Design And Implementation Of Middleware In Intelligent Space For Ward Inspection Robot Based On CORBA

In recent years, intelligent space has become a hotspot in the field of service robots. However, service robots intelligent space is a heterogeneous, dynamic and complex computing environment. It becomes a very important research topic that how to integrate devices together in the intelligent space seamlessly, achieve the interconnection of information and the collaboration of intelligent devices, in order to provide a favorable support for environmental sensing, positioning and navigating of service robots.This thesis reviews the recent research status of service robots intellectual space and middleware technology. The middleware in intelligent space for ward inspection robot is designed and implemented based on CORBA, and it is successfully applied to the intelligent inpatient department of the Second Hospital of Shandong University. The main contributions of this thesis are shown as follows:Firstly, this thesis analyzes the functional requirements of intelligent space for ward inspection robot, establishes the system architecture which consists of user application, middleware, distributed device based on heterogeneous network and the inspection robot. On this basis, the distributed object middleware CORBA is described and the functional requirements of the middleware part in this system is indicated, then the middleware design plan of intelligent space for ward inspection robot based on CORBA is proposed.Secondly, this thesis uses CORBA criterion to carry on the modular design of the intelligent space system for ward inspection robot, and the interface functions are obtained by abstracting the function of hardware of each module, then IDL interfaces of distributed devices and ward inspection robot are designed with OMG interface definition language. C++programs of server and client application are developed in Windows environment based on MFC, so a management system of intelligent space for ward inspection robot based on C/S mode is achieved. Finally, the application of middleware in intelligent space for ward inspection robot is described. The results show that the middleware in intelligent space for ward inspection robot based on CORBA makes the heterogeneous character of distributed system invisible, which realizes the information interchange and interoperability, so as to ensure the inspection robot complete task safely and effectively.With the development of related technologies, the function of service robots intelligent space based on middleware will be more perfect, more practical, and it will have a broader prospects and progress. The research in this thesis plays a promotive role in the development of middleware and the wide application of intelligent space for service robot.