Research On Service Modeling And Service Composition Based On SOA In Robot Intelligent Service Space

With the continuous development of robot technology,the intelligent service robots have shown great potential in intelligent assistance for users.The development of ubiquitous intelligence has created good opportunities for robotics.The communion environment which intelligent space and robot coexisting can provide better infrastructure support for the robots to obain and understand the environment information.Meanwhile,using other computing resources in the environment,the robots can unload the complex time-consuming computing task and focus more on their own service task execution.The appearance of service computing is aimed at answering how to make better use of services,in which there is a common pursuit of robotics in essence.That is to provide more flexible and intelligent services for users.In intelligent service space,the diversity of data forms,the heterogeneity of network protocols,and the complexity of function call interface have caused some obstacles to the provision of intelligent services.Therefore,how to organize service effectively and how to select service dynamically and flexibly,how to improve the service expression and management capabilities in intelligent space have become important research contents in order to provide strong technical support for the robot service and decision task.Robot intelligent service space is a kind of human-machine communion environment combining intelligent space with robots in which service is the main research object.An intelligent spatial service framework under the intelligent service space environment is designed in this paper.The integration and management of data information and service information are realized under this framework.It can provide flexible and intelligent service for users through the combination of atomic services and composite services.The main work of this paper includes the following parts:(1)Sensor data information integration in robot intelligent service space.In the intelligent space service environment,the data form of the available sensor is analyzed.According to the semantic generalization of various concepts of sensors based on SSN ontology,the mapping data of environmental sensing information is added to SSN ontology by SASML mapping language,and a general service environment information data model is constructed to provide real-time environmental information support for robot service system.(2)Service modeling of classified function in robot intelligent service space.The intelligent devices,including data acquisition equipment,operation equipment,computing equipment and other information platforms are managed and abstracted respectly.Their function are encapsulated into unified service interfaces using Web service technology.Through this method,service model of intelligent space is established.And service invocation model for Web services is realized by Axis2 framework,which releases the unified service ports.(3)Research and implementation of service composition method in robot intelligent service space.Since a single atom service sometimes cannot meet the user's function requirement,the method of static service composition using BPEL visual interface is studied firstly,then several dynamic combination schemes are compared in this paper.Finally,the service composition method based on the non-backtracking reverse chain algorithm is used to realize the service dynamic combination.(4)Module integration and system testing in robot intelligent service space.The modules in this paper are integrated to form an overall service framework,and the performance of the combined algorithm is tested.The method is applied to the actual robot intelligent service environment for a real scene test to the system function.