CN115226093A - Robot OTA upgrade package integrity verification method and system - Google Patents

Abstract

The invention discloses a method and a system for verifying the integrity of a robot OTA (over the air) upgrade package, belonging to the technical field of robot OTA upgrade, wherein the method uses a Merkle tree to verify the integrity of the OTA upgrade package and uses the structural characteristics of the Merkle tree to quickly position an error data package; packaging original data of an upgrade package to manufacture a complete upgrade package or a differential package, and then segmenting the upgrade package or the differential package; performing hash calculation on each partition packet to generate a hash value of each partition packet, taking the generated hash value as a leaf node of the Merkle tree, and then generating the Merkle tree; and the robot terminal needing to be upgraded downloads the upgrade package and reads the content in the Merkle tree, simultaneously acquires the root hash value of the Merkle tree, and compares the root hash values of the two Merkle trees. The invention can quickly verify the integrity of the upgrading packet in the OTA upgrading process of the robot and ensure the safety and accuracy of the OTA upgrading.

Description

A kind of robot OTA upgrade package integrity verification method and system

technical field

The invention relates to the technical field of robot OTA upgrade, in particular to a method and system for verifying the integrity of a robot OTA upgrade package.

Background technique

Robot Over-the-Air Technology (OTA) is a remote wireless upgrade technology. This technology can provide firmware or software upgrade services for robot terminals with networking capabilities through the cloud. In the robot OTA upgrade, on the one hand, it is necessary to ensure the security and trustworthiness of the communication between the cloud and the terminal device. destroy. The existing robot OTA upgrade package has an integrity verification error during the transmission process, so the entire upgrade package must be retransmitted.

SUMMARY OF THE INVENTION

The technical task of the present invention is to provide a method and system for verifying the integrity of a robot OTA upgrade package in view of the above shortcomings, which can quickly verify the integrity of the upgrade package in the robot OTA upgrade process and ensure the safety and accuracy of the OTA upgrade.

The technical scheme adopted by the present invention to solve its technical problems is:

A method for verifying the integrity of the OTA upgrade package of a robot, which uses a Merkle tree to verify the integrity of the OTA upgrade package, and utilizes the structural characteristics of the Merkle tree itself to quickly locate error packets;

The original data of the upgrade package is packaged to make a complete upgrade package or a differential package, and then the upgrade package or differential package is segmented; hash calculation is performed on each segmented package to generate a hash value of each segmented package, and the generated The hash value of the Merkle tree is used as the leaf node of the Merkle tree and then the Merkle tree is generated;

The robot terminal that needs to be upgraded downloads the upgrade package and reads the content in the Merkle tree. At the same time, it obtains the root hash value of the Merkle tree, and compares the root hash values of the two Merkle trees. If they are consistent, the integrity verification of the upgrade package passes; otherwise, Obtain the complete Merkle tree, compare the hash value lists of the two Merkle trees, determine the data block with errors, and then request to resend the data block and the root hash value of the Merkel tree, and compare whether the latest root hash value is correct, If the integrity verification of the correct upgrade package is passed, otherwise the data block is re-requested until it succeeds or the number of times exceeds the limit. That is, it is only necessary to retransmit the error packet and the Merkle tree value associated with the packet and verify the root hash value again.

Merkle tree is a complete binary tree, each node in the binary tree has a hash function value corresponding to it. The hash function value of the leaf node is obtained by hashing the authentication data, and the hash function value of the intermediate node is obtained by the hash function value of its child nodes. By analogy, the hash function value of the root node can be obtained. The hash function value of the root node can be used as the public key. Each leaf node has an authentication path corresponding to it, and each leaf node can calculate the value of the root node through its own hash function value and the hash function value of the node on its corresponding authentication path. The calculated root node value is compared with the public key, and if they are equal, the signature is accepted.

By rationally designing the generation structure of the OTA upgrade package, the method can use the Merkle tree to verify the integrity of the upgrade package, and can use the structural characteristics of the Merkle tree to quickly locate the wrong data package, so as to solve the problem of network interruption and malicious tampering during the OTA upgrade process. It solves the technical problem that the integrity verification error of the existing robot OTA upgrade package occurs during the transmission process, and the entire upgrade package must be retransmitted.

Preferably, the implementation of the method includes a cloud OTA management server for making and managing the upgrade package, an OTA object storage server for saving the upgrade package, and a robot terminal for installing the upgrade package,

The cloud OTA management server stores relevant upgrade package summary information and Merkle tree information. The cloud OTA management server provides a secure communication channel through which the robot terminal can obtain the upgrade package summary information and related Merkle tree information.

Further, the cloud OTA management server has a pair of private key and public key key pair, and the key pair adopts asymmetric encryption technology. When the upgrade package is produced by the cloud OTA management server, the summary information of the upgrade package will be extracted. , including the name of the upgrade package, the version of the upgrade package, the upgrade content, and whether it is a differential package, and at the same time, the Merkke tree of the upgrade package is calculated and generated by the hash algorithm and written into the relevant text file; the private key in the asymmetric key is used to pair the upgrade package abstract and The Merkle tree data is encrypted, and the encrypted upgrade package summary information and Merkle tree information can be actively sent to the robot terminal through a secure channel or as a response data feedback when the robot terminal is queried.

Preferably, the original data of the upgrade package is packaged on the cloud OTA management server to make a complete upgrade package or a differential package, the upgrade package or the differential package is split using a compressed package splitting software, and the split package and the Merkle file are repackaged into a new one Upgrade the package, and upload the split package and the upgrade package to the OTA object storage server.

Preferably, the robot terminal supports wireless communication mode, supports 4G, 5G and/or WIFI communication, and the robot can obtain upgrade package summary information, Merkle tree information and specific upgrade package through wireless communication mode.

Preferably, the SHA256 algorithm is used to calculate the hash value of the data packet, and the hash value is used as the leaf node of the Merkle tree, and each two leaf nodes are then hashed to generate corresponding parent nodes, until the construction is completed and only contains A complete Merkle binary tree of the root node; then write the Merkle tree into a file and enter the OTA upgrade package, and record the upgrade package information and Merkle tree information in the cloud OTA management server;

After receiving the OTA upgrade package, the robot terminal obtains the root hash value of the upgrade package from the cloud OTA management server through the encrypted channel and compares it with the root hash value of the Merkle tree in the upgrade package. When the root hash value is consistent, the OTA The integrity of the upgrade package is verified. When the root hash value is inconsistent, the complete Merkle tree of the upgrade package is obtained from the cloud OTA management server through the encrypted channel, and the error packet is determined by comparing it with the Mekle tree in the upgrade package. Pass the error packet and the Merkle tree value associated with that packet and verify the root hash again.

Preferably, the implementation process of the method is as follows:

1), package the original data of the upgrade package on the cloud OTA management server to make a complete upgrade package or differential package, and use the compressed package segmentation software to divide the upgrade package or differential package;

2) Use the SHA256 algorithm to hash each split packet, generate the hash value of each split packet, use the generated hash value as the leaf node of the Merkle tree, and then calculate the parent of each two leaf nodes. Hash value of the node, generate a complete Merkle tree with a unique Merkle root node, and save the generated Merkle tree to a text file in the form of a linked list;

3), repackage the split package and Merkle file into a new upgrade package, upload all the split package and upgrade package to the OTA object storage server, and notify the corresponding robot terminal that there is the latest upgrade package;

4), the robot terminal downloads the latest upgrade package to the local through the network, decompresses and reads the content in the Merkle tree, and at the same time obtains the root hash value of the Merkle tree from the cloud through the secure channel provided by the OTA management server, and compares the two Merkle trees If the root hash value is consistent, the upgrade package integrity verification is passed; otherwise, go to step 5);

5) Obtain the complete Merkle tree from the cloud through a secure channel, compare the hash value linked lists of the two Merkle trees, determine the data block with errors, and then request the OTA object storage server to resend the data block and the root hash of the Merkel tree value, compare whether the latest root hash value is correct, if the integrity verification of the correct upgrade package passes; otherwise, re-request the data block until it succeeds or the number of times exceeds the limit.

Preferably, in the step 1), the number of divided compressed packages should be an even number, and the size of each compressed package should be less than 10M.

Preferably, in the step 2), the hash value of the parent node of each two leaf nodes is calculated in the order of (0, 1) (2, 3)...(n-1, n), and SHA256 is used iteratively. The algorithm generates a complete Merkle tree with a unique Merkle root node.

The present invention also claims to protect a robot OTA upgrade package integrity verification system, comprising:

At least one OTA upgrade management server is used for the production and management of upgrade packages, and stores relevant upgrade package summary information and Merkle tree information;

At least one OTA upgrade package object storage server for saving the upgrade package; and

OTA upgrade terminal;

The system realizes the integrity verification of the OTA upgrade package of the OTA upgrade terminal through the above-mentioned robot OTA upgrade package integrity verification method.

Compared with the prior art, a robot OTA upgrade package integrity verification method of the present invention has the following beneficial effects:

The method realizes rapid verification of the integrity of the upgrade package in the OTA upgrade process of the robot, and ensures the safety and accuracy of the OTA upgrade.

The upload and download of the robot OTA upgrade package are all carried out through 4G, 5G or WIFI. In order to prevent data loss and tampering of the upgrade package during the transmission process, the Merkle tree is used to verify the upgrade package information to ensure that the robot terminal can receive a complete and reliable upgrade. Bag.

Description of drawings

1 is a schematic diagram of the overall design of a robot OTA upgrade package integrity verification method provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of Merkle tree generation provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of searching for an error data block according to an embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments.

The embodiment of the present invention provides a method for verifying the integrity of an OTA upgrade package of a robot. The Merkle tree is introduced into the production process of the OTA upgrade package, the Merkle tree is used to verify the integrity of the OTA upgrade package, and the error data is quickly located by utilizing the structural characteristics of the Merkle tree itself. Bag.

As shown in Figure 1, the implementation of the method includes a cloud OTA management server for making and managing the upgrade package, an OTA object storage server for saving the upgrade package, and a robot terminal for installing the upgrade package,

On the cloud OTA management server, package the original data of the upgrade package into a complete upgrade package or differential package, and use the compressed package splitting software to split the upgrade package or differential package;

Use the SHA256 algorithm to hash each split packet, generate the hash value of each split packet, use the generated hash value as the leaf node of the Merkle tree, and then generate the Merkle tree;

Repackage the split package and Merkle file into a new upgrade package, and upload all the split package and upgrade package to the OTA object storage server; at the same time, notify the corresponding robot terminal that there is the latest upgrade package;

The robot terminal downloads the latest upgrade package to the local through the network, decompresses and reads the content in the Merkle tree, and at the same time obtains the root hash value of the Merkle tree from the cloud through the secure channel provided by the OTA management server, and compares the root hash value of the two Merkle trees. If the value is the same, the integrity verification of the upgrade package is passed;

Otherwise, obtain the complete Merkle tree from the cloud through a secure channel, compare the hash value lists of the two Merkle trees, determine the data block with errors, and then request the OTA object storage server to resend the data block and the root hash of the Merkel tree. value, compare whether the latest root hash value is correct, if the integrity verification of the correct upgrade package passes, otherwise re-request the data block until it succeeds or the number of times exceeds the limit.

The cloud OTA management server stores relevant upgrade package summary information and Merkle tree information. The cloud OTA management server provides a secure communication channel through which the robot terminal can obtain the upgrade package summary information and related Merkle tree information. The cloud OTA management server has a pair of private key and public key key pair, and the key pair adopts asymmetric encryption technology. When the upgrade package is produced by the cloud OTA management server, the summary information of the upgrade package, including the upgrade package, will be extracted. Package name, upgrade package version, upgrade content, whether it is a differential package, etc. At the same time, the Merkke tree of the upgrade package is generated by hash algorithm and written into the relevant text file; the private key in the asymmetric key is used to pair the upgrade package digest and Merkle tree The data is encrypted, and the encrypted upgrade package summary information and Merkle tree information can be actively sent to the robot terminal through a secure channel or fed back as response data when the robot terminal is queried.

On the cloud OTA management server, package the original data of the upgrade package into a complete upgrade package or differential package, use the compressed package splitting software to split the upgrade package or differential package, and repackage the split package and Merkle file into a new upgrade package. Upload the split package and upgrade package to the OTA object storage server.

The robot terminal supports wireless communication mode, supports 4G, 5G and/or WIFI communication, and the robot can obtain upgrade package summary information, Merkle tree information and specific upgrade package through the wireless communication mode.

Referring to Figure 2-3, the specific implementation process of this method is as follows:

1) Pack the original data of the upgrade package on the cloud OTA management server to make a complete upgrade package or differential package, and use the compressed package segmentation software to divide the upgrade package or differential package; the number of compressed packages after division should be an even number, And the size of each compressed package should be less than 10M.

2) Use the SHA256 algorithm to hash each split packet, generate the hash value of each split packet, use the generated hash value as the leaf node of the Merkle tree, and then follow (0, 1) (2, 3) Calculate the hash value of the parent node of each two leaf nodes in the order of (n-1, n), iteratively use the SHA256 algorithm to generate a complete Merkle tree with a unique Merkle root node, and combine the generated Merkle tree with The form of a linked list is saved to a text file. The specific generation process is shown in Figure 2.

3) Repackage the split package and Merkle file into a new upgrade package, upload all the split package and upgrade package to the OTA object storage server, and notify the corresponding robot terminal of the latest upgrade package.

4), the robot terminal downloads the latest upgrade package to the local through the network, decompresses and reads the content in the Merkle tree, and at the same time obtains the root hash value of the Merkle tree from the cloud through the secure channel provided by the OTA management server, and compares the two Merkle trees If the root hash value is consistent, the upgrade package integrity verification is passed; otherwise, go to step 5).

5) Obtain the complete Merkle tree from the cloud through a secure channel, compare the hash value linked lists of the two Merkle trees, determine the data block with errors, and then request the OTA object storage server to resend the data block and the root hash of the Merkel tree value, compare whether the latest root hash value is correct, if the integrity verification of the correct upgrade package passes; otherwise, re-request the data block until it succeeds or the number of times exceeds the limit.

As shown in Figure 3, for the Merkle tree in the compared cloud and the upgrade package, if the root hashes are consistent, the data is the same, and if the root hashes are inconsistent, the inconsistent data can be quickly retrieved through the Merkle tree. The specific retrieval process is shown by the arrow on the right in Figure 3: Assuming that the DATA3 data block in the upgrade package is inconsistent, we compare the root hash and find that the root hash is inconsistent, that is, the data is inconsistent. At this time, it is necessary to find out which block is inconsistent. Comparing Hash Middle0 and Hash Middle1 respectively, it is found that Hash Middle1 is inconsistent, and then it is found that Hash Leaf3 is inconsistent, so it is located that the DATA3 data block is inconsistent.

The above steps involve the dumping and downloading of the OTA upgrade package data all through 4G, 5G or WIFI, and the transmission of the cloud Merkle tree is encrypted by an asymmetric key to ensure that the information is not tampered with during the transmission process.

By rationally designing the generation structure of the OTA upgrade package, the method can use the Merkle tree to verify the integrity of the upgrade package, and can use the structural characteristics of the Merkle tree to quickly locate the wrong data package, so as to solve the problem of network interruption and malicious tampering during the OTA upgrade process. It solves the technical problem that the integrity verification error of the existing robot OTA upgrade package occurs during the transmission process, and the entire upgrade package must be retransmitted.

The embodiment of the present invention also provides a robot OTA upgrade package integrity verification system, comprising:

At least one OTA upgrade management server is used for the production and management of upgrade packages, and stores relevant upgrade package summary information and Merkle tree information;

At least one OTA upgrade package object storage server is used to save the upgrade package;

and OTA upgrade terminal;

The system realizes the integrity verification of the OTA upgrade package of the OTA upgrade terminal by using the robot OTA upgrade package integrity verification method described in the above embodiment.

This system introduces Merkle tree into the process of making OTA upgrade package, and records the integrity of upgrade package through Merkel tree. First, take each upgrade module or differential module in the upgrade package as a data packet, use the SHA256 algorithm to calculate the hash value of the data packet, and use the hash value as the leaf node of the Merkle tree. After hash calculation, the corresponding parent node is generated until the complete Merkle binary tree containing only one root node is constructed.

Then write the Merkle tree into a file and enter the OTA upgrade package, and record the upgrade package information and Merkle tree information in the cloud OTA management server.

After receiving the OTA upgrade package, the robot terminal obtains the root hash value of the upgrade package from the cloud OTA management server through an encrypted channel and compares it with the root hash value of the Merkle tree in the upgrade package. When the root hash value is consistent, the integrity verification of the OTA upgrade package passes, and when the root hash value is inconsistent, obtain the complete Merkle tree of the upgrade package from the cloud OTA management server through the encrypted channel, and compare it with the Mekle tree in the upgrade package The erroneous packet is determined, and then only the erroneous packet and the Merkle tree value associated with that packet need to be retransmitted and the root hash value verified again.

The system realizes the rapid verification of the integrity of the upgrade package of the robot OTA upgrade process through the above method, and ensures the safety and accuracy of the OTA upgrade.

Through the above specific embodiments, those skilled in the technical field can easily realize the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. On the basis of the disclosed embodiments, those skilled in the technical field can arbitrarily combine different technical features to realize different technical solutions.

Except for the technical features described in the specification, they are all known technologies by those skilled in the art.

Claims (10)

1. a robot OTA upgrade package integrity verification method, is characterized in that, uses Merkle tree to verify the integrity of OTA upgrade package, and utilizes Merkle tree self-structural characteristic to locate error packet quickly; The original data of the upgrade package is packaged to make a complete upgrade package or a differential package, and then the upgrade package or differential package is segmented; hash calculation is performed on each segmented package to generate a hash value of each segmented package, and the generated The hash value of the Merkle tree is used as the leaf node of the Merkle tree and then the Merkle tree is generated; The robot terminal that needs to be upgraded downloads the upgrade package and reads the content in the Merkle tree. At the same time, it obtains the root hash value of the Merkle tree, and compares the root hash values of the two Merkle trees. If they are consistent, the integrity verification of the upgrade package passes; otherwise, Obtain the complete Merkle tree, compare the hash value lists of the two Merkle trees, determine the data block with errors, and then request to resend the data block and the root hash value of the Merkel tree, and compare whether the latest root hash value is correct, If the integrity verification of the correct upgrade package is passed, otherwise the data block is re-requested until it succeeds or the number of times exceeds the limit. 2. a kind of robot OTA upgrade package integrity verification method according to claim 1, is characterized in that, the realization of this method comprises the cloud OTA management server that is used for the making of upgrade package, the management, be used for the preservation of upgrade package. OTA object storage server and robot terminal for upgrade package installation, The cloud OTA management server stores relevant upgrade package summary information and Merkle tree information. The cloud OTA management server provides a secure communication channel through which the robot terminal can obtain the upgrade package summary information and related Merkle tree information. 3. a kind of robot OTA upgrade package integrity verification method according to claim 2, is characterized in that, described cloud OTA management server has a pair of private key, public key key pair, and this key pair adopts asymmetric encryption Technology, when the upgrade package is produced through the cloud OTA management server, the summary information of the upgrade package will be extracted, including the upgrade package name, upgrade package version, upgrade content, whether it is a differential package, and the Merkke tree of the upgrade package will be generated by hash algorithm calculation. And write the relevant text file; use the private key in the asymmetric key to encrypt the upgrade package digest and Merkle tree data, and the encrypted upgrade package digest information and Merkle tree information can be actively sent to the robot terminal or robot terminal through a secure channel Feedback as response data when querying. 4. a kind of robot OTA upgrade package integrity verification method according to claim 2 is characterized in that, on the cloud OTA management server, the upgrade package original data is packaged and made into a complete upgrade package or a differential package, and the compressed package is used to divide The software splits the upgrade package or differential package, repackages the split package and Merkle file into a new upgrade package, and uploads the split package and upgrade package to the OTA object storage server. 5. The method for verifying the integrity of a robot OTA upgrade package according to claim 2, wherein the robot terminal supports a wireless communication mode, supports 4G, 5G and/or WIFI communication, and the robot can communicate through the wireless communication mode. Get upgrade package summary information, Merkle tree information, and specific upgrade packages. 6. according to the arbitrary described a kind of robot OTA upgrade package integrity verification method of claim 2-5, it is characterized in that, use SHA256 algorithm to calculate the hash value of this data packet, this hash value is used as the leaf of Merkle tree node, each two leaf nodes are then hashed to generate the corresponding parent node, until the complete Merkle binary tree containing only one root node is constructed; then the Merkle tree is written to the file and entered into the OTA upgrade package, and at the same time in the OTA upgrade package. The upgrade package information and Merkle tree information are recorded in the cloud OTA management server; After receiving the OTA upgrade package, the robot terminal obtains the root hash value of the upgrade package from the cloud OTA management server through the encrypted channel and compares it with the root hash value of the Merkle tree in the upgrade package. When the root hash value is consistent, the OTA The integrity of the upgrade package is verified. When the root hash value is inconsistent, the complete Merkle tree of the upgrade package is obtained from the cloud OTA management server through the encrypted channel, and the error packet is determined by comparing it with the Mekle tree in the upgrade package. Pass the error packet and the Merkle tree value associated with that packet and verify the root hash again. 7. a kind of robot OTA upgrade package integrity verification method according to claim 6, is characterized in that, the realization process of this method is as follows: 1), package the original data of the upgrade package on the cloud OTA management server to make a complete upgrade package or differential package, and use the compressed package segmentation software to divide the upgrade package or differential package; 2) Use the SHA256 algorithm to hash each split packet, generate the hash value of each split packet, use the generated hash value as the leaf node of the Merkle tree, and then calculate the parent of each two leaf nodes. Hash value of the node, generate a complete Merkle tree with a unique Merkle root node, and save the generated Merkle tree to a text file in the form of a linked list; 3), repackage the split package and Merkle file into a new upgrade package, upload all the split package and upgrade package to the OTA object storage server, and notify the corresponding robot terminal that there is the latest upgrade package; 4), the robot terminal downloads the latest upgrade package to the local through the network, decompresses and reads the content in the Merkle tree, and at the same time obtains the root hash value of the Merkle tree from the cloud through the secure channel provided by the OTA management server, and compares the two Merkle trees If the root hash value is consistent, the upgrade package integrity verification is passed; otherwise, go to step 5); 5) Obtain the complete Merkle tree from the cloud through a secure channel, compare the hash value list of the two Merkle trees, determine the data block with errors, and then request the OTA object storage server to resend the data block and the root hash of the Merkel tree value, compare whether the latest root hash value is correct, if the integrity verification of the correct upgrade package passes; otherwise, re-request the data block until it succeeds or the number of times exceeds the limit. 8. a kind of robot OTA upgrade package integrity verification method according to claim 7, is characterized in that, in described step 1), the compressed package number after the division should be an even number, and the size of each compressed package should be an even number. less than 10M. 9. The method for verifying the integrity of a robot OTA upgrade package according to claim 7, wherein in the step 2), according to (0,1)(2,3)...(n-1,n ) in order to calculate the hash value of the parent node of each two leaf nodes, and iteratively use the SHA256 algorithm to generate a complete Merkle tree with a unique Merkle root node. 10. a robot OTA upgrade package integrity verification system, is characterized in that, comprises At least one OTA upgrade management server is used for the production and management of upgrade packages, and stores relevant upgrade package summary information and Merkle tree information; At least one OTA upgrade package object storage server for saving the upgrade package; and OTA upgrade terminal; The system realizes the integrity verification of the OTA upgrade package of the OTA upgrade terminal through the robot OTA upgrade package integrity verification method described in any one of claims 1 to 9.

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