020_具身人工智能的人机协作安全与信任机制：从协同感知到责任共担的安全框架

# 具身AI人机协作安全架构框架示例
class HumanRobotCollaborationSecurityFramework:
    def __init__(self, system_config):
        """
        初始化人机协作安全框架
        参数:
            system_config: 系统配置信息，包含各安全层级的设置
        """
        self.system_id = system_config.get("system_id", "hrcs_framework")
        self.collaboration_mode = system_config.get("collaboration_mode", "supervised")
        
        # 初始化各安全层级
        self.physical_security = PhysicalSecurityLayer(system_config.get("physical_security", {}))
        self.perception_security = PerceptionSecurityLayer(system_config.get("perception_security", {}))
        self.decision_security = DecisionSecurityLayer(system_config.get("decision_security", {}))
        self.communication_security = CommunicationSecurityLayer(system_config.get("communication_security", {}))
        self.supervision_security = SupervisionSecurityLayer(system_config.get("supervision_security", {}))
        
        # 安全状态管理
        self.security_state = {
            "overall_level": "unknown",
            "layer_states": {},
            "risk_assessment": {},
            "safety_measures": {}
        }
        
        # 协作安全规则
        self.collaboration_rules = system_config.get("collaboration_rules", [])
        
        # 安全日志
        self.security_logs = []
    
    def initialize_security(self):
        """
        初始化各安全层级
        """
        # 初始化物理安全层
        self.physical_security.initialize()
        
        # 初始化感知安全层
        self.perception_security.initialize()
        
        # 初始化决策安全层
        self.decision_security.initialize()
        
        # 初始化通信安全层
        self.communication_security.initialize()
        
        # 初始化监督安全层
        self.supervision_security.initialize()
        
        # 更新系统安全状态
        self.update_security_state()
        
        self._log_security_event("system_initialized", {
            "system_id": self.system_id,
            "collaboration_mode": self.collaboration_mode,
            "timestamp": self._get_current_timestamp()
        })
    
    def update_security_state(self):
        """
        更新系统整体安全状态
        """
        # 收集各层安全状态
        physical_state = self.physical_security.get_security_state()
        perception_state = self.perception_security.get_security_state()
        decision_state = self.decision_security.get_security_state()
        communication_state = self.communication_security.get_security_state()
        supervision_state = self.supervision_security.get_security_state()
        
        # 更新层状态
        self.security_state["layer_states"] = {
            "physical": physical_state,
            "perception": perception_state,
            "decision": decision_state,
            "communication": communication_state,
            "supervision": supervision_state
        }
        
        # 评估整体风险
        risk_level = self._assess_overall_risk()
        self.security_state["risk_assessment"] = {
            "level": risk_level,
            "timestamp": self._get_current_timestamp(),
            "contributing_factors": self._identify_risk_factors()
        }
        
        # 确定安全措施
        safety_measures = self._determine_safety_measures(risk_level)
        self.security_state["safety_measures"] = safety_measures
        
        # 设置整体安全级别
        self.security_state["overall_level"] = self._determine_security_level(risk_level)
        
        return self.security_state
    
    def _assess_overall_risk(self):
        """
        评估系统整体风险级别
        返回:
            风险级别: "low", "medium", "high", "critical"
        """
        # 获取各层风险级别
        physical_risk = self.security_state["layer_states"]["physical"].get("risk_level", "medium")
        perception_risk = self.security_state["layer_states"]["perception"].get("risk_level", "medium")
        decision_risk = self.security_state["layer_states"]["decision"].get("risk_level", "medium")
        communication_risk = self.security_state["layer_states"]["communication"].get("risk_level", "medium")
        supervision_risk = self.security_state["layer_states"]["supervision"].get("risk_level", "medium")
        
        # 风险级别映射到数值
        risk_values = {
            "low": 1,
            "medium": 2,
            "high": 3,
            "critical": 4
        }
        
        # 计算风险值
        risk_scores = [
            risk_values.get(physical_risk, 2),
            risk_values.get(perception_risk, 2),
            risk_values.get(decision_risk, 2),
            risk_values.get(communication_risk, 2),
            risk_values.get(supervision_risk, 2)
        ]
        
        # 计算加权平均风险值（物理安全权重更高）
        weights = [1.5, 1.0, 1.0, 1.0, 1.2]
        weighted_score = sum(r * w for r, w in zip(risk_scores, weights)) / sum(weights)
        
        # 根据加权分数确定风险级别
        if weighted_score <= 1.3:
            return "low"
        elif weighted_score <= 2.0:
            return "medium"
        elif weighted_score <= 3.0:
            return "high"
        else:
            return "critical"
    
    def _identify_risk_factors(self):
        """
        识别主要风险因素
        返回:
            风险因素列表
        """
        risk_factors = []
        
        # 从各层收集风险因素
        for layer_name, layer_state in self.security_state["layer_states"].items():
            layer_factors = layer_state.get("risk_factors", [])
            for factor in layer_factors:
                risk_factors.append({
                    "layer": layer_name,
                    "factor": factor,
                    "severity": layer_state.get("risk_level", "medium")
                })
        
        return risk_factors
    
    def _determine_safety_measures(self, risk_level):
        """
        根据风险级别确定安全措施
        参数:
            risk_level: 风险级别
        返回:
            安全措施字典
        """
        safety_measures = {
            "required": [],
            "recommended": []
        }
        
        # 基础安全措施（所有风险级别都需要）
        base_measures = [
            "continuous_monitoring",
            "emergency_stop_capability",
            "collision_detection"
        ]
        safety_measures["required"].extend(base_measures)
        
        # 根据风险级别添加额外措施
        if risk_level == "low":
            safety_measures["recommended"].extend([
                "periodic_system_checks",
                "user_awareness_reminders"
            ])
        elif risk_level == "medium":
            safety_measures["required"].extend([
                "enhanced_supervision",
                "slower_operation_speed"
            ])
            safety_measures["recommended"].extend([
                "additional_sensor_verification"
            ])
        elif risk_level == "high":
            safety_measures["required"].extend([
                "human_in_the_loop",
                "reduced_operational_space",
                "mandatory_verification_steps",
                "slowest_operation_speed"
            ])
        elif risk_level == "critical":
            safety_measures["required"].extend([
                "immediate_system_pause",
                "full_human_control",
                "safety_inspection_required"
            ])
        
        return safety_measures
    
    def _determine_security_level(self, risk_level):
        """
        根据风险级别确定整体安全级别
        参数:
            risk_level: 风险级别
        返回:
            安全级别
        """
        security_mapping = {
            "low": "safe",
            "medium": "caution",
            "high": "warning",
            "critical": "unsafe"
        }
        
        return security_mapping.get(risk_level, "unknown")
    
    def validate_collaboration_request(self, request):
        """
        验证协作请求的安全性
        参数:
            request: 协作请求对象，包含任务、环境、参与者信息
        返回:
            验证结果和安全建议
        """
        # 首先更新安全状态
        self.update_security_state()
        
        # 检查系统整体安全状态
        if self.security_state["overall_level"] == "unsafe":
            return {
                "valid": False,
                "reason": "系统当前处于不安全状态",
                "required_actions": self.security_state["safety_measures"]["required"],
                "risk_level": self.security_state["risk_assessment"]["level"]
            }
        
        # 验证协作规则合规性
        rule_violations = self._check_rule_compliance(request)
        if rule_violations:
            return {
                "valid": False,
                "reason": "协作请求违反安全规则",
                "rule_violations": rule_violations,
                "risk_level": "high"
            }
        
        # 执行任务风险评估
        task_risk = self._assess_task_risk(request.get("task", {}))
        if task_risk["level"] == "critical":
            return {
                "valid": False,
                "reason": "任务风险过高",
                "risk_details": task_risk,
                "risk_level": "critical"
            }
        
        # 生成协作安全建议
        safety_recommendations = self._generate_safety_recommendations(request, task_risk)
        
        return {
            "valid": True,
            "risk_level": max(self.security_state["risk_assessment"]["level"], task_risk["level"]),
            "safety_measures": self.security_state["safety_measures"],
            "recommendations": safety_recommendations,
            "timestamp": self._get_current_timestamp()
        }
    
    def _check_rule_compliance(self, request):
        """
        检查协作请求是否违反安全规则
        返回:
            规则违反列表
        """
        violations = []
        
        # 简化实现，实际应根据具体规则进行检查
        task_type = request.get("task", {}).get("type", "unknown")
        required_certification = request.get("task", {}).get("required_certification", None)
        
        # 示例规则检查
        if task_type == "high_risk" and not required_certification:
            violations.append({
                "rule_id": "task_001",
                "rule_desc": "高风险任务需要认证",
                "violation_type": "missing_requirement"
            })
        
        return violations
    
    def _assess_task_risk(self, task):
        """
        评估特定任务的风险
        返回:
            任务风险评估结果
        """
        # 简化实现，实际应考虑更多因素
        task_type = task.get("type", "unknown")
        complexity = task.get("complexity", "medium")
        precision_required = task.get("precision_required", "medium")
        environment_hazards = task.get("environment_hazards", [])
        
        # 基于任务属性评估风险
        risk_factors = []
        
        if task_type == "high_risk":
            risk_factors.append("high_risk_task_type")
        
        if complexity == "high":
            risk_factors.append("high_complexity")
        
        if precision_required == "high":
            risk_factors.append("high_precision_required")
        
        if len(environment_hazards) > 0:
            risk_factors.append(f"{len(environment_hazards)}_environmental_hazards")
        
        # 确定风险级别
        if len(risk_factors) >= 3 or task_type == "high_risk" and complexity == "high":
            risk_level = "critical"
        elif len(risk_factors) == 2 or task_type == "high_risk":
            risk_level = "high"
        elif len(risk_factors) == 1 or complexity == "high":
            risk_level = "medium"
        else:
            risk_level = "low"
        
        return {
            "level": risk_level,
            "factors": risk_factors,
            "timestamp": self._get_current_timestamp()
        }
    
    def _generate_safety_recommendations(self, request, task_risk):
        """
        生成协作安全建议
        参数:
            request: 协作请求
            task_risk: 任务风险评估
        返回:
            安全建议列表
        """
        recommendations = []
        
        # 基于风险级别生成建议
        if task_risk["level"] == "high" or task_risk["level"] == "critical":
            recommendations.append({
                "type": "supervision",
                "detail": "建议增加人工监督频率",
                "priority": "high"
            })
            
            recommendations.append({
                "type": "verification",
                "detail": "建议增加中间结果验证步骤",
                "priority": "high"
            })
        
        # 检查特定风险因素
        if "high_precision_required" in task_risk["factors"]:
            recommendations.append({
                "type": "calibration",
                "detail": "建议在任务开始前进行精度校准",
                "priority": "medium"
            })
        
        if "environmental_hazards" in str(task_risk["factors"]):
            recommendations.append({
                "type": "awareness",
                "detail": "建议对环境危险进行额外的感知监控",
                "priority": "medium"
            })
        
        return recommendations
    
    def monitor_collaboration(self, collaboration_state):
        """
        监控协作过程的安全性
        参数:
            collaboration_state: 当前协作状态信息
        返回:
            监控结果和安全警报（如有）
        """
        # 更新安全状态
        self.update_security_state()
        
        # 检查各层安全状态
        alerts = []
        
        # 物理安全监控
        physical_alerts = self.physical_security.monitor_state(collaboration_state.get("physical_state", {}))
        alerts.extend(physical_alerts)
        
        # 感知安全监控
        perception_alerts = self.perception_security.monitor_state(collaboration_state.get("perception_state", {}))
        alerts.extend(perception_alerts)
        
        # 决策安全监控
        decision_alerts = self.decision_security.monitor_state(collaboration_state.get("decision_state", {}))
        alerts.extend(decision_alerts)
        
        # 通信安全监控
        communication_alerts = self.communication_security.monitor_state(collaboration_state.get("communication_state", {}))
        alerts.extend(communication_alerts)
        
        # 监督安全监控
        supervision_alerts = self.supervision_security.monitor_state(collaboration_state.get("supervision_state", {}))
        alerts.extend(supervision_alerts)
        
        # 评估整体监控结果
        critical_alerts = [a for a in alerts if a["severity"] == "critical"]
        high_alerts = [a for a in alerts if a["severity"] == "high"]
        
        # 确定响应级别
        if critical_alerts:
            response_level = "emergency"
            required_actions = ["immediate_stop", "human_intervention"]
        elif high_alerts:
            response_level = "warning"
            required_actions = ["reduce_speed", "enhanced_monitoring"]
        else:
            response_level = "normal"
            required_actions = []
        
        # 记录监控事件
        self._log_security_event("collaboration_monitor", {
            "response_level": response_level,
            "alerts_count": len(alerts),
            "collaboration_id": collaboration_state.get("collaboration_id", "unknown"),
            "timestamp": self._get_current_timestamp()
        })
        
        return {
            "status": "safe" if response_level == "normal" else "unsafe",
            "response_level": response_level,
            "alerts": alerts,
            "required_actions": required_actions,
            "security_state": self.security_state,
            "timestamp": self._get_current_timestamp()
        }
    
    def handle_safety_incident(self, incident):
        """
        处理安全事件
        参数:
            incident: 安全事件信息
        返回:
            处理结果和恢复建议
        """
        # 记录安全事件
        self._log_security_event("safety_incident", incident)
        
        # 评估事件严重程度
        severity = incident.get("severity", "unknown")
        
        # 根据严重程度采取措施
        if severity == "critical":
            # 启动紧急响应
            emergency_response = self._initiate_emergency_response(incident)
            return {
                "status": "emergency_response_active",
                "response": emergency_response,
                "recommendations": ["系统全面检查", "人工接管控制", "安全审计"]
            }
        elif severity == "high":
            # 启动高级响应
            high_response = self._initiate_high_response(incident)
            return {
                "status": "high_response_active",
                "response": high_response,
                "recommendations": ["受影响子系统检查", "操作参数调整"]
            }
        else:
            # 普通响应
            normal_response = self._initiate_normal_response(incident)
            return {
                "status": "normal_response_active",
                "response": normal_response,
                "recommendations": ["监控事件发展", "预防类似事件"]
            }
    
    def _initiate_emergency_response(self, incident):
        """
        启动紧急响应措施
        """
        return {
            "actions": [
                "immediate_system_shutdown",
                "notification_to_safety_personnel",
                "incident_logging",
                "evidence_preservation"
            ],
            "timestamp": self._get_current_timestamp()
        }
    
    def _initiate_high_response(self, incident):
        """
        启动高级响应措施
        """
        return {
            "actions": [
                "affected_subsystem_isolation",
                "reduced_operation_mode",
                "enhanced_monitoring",
                "maintenance_notification"
            ],
            "timestamp": self._get_current_timestamp()
        }
    
    def _initiate_normal_response(self, incident):
        """
        启动普通响应措施
        """
        return {
            "actions": [
                "incident_documentation",
                "preventive_measures_review",
                "system_status_check"
            ],
            "timestamp": self._get_current_timestamp()
        }
    
    def generate_safety_report(self, time_range=None):
        """
        生成安全报告
        参数:
            time_range: 可选的时间范围过滤
        返回:
            安全报告对象
        """
        # 更新最新安全状态
        self.update_security_state()
        
        # 过滤日志（如果提供了时间范围）
        if time_range:
            filtered_logs = [log for log in self.security_logs 
                           if time_range["start"] <= log["timestamp"] <= time_range["end"]]
        else:
            filtered_logs = self.security_logs
        
        # 统计安全事件
        incidents = [log for log in filtered_logs if log["event_type"] == "safety_incident"]
        monitor_events = [log for log in filtered_logs if log["event_type"] == "collaboration_monitor"]
        
        # 生成报告
        report = {
            "system_id": self.system_id,
            "generated_at": self._get_current_timestamp(),
            "current_security_state": self.security_state,
            "incident_statistics": {
                "total_incidents": len(incidents),
                "critical_incidents": len([i for i in incidents if i["details"].get("severity") == "critical"]),
                "high_incidents": len([i for i in incidents if i["details"].get("severity") == "high"])
            },
            "monitoring_summary": {
                "total_monitoring_events": len(monitor_events),
                "warning_triggers": len([m for m in monitor_events if m["details"].get("response_level") == "warning"]),
                "emergency_triggers": len([m for m in monitor_events if m["details"].get("response_level") == "emergency"])
            },
            "recommendations": self._generate_improvement_recommendations()
        }
        
        return report
    
    def _generate_improvement_recommendations(self):
        """
        生成安全改进建议
        """
        recommendations = []
        
        # 基于当前安全状态生成建议
        if self.security_state["overall_level"] != "safe":
            recommendations.append({
                "area": "overall_security",
                "detail": "提高系统整体安全状态",
                "priority": "high"
            })
        
        # 检查各层安全状态
        for layer_name, layer_state in self.security_state["layer_states"].items():
            if layer_state.get("risk_level") == "high" or layer_state.get("risk_level") == "critical":
                recommendations.append({
                    "area": layer_name,
                    "detail": f"降低{layer_name}层的风险级别",
                    "priority": "high"
                })
        
        # 添加常规改进建议
        recommendations.append({
            "area": "training",
            "detail": "定期进行人机协作安全培训",
            "priority": "medium"
        })
        
        recommendations.append({
            "area": "testing",
            "detail": "加强安全场景测试覆盖",
            "priority": "medium"
        })
        
        return recommendations
    
    def _log_security_event(self, event_type, details):
        """
        记录安全事件
        """
        event = {
            "timestamp": self._get_current_timestamp(),
            "event_type": event_type,
            "details": details
        }
        self.security_logs.append(event)
    
    def _get_current_timestamp(self):
        """
        获取当前时间戳
        """
        import datetime
        return datetime.datetime.now().isoformat()

# 各安全层级的简化实现
class PhysicalSecurityLayer:
    def __init__(self, config):
        self.config = config
    def initialize(self):
        pass
    def get_security_state(self):
        return {"risk_level": "low", "risk_factors": []}
    def monitor_state(self, state):
        return []

class PerceptionSecurityLayer:
    def __init__(self, config):
        self.config = config
    def initialize(self):
        pass
    def get_security_state(self):
        return {"risk_level": "medium", "risk_factors": []}
    def monitor_state(self, state):
        return []

class DecisionSecurityLayer:
    def __init__(self, config):
        self.config = config
    def initialize(self):
        pass
    def get_security_state(self):
        return {"risk_level": "medium", "risk_factors": []}
    def monitor_state(self, state):
        return []

class CommunicationSecurityLayer:
    def __init__(self, config):
        self.config = config
    def initialize(self):
        pass
    def get_security_state(self):
        return {"risk_level": "low", "risk_factors": []}
    def monitor_state(self, state):
        return []

class SupervisionSecurityLayer:
    def __init__(self, config):
        self.config = config
    def initialize(self):
        pass
    def get_security_state(self):
        return {"risk_level": "low", "risk_factors": []}
    def monitor_state(self, state):
        return []

# 使用示例
def example_hrcs_framework():
    # 定义系统配置
    system_config = {
        "system_id": "collaborative_robot_001",
        "collaboration_mode": "interactive",
        "physical_security": {
            "emergency_stop": True,
            "collision_detection": True,
            "speed_limits": "enabled"
        },
        "perception_security": {
            "human_detection": True,
            "environment_monitoring": True
        },
        "collaboration_rules": [
            {"rule_id": "task_001", "description": "高风险任务需要认证"},
            {"rule_id": "interaction_001", "description": "保持安全距离"}
        ]
    }
    
    # 创建安全框架实例
    security_framework = HumanRobotCollaborationSecurityFramework(system_config)
    
    # 初始化安全系统
    security_framework.initialize_security()
    
    # 验证协作请求
    collaboration_request = {
        "task": {
            "type": "assembly",
            "complexity": "medium",
            "precision_required": "high",
            "environment_hazards": [],
            "required_certification": True
        },
        "participants": ["human_001", "robot_001"],
        "environment": "factory_floor"
    }
    
    validation_result = security_framework.validate_collaboration_request(collaboration_request)
    print(f"协作请求验证结果: {'有效' if validation_result['valid'] else '无效'}")
    print(f"风险级别: {validation_result['risk_level']}")
    print(f"安全措施: {validation_result.get('safety_measures', {})}")
    
    # 监控协作状态
    collaboration_state = {
        "collaboration_id": "collab_001",
        "physical_state": {"distance": 0.5, "speed": 0.2},
        "perception_state": {"human_detected": True, "obstacles": []},
        "decision_state": {"current_action": "assembly", "next_action": "verification"},
        "communication_state": {"signal_strength": "good", "latency": 10},
        "supervision_state": {"human_attention": "focused", "system_status": "normal"}
    }
    
    monitoring_result = security_framework.monitor_collaboration(collaboration_state)
    print(f"监控状态: {monitoring_result['status']}")
    print(f"响应级别: {monitoring_result['response_level']}")
    
    # 生成安全报告
    safety_report = security_framework.generate_safety_report()
    print(f"报告生成时间: {safety_report['generated_at']}")
    print(f"当前安全状态: {safety_report['current_security_state']['overall_level']}")
    
    return safety_report