Design And Implementation Of Robot Middleware Service Integration Framework Based On DDS

The multi-robot system is a typical distributed real-time system.In the development process of the distributed robot control system,there are problems such as heterogeneity of devices and insufficient real-time communication.By using robot middleware technology,establishing interface and data standards,and adopting appropriate communication mechanism,the compatibility of heterogeneous software and hardware can be achieved.The problem of information islands caused by heterogeneity can also be solved,and the delay of communication can be reduced.In recent years,robot middleware such as ROS and Open RDK have been proposed abroad.Although there are still problems such as Insufficient means of communication and low scalability in middleware technology due to different technology selections,in contrast,the research on robot middleware technology in my country is still in its infancy.In order to meet the above requirements for robot middleware technology,this paper designs and implements a set of robot middleware framework based on Data Distribution Service(DDS),and proposes the corresponding functional interface and metadata representation specification,and introduces DDS-based remote procedure call communication mechanism.Finally,the middleware software based on the framework is deployed in the industrial field to verify its functions such as equipment loading,equipment management,data transmission,service management and so on.The main contributions of this paper are as follows:(1)A set of robot interface specifications and robot equipment information metadata description specifications are abstracted and summarized through the investigation and research of multi-category robots at home and abroad.Based on this abstract specification,the robot functional components and data are encapsulated and managed.(2)Aiming at the problems of software and hardware heterogeneity,low component reuse,and insufficient real-time communication in multi-robot distributed systems,a set of robot middleware framework is designed and implemented using DDS technology and Web Service technology.The framework adopts SOA architecture,provides general interface and data access,exposes web service interface,solves the problem of heterogeneous software and hardware,and enhances the degree of component reuse.At the same time,the framework provides data communication functions based on DDS and local multithreading technology,and realizes the real-time transmission of data inside and outside the node in microseconds.(3)In view of the difficulty of DDS technology to support the flexible configuration and development of service components,and the high latency of service remote procedure calls in Web Service technology,this paper designs a service framework model Dynamic-DDS-RPC with a request-response mechanism based on the DDS publish-subscribe communication foundation.Dynamic-DDS-RPC realizes low-latency,flexibly configurable robot service remote procedure call function,and combines it in the robot middleware framework of this paper.(4)Based on the robot middleware framework proposed in this paper,a set of Robot Distributed Control System(RDCS)middleware for robots is developed.By deploying the RDCS on the actual welding production line,and conducting access and development tests on foreign ABB robots and domestic Jereh robots,the feasibility of the robot middleware technology proposed in this paper is verified.