Adaptive Monitoring Architecture And Service Method Of Robots Based On DPWS And Petri-Nets

At present,a large number of developed and developing countries have an aging population problem,which directly leads to a substantial increase in the cost of the country’s labor force In view of this phenomenon,the enterprise use multi robot automated production line to replace the ordinary labor to solve this problem However,at present,multi robot automated production line has many problems,such as heterogeneity of equipments,poor reconstruction of dynamic flexibility,special communication protocol and poor security.Therefore,there has high value of research to solve the heterogeneous nature of multi robot system,achieve the true sense of communication and coordination of robot across languages and platforms.In view of these problems,a monitoring architecture and service method of robots based on DPWS middleware and Petri-Nets are proposed,which can realize the communication,equipment’s plug and play and cooperation.In the research,firstly,according to the specifications of DPWS middleware design and develop the code of devices and client,which are in the distributed network architecture of multi robot,implement the configuration of device and host the services.Through calling the stub of service,client can invoke the services and monitor the device.According to the WS-Discovery and WS-Eventing mechanism design the system discovery module and event subscription service to realize the robot self discovery and event publish/subscribe,improve the dynamic adaptive of system equipments and pass the message loosely coupled.On this basis,use Petri-Nets technology to realize the process control of the field equipments.Use low voltage electrical equipment assembly as object to establish the Petri-Nets process control,which consider the cooperation process and component oriented assembly,to make the robot complete the assembly accordance with the set process.Finally,design the simulation model of the multi robot system,realize the data interaction between the simulation model and client based on S-function.Verify the effectiveness of the robot monitoring architecture based on the DPWS and Petri-Nets through simulating the typical assembly and Petri-Nets resource competition.The results show that the adaptive performance of system can good to meet the dynamic,real-time,portable reconstruction performance of robot system,and make the device plug and play in the robots system.The mutual exclusion of Petri-Nets and security mechanism of DPWS ensure the security of the system communication and equipment control.The research can realize the robots discovery dynamically,communicate and coordinate with each other freely by using the technology of DPWS middleware and Petri-Nets.It can improve the flexible reconfiguration,security and intelligence of system to adapt to the automatic production line.