A Function Scheduling Middleware Based On Web Service Technology For Cloud Robotics

In recent years,with the development of electronic technology and sensor technology,robot technology has developed rapidly.However,the development of robotics field has encountered bottlenecks due to the limited computing resources,the problem that the algorithm is difficult to reuse and long cycle in system developing.Cloud computing technology and Web service technology becoming more and more mature,providing some solutions to above problems for robotics.Cloud robotics is the product of the combination of cloud computing technology and robot technology,which has great advantages on performance,cost and so on.Cloud robotics has brought a new revolution to the field of robotics.In view of the urgent demand for middleware software infrastructure in the field of cloud robotics,the paper is focus on the research of cloud robotics function scheduling middleware based on Web service technology.The main work of the paper includes the following parts:(1)The paper proposed a system architecture for cloud robotics.This architecture consists of a virtual resource layer,a resource scheduling layer,a service component layer,a function scheduling layer,a robot and user layer.The cloud robotics system includes two important components:resource scheduling middleware and function scheduling middleware,which are responsible for scheduling the virtual resources and function algorithms in the cloud according to the tasks of robots.On this basis,we constructed two main platforms of the cloud robotics system:the cloud computing platform and the robot platform.By offloading the intensivecomputing tasks to the cloud computing platform,the computing resource bottleneck of the robot has been broken through.(2)The paper proposed a function scheduling middleware architecture based on Web service technology.It includes task parsing module,service querying module,service composing module and service invoking module.They are responsible for automatically scheduling the services in the cloud computing platform.On this basis,we utilized Web service technology to encapsulate the robot algorithms and unified the service invoking interface,which solved the problem of algorithm reusing and the difficulty of system developing.With no intervention,the robot can automatically schedule the function services from the cloud by function scheduling middleware and accomplish complex tasks.(3)Based on the above architecture and technical breakthrough,a complete cloud robotics system is constructed.We tested the functionality and performance of function scheduling middleware for cloud robotics by two experiments.