【摘要】 针对工业机器人云服务平台难以兼容异构通信协议及机器人资源属性描述不统一的问题，提出一种基于微服务的多机器人资源智能云服务平台架构。首先，提出了基于异构协议转换的多机器人智能适配接入方法，以OPC UA统一数据交换协议，实现异构工业机器人的快速接入。然后，提出一种基于扩展信息模型映射的多机器人资源自动虚拟化方法，通过对工业机器人信息模型的扩展定义和一致性映射，构建统一本体模型，实现机器人资源与服务设计解耦。实验表明，该架构能够满足异构工业机器人的高效适配和多机器人资源的统一虚拟化要求，并对微服务节点数量与吞吐量能力关系、业务调度响应时间、业务调度成功率及高并发性能4个指标进行测试验证。更多还原

【Abstract】 The multi-robot heterogeneous communication protocols are difficult to be compatible and the description of robot resource attributes are nonuniform. To solve these problrms, a microservice-based multi-robot resource intelligent cloud service platform architecture was proposed. A multi-robot intelligent adaptation access method based on heterogeneous protocol conversion was proposed, which had used OPC UA as the unified data exchange protocol to realize the rapid access of industrial robots. A automatic multi-robot resource virtualization technology based on extended information model mapping was proposed. Through the extended definition and consistent mapping of various types of robot information models, a unified ontology model of heterogeneous robots was constructed to realize the decoupling of robot resources and service design. The experimental results showed that the architecture satisfied the requirements of efficient access and unified resource virtualization for heterogeneous industrial robots, and the technical node-throughput, response time, success rate of service scheduling and high concurrency performance were all proved by practice.更多还原