules 110 includes intelligent execution modules that are already connected to the network and intelligent execution modules that are waiting to be connected to the network.

[0020] Specifically, for internal cluster communication, the first target intelligent execution module in the intelligent execution module group 110 directly executes the quantum key distribution protocol using its own quantum key distribution terminal to generate a first security key shared only by the first target intelligent execution module.

[0021] The first target intelligent execution module is the intelligent execution module that needs to communicate with the network-connected intelligent execution modules. The first security key is used to encrypt the task data transmitted between the first target intelligent execution modules.

[0022] In one specific implementation, the intelligent execution module can be integrated into the robot.

[0023] In some implementations, please refer to Figure 2 , Figure 2 A schematic diagram of another multi-robot communication system according to an embodiment of this application is shown, as follows. Figure 2 As shown, the multi-robot communication system 100 also includes a global collaborative management module 120, which integrates a cloud-based quantum key distribution and transmission node.

[0024] For communication with the intelligent execution modules that have been connected to the network, the global collaborative management and control module 120 uses the cloud quantum key distribution transmitter node to execute the quantum key distribution protocol with the second target intelligent execution module to generate a second security key shared by the second target intelligent execution module and the global collaborative management and control module 120. The second security key is used to encrypt the working data transmitted between the global collaborative management and control module 120 and the second target intelligent execution module. The second target intelligent execution module is any one of the intelligent execution modules that have been connected to the network.

[0025] In some implementations, please refer to [the relevant documentation]. Figure 2 For the network access communication of the intelligent execution module to be connected to the network, the third target intelligent execution module is used as a trusted relay to assist the fourth target intelligent execution module and the global collaborative management and control module 120 in completing security authentication and distribution of the first global key. The first global key is used to encrypt the bidirectional communication between the fourth target intelligent execution module and the global collaborative management and control module 120.

[0026] Among them, the third target intelligent execution module is any one of the intelligent execution modules that have been connected to the network, and the fourth target intelligent execution module is any one of the intelligent execution modules that are to be connected to the network.

[0027] In some implementations, the intelligent execution module group 110 can refer to a dynamic logical collection of multiple intelligent devices with autonomous mobility and quantum communication capabilities. The intelligent execution module group 110 adopts a distributed architecture, and its internal members are dynamically divided into intelligent execution modules that have been connected to the network and intelligent execution modules that are waiting to be connected to the network according to the network access status.

[0028] Among them, the intelligent execution modules that have been connected to the network refer to those that have passed the dual identity verification of the global collaborative management and control module 120, successfully established a spatial quantum link with the global collaborative management and control module 120, completed key negotiation based on the quantum key distribution protocol, and thus hold a valid final second security key (i.e., the global key). The intelligent execution modules that have been connected to the network not only have the ability to execute tasks independently, but can also act as trusted relay nodes to assist other devices in security authentication and key distribution.

[0029] The intelligent execution module waiting to join the network can refer to a new intelligent execution module that has not yet completed the above-mentioned identity verification process, has not yet obtained global key sharing permissions, and is attempting to join the cluster through relay assistance from the intelligent execution modules already in the network or by directly interacting with the global collaborative management module 120.

[0030] In some implementations, each intelligent execution module in the intelligent execution module group 110 integrates a quantum key distribution terminal, which is the core hardware unit for any intelligent execution module to perform quantum key distribution.

[0031] In some implementations, the global collaborative management module 120 can be cloud-based. In some implementations, the cloud-based quantum key distribution transmitter node integrated into the global collaborative management module 120 serves as the central control and key distribution hub for the intelligent execution module group 110.

[0032] In some implementations, the first security key is a session key dedicated to communication within the cluster. The first security key is generated by two or more intelligent execution modules (i.e., the first target intelligent execution modules) in the intelligent execution module group 110 that need to communicate directly. The first target intelligent execution modules generate the key by directly executing the quantum key distribution protocol using their respective integrated quantum key distribution terminals without going through the cloud (i.e., the global collaborative management module 120) as an intermediary.

[0033] The first security key is shared only by the robots participating in this communication (i.e., the first target intelligent execution module), and cannot be accessed by the cloud (i.e., the global collaborative management module 120) or other non-target robots (i.e., other intelligent execution modules). Therefore, the first security key is mainly used to ensure the end-to-end confidentiality and integrity of collaborative operation data (e.g., position synchronization, obstacle avoidance commands, etc.) between the first target intelligent execution modules, realizing decentralized security protection for communication within the cluster.

[0034] In some implementations, the second security key is a global or session key specifically used for communication between the network-connected intelligent execution module and the cloud (i.e., the global collaborative management module 120). The second security key is jointly generated by the global collaborative management module 120, which integrates a cloud-based quantum key distribution transmitter node, and the specific network-connected intelligent execution module through the execution of a quantum key distribution protocol.

[0035] The second security key is exclusively shared by the global collaborative management module 120 and the specific intelligent execution module already connected to the network. The second security key constitutes a secure trust anchor point between the second target intelligent execution module and the global collaborative management module 120. It is mainly used to encrypt control commands issued from the cloud, system update packages, and status monitoring data uploaded by the second target intelligent execution module, ensuring the immutability and confidentiality of the centralized management channel and preventing malicious nodes from forging cloud commands.

[0036] In some implementations, the first global key can be a crucial credential used by the intelligent execution module awaiting network access to complete the network access process. Since the intelligent execution module awaiting network access may not yet have established a direct quantum link with the cloud in the early stages of network access, an already networked intelligent execution module can be used as a trusted relay.

[0037] The first global key is generated by the intelligent execution module to be connected to the network and the global collaborative management module 120 after completing dual security authentication, with the assistance of the intelligent execution module already connected to the network. The first global key signifies that the intelligent execution module to be connected to the network has passed the system's security authentication and has officially become a network-connected intelligent execution module.

[0038] After obtaining the first global key, the new intelligent execution module has the basic qualifications to participate in internal cluster communication (generating the first security key) and establish a secure connection with the global collaborative management module 120 (generating the second security key), which is the core credential for realizing dynamic cluster expansion and secure access.

[0039] Therefore, this application significantly improves the security, management efficiency, and networking flexibility of a multi-robot communication system 100, which includes an intelligent execution module group 110 and a global collaborative management module 120. Specifically, regarding the internal communication of the intelligent execution module group, since the first target intelligent execution modules can directly execute the quantum key distribution protocol using their integrated quantum key distribution terminals to generate a first secure key shared only by both parties, this decentralized direct connection mode effectively avoids the risk of key leakage that may occur through third-party relay, achieving end-to-end quantum security for communication within the cluster. At the same time, it reduces the forwarding burden of the global collaborative management module 120 and improves the real-time performance of communication.

[0040] Regarding the interaction with the global collaborative management module 120, the cloud-based quantum key distribution and transmission node integrated in the global collaborative management module 120 generates a shared second security key through the execution protocol of the network-connected intelligent execution modules, thus establishing a robust "machine-cloud" secure channel for the system. This ensures the confidentiality of instructions and the trustworthiness of identities when the global collaborative management module 120 performs unified management of the network-connected intelligent execution modules.

[0041] More importantly, in the scenario of intelligent execution modules waiting to be connected to the network, the system creatively utilizes the intelligent execution modules already connected to the network as trusted relays to assist the intelligent execution modules waiting to be connected to the network and the global collaborative management and control module 120 in completing security authentication and the distribution of the first global key. This mechanism cleverly solves the problem of secure access for new nodes when there is a lack of direct quantum links, enabling the intelligent execution module group 110 to achieve dynamic and low-cost scaling while ensuring identity legitimacy and key security, thereby constructing a multi-robot quantum communication network with both high security barriers and high adaptability.

[0042] Furthermore, in some implementations, please refer to Figure 3 , Figure 3 A schematic diagram of another multi-robot communication system provided in an embodiment of this application is shown, as follows: Figure 3 As shown, the multi-robot communication system 100 also includes a key management module 130.

[0043] The first quantum key distribution terminal 111 is configured to: select a first encoding basis vector from at least two sets of linear polarization bases, and determine the target polarization direction from the orthogonal polarization directions included in the first encoding basis vector according to a preset qubit value, and prepare a single photon whose polarization state is consistent with the target polarization direction.

[0044] The second quantum key distribution terminal 112 is configured to: select a second encoding basis vector from at least two sets of linear polarization bases, use the second encoding basis vector to measure each received single photon, and obtain a first measurement result; the first quantum key distribution terminal 111 and the second quantum key distribution terminal 112 are quantum key distribution terminals integrated by different intelligent execution modules in the first target intelligent execution module.

[0045] The first quantum key distribution terminal 111 and the second quantum key distribution terminal 112 are further configured to: exchange basis information through a classical channel, perform basis comparison to filter out the first measurement results corresponding to the basis matching, generate a first original key, and estimate the first quantum channel bit error rate.

[0046] The key management module 130 is configured to: perform a security determination based on the first original key and the first quantum channel bit error rate; if the determination passes, perform key post-processing on the first original key to generate a first security key; first intelligent execution module; second intelligent execution module.

[0047] In some implementations, the quantum key distribution protocol executed between the first intelligent execution module and the second intelligent execution module specifically adopts the BB84 protocol. The BB84 protocol uses the polarization state of a single photon to encode qubits. Specifically, the system defines two sets of linear polarization bases: one set is a rectangular base (e.g., containing horizontal polarization of 0° and vertical polarization of 90°), and the other set is a diagonal base (e.g., containing 45° and 135° polarization).

[0048] In some implementations, the first encoding basis and the second encoding basis refer to the measurement references independently and randomly selected by the first intelligent execution module (transmitter) and the second intelligent execution module (receiver) during the quantum key distribution process, respectively. When the first intelligent execution module is ready to transmit a signal, it randomly selects one set from these two sets of linear polarization bases as the first encoding basis; at the same time, the second intelligent execution module at the receiving end also independently and randomly selects one set from the same two sets of linear polarization bases as the second encoding basis for subsequent projection measurements.

[0049] In some implementations, the preset qubit value can refer to a single bit in the raw binary data stream generated by the true random number generator inside the first intelligent execution module; it is the information carrier to be encoded. Based on the selected first encoding basis vector and the preset qubit value, the first intelligent execution module determines a unique target polarization direction among the two orthogonal polarization directions contained in the basis vector to prepare a single photon.

[0050] The first intelligent execution module ensures secure transmission of single photons by adhering to the "quantum no-cloning theorem" and the "measurement collapse effect." If an eavesdropper attempts to intercept and measure the quantum state of a transmitted single photon, the quantum state will inevitably collapse, introducing additional errors.

[0051] The first and second intelligent execution modules perform basis vector comparison through classical channel execution. Once the estimated bit error rate of the first quantum channel exceeds a preset threshold (e.g., the upper limit of the background bit error rate caused by noise), it can determine in real time that there is eavesdropping behavior in the channel and discard the current key, thereby ensuring the unconditional security of the key from a physical level.

[0052] The multi-robot communication system 100 also includes an encrypted communication protocol module, which is configured to define the interaction rules and data format of the classical channel and support communication between the quantum key distribution terminal and the key management module 130.

[0053] The encrypted communication protocol module plays a crucial role as the "nerve center" and "standardized interface" in the multi-robot communication system 100. Its core effect is to build an efficient and reliable internal interaction mechanism under the classic channel.

[0054] First, the encrypted communication protocol module eliminates the heterogeneous communication barrier between the quantum key distribution terminal (responsible for physical layer quantum state preparation and measurement) of the first intelligent execution module and the key management module 130 (responsible for logical layer key generation and security determination) by defining strict interaction rules and a unified data format. Specifically, it encapsulates complex physical parameters (e.g., bit error rate statistics, basis vector selection sequences) into standardized data packets and encodes abstract control commands (e.g., key update commands, start / stop commands) into protocol frames that can be directly parsed by the underlying hardware, ensuring semantic consistency and zero parsing error in the information exchange between the two parties.

[0055] Secondly, the encrypted communication protocol module supports and optimizes the real-time communication link between modules, enabling the key management module 130 to obtain the channel state parameters monitored by the quantum key distribution terminal with a millisecond delay, thereby achieving a rapid response to security threats.

[0056] Meanwhile, the encrypted communication protocol module ensures that key update commands are accurately sent to the quantum key distribution terminal, triggering basis reselection and single-photon retransmission processes. Ultimately, through this standardized protocol, the system achieves tight coupling and automated collaboration between quantum physics processes and key management logic. This not only reduces the system failure rate caused by communication format mismatches but also significantly improves the robustness and real-time performance of quantum key distribution and updates by multiple robots in dynamic environments, providing a solid underlying communication guarantee for the secure encryption of upper-layer task data.

[0057] It is precisely by relying on the efficient interaction rules and data formats defined by the aforementioned encrypted communication protocol module that the system can transmit key security indicators in real time and accurately, thereby executing the core security judgment logic. Specifically, due to channel noise or potential eavesdropping, the first original key may contain erroneous bits. The system calculates the proportion of erroneous bits by comparing it with the partially public first original key. This proportion is the first quantum channel bit error rate, which serves as the core basis for the key management module 130 to judge channel security and whether to perform subsequent key post-processing.

[0058] Based on this core principle, the key management module 130 will execute a specific judgment strategy: if the calculated first quantum channel bit error rate is lower than the preset security threshold, it indicates that the channel is within a safe and controllable range, and the module will instruct the system to continue to perform post-processing steps such as error correction and privacy amplification to generate the final security key; conversely, if the bit error rate exceeds the threshold, it means that the channel quality has deteriorated or there is a risk of eavesdropping, and the module will immediately generate a key update instruction to trigger the restart of the quantum key distribution process mentioned above, thereby ensuring that the multi-robot communication system 100 always operates under secure and reliable key protection.

[0059] To accommodate the limited installation space of robots and meet the needs of mobile operations, the quantum key distribution terminal integrated by the first and second intelligent execution modules in this application is designed for miniaturization and low power consumption. Specifically, the terminal incorporates a high-sensitivity single-photon detector with a detection efficiency of ≥25%, a high-precision quantum state modulator, and a dedicated low-power control chip. Through integrated packaging, the overall size of the quantum key distribution terminal is strictly controlled within 10cm × 8cm × 5cm, allowing it to be flexibly deployed on robot bodies of various sizes without affecting the robot's motion performance.

[0060] Considering that the intelligent execution module group 110 typically operates in complex and dynamic environments (e.g., atmospheric turbulence, background light interference, or pointing deviations caused by relative motion), the state parameters of the quantum channel may fluctuate over time. To ensure the continuous security of the communication link throughout its entire lifecycle and avoid the potential risks associated with the long-term use of a single key, this embodiment introduces a dynamic key update mechanism based on channel state awareness, building upon the aforementioned miniaturized quantum key distribution terminal.

[0061] Specifically, in some embodiments, the first quantum key distribution terminal 111 is further configured to monitor the state parameters of the spatial quantum channel between itself and the second quantum key distribution terminal 112; the state parameters include at least the qubit error rate.

[0062] The key management module 130 is configured to: determine whether the status parameters meet the preset key update conditions; if they do, generate a key update instruction.

[0063] The first quantum key distribution terminal 111 is also configured to: respond to a key update instruction, re-execute the steps to select a first encoding basis vector from at least two sets of linear polarization bases, and determine the target polarization direction from the orthogonal polarization directions included in the first encoding basis vector according to a preset qubit value, and prepare a single photon whose polarization state is consistent with the target polarization direction.

[0064] In some implementations, the preset key update conditions may refer to a set of quantization thresholds or logical rules that the system pre-sets to ensure communication security. These rules are used to dynamically evaluate the validity of the current quantum key and the security of the channel. Once the monitoring data touches these rules, the key rotation mechanism is triggered.

[0065] Specifically, the preset key update conditions may include a bit error rate threshold determination based on channel quality. That is, when the bit error rate of the qubits monitored in real time by the first quantum key distribution terminal 111 exceeds the preset security tolerance limit (for example, set to 1% in an ideal environment; if the measured value is consistently higher than this threshold), the system determines that the channel may be severely interfered with by environmental noise or there is a potential risk of eavesdropping, thereby satisfying the update conditions.

[0066] The preset key update conditions may also include timeliness or usage judgment based on the key lifecycle. That is, in order to prevent the statistical cracking risk caused by the long-term use of a single key, the system can set the maximum effective usage time of the current key (such as 30 minutes) or the maximum encrypted data throughput (such as 100MB). Once either limit is reached, regardless of whether the current bit error rate is good or not, it is considered to meet the update conditions and key rotation is forced.

[0067] The preset key update conditions can also cover anomaly detection based on link stability. For example, when the relative motion of the robot causes the photon count rate to drop sharply below the minimum signal-to-noise ratio required to maintain key generation, or when multiple consecutive basis vector matching failures are detected, the update conditions are also considered to be met.

[0068] Through the aforementioned multi-dimensional judgment rules, the key management module 130 can intelligently identify channel deterioration or key aging status, thereby generating a key update instruction to drive the quantum key distribution terminal to restart the complete distribution process from basis selection and target polarization direction determination to single-photon preparation, ensuring that the first intelligent execution module and the second intelligent execution module always use the latest and most secure key for task data encryption.

[0069] After the key management module 130 of the first intelligent execution module generates and issues a key update command, the first quantum key distribution terminal 111 will immediately respond and execute the operation of restarting the quantum key distribution process. This "restart" process is not a physical power-off reset, but a logical state clearing and new cycle initialization: First, the quantum key distribution terminal clears the unmatched basis vector information and discarded original key data temporarily stored in the previous distribution process, and resets the state pointer of the internal true random number generator to ensure that the newly generated random sequence is completely independent and uncorrelated with the previous round. Then, the terminal immediately enters a new round of quantum state preparation loop, and re-executes the step of selecting the first encoding basis vector from at least two sets of linear polarization bases, that is, again independently selecting one of the "rectangular basis" and "diagonal basis" as the encoding base for this round through a random algorithm. Next, based on the newly generated preset qubit value (i.e., the new round of random bit stream), the terminal precisely locks the unique target polarization direction among the two orthogonal polarization directions covered by the selected first encoding basis vector. Finally, the single-photon source is driven to emit a single-photon sequence whose polarization state is strictly consistent with the target polarization direction and send it to the spatial quantum channel.

[0070] Through this closed-loop mechanism of "monitoring-judgment-reset-retransmission", the system can seamlessly switch to a new key generation cycle when it detects channel abnormalities or key aging, ensuring the continuous high security of the multi-robot communication system 100 in dynamic and complex environments.

[0071] However, the ultimate value of quantum key distribution lies in enabling practical business communication. When the aforementioned closed-loop mechanism of "monitoring-judgment-reset-retransmission" is successfully executed, and after post-processing steps such as basis vector comparison, error correction, and privacy amplification, the first intelligent execution module and the second intelligent execution module simultaneously possess a completely identical and security-verified "first secure key." At this point, the system's operational focus seamlessly shifts from the underlying quantum key generation stage to the upper-layer classical task data transmission stage. To transform this highly secure key resource into practical communication protection capabilities, this embodiment further deploys a dedicated multi-robot communication node module responsible for business data encryption and decryption in the multi-robot communication system 100. Specifically, in some embodiments, the multi-robot communication system 100 also includes a group of multi-robot communication node modules.

[0072] The first multi-robot communication node module is configured to: use a first security key to encrypt the task data to be transmitted based on a preset symmetric encryption algorithm to generate ciphertext data; and construct a data packet containing ciphertext data, key identification information and a verification code.

[0073] The second multi-robot communication node module is configured to: parse data packets to obtain key identification information, and obtain the corresponding first security key from the local key storage area based on the key identification information; the first multi-robot communication node module and the second multi-robot communication node module are any multi-robot communication node modules in the multi-robot communication node module group.

[0074] The second multi-robot communication node module is also configured to: use the matched first security key to decrypt data packets and perform integrity verification using a checksum, thereby restoring the task data.

[0075] In some embodiments, the first multi-robot communication node module and the first quantum key distribution terminal 111 can be integrated into a single robot. In some embodiments, the second multi-robot communication node module and the second quantum key distribution terminal 112 can be integrated into a single robot.

[0076] In some implementations, the preset symmetric encryption algorithm can be an efficient cryptographic algorithm where the encryption key and decryption key are the same (or mutually derivable). Given that the "first secure key" generated by quantum key distribution (QKD) has extremely high randomness and security, this system preferably uses the Advanced Encryption Standard (AES) (e.g., AES-128, AES-256) or the Chinese national cryptographic algorithm SM4 as the preset symmetric encryption algorithm.

[0077] Because symmetric encryption offers a significant advantage in encryption and decryption speed compared to asymmetric encryption, it can meet the stringent low-latency communication requirements of the intelligent execution module group 110 in high-speed motion and real-time control scenarios. Furthermore, when the "first security key" is sufficiently long and completely random, the algorithm can even degenerate into a theoretical "one-time pad," achieving absolute security at the information theory level. The specific implementation logic of the algorithm is as follows: the task data to be transmitted is used as plaintext input, and the synchronized "first security key" is used as the key input. Through multiple rounds of permutation and obfuscation operations, ciphertext data that cannot be reverse-engineered is output.

[0078] In some implementations, task data can refer to all payload information generated, exchanged, or requiring protection by the intelligent execution module group 110 during collaborative operations. In specific application scenarios, the types of task data include, but are not limited to: control command data (e.g., robot motion trajectory planning instructions, start / stop commands, attitude adjustment parameters, etc.), perception feedback data (e.g., LiDAR point cloud data, high-definition video streams, infrared thermal imaging data, environmental sensor readings, etc.), status telemetry data (e.g., robot battery level, position coordinates, health status diagnostic reports, etc.), and collaborative interaction data (e.g., cluster formation holding signals, task allocation negotiation messages, etc.).

[0079] Since the above data is directly related to the operational efficiency, decision-making accuracy, and physical security of the intelligent execution module group 110, leakage or tampering may lead to task failure or even equipment damage. Therefore, it is necessary to use the "first security key" generated by this system for high-strength encryption protection.

[0080] In some implementations, the key identification information can be a version number or sequence number of the "first security key" used to uniquely identify the current data packet. Given that this system employs a "channel state-aware dynamic key update mechanism," the key store between the first and second intelligent execution modules may store historical keys generated in multiple rounds or multiple key fragments currently in use. To ensure that the receiving end can accurately select the correct key for decryption, the sending end embeds this key identification information when constructing the data packet.

[0081] Key identification information is typically represented as a short integer sequence number (e.g., Key_Seq_No: 0x00A5) or a timestamp hash value. It does not contain any substantial key content itself, and therefore can be transmitted in plaintext without compromising security. Once the second intelligent execution module parses the key identification information, it uses it as an index key to quickly search the local key storage area, thereby accurately locating the "first security key" that is completely identical to the sender's, avoiding decryption failures due to key version mismatches.

[0082] In some implementations, the checksum can be a data fingerprint used to verify whether the data packet has undergone bit flipping, packet loss, or malicious tampering during transmission over a classic channel. The checksum is not solely based on the ciphertext data; preferably, a Message Authentication Code (MAC) mechanism (e.g., HMAC-SHA256) is used, which generates the checksum by performing a joint hash operation on the ciphertext data and the key identification information using a portion of or a derivative of the "first security key."

[0083] Integrity verification and tamper-proof authentication are performed using a checksum. If errors occur in the ciphertext due to channel noise during transmission, the recalculated checksum at the receiving end will not match the checksum in the data packet. The system can immediately discard the packet and request a retransmission to prevent erroneous commands from being executed. Alternatively, if an attacker attempts to modify the ciphertext content after intercepting the data packet (e.g., changing a "stop" command to "forward"), the attacker cannot forge the correct checksum because they cannot obtain the "first security key." The receiving end performs a checksum verification before decryption. Once a checksum mismatch is detected, it can determine that the data has been tampered with and trigger a security alarm, thereby ensuring the authenticity and reliability of the task data.

[0084] Therefore, by deploying multiple robot communication node modules, a full-link security closed loop from "quantum key generation" to "classical business encryption" has been successfully constructed. Its core lies in using a dynamically updated "first security key" as a trust anchor point to transform the physical security at the quantum level into data protection capabilities at the application layer: the sending end converts key task data into ciphertext based on a preset symmetric encryption algorithm, and innovatively introduces "key identification information" to solve the problem of accurate synchronization in dynamic key rotation scenarios, while adding "checksum" to resist transmission tampering and noise interference.

[0085] The receiving end uses the identification information to locate the local key in milliseconds and performs dual verification of decryption and integrity. This ensures the confidentiality, integrity and real-time performance of task instructions and sensing data in the complex operating environment of the intelligent execution module group 110, which is highly dynamic and subject to strong interference. Ultimately, this achieves a seamless integration of quantum security technology and actual collaborative operations.

[0086] Furthermore, in some of the methods, please refer to Figure 4 , Figure 4 This application provides a schematic diagram of the structure of another multi-robot communication system, as shown in the embodiment of the present application. Figure 4As shown, the cloud-based quantum key distribution transmitter node is configured to transmit a single photon encoded with qubit information to the third quantum key distribution terminal 113; the third quantum key distribution terminal 113 is a quantum key distribution terminal integrated by any intelligent execution module in the second target intelligent execution module, and the cloud-based quantum key distribution transmitter node establishes a quantum key distribution link with the third quantum key distribution terminal 113.

[0087] The third quantum key distribution terminal 113 is configured to: select local decoding basis vectors from at least two sets of linear polarization basis vectors, use the local decoding basis vectors to measure each received single photon, obtain a second measurement result; and interact with the basis vector information with the global collaborative management module 120 through the classical channel, locally filter out the second measurement result corresponding to the basis vector consistency, so as to form a second original key, and estimate the second quantum channel bit error rate.

[0088] The second original key and the second quantum channel bit error rate are used to perform security determination. When the determination is successful, the second original key is subjected to key post-processing to generate the second security key.

[0089] In some implementations, the local decoding basis vector can refer to the measurement reference independently and randomly selected by the quantum receiving module within the third quantum key distribution terminal 113 after receiving the single-photon sequence from the cloud quantum key distribution transmitting node. The linear polarization coding scheme typically includes two sets of conjugate basis vectors, such as a "rectangular basis" (horizontal / vertical polarization) and a "diagonal basis" (45° / 135° polarization).

[0090] For each received single photon, the decoding module of the third quantum key distribution terminal 113 will use a true random number generator to randomly select one of the two sets of basis vectors as the current "local decoding basis vector" for measurement without knowing the encoding basis vector of the global cooperative management module 120 in advance.

[0091] This random selection mechanism is the cornerstone of quantum key distribution security: the measurement result can accurately reflect the quantum bit information sent by the global collaborative management module 120 only when the "local decoding basis vector" accidentally selected by the third quantum key distribution terminal 113 is completely consistent with the "encoding basis vector" used by the global collaborative management module 120 during transmission; if the basis vectors are inconsistent, according to the principles of quantum mechanics, the measurement result will be completely random and cannot carry effective information, and these data will be discarded in the subsequent basis vector comparison stage.

[0092] In some implementations, the second measurement result may refer to the original polarization state determination record sequence obtained by the third quantum key distribution terminal 113 after performing physical measurements on each received single photon using the aforementioned "local decoding basis vector". Specifically, the second measurement result is a time series containing a large amount of binary data (0 or 1), where each bit corresponds to a detected single photon.

[0093] It should be noted that the "second measurement result" at this time is a mixed set: its effective part corresponds to those photons whose "local decoding basis vectors" exactly match the "encoding basis vectors" of the global cooperative management module 120, and their measurement values ​​accurately reflect the original qubits sent by the global cooperative management module 120; its invalid part corresponds to those photons whose basis vectors do not match, and their measurement values ​​are purely random noise and have nothing to do with the sender's intention.

[0094] Therefore, the "second measurement result" cannot be used directly as a key. It must undergo a subsequent "basis vector comparison" step via a classical channel to filter out the data with matching basis vectors before a valid "second original key" can be formed. Retaining the complete "second measurement result" ensures traceability during basis vector comparison and prevents data loss.

[0095] In some implementations, the second quantum channel error rate can refer to the proportion of erroneous bits to the total number of matched bits calculated by the third quantum key distribution terminal 113 and the global collaborative management module 120 through the public classical channel extraction unit's "second original key" after the basis vector comparison is completed.

[0096] The second quantum channel bit error rate is a core indicator for evaluating the security and environmental quality of the “cloud-robot” quantum link. Its value mainly comes from two aspects: environmental noise (e.g., natural bit errors caused by physical factors such as atmospheric turbulence, background light interference, and detector dark counting) and potential eavesdropping (e.g., if a third-party attacker attempts to intercept or measure single photons during transmission, according to the quantum no-cloning theorem, their intervention will inevitably introduce additional perturbations, leading to an abnormally high bit error rate).

[0097] The system will preset a security threshold (e.g., 11% or a more stringent engineering threshold). If the estimated "second quantum channel bit error rate" is lower than this threshold, it indicates that the channel is reliable, and error correction and privacy amplification can continue to generate the final "second security key". If it exceeds this threshold, it is determined that the channel is insecure or of poor quality, and the system will immediately stop the current key generation process and trigger an alarm or reconnection mechanism, and will never generate a key that may pose a risk of leakage.

[0098] Thus, by constructing a dynamic quantum key distribution link between the cloud-based quantum key distribution transmitter node and any network-connected quantum key distribution terminal (the third quantum key distribution terminal 113) in the cluster, on-demand secure access and high-level protection in collaborative scenarios are achieved: by utilizing the receiver's random selection of local decoding basis vectors and subsequent basis vector comparison and screening mechanism, the true randomness and uniqueness of key generation are guaranteed from the physical layer. Furthermore, the second quantum channel bit error rate is innovatively introduced as a core security judgment indicator, enabling the system to actively detect eavesdropping behavior and environmental noise. Once the bit error rate is abnormal, key generation is automatically blocked, thereby eliminating the use of insecure keys at the source.

[0099] Based on this, by performing post-processing operations such as error correction and privacy amplification on the original key, a high-purity second security key is finally generated to encrypt key working data between the global collaborative management module 120 and the robot. This successfully constructs a full-link security closed loop that integrates dynamic access, active anti-eavesdropping, zero-trust judgment, and information theory-level data protection, significantly improving the collaborative operation security and anti-attack resilience of the multi-robot communication system 100 in complex open environments.

[0100] Furthermore, in some implementations, please refer to Figure 5 , Figure 5 A schematic diagram of another multi-robot communication system provided in this application embodiment is shown, such as... Figure 5 As shown, the global collaborative management and control module 120 is configured as follows: After confirming that the fourth quantum key distribution terminal 114 and the quantum key distribution terminal integrated with the third target intelligent execution module have completed the quantum handshake operation based on the quantum entanglement state, and after receiving the identity information encrypted and uploaded by the fourth quantum key distribution terminal 114 and the third target intelligent execution module using the temporary negotiation key, the fourth quantum key distribution terminal 114 and the third target intelligent execution module are subjected to dual identity verification based on the preset admission rules; the fourth quantum key distribution terminal 114 is the quantum key distribution terminal integrated with the fourth target intelligent execution module.

[0101] If the verification is successful, a dedicated quantum key distribution link is established between the cloud quantum key distribution transmitter node and the fourth quantum key distribution terminal 114 to generate a first global key that is shared only by the global collaborative management module 120 and the fourth quantum key distribution terminal 114 based on the quantum key distribution protocol.

[0102] The key identifier, version number, and lifecycle rules corresponding to the first global key are sent to the fourth quantum key distribution terminal 114, and a key usage permission activation instruction is sent to instruct the fourth quantum key distribution terminal 114 to store the first global key in the local secure area of ​​the fourth quantum key distribution terminal 114 and activate the usage permission.

[0103] In some implementations, the quantum handshake operation based on quantum entanglement can refer to the physical layer authentication process between the newly joined fourth quantum key distribution terminal 114 and any existing trusted robot in the network (i.e., any quantum key distribution terminal already connected to the network), using shared entangled photon pairs. In a specific implementation, the quantum handshake operation based on quantum entanglement can refer to the physical layer authentication process between the newly joined quantum key distribution terminal 114 and any trusted robot (already connected to the network) that is closest to the quantum key distribution terminal 114, using shared entangled photon pairs.

[0104] Specifically, the fourth quantum key distribution terminal 114 and the network-connected robot each measure their respective entangled photons and, based on Bell's inequality test or entanglement fidelity verification protocol, exchange measurement basis vectors and partial results to confirm whether they have truly shared a quantum entangled state. Because quantum entanglement is non-cloning and non-local, only real, un-eavesdropped physical devices can pass this verification. The successful completion of this operation means that the fourth quantum key distribution terminal 114 has been physically confirmed as a "real, legitimate quantum device," rather than a simulated or replay attacker in a classical network, thus establishing a quantum root of trust for subsequent identity information uploads.

[0105] In some implementations, identity information may refer to the set of digital credentials uploaded by the fourth quantum key distribution terminal 114 and the network-connected robot to the global collaborative management module 120 for logical layer identity verification after completing the quantum handshake. Identity information typically includes, but is not limited to: a unique device identifier (e.g., hardware serial number, quantum module ID), a digital certificate (e.g., a public key certificate pre-issued by a trusted third party or the global collaborative management module 120), a quantum handshake proof (i.e., a session digest or entanglement verification signature generated during the aforementioned quantum handshake operation), and a timestamp and location stamp (to prevent replay attacks).

[0106] To ensure transmission security, the fourth quantum key distribution terminal 114 and the network-connected robots first use a "temporary negotiation key" derived during the quantum handshake process to symmetrically encrypt the aforementioned identity information, and then upload it to the global collaborative management module 120 via a classical channel. This dual structure of "quantum handshake-derived key + classical identity credential" ensures that the identity information is both confidential and unforgeable during transmission.

[0107] In some implementations, the preset admission rules can be a set of dynamic policy logic stored in the security management module of the global collaborative management module 120, used to comprehensively determine whether to allow a new node to formally access the network. The preset admission rules not only include static identity matching checks, but also cover multi-dimensional dynamic security constraints, such as: spatiotemporal consistency verification (verifying whether the reported location of the fourth quantum key distribution terminal 114 and the time of the quantum handshake conform to the laws of physical motion), network capacity threshold (checking whether the number of active robots in the current network exceeds the system's carrying capacity limit), reputation assessment (checking the historical reputation score of the "already-joined robot" acting as a guarantor, and rejecting new nodes guaranteed by the guarantor if the guarantor has abnormal behavior records), and blacklist filtering (checking whether the device ID is in the global disabled list).

[0108] In some implementations, dual identity verification can refer to a cross-verification mechanism performed by the global collaborative management module 120 based on two dimensions: "physical layer quantum characteristics" and "logical layer digital credentials". In the first verification (physical layer), based on the received quantum handshake confirmation signal, it verifies whether the fourth quantum key distribution terminal 114 has real quantum entanglement generation and measurement capabilities, ensuring that it is not a classical simulator or replay device, thus establishing its "physical authenticity". In the second verification (logical layer), after decrypting the uploaded identity information, it verifies the validity, scope of authority, and compliance of its digital certificate according to the "preset access rules", thus establishing its "logical legitimacy".

[0109] The aforementioned dual verification mechanism effectively compensates for the shortcomings of the single verification method: it prevents unauthorized devices with legitimate certificates but tampered hardware from accessing the network (through the first layer of interception), and it also prevents unauthorized devices with quantum capabilities from freely entering the network (through the second layer of interception), thereby building a highly reliable access defense line.

[0110] In some implementations, lifecycle rules can refer to a set of automated time management and state control strategies defined by the global collaborative management module 120 for the generated "first global key," aiming to minimize the key exposure window. The lifecycle rules explicitly define the following key time nodes and state transition logic: effective time (the key is only valid at a specific time point after receiving the "activation instruction"), valid duration (the key is only available within the specified time window and automatically expires after the timeout), refresh mechanism (stipulating that when the key usage reaches a certain amount of data or time threshold, a new round of quantum key distribution must be triggered to generate a new key), and destruction strategy (clarifying the forced deletion and memory overwrite process when the key expires, the task ends, or an anomaly is detected).

[0111] The global collaborative management module 120 issues the lifecycle rules along with the key identifier, instructing the local security zone of the fourth quantum key distribution terminal 114 to strictly enforce them, ensuring that the key is always under "controlled, time-limited, and traceable" lifecycle management, and preventing cumulative security risks caused by long-term key use.

[0112] It can be seen that by constructing a dual identity verification mechanism of "quantum physical layer handshake authentication + classical logic layer policy verification", the authenticity and unforgeability of the newly connected fourth quantum key distribution terminal 114 are established from the physical layer by using the handshake operation based on quantum entanglement. Combined with the preset access rules, a deep compliance review of its digital identity is carried out, which effectively resists the risks of device forgery, replay attacks and illegal access.

[0113] Based on this, the global collaborative management module 120 establishes a dedicated quantum key distribution link and generates a high-entropy first global key only for nodes that have passed dual verification. With the issuance of refined lifecycle rules and activation instructions, it realizes the fully automated closed-loop management of the key from generation, storage, activation to timeliness control. This not only ensures that the cloud-edge two-way communication has information theory-level security and confidentiality, but also significantly reduces the security risks caused by long-term key exposure through dynamic key updates and strict access control. Thus, it provides access and communication guarantees with high reliability, high security and controllability for the dynamic expansion of the intelligent execution module group 110.

[0114] However, the dynamic nature of multi-robot operating environments and the sensitivity of quantum channels mean that relying solely on static verification and initial key distribution upon network entry is insufficient to address risks such as sudden channel quality degradation, key synchronization failure, or unexpected device offline during operation. Without real-time state awareness and emergency response mechanisms, established quantum secure links may fail due to environmental interference or result in keys remaining in uncontrolled devices due to abnormal node offline, creating security vulnerabilities.

[0115] Therefore, in some implementations, the global collaborative management module 120 is further configured to: monitor the communication quality of the quantum key distribution link between the fourth quantum key distribution terminal 114 and the global collaborative management module 120 after the fourth quantum key distribution terminal 114 joins the network. If the communication quality is detected to be lower than a preset standard or an abnormality occurs in key synchronization, a first global key update operation is triggered, and the quantum key distribution protocol is re-executed between the cloud quantum key distribution transmitter node and the fourth quantum key distribution terminal 114 to generate a second global key. If the fourth quantum key distribution terminal 114 is detected to be offline or disconnected, a first global key cancellation command is sent to the fourth quantum key distribution terminal 114 to instruct the fourth quantum key distribution terminal 114 to delete the first global key stored in its local secure area. A channel cleanup command is sent to the third target intelligent execution module to instruct the third target intelligent execution module to disconnect the temporary quantum channel established with the fourth quantum key distribution terminal 114 based on the quantum entanglement state and destroy the temporary negotiation key shared by both parties.

[0116] In some implementations, communication quality can refer to a set of multi-dimensional quantitative indicators characterizing the physical state and security of the quantum key distribution link between the global collaborative management module 120 and the fourth quantum key distribution terminal 114. In a specific implementation, communication quality is mainly evaluated in real time through the following core parameters: quantum bit error rate (reflecting the proportion of bit errors caused by environmental noise, device defects, or potential eavesdropping in the quantum channel, and is the primary indicator for judging channel security), secure key generation rate (the number of usable key bits actually generated per unit time after error correction and privacy amplification, reflecting the transmission efficiency of the link), photon count rate, and signal-to-noise ratio (reflecting the ratio of the effective photon signal intensity detected by the receiver to the background noise).

[0117] The global collaborative management and control module 120 periodically collects the above parameters and calculates the current communication quality score to dynamically sense whether the link is in a reliable working range.

[0118] In some implementations, the preset standard may refer to a set of dynamic thresholds stored in the security policy library of the global collaborative management module 120, used to determine whether the current quantum link meets the security requirements for continuous communication. The preset standard includes, but is not limited to: a bit error rate security threshold (for example, set to 11% or a more stringent engineering threshold; once the measured bit error rate exceeds this value, the system determines that the channel may be eavesdropped or subject to severe noise interference, and the current key no longer possesses information-theoretical security), a minimum key generation rate threshold (if the amount of key generated per unit time is lower than the minimum rate required to maintain service encryption, the link efficiency is determined to be substandard), and a signal strength lower limit (when the received optical power is lower than the detector sensitivity threshold, the risk of physical link interruption is determined to be extremely high).

[0119] When any of the monitored communication quality indicators falls below the aforementioned preset standard, the global collaborative management module 120 determines that the current link status is abnormal and needs to immediately initiate a key update process to rebuild the secure connection.

[0120] In some implementations, a key synchronization anomaly can refer to a situation where the key state machines of the global collaborative management module 120 and the fourth quantum key distribution terminal 114 lose consistency during key generation, storage, or use, resulting in the inability to perform normal encryption and decryption operations using the current shared key. Specifically, this can manifest as: key sequence number mismatch (the currently effective key index or version number recorded by both parties is inconsistent, causing one party to encrypt with the old key while the other attempts to decrypt with the new key), a sudden increase in basis vector comparison failure rate (during the basis vector selection phase, the overlap of the basis vector selections published by both parties is far lower than the statistical expectation, suggesting serious phase drift or clock asynchrony), time window mismatch (the timestamp of key generation exceeds the allowable synchronization tolerance range, causing the time-based replay protection mechanism to fail), and checksum errors (when performing integrity verification using a small number of key fragments, data bit flipping or loss is detected).

[0121] Once such a synchronization anomaly is detected, indicating that the current first global key is unreliable or unable to work together, the system will force an update operation, discard the old key, and renegotiate to generate a new second global key to restore the synchronization state.

[0122] Thus, by constructing a "full-link runtime state awareness and dynamic self-healing cleanup mechanism," a deep extension from static access security to dynamic runtime security has been achieved. On the one hand, by monitoring the communication quality (e.g., bit error rate, key generation rate) and key synchronization status of the quantum key distribution link in real time, a sensitive anomaly trigger threshold has been established. Once channel degradation or synchronization failure is detected, the potentially insecure old key is immediately discarded and the quantum key distribution protocol is re-executed to generate a new second global key. This self-healing strategy of "updating upon quality degradation" effectively resists environmental noise interference, device drift, and potential eavesdropping risks, ensuring that cloud-end communication maintains information theory-level security and high availability at all times.

[0123] On the other hand, in response to the sudden scenario of robot offline or disconnection, an innovative "two-way closed-loop destruction mechanism" is implemented. This mechanism forces newly joined nodes to delete the local residual first global key to eliminate the risk of key leakage, and instructs the guarantor node to disconnect the temporary quantum entanglement channel and destroy the temporary negotiation key. This completely severs all quantum associations and classical credentials between the exited node and the network, eliminating the risks of "zombie keys" and "ghost channels" caused by abnormal node exit. This provides a full life cycle security guarantee with self-repair capability and zero-residue cleanup capability for the long-term stable operation of the intelligent execution module group 110 in complex dynamic environments.

[0124] However, the construction of a highly available dynamic key update mechanism and a zero-residue cleanup strategy only lays a solid physical and protocol foundation for the secure operation of the multi-robot communication system 100. To transform this underlying information theory-level security into actual business value, it is still necessary to solve the problems of "precise binding of keys and business data" and "anti-replay and integrity verification during transmission".

[0125] Without fine-grained verification of key version number, timestamp, and device identity, even if the link itself is secure, attackers can still inject illegal commands by replaying old data packets, forging identity identifiers, or exploiting key version switching gaps, leading to business logic chaos or data leakage. Therefore, in some implementations, the fourth quantum key distribution terminal 114 is configured as follows: The system acquires local operation data that needs to be reported to the global collaborative management module 120, encrypts the local operation data using the first global key, and appends robot identification code, timestamp, and version number of the first global key to the encrypted data to construct an uplink encrypted data packet. The global collaborative management module 120 is configured to: parse the uplink encrypted data packet to obtain the version number of the first global key and verify its validity; the global collaborative management module 120 is also configured to: if the verification is successful, call the first global key that matches the version number of the first global key to decrypt the uplink encrypted data packet, obtain the local operation data, generate a business confirmation instruction based on the local operation data, encrypt the business confirmation instruction using the first global key, and construct a downlink encrypted data packet; the fourth quantum key distribution terminal 114 is also configured to: parse the downlink encrypted data packet, decrypt it using the first global key, and obtain the business confirmation instruction.

[0126] In some implementations, local operational data may refer to a set of key business information collected, generated, or processed in real time by airborne sensors, controllers, and business modules during the execution of a predetermined task by the fourth quantum key distribution terminal 114.

[0127] In one specific implementation, local operation data includes, but is not limited to: environmental perception data (e.g., LiDAR point cloud map, image frames captured by visual cameras, infrared thermal imaging data, ultrasonic ranging information, etc.), self-state data (e.g., robot's real-time pose coordinates, battery level, motor speed, joint temperature, fault diagnosis codes, etc.), task execution data (e.g., current operation progress percentage, number of objects grasped, path planning trajectory records, manipulator force feedback data, etc.), and interaction log data (e.g., collaborative communication records with other robots, human-machine interaction command history, etc.).

[0128] In some implementations, validity verification may refer to a series of rapid logical verification processes performed by the global collaborative management module 120 on the metadata (version number, timestamp, identifier encoding) carried in the uplink encrypted data packet before calling the key to perform time-consuming decryption operations. This process aims to intercept illegal, expired, or replayable data packets.

[0129] In one specific implementation, validity verification includes the following steps: key version matching verification, timestamp validity verification, or robot identifier consistency verification.

[0130] The key version matching verification can be performed as follows: the global collaborative management module 120 extracts the "first global key version number" from the data packet and compares it with the key version currently in effect for the fourth quantum key distribution terminal 114 recorded in the key management module of the global collaborative management module 120. If the version numbers are inconsistent (for example, the robot is still using an obsolete old version or using a future version that has not yet been activated), the verification is deemed to have failed, the data packet is directly discarded, and the key synchronization process is triggered.

[0131] The timestamp validity check can be performed as follows: The global collaborative management module 120 parses the "timestamp" in the data packet and calculates the difference between it and the current system time of the global collaborative management module 120. If the difference exceeds a preset time window threshold (e.g., ±5 seconds), the data packet is determined to be an expired replay attack packet or a network latency anomaly packet, and the verification fails.

[0132] Robot identifier consistency verification can be performed to verify whether the "robot identifier code" in the data packet is consistent with the device ID that established the quantum link, thus preventing other devices from forging identities to send data.

[0133] Only when all three verifications pass will the global collaborative management module 120 determine that the uplink encrypted data packet is "valid" and then call the first global key that precisely matches the version number to perform the subsequent decryption operation; otherwise, the global collaborative management module 120 will record a security alarm and refuse to process the request, thereby building the first line of defense against replay attacks and key confusion at the application layer.

[0134] Therefore, by constructing a "two-way anti-replay business interaction closed loop based on key version anchoring," a logical trust mechanism for the application layer is further established on top of the security of the quantum physical layer. On the one hand, by using the key version number and high-precision timestamp explicitly attached in the uplink data packet, the global collaborative management module 120 can quickly complete the key status synchronization verification and data freshness verification before performing time-consuming decryption operations. This not only completely eliminates the risk of decryption failure due to "version mismatch" caused by dynamic key rotation and ensures the seamless continuity of business flow during key updates, but also accurately intercepts malicious replay attacks and identity forgery requests from the source, significantly reducing the consumption of invalid computing resources.

[0135] On the other hand, by strictly binding the same version of the first global key to both uplink and downlink data through a two-way encryption confirmation mechanism, the non-repudiation of identity and atomic consistency of instructions are achieved throughout the entire chain from data acquisition, transmission, parsing to instruction feedback. This provides a deep security guarantee for the collaborative operation of the intelligent execution module group 110 in complex and dynamic environments, which has high real-time response capability, anti-replay defense capability and key state adaptability.

[0136] However, the stable operation of the aforementioned highly secure business interaction mechanism based on version anchoring and two-way verification fundamentally relies on the continuous, real-time supply of the first global key. The physical implementation of quantum key distribution is strictly limited by the loss and coverage of the transmission medium, making it difficult for a single link mode to simultaneously meet the dual needs of close-range high-precision operation and long-distance wide-area movement of robots. If the robot forcibly communicates beyond the coverage threshold of the local free-space link, it will lead to a surge in the bit error rate, a precipitous drop in the key generation rate, or even link interruption, thereby triggering the aforementioned risks of "key version stagnation" and "business interaction disruption."

[0137] Therefore, in some implementations, the global collaborative management module 120 is further configured to: monitor the real-time communication distance with the fourth quantum key distribution terminal 114; if the real-time communication distance is greater than a preset local coverage threshold, and the fourth quantum key distribution terminal 114 is determined to have entered a wide-area operating area, then the cloud quantum key distribution transmitter node calls upon the space-to-ground quantum relay resources to establish a spatial quantum link with the fourth quantum key distribution terminal 114, and executes the quantum key distribution protocol based on the established spatial quantum link to generate or update the first global key; if the real-time communication distance is less than or equal to the preset local coverage threshold, and the fourth quantum key distribution terminal 114 is determined to be in a local operating area, then the global collaborative management module 120 quantum key distribution transmitter node directly establishes a local free-space quantum link with the fourth quantum key distribution terminal 114, and executes the quantum key distribution protocol based on the established local free-space quantum link to generate or update the first global key.

[0138] In some implementations, the real-time communication distance can refer to the three-dimensional straight-line distance (Euclidean distance) between the fourth quantum key distribution terminal 114 and the cloud quantum key distribution transmitter node at the current moment.

[0139] In a specific implementation example, the real-time communication distance is not a fixed value, but is dynamically obtained through methods such as positioning calculation or active ranging. In positioning calculation, the fourth quantum key distribution terminal 114 reports its high-precision global navigation satellite system (GNSS, such as BeiDou / GPS) coordinates and altitude in real time, and the global collaborative management module 120 calculates the spatial vector magnitude between the two in real time based on the known geographical coordinates of its own nodes; in active ranging, the time-of-flight (ToF) of the laser beacon beam before establishing the link is used for auxiliary calibration.

[0140] Real-time communication distance directly reflects the expected optical path loss of the free-space quantum channel and is a core decision variable for the system to determine whether the current channel quality meets the key generation rate requirements of quantum key distribution (QKD). As the robot moves, this distance is updated in milliseconds, ensuring that the link switching strategy can respond instantly to changes in the robot's position.

[0141] In some implementations, the preset local coverage threshold may refer to a distance threshold set in advance by the system to distinguish between "local direct connection mode" and "wide area relay mode".

[0142] In one specific implementation, the preset local coverage threshold is mainly based on the following factors: optical loss limit and / or atmospheric turbulence tolerance. Regarding the optical loss limit: based on the transmit power of the cloud-based quantum key distribution transmitter node, the receiver aperture size, and the attenuation coefficient under typical atmospheric conditions, the maximum effective transmission distance that ensures the quantum bit error rate (QBER) is below a security threshold (e.g., 11%) and the key generation rate meets service requirements (e.g., >1kbps) is calculated.

[0143] In terms of atmospheric turbulence tolerance: considering the impact of near-surface atmospheric turbulence on beam drift and broadening, a certain safety margin is reserved. For example, in a typical configuration of this embodiment, if free-space optical communication can maintain high stability in key generation within 5 kilometers, the preset local coverage threshold is set to 5 kilometers (which can be dynamically adjusted according to the actual deployment environment). When the real-time communication distance exceeds this threshold, it means that the photon loss rate of the direct link will increase sharply, leading to key generation failure, and the system must trigger a mode switch.

[0144] In some implementations, the local operating area can be a circular (or spherical) spatial range with a radius less than or equal to a preset local coverage threshold, centered on the cloud-based quantum key distribution transmitter node. Within this area, atmospheric channel conditions are relatively controllable, and optical path loss is low. When the fourth quantum key distribution terminal 114 performs tasks within this area, the system preferentially adopts a low-latency, high-bandwidth "point-to-point" direct connection mode, without the need for complex relay processing, making it suitable for short-range, high-frequency interaction scenarios such as around bases and within parks.

[0145] In some implementations, the wide-area operation zone can refer to a vast spatial region extending beyond the aforementioned local operation zone. Within this region, due to the excessive distance causing severe attenuation of direct light signals, or the influence of the Earth's curvature or terrain obstruction, it is impossible to establish an effective direct quantum link. When the fourth quantum key distribution terminal 114 performs tasks within this region (e.g., long-distance inspection, cross-city logistics), the system automatically determines that a relay mechanism needs to be introduced to extend the coverage radius of key distribution through a "spatial quantum link," ensuring that the robot can still obtain secure quantum key services in a wide-area environment far from the base.

[0146] In some implementations, space-to-ground quantum relay resources can refer to the relay network resources consisting of quantum communication satellites deployed in low Earth orbit or sun-synchronous orbit and their associated ground station tracking and control systems.

[0147] In one specific implementation, when it is determined that the fourth quantum key distribution terminal 114 has entered the wide-area operation area, the global collaborative management module 120 no longer attempts to directly transmit quantum signals, but instead follows a resource call process: the global collaborative management module 120 calculates the available quantum satellite orbits within the current field of view based on the real-time position of the fourth quantum key distribution terminal 114, and selects the satellite node with the best overpass elevation angle and the least link obstruction.

[0148] In one specific implementation, when it is determined that the fourth quantum key distribution terminal 114 has entered the wide-area operation zone, the global collaborative management module 120 no longer attempts to directly transmit quantum signals. Instead, the resource call process is as follows: the quantum key distribution transmitting node of the global collaborative management module 120 first establishes an uplink quantum link with the satellite, and at the same time instructs the fourth quantum key distribution terminal 114 to adjust the direction of its airborne quantum receiving terminal to establish a downlink quantum link with the satellite.

[0149] In one specific implementation, when the fourth quantum key distribution terminal 114 is determined to have entered the wide-area operation zone, the global collaborative management module 120 no longer attempts to directly transmit quantum signals. Instead, a resource allocation process is initiated: the satellite acts as a trusted relay node (or as an entanglement exchange node when it has on-board processing capabilities), executes the quantum key distribution protocol on the links with the global collaborative management module 120 and the fourth quantum key distribution terminal 114, respectively, generates two independent keys, and performs key splicing or relay forwarding through classical channels. Finally, a unified first global key is synthesized between the global collaborative management module 120 and the fourth quantum key distribution terminal 114.

[0150] The introduction of this resource breaks through the line-of-sight and loss limitations of terrestrial free-space communication, enabling seamless quantum key distribution on a global scale.

[0151] It can be seen that by constructing a "dual-mode adaptive quantum networking mechanism based on real-time distance perception", the physical bottleneck of traditional free-space quantum communication, which is limited by line-of-sight transmission and atmospheric loss, is effectively overcome, and the quantum key distribution service is achieved with seamless coverage and optimal resource allocation across the entire geographical scale. On the one hand, by dynamically monitoring the real-time communication distance between the robot and the global collaborative management module 120 and intelligently comparing it with preset thresholds, the system can accurately identify the local or wide-area operating area where the robot is located. Thus, in close-range scenarios, the system prioritizes the use of a low-latency, high-key-rate local direct connection mode, maximizing near-field communication efficiency and reducing system complexity.

[0152] On the other hand, when the robot moves to a long distance, causing the direct link to fail, the system can automatically trigger the scheduling of satellite-to-ground quantum relay resources. By utilizing satellite nodes, a space quantum link that overcomes long-distance losses is constructed, completely solving the problem of key generation interruption caused by terrain obstruction, Earth's curvature, or excessive optical path attenuation. This dynamic switching strategy of "high efficiency of near-field direct connection and connectivity of far-field relay" not only ensures the continuous and stable supply of the first global key within the robot's entire operating radius, avoiding business interruption caused by key supply failure, but also significantly improves the mobility and flexibility of the intelligent execution module group 110 in complex wide-area environments and the robustness of quantum security services.

[0153] Please see Figure 6 , Figure 6 A flowchart illustrating a multi-robot communication method provided in an embodiment of this application is shown. Figure 6 As shown, when applied to the above-mentioned multi-robot communication system, the method may include steps 210 to 220.

[0154] In step 210, for internal cluster communication, the first target intelligent execution module in the intelligent execution module group directly executes the quantum key distribution protocol using its respective quantum key distribution terminal to generate a first security key shared only by the first target intelligent execution module.

[0155] Among them, the first target intelligent execution module is the intelligent execution module that needs to communicate with the network-connected intelligent execution modules.

[0156] In some implementations, intra-cluster communication can specifically refer to the direct exchange of business data between multiple intelligent execution modules that are already in a network-connected state within a group of intelligent execution modules. For example, in a warehousing and logistics scenario, two adjacent handling robots negotiate path avoidance; or in an industrial assembly scenario, robotic arm A and robotic arm B synchronize their real-time postures when collaboratively grasping the same workpiece. This communication process does not involve the cloud as a data forwarding node, nor does it involve the cloud participating in the real-time key negotiation process.

[0157] In some implementations, a quantum key distribution protocol can refer to the process of establishing a shared random key between communicating parties (e.g., between robots, or between a robot and the cloud) using quantum states (e.g., single-photon polarization states, phase states, etc.) as information carriers. Its security is based on the fundamental physical laws of quantum mechanics: any eavesdropping or measurement of a quantum channel by a third party will inevitably disturb the quantum state, leaving a trace in the bit error rate detection of both communicating parties. Once an anomaly is detected, the protocol automatically discards the current key and redistributes it, thus ensuring unconditional key security at a physical level.

[0158] In some implementations, the first security key is a session key dedicated to communication within the cluster. The first security key is generated by two or more intelligent execution modules within the intelligent execution module group that need to communicate directly, using their respective integrated quantum key distribution terminals to directly execute the quantum key distribution protocol without cloud intermediaries.

[0159] The first security key is shared only by the intelligent execution modules participating in this communication and cannot be accessed by the cloud or other non-target robots. Therefore, the first security key is mainly used to ensure the end-to-end confidentiality and integrity of collaborative operation data between intelligent execution modules (e.g., position synchronization, obstacle avoidance commands, etc.), realizing decentralized security protection for communication within the cluster.

[0160] In step 220, the task data transmitted between the first target intelligent execution modules is encrypted according to the first security key.

[0161] In some implementations, the multi-robot communication method further includes the following steps: (1) For the communication of the intelligent execution module that has been connected to the network, the global collaborative management module uses its integrated cloud quantum key distribution transmitter node to execute the quantum key distribution protocol with the second target intelligent execution module to generate a second security key shared by the second target intelligent execution module and the global collaborative management module; (2) The working data transmitted between the global collaborative management module and the second target intelligent execution module is encrypted according to the second security key.

[0162] The second target intelligent execution module is any one of the intelligent execution modules that have been connected to the network.

[0163] In some implementations, the second security key is a global or session key dedicated to communication between the network-connected intelligent execution module and the cloud. The second security key is jointly generated by a global collaborative management module integrating a cloud-based quantum key distribution transmitter node and a specific network-connected intelligent execution module through the execution of a quantum key distribution protocol.

[0164] The second security key is exclusively shared by the global collaborative management module and the specific intelligent execution module already connected to the network. This second security key constitutes a secure trust anchor point between the second target intelligent execution module and the global collaborative management module 120. It is primarily used to encrypt control commands issued from the cloud, system update packages, and status monitoring data uploaded by the second target intelligent execution module, ensuring the immutability and confidentiality of the centralized management channel and preventing malicious nodes from forging cloud commands.

[0165] In some implementations, the multi-robot communication method further includes the following steps: (1) For the network access communication of the intelligent execution module to be connected to the network, the third target intelligent execution module is used as a trusted relay to assist the fourth target intelligent execution module and the global collaborative management module in completing security authentication and the distribution of the first global key; (2) The first global key is used to encrypt the bidirectional communication between the fourth target intelligent execution module and the global collaborative management module.

[0166] Among them, the third target intelligent execution module is any one of the intelligent execution modules that have been connected to the network, and the fourth target intelligent execution module is any one of the intelligent execution modules that are to be connected to the network.

[0167] In some implementations, the first global key can be a crucial credential used by the intelligent execution module awaiting network access to complete the network access process. Since the intelligent execution module awaiting network access may not yet have established a direct quantum link with the cloud in the early stages of network access, an already networked intelligent execution module can be used as a trusted relay.

[0168] The first global key is generated by the intelligent execution module to be added to the network and the global collaborative management module 120 after completing dual security authentication, with the assistance of the intelligent execution module already on the network. The first global key signifies that the intelligent execution module to be added to the network has passed the system's security authentication and officially become an on-the-network intelligent execution module. After obtaining the first global key, the new intelligent execution module has the basic qualifications to participate in internal cluster communication (generating the first security key) and establish a secure connection with the global collaborative management module 120 (generating the second security key), which is the core credential for realizing dynamic cluster expansion and secure access.

[0169] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described multi-robot communication method can be referred to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0170] Please see Figure 7 , Figure 7 The diagram shows a computer-readable storage medium 400 provided in an embodiment of this application. The computer-readable storage medium 400 stores program code 410, which can be called by a processor to execute the multi-robot communication method described in the above method embodiment.

[0171] The computer-readable storage medium 400 may be an electronic storage device such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 400 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 400 has storage space for executable program code 410. This program code 410 can be read from or written to one or more computer program devices. The program code 410 may, for example, be compressed in a suitable form.

[0172] Please see Figure 8 , Figure 8 The diagram shows a structural schematic of a computer program product provided in an embodiment of this application. The computer program product 500 includes a computer program 510 stored on a computer-readable storage medium. The computer program 510 includes program instructions. When the program instructions are executed by a computer, the computer performs the above-described multi-robot communication method.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-robot communication system, characterized in that, include: A group of intelligent execution modules, wherein any intelligent execution module in the group integrates a quantum key distribution terminal, and the group of intelligent execution modules includes intelligent execution modules that have been connected to the network; For communication within the cluster, the first target intelligent execution module in the intelligent execution module group directly executes the quantum key distribution protocol using its own quantum key distribution terminal to generate a first security key shared only by the first target intelligent execution module; The first target intelligent execution module is the intelligent execution module that needs to communicate with the network-connected intelligent execution modules. The first security key is used to encrypt the task data transmitted between the first target intelligent execution modules using quantum key distribution.

2. The multi-robot communication system according to claim 1, characterized in that, It also includes a global collaborative management and control module, which integrates a cloud-based quantum key distribution and transmission node; For communication with the network-connected intelligent execution modules, the cloud-based quantum key distribution transmitter node is configured to: execute a quantum key distribution protocol with the second target intelligent execution module to generate a second security key shared by the second target intelligent execution module and the global collaborative management module; The second security key is used to encrypt the working data transmitted between the global collaborative management and control module and the second target intelligent execution module; the second target intelligent execution module is any one of the intelligent execution modules that have been connected to the network.

3. The multi-robot communication system according to claim 2, characterized in that, The intelligent execution module group includes intelligent execution modules that are to be connected to the network; For the network access communication of the intelligent execution module to be connected to the network, the third target intelligent execution module is used as a trusted relay to assist the fourth target intelligent execution module and the global collaborative management module in completing security authentication and the distribution of the first global key. Wherein, the third target intelligent execution module is any one of the intelligent execution modules that have already entered the network; the fourth target intelligent execution module is any one of the intelligent execution modules that are to be entered into the network; the first global key is used to encrypt the bidirectional communication between the fourth target intelligent execution module and the global collaborative management and control module.

4. The multi-robot communication system according to claim 1, characterized in that, It also includes a key management module, and the first quantum key distribution terminal and the second quantum key distribution terminal are quantum key distribution terminals integrated by different intelligent execution modules in the first target intelligent execution module; The first quantum key distribution terminal is configured to: select a first encoding basis vector from at least two sets of linear polarization bases, and determine a target polarization direction among the orthogonal polarization directions included in the first encoding basis vector according to a preset qubit value, and generate a single photon whose polarization state is consistent with the target polarization direction; The second quantum key distribution terminal is configured to: select a second encoding basis vector from the at least two sets of linear polarization bases, and use the second encoding basis vector to measure each of the received single photons to obtain a first measurement result; The first quantum key distribution terminal and the second quantum key distribution terminal are further configured to: exchange basis information through a classical channel, perform basis comparison to filter out the first measurement results corresponding to the basis matching, generate a first original key, and estimate the first quantum channel bit error rate; The key management module is configured to: perform a security determination based on the first original key and the first quantum channel bit error rate; if the determination passes, perform key post-processing on the first original key to generate the first security key; first intelligent execution module; second intelligent execution module.

5. The multi-robot communication system according to claim 1 or 4, characterized in that, It also includes a multi-robot communication node module group; The first multi-robot communication node module is configured to: use the first security key to encrypt the task data to be transmitted based on a preset symmetric encryption algorithm, generate ciphertext data, and construct a data packet containing the ciphertext data, key identification information, and a checksum; The second multi-robot communication node module is configured to: parse the data packet to obtain the key identification information, and obtain the corresponding first security key from the local key storage area based on the key identification information; Wherein, the first multi-robot communication node module and the second multi-robot communication node module are different multi-robot communication node modules in the multi-robot communication node module group; The second multi-robot communication node module is further configured to: decrypt the data packet using the matched first security key and perform integrity verification on the checksum to restore the task data.

6. The multi-robot communication system according to claim 4, characterized in that, The first quantum key distribution terminal and the second quantum key distribution terminal are quantum key distribution terminals integrated into different intelligent execution modules in the first target intelligent execution module, respectively. The first quantum key distribution terminal is further configured to: monitor the state parameters of the spatial quantum channel between itself and the second quantum key distribution terminal; the state parameters include at least the qubit error rate; The key management module is configured to: determine whether the status parameter meets the preset key update conditions; if it does, generate a key update instruction. The first quantum key distribution terminal is further configured to: respond to the key update instruction, re-execute the steps to select a first encoding basis vector from at least two sets of linear polarization bases, and determine a target polarization direction among the orthogonal polarization directions included in the first encoding basis vector according to a preset qubit value, and prepare a single photon whose polarization state is consistent with the target polarization direction.

7. The multi-robot communication system according to claim 2, characterized in that, The cloud-based quantum key distribution transmitter node is also configured to transmit single photons encoded with qubit information to a third quantum key distribution terminal. The third quantum key distribution terminal is a quantum key distribution terminal integrated into any of the intelligent execution modules in the second target intelligent execution module, and the cloud quantum key distribution transmitting node establishes a quantum key distribution link with the third quantum key distribution terminal; The third quantum key distribution terminal is configured to: select a local decoding basis vector from at least two sets of linear polarization bases, use the local decoding basis vector to measure each of the received single photons, and obtain a second measurement result; and interact with the global collaborative management module through a classical channel to exchange basis vector information, locally filter out the second measurement result corresponding to the basis vector consistency, so as to form a second original key, and estimate the second quantum channel bit error rate. The second original key and the second quantum channel bit error rate are used to perform security determination. When the determination is successful, the second original key is subjected to key post-processing to generate the second security key.

8. The multi-robot communication system according to claim 3, characterized in that, The global collaborative management module is configured as follows: After confirming that the fourth quantum key distribution terminal and the quantum key distribution terminal integrated with the third target intelligent execution module have completed the quantum handshake operation based on the quantum entanglement state, and after receiving the identity information encrypted and uploaded by the fourth quantum key distribution terminal and the third target intelligent execution module using the temporary negotiation key, the fourth quantum key distribution terminal and the third target intelligent execution module are subjected to dual identity legitimacy verification based on the preset access rules. The fourth quantum key distribution terminal is the quantum key distribution terminal integrated into the fourth target intelligent execution module; If the verification is successful, a dedicated quantum key distribution link is established between the cloud quantum key distribution transmitter node and the fourth quantum key distribution terminal to generate the first global key, which is shared only by the global collaborative management module and the fourth quantum key distribution terminal, based on the quantum key distribution protocol. The key identifier, version number, and lifecycle rules corresponding to the first global key are sent to the fourth quantum key distribution terminal, and a key usage permission activation instruction is sent to instruct the fourth quantum key distribution terminal to store the first global key in the local secure area of ​​the fourth quantum key distribution terminal and activate the usage permission.

9. The multi-robot communication system according to claim 8, characterized in that, The global collaborative management module is also configured as follows: After the fourth quantum key distribution terminal is connected to the network, the communication quality of the quantum key distribution link between the fourth quantum key distribution terminal and the global collaborative management and control module is monitored. If the communication quality is detected to be lower than the preset standard or the key synchronization is abnormal, the first global key update operation is triggered, and the quantum key distribution protocol is re-executed through the cloud quantum key distribution transmitter node and the fourth quantum key distribution terminal to generate the second global key; If the fourth quantum key distribution terminal is detected to be offline or disconnected, a first global key cancellation command is sent to the fourth quantum key distribution terminal to instruct the fourth quantum key distribution terminal to delete the first global key stored in its local security area; A channel cleanup command is sent to the third target intelligent execution module to instruct it to disconnect the temporary quantum channel established with the fourth quantum key distribution terminal based on the quantum entanglement state and destroy the temporary negotiation key shared by both parties.

10. The multi-robot communication system according to claim 8, characterized in that, The fourth quantum key distribution terminal is configured to: acquire local job data that needs to be reported to the global collaborative management module, encrypt the local job data using the first global key, and append the version number of the first global key to the encrypted data to construct an uplink encrypted data packet; The global collaborative management module is configured to: parse the uplink encrypted data packet, obtain the version number of the first global key, and verify its validity; The global collaborative management module is further configured to: upon successful verification, call the first global key matching the version number of the first global key to decrypt the uplink encrypted data packet, obtain the local job data, generate a service confirmation instruction based on the local job data, encrypt the service confirmation instruction using the first global key, and construct a downlink encrypted data packet; The fourth quantum key distribution terminal is further configured to: parse the downlink encrypted data packet, decrypt it using the first global key, and obtain the service confirmation instruction.

11. The multi-robot communication system according to claim 8, characterized in that, The global collaborative management module is also configured as follows: Monitor the real-time communication distance with the fourth quantum key distribution terminal; If the real-time communication distance is greater than the preset local coverage threshold, it is determined that the fourth quantum key distribution terminal has entered the wide-area operation area. Then, the cloud quantum key distribution transmitter node calls the space-ground quantum relay resources to establish a spatial quantum link with the fourth quantum key distribution terminal, and executes the quantum key distribution protocol based on the established spatial quantum link to generate or update the first global key. If the real-time communication distance is less than or equal to the preset local coverage threshold, it is determined that the fourth quantum key distribution terminal is in the local operating area. Then, a local free space quantum link is established directly between the cloud quantum key distribution transmitter node and the fourth quantum key distribution terminal, and the quantum key distribution protocol is executed based on the established local free space quantum link to generate or update the first global key.

12. A multi-robot communication method, characterized in that, Applications in multi-robot communication systems include: For communication within the cluster, the first target intelligent execution module in the intelligent execution module group directly executes the quantum key distribution protocol using its respective quantum key distribution terminal to generate a first security key that is shared only by the first target intelligent execution module. Among them, the first target intelligent execution module is an intelligent execution module that needs to communicate with the network-connected intelligent execution modules; The task data transmitted between the first target intelligent execution modules is encrypted using the first security key.

13. The multi-robot communication method according to claim 12, characterized in that, include: For communication of the intelligent execution module that has been connected to the network, the global collaborative management module uses its integrated cloud quantum key distribution transmitter node to execute the quantum key distribution protocol with the second target intelligent execution module to generate a second security key shared by the second target intelligent execution module and the global collaborative management module. Wherein, the second target intelligent execution module is any one of the intelligent execution modules that have been connected to the network; The working data transmitted between the global collaborative management and control module and the second target intelligent execution module is encrypted using the second security key.

14. The multi-robot communication method according to claim 13, characterized in that, include: For the network access communication of the intelligent execution module to be connected to the network, the third target intelligent execution module is used as a trusted relay to assist the fourth target intelligent execution module and the global collaborative management module in completing security authentication and the distribution of the first global key; The third target intelligent execution module is any one of the intelligent execution modules that have already been connected to the network, and the fourth target intelligent execution module is any one of the intelligent execution modules that are to be connected to the network. The first global key is used to encrypt the bidirectional communication between the fourth target intelligent execution module and the global collaborative management module.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code, which can be called by a processor to execute the multi-robot communication method as described in claim 12.

16. A computer program product, characterized in that, The computer program product includes a computer program stored on a computer-readable storage medium, the computer program including program instructions that, when executed by a computer, cause the computer to perform the multi-robot communication method of claim 12.

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