云制造环境下工业机器人远程监控系统设计与实现

doi:10.16182/j.issn1004731x.joss.21-1015

系统仿真学报 ›› 2023, Vol. 35 ›› Issue (2): 318-329.doi: 10.16182/j.issn1004731x.joss.21-1015

云制造环境下工业机器人远程监控系统设计与实现

刘永奎¹(), 张霖², 刘迎福³, 冯坚勇⁴, 于博¹, 牛文博¹

^1.西安电子科技大学机电工程学院, 陕西西安 710071
^2.北京航空航天大学自动化科学与电气工程学院, 北京 100191
^3.工业云制造(四川)创新中心有限公司, 四川成都 610000
^4.宁波帅特龙集团有限公司, 浙江宁波 315157

收稿日期:2021-09-30 修回日期:2021-12-25 出版日期:2023-02-28 发布日期:2023-02-16
作者简介:刘永奎(1981-)，男，副教授，博士，研究方向为云制造、制造系统智能调度与优化、工业机器人学习及智能。 E-mail：yongkuiliu@163.com
基金资助:
国家自然科学基金(61973243);宁波科技局科技创新2025重大专项(2019B10081)

Design and Implementation of Industrial Robot Remote Monitoring System in Cloud Manufacturing

Yongkui Liu¹(), Lin Zhang², Yingfu Liu³, Jianyong Feng⁴, Bo Yu¹, Wenbo Niu¹

^1.School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
^2.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
^3.Industrial Cloud Manufacturing (Sichuan) Innovation Center Co. Ltd, Chengdu 610000, China
^4.Ningbo Shuaitelong Group Co. Ltd, Ningbo 315157, China

Received:2021-09-30 Revised:2021-12-25 Online:2023-02-28 Published:2023-02-16

摘要/Abstract

摘要：

考虑到当前针对云制造监控系统的研究比较缺乏，以及已有远程监控系统可扩展性和灵活性不足等问题，以基于深度强化学习的工业机器人智能抓取为应用场景，设计和开发了一个基于微服务架构的面向云制造的远程监控系统，对监控系统进行了需求分析和系统设计，实现了对工业机器人智能抓取过程的远程监控。测试表明系统能够满足云制造中资源提供者、平台运营者和服务使用者三类用户对工业机器人的监控需求。

关键词: 云制造, 远程监控, 智能抓取, 微服务, 工业机器人

Abstract:

Considering the lack of the existing research on cloud manufacturing monitoring system and the lack of scalability and flexibility of existing remote monitoring system, and taking deep reinforcement learning-based industrial robot intelligent grasping as an application scenario, a micro-service architecture-based remote monitoring system for cloud manufacturing is developed, to carry out the requirement analysis and design of the monitoring system, and the remote monitoring of industrial robot intelligent grasping processes is realized. Test results show that the system can meet the monitoring requirements of resource providers, platform operator(s) and service consumers.

Key words: cloud manufacturing, remote monitoring, intelligent grasping, micro-service, industrial robot

中图分类号:

TP311

刘永奎, 张霖, 刘迎福, 冯坚勇, 于博, 牛文博. 云制造环境下工业机器人远程监控系统设计与实现[J]. 系统仿真学报, 2023, 35(2): 318-329.

Yongkui Liu, Lin Zhang, Yingfu Liu, Jianyong Feng, Bo Yu, Wenbo Niu. Design and Implementation of Industrial Robot Remote Monitoring System in Cloud Manufacturing[J]. Journal of System Simulation, 2023, 35(2): 318-329.

图/表 13

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

表1

图11

表2

参考文献 20

1	李伯虎, 张霖, 王时龙, 等. 云制造——面向服务的网络化制造新模式[J]. 计算机集成制造系统, 2010, 16(1): 1-7.
	Li Bohu, Zhang Lin, Wang Shilong, et al. Cloud Manufacturing: A New Service-oriented Networked Manufacturing Model[J]. Computer Integrated Manufacturing Systems, 2010, 16(1): 1-7.
2	周龙飞, 张霖, 刘永奎. 云制造调度问题研究综述[J]. 计算机集成制造系统, 2017, 23(6): 1147-1166.
	Zhou Longfei, Zhang Lin, Liu Yongkui. Survey on Scheduling Problem in Cloud Manufacturing[J]. Computer Integrated Manufacturing Systems, 2017, 23(6): 1147-1166.
3	周济. 智能制造——"中国制造2025"的主攻方向[J]. 中国机械工程, 2015, 26(17): 2273-2284.
	Zhou Ji. Intelligent Manufacturing—Main Direction of "Made in China 2025"[J]. China Mechanical Engineering, 2015, 26(17): 2273-2284.
4	李伯虎, 柴旭东, 侯宝存, 等. 云制造系统3.0——一种"智能+"时代的新智能制造系统[J]. 计算机集成制造系统, 2019, 25(12): 2997-3012.
	Li Bohu, Chai Xudong, Hou Baocun, et al. Cloud Manufacturing System 3.0——New Intelligent Manufacturing System in Era of "Intelligence+"[J]. Computer Integrated Manufacturing System, 2019, 25(12): 2997-3012.
5	李伯虎, 张霖, 任磊, 等. 云制造典型特征、关键技术与应用[J]. 计算机集成制造系统, 2012, 18(7): 1345-1356.
	Li Bohu, Zhang Lin, Ren Lei, et al. Typical Characteristics, Technologies and Applications of Cloud Manufacturing[J]. Computer Integrated Manufacturing System, 2012, 18(7): 1345-1356.
6	Zhang Y, Zhang G, Liu Y, et al. Research on Services Encapsulation and Virtualization Access Model of Machine for Cloud Manufacturing[J]. Journal of Intelligent Manufacturing(S1572-8145), 2017, 28(5): 1109-1123.
7	Liu Chao, Su Ziwei, Xu Xun, et al. Service-Oriented Industrial Internet of Things Gateway for Cloud Manufacturing[J]. Robotics and Computer-Integrated Manufacturing(S0736-5845), 2022, 73: 3-10.
8	徐建明, 俞俊铭, 董建伟, 等. 基于云平台的机器人监控系统设计[J]. 高技术通讯, 2020, 30(9): 938-948.
	Xu Jianming, Yu Junming, Dong Jianwei, et al. Design of Robot Monitoring System Based on Cloud[J]. High Technology Communications, 2020, 30(9): 938-948.
9	刘永奎, 王力翚, 王曦, 等. 云制造再探讨[J]. 中国机械工程, 2018, 29(18): 2226-2237.
	Liu Yongkui, Wang Lihui, Wang Xi, et al. A Revisit to Cloud Manufacturing[J]. China Mechanical Engineering, 2018, 29(18): 2226-2237.
10	Mei D H, Song Z Y. Research and Application of WSN in Enterprise Safety Manufacture Real-Time Monitoring and Accident Pre-Warning System[J]. Applied Mechanics & Materials(S1660-9336), 2015, 743: 787-791.
11	Otsu K, Fukuda H, Kobayashi Y, et al. Remote Monitoring and Communication System with a Dolllike Robot for the Elderly[C]//IECON 2016-42nd Annual Conference of the IEEE Industrial Electronics Society. Florence, Italy: IEEE, 2016: 5941-5946.
12	Mohan R, Suraj A K, Agarawal S, et al. Design of Robot Monitoring System for Aviation[M]//Nanoelectronics, Circuits and Communication Systems. Springer, Singapore, 2019: 535-547.
13	朱添益, 戴逢哲, 康文, 等. 直流换流站运维监控系统智能机器人设计方法[J]. 电气技术, 2020, 21(2): 22-25.
	Zhu Tianyi, Dai Fengzhe, Kang Wen, et al. Design of Intelligent Robot of Operation Monitoring System in the Direct Current Converter Station[J]. Electrical Technology, 2020, 21(2): 22-25.
14	Lee J, Seo Y H. Design and Development of a Monitoring System Based on Smart Device for Service Robot Applications[J]. International Journal of Internet, Broadcasting and Communication(S2288-4939), 2018, 10(3): 5-10.
15	Kekre A, Gawre S K. Solar Photovoltaic Remote Monitoring System Using IOT[C]//2017International Conference on Recent Innovations in Signal Processing and Embedded Systems(RISE). Bhopal, India: IEEE, 2017: 619-623.
16	台宪青, 吴梦悦, 马玉峰, 等. 数据中心服务器资源监控系统的设计与实现[J]. 计算机应用与软件, 2019, 36(7): 14-20.
	Tai Xianqing, Wu Mengyue, Ma Yufeng, et al. Design and Implementation of Server Resource Monitoring System in Data Center[J]. Computer Applications and Software, 2019, 36(7): 14-20.
17	邓昀, 李朝庆, 程小辉. 基于物联网的智能家居远程无线监控系统设计[J]. 计算机应用, 2017, 37(1): 159-165.
	Deng Yun, Li Chaoqing, Cheng Xiaohui. Design of Remote Wireless Monitoring System for Smart Home Based on Internet of Things[J]. Journal of Computer Applications, 2017, 37(1): 159-165.
18	Perumal T, Sulaiman M N, Leong C Y. Internet of Things(IoT) Enabled Water Monitoring System[C]//2015 IEEE 4th Global Conference on Consumer Electronics (GCCE). Osaka, Japan, IEEE, 2015: 86-87.
19	刘开, 徐宣国. 云制造系统中制造信息监控的框架设计[J]. 电子设计工程, 2016, 24(7): 104-106.
	Liu Kai, Xu Xuanguo. Design on the Monitoring Frames of Manufacturing Information in the System of Cloud Manufacturing[J]. Electronic Design Engineering, 2016, 24(7): 104-106.
20	Garcia F, Rachelson E. Markov Decision Processes[M]//Sigaud, Olivier, Buffet, Olivier. Markov Decision Processes in Artificial Intelligence. London: Wiley, 2013: 1-38.

用例说明	测试预期结果
能否选择算法并设定参数	算法选择成功
能否正确调用在线训练算法	算法调用成功
能否接收算法输出结果	输出正确
算法输出的图片能否上传	上传成功

响应时间/s	评价
≤2	响应速度快
(2~5]	响应速度较快
(5~8]	响应速度较慢
>8	响应速度过慢

[1]	刘永奎, 曾鸣, 张霖, 郭金维, 原思阳, 平垚垚. 基于微服务架构的云制造调度仿真系统设计与开发[J]. 系统仿真学报, 2022, 34(4): 700-711.
[2]	丁毓峰, 闵新普. 曲面零件抛光机器人的力/位混合控制方法[J]. 系统仿真学报, 2020, 32(5): 817-825.
[3]	冯晨微, 王艳. 云制造系统并行任务优化调度[J]. 系统仿真学报, 2019, 31(12): 2626-2635.
[4]	杨琛, 王中杰, 刘朝辉, 于娜娜. 面向起重机企业的云制造服务平台的研究与应用[J]. 系统仿真学报, 2017, 29(6): 1351-1358.
[5]	耿超, 曲世友, 肖莹莹, 施国强, 林廷宇, 郭丽琴, 王啸威. 基于EAV模型和Solr架构的云制造资源发现方法[J]. 系统仿真学报, 2017, 29(10): 2496-2506.
[6]	肖莹莹, 李伯虎, 柴旭东, 公静. 云制造中的制造能力服务形式化描述方法[J]. 系统仿真学报, 2015, 27(9): 2096-2107.

云制造环境下工业机器人远程监控系统设计与实现

Design and Implementation of Industrial Robot Remote Monitoring System in Cloud Manufacturing

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 13

参考文献 20

相关文章 6

编辑推荐

Metrics

本文评价