In this paper, aiming at the problem of unreliability and incentive of terminal perception process, this paper constructs a multi-terminal collaborative control decision-making mechanism based on blockchain. Through the task publishers and workers to make decisions on the blockchain platform according to their own wishes, the algorithm to maximize the overall revenue is realized. Firstly, the problem model of the relationship between work area, task and user is abstracted. Based on the problem model, the revenue function of each task and user is proposed, which quantitatively depicts the benefits that tasks and user decisions bring to them. Finally, according to Walras equilibrium theory, a distributed multi-terminal resource co-allocation model is established and a reasonable pricing algorithm is designed. Ensure that each terminal maximizes the supply and demand balance of tasks in each area in the process of maximizing decision-making for its own interests to maximize the overall revenue. Finally, the implementation and results of the algorithm are analyzed by MATLAB simulation tool, and the mechanism is verified and compared with common algorithms.