基于微服务的服务机器人云服务设计方法  

Design of robot cloud service platform based on microservice

作　　者：尹磊[1] 周风余[1] 李铭 王玉刚 郭银博 陈科 YIN Lei;ZHOU Fengyu;LI Ming;WANG Yugang;GUO Yinbo;CHEN Ke(School of Control Science and Engineering,Shandong University,Jinan 250061,Shandong,China;Engineering Training Center,Shandong University,Jinan 250001,Shandong,China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东大学工程训练中心,山东济南250001

出　　处：《山东大学学报（工学版）》2019年第6期55-62,80,共9页Journal of Shandong University（Engineering Science）

基　　金：国家重点研发计划项目(2017YFB1302400);国家自然科学基金资助项目(61773242);山东省重大科技创新工程项目(2017CXGC0926);山东省重点研发计划(公益类专项)项目(2017GGX30133)

摘　　要：为了提升服务机器人的智能化水平,提出一种基于微服务的服务机器人云服务设计方法。设计基于微服务的服务机器人云服务的设计框架,提出服务机器人虚拟模型,实现服务机器人运动学/动力学模型、传感器模型和环境模型的云端映射,解决了机器人调用云服务的异构性问题;提出一种交互式的云服务交互接口,采用机器人的协议应答方式实现异构协议的自适应匹配;详细阐述服务机器人云服务平台的开发关键方法。通过所搭建的服务机器人云服务平台进行试验,测试了所设计的功能云服务的调用效果、实时性和细粒度服务质量,可以满足服务机器人的功能要求。To improve the intelligent level of service robots, a cloud service design method for service robots based on micro-service was proposed in this paper. The framework of cloud service based on micro-service was designed based on virtual model of service robot. Kinematics model, sensor model and environment model were proposed to map the robot parameters to cloud center. The interactive interface for cloud services was proposed. The adaptive matching of heterogeneous protocols was realized by using the protocol response of robots. Cloud service development methods were proposed in detail. The experiment result were done to demonstrate the cloud service results, real time and fine-grained quality of service of the proposed cloud service design for service robots.

关 键 词：服务机器人 异构性 云平台 虚拟机器人模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]