一种机器人云平台服务构建与调度新方法

doi:10.13973/j.cnki.robot.2017.0089

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周风余, 尹磊, 宋锐, 田天, 陈宏兴. 一种机器人云平台服务构建与调度新方法[J]. 机器人, 2017, 39(1): 89-98.DOI: 10.13973/j.cnki.robot.2017.0089. ZHOU Fengyu, YIN Lei, SONG Rui, TIAN Tian, CHEN Hongxing. A Novel Building and Scheduling Method of Cloud Platform Services for Robot. ROBOT, 2017, 39(1): 89-98. DOI: 10.13973/j.cnki.robot.2017.0089.

摘要针对服务机器人服务扩展和服务质量提升等问题，提出了一种机器人云平台服务构建与调度新方法．首先，详细设计了服务机器人云平台整体架构及接口层开发框架；其次，采用基于历史数据并动态更新的服务质量评估算法实现了接口层对云平台服务的质量评价与调度；然后，基于Apache CXF实现了云平台服务的开发；最后，选择人脸特征提取和文件上传等典型服务实例对提出的方法进行了性能测试，并将本文算法与目前常用算法进行了对比实验．实验验证了本文提出的机器人云平台服务构建与调度方法的有效性和先进性．该方法为云机器人的开发者提供了高效的服务开发方法，消除了异构机器人调用服务问题并提高了服务代码的复用性．

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关键词 ：机器人云平台, 服务质量, 服务调度, 云计算, 异构性

Abstract：In view of services extension and service quality improvement, a novel building and scheduling method of cloud platform services for robot is presented. Firstly, an architecture of service robot cloud platform and a framework for interface layer development are designed in detail. Secondly, evaluation and scheduling of cloud platform service are realized by the interface layer with a service quality evaluation algorithm based on historical data and dynamically updated data. Thirdly, the service of cloud platform is developed based on Apache CXF. Finally, the performance of the proposed method is tested through some typical service instances such as face feature extraction service and file upload service. The proposed algorithm is compared with some common algorithms through experiments. The experimental results verify the reliability and advancement of the service processing method in service building and scheduling. The proposed method is an efficient service development method for cloud robot developers to eliminate the heterogeneity problem and reuse the procedure.

Key words： robot cloud platform quality of service service scheduling cloud computing heterogeneity

收稿日期: 2016-10-06 录用日期: 2016-12-21

TP24

基金资助:国家自然科学基金（61375084）；山东省自然科学基金重点项目（ZR2015QZ08）；山东省科技重大专项（2015ZDXX0801A02）

通讯作者: 尹磊，yinlei_work@163.com E-mail: yinlei_work@163.com

作者简介: 周风余（1969-），男，博士，教授．研究领域：智能机器人，智能控制理论和方法．
尹磊（1986-），男，博士生．研究领域：云机器人，计算机软件编程．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0089 或 https://robot.sia.cn/CN/Y2017/V39/I1/89

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