基于Web Service的机器人控制系统研究
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摘要
本文按照软件工程的步骤,从需求分析、总体设计、数据库及其访问设计、Web Service组件设计、Web应用程序设计方面,对基于Web Service的机器人控制系统进行了全面的阐述。其中总体设计包括系统的体系结构、软硬件的组成、广域网连接方式等方面的设计。数据库设计中给出了数据库和关键数据表的生成脚本,及数据表之间的实体关系。数据库访问设计方面,由于ADO.NET的优异的性能和存储过程的应用,大大提高了整个系统的访问性能。本系统的创新之处在于将Web Service这一最新的现代软件组件技术运用到工业控制领域,实现了完全基于Internet的远程自动控制方案。本文给出了Web Service封装机器人控制函数的实现方法和主要代码。
在本项目的开发过程中,注重使用Visual Studio .NET中的Web Service、C#.NET、ASP.NET和ADO.NET技术,结合使用SQL Server 2000数据库,使得软件的结构更趋合理、方便及实用,并大大提高了整个控制系统的性能。本系统的功能将进一步扩展到通过语音远程控制机器人。
本文以点面结合的方式阐述了一个基于Web Service的机器人自动工业控制系统的设计过程。限于篇幅,不可能每一个模块都面面俱到,但其中重点、难点模块及有较深体会的模块都进行了较细致的描述。期望本文对其他自动工业控制系统的开发能有所帮助。
According to the procedure of software engineering,the thesis has expatiated thewhole system in terms of system demand analysis,general design,design of databaseand its access,Web Service component design and web application program design.The general design includes system structure,software and hardware constitution,WAN (wide area network) connection interface. In the database design,thegenerating scripts for database and its key data tables,and the entity relationshipamong data tables are provided. As to database access design,due to the excellentfunctionality of ADO.NET and the adoption of the stored procedure,the performanceof system access has been significantly enhanced. The primary innovation of thissystem lie in applying Web Service,the latest modern software technology,to theindustry controlled field,realizing the remote automatically controlled scheme totallybased on Internet. This paper provides implementation method and main code aboutWeb Service’s encapsulation of robot controlling function.
The utilization of new technologies and new tools has been emphasized in thisdevelopment. The employment of ADO.NET,ASP.NET,C#.NET and Web Servicefrom MicroSoft latest development tool Visual Studio.NET,in combination with SQLServer 2000 Database has made the software structure more rational,convenient,andpractical,and has greatly improved the performance of the whole control system.
The thesis has expounded the designing process of a Robot Remote IndustrialControl System with a multiple layer structure based on Web Service. Due to thelimited time and space,not every module was presented in its own details. However,the key parts,difficulties and the author’s experience in carrying out the system havebeen described in details. All these could well serve as a helpful reference for othersimilar industrial control systems.
在本项目的开发过程中,注重使用Visual Studio .NET中的Web Service、C#.NET、ASP.NET和ADO.NET技术,结合使用SQL Server 2000数据库,使得软件的结构更趋合理、方便及实用,并大大提高了整个控制系统的性能。本系统的功能将进一步扩展到通过语音远程控制机器人。
本文以点面结合的方式阐述了一个基于Web Service的机器人自动工业控制系统的设计过程。限于篇幅,不可能每一个模块都面面俱到,但其中重点、难点模块及有较深体会的模块都进行了较细致的描述。期望本文对其他自动工业控制系统的开发能有所帮助。
According to the procedure of software engineering,the thesis has expatiated thewhole system in terms of system demand analysis,general design,design of databaseand its access,Web Service component design and web application program design.The general design includes system structure,software and hardware constitution,WAN (wide area network) connection interface. In the database design,thegenerating scripts for database and its key data tables,and the entity relationshipamong data tables are provided. As to database access design,due to the excellentfunctionality of ADO.NET and the adoption of the stored procedure,the performanceof system access has been significantly enhanced. The primary innovation of thissystem lie in applying Web Service,the latest modern software technology,to theindustry controlled field,realizing the remote automatically controlled scheme totallybased on Internet. This paper provides implementation method and main code aboutWeb Service’s encapsulation of robot controlling function.
The utilization of new technologies and new tools has been emphasized in thisdevelopment. The employment of ADO.NET,ASP.NET,C#.NET and Web Servicefrom MicroSoft latest development tool Visual Studio.NET,in combination with SQLServer 2000 Database has made the software structure more rational,convenient,andpractical,and has greatly improved the performance of the whole control system.
The thesis has expounded the designing process of a Robot Remote IndustrialControl System with a multiple layer structure based on Web Service. Due to thelimited time and space,not every module was presented in its own details. However,the key parts,difficulties and the author’s experience in carrying out the system havebeen described in details. All these could well serve as a helpful reference for othersimilar industrial control systems.
引文
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[9]杨竞.基于Internet/Intranet的分布式动态WEB应用系统开发技术[J].微电脑世界周刊.2000,17(5):43-47.
[10]TangH.YangT,ChuL. IntegratedResourceManagementforCluster-basedInternetServices.In:Proc.ofthe5thUSENIXSymposiumonOperatingSystemsDesignandImplementation(0SDI?02),BostonMA.2002.225-238
[11]孙淑丽.基于面向对象技术的广东电子类商品交易系统的设计与实现[D].万方数据库,2001.37-38
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[13]郑文波.控制网与信息网络的几种集成技术[J].测控技术,1999,6(5).5-7.
[14]王常力,廖道文.集散型控制系统的设计应用[M].北京:清华大学出版社,1993.176-180.
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[16]BillForgey,DenisGosnell,MatthewReynolds.programmertoprogrammerBeginningVisualC#.NETDatabases[M].WroxPressLtd.2001.96-98.
[17] Shawn Wildermuth. Pragmatic ADO.NET: Data Access for the InternetWorld[M].AddisonWesley/Pearson.2003.5-12.
[18]Rebecca Riordan.ADO.NET程序设计(第 1版)[M].北京:清华大学出版社.2002.43-49.
[19]李香敏,徐进,姜世锋.SQLServer2000编程员指南[M].北京:希望电子出版社.2000年.196-202.
[20]谭保华,等.存储过程在 SQLServer数据库系统中的应用.计算机与数字工程[J],2005
[21]CardelliniV,CasalicchioE.ColaianniM.AperformancestudeyofdistributearchitechecturesforthequalityofWebservicesIn:Proc.ofHawaiiInt?lConfonSystemSciences[J].2001,355-356
[22]Fensel Dieter, Bussler Christoph. The Web Service Modeling FrameworkWSMF[J].ElectronicCommerceResearchandApplications,2002,1(2):113-137.
[23]饶 元,冯博琴.新网络体系结构-WebService研究综述[J].计算机科学,2004,31(5):1-4.
[24]杨正祥,等.基于 WebService的采购管理系统设计.湖北工业大学学报[J].2005.
[25]AoyamaM,WeerawaranaS,MaruyamaH.WebServiceEngineering:PromisesandChallenges[C]. InternationalConferenceonSoftwareEngineering,Orlando,Florida,USA,2002.
[26]微软公司.用VisualBasic.NET和VisualC#.NET开发XMLWeb服务于服务器组件.北京:清华大学出版社.2003.189-192.
[27] DAN G. Web services architect, Part 1: an introduction to dynamice-business[EB/OL].http://www/106.ibm.com/developerworks/webservices/library/wa-arcl,2001-04.
[28]郭广军,刘凤龙,胡玉平.NET中基于 XML的异构数据转换技术的研究[J].微型机与应用,2005,24(4):7-9.
[29]孙永强.Web服务深入编程[M].北京:清华大学出版社,2002-6.
[30]HAOHe.Whatisservice-orientedarchitecture?[EB/OL].http://webservices.xml.com/pub/soa.html,2003-09-30.
[31]ChaiXiaolu. WebServiceArchitectureTechnologyOverview[J].UDDI-Chinaorg,2003.
[32]RobertTabor著,徐继伟英宇等译.NETXMLWeb服务[M],机械工业出版社.2002-5
[33]杨正祥,等.基于 WebService的工业机器人远程智能控制系统研究[J].计算机测量与控制,2005.
[34] Michael Halvorson. Microsoft Visual C#.NET Step by Step[M]. MicrosoftPress.2002.7-10
[35]胡海璐,彭接文,胡智宇.XMLWebServices高级编程范例[M].北京:电子工业出版社。2003-2.
[36]H.M.Deitel,P.J.Deitel,T.R.Nieto.VisualC#.NETHowtoProgram(SecondEdition)[M]. 2002.225-229.
[37](美)TomArcher著,侯晓霞,柴洪辉译.c#技术内幕[M].北京:清华大学出版社.2002-1.
[38]林海.浏览器/服务器应用开发[M].北京:科学出版社.2000.40-42.
[39](美)AdrianTurtschi等著,王海峰,冯义,郭卫平译.c#.NET web开发指南[M].北京:机械工业出版社.2002?7.
[40]余成武.ASP.NET培训教程[M].第 1版.北京:中国水利水电出版社,2003.18-35
[41]梁昊.基于 Web的高校科研管理信息系统的设计与实现[D].万方数据库,2002.
[42]StephenWalther.ASP.NETUnleashed[M].SAMS.2002.
[43]NikhilKothari、VandanaDatye.DevelopingMicrosoftASP.NETServerControlsandComponents.MicrosoftCorporation[M].2003.
[44]G.AndrewDuthie.MicrosoftASP.NETStepbyStep[M].MicrosoftPress.2002.
[45]DouglasJ.Reilly.DesigningMicrosoftASP.NETApplications[M].MicrosoftPress.2002.
[46]G.AndrewDuthie.MicrosoftASP.NETStepbyStep[M].MicrosoftPress.2002.
[47]贾东耀.B/S结构监控系统事实数据的动态显示[J].电气自动化,2002,12(4):36-37.
[48] Duncan Mackenzie、 Kent Sharkey. Teach Yourself Visual C#.NET in 21Days[M].Sams.2002.
[49]KwonOByung.MetaWebService:BuildingWeb-BasedOpenDecisionSupportSystemBasedonWebServices[J].ExpertSystemwithApplications,2003,24(4):375-389.
[50]肖筱华,赵鹤鸣.语音技术在 CTI系统中的应用[J],苏州大学学报(工科版),2002,22(2),60-64.
[51]PhilipClarkson, TonyRobinson,Improvedlanguagemodellingthroughbetterlanguagemodelevaluationmeasures[J],ComputerSpeech&Language.2001.Vol15(N1).39-53.
[52]谭保华,熊健民,刘幺和.湖北工学院招生语音应答系统[J].湖北工学院学报.2003,18(5),24-27.
[53]谭保华,等.基于 CT的语音控制逻辑研究[J].自动化技术与应用,2005.
[54]肖熙,王侠,王作英.基于 Dialogic语音卡实时数据采集的电话语音识别系统[J].计算机工程与应用,2004,8(1),14-17.
[2]李平.Internet技术在智能楼宇设备监控中的应用[J].暖通空调,2001,29(1):66-67.
[3]任玉田,焦振学,王宏甫.机床计算机数控技术[M].北京:北京理工大学出版社,1996.133-135.
[4]阳宪惠.工业数据通讯与控制网络[M].北京:清华大学出版社,2003.75-79.
[5]刘英魁.基于 Web的企业信息平台系统的设计与实现[D].北京:中国科学院计算所,2002.
[6]张信东.信息系统开发教程[M].北京:清华大学出版社.2003.198-199.
[7]罗晓沛,侯炳辉.计算机综合应用知识[M].北京:清华大学出版社.1999年.297-298.
[8]孙志永,蔡茂.磨刀不误砍柴工 谈软件开发工具的选择[M].中国计算机报.2002.18-72.
[9]杨竞.基于Internet/Intranet的分布式动态WEB应用系统开发技术[J].微电脑世界周刊.2000,17(5):43-47.
[10]TangH.YangT,ChuL. IntegratedResourceManagementforCluster-basedInternetServices.In:Proc.ofthe5thUSENIXSymposiumonOperatingSystemsDesignandImplementation(0SDI?02),BostonMA.2002.225-238
[11]孙淑丽.基于面向对象技术的广东电子类商品交易系统的设计与实现[D].万方数据库,2001.37-38
[12]凌澄,李寿成.PC总线工业控制系统精粹[M].北京:清华大学出版社.1998.77-79.
[13]郑文波.控制网与信息网络的几种集成技术[J].测控技术,1999,6(5).5-7.
[14]王常力,廖道文.集散型控制系统的设计应用[M].北京:清华大学出版社,1993.176-180.
[15]Microsoft Corporation. Microsoft SQL Server 2000 Database Design andImplementation.MicrosoftPress.2001.82-85.
[16]BillForgey,DenisGosnell,MatthewReynolds.programmertoprogrammerBeginningVisualC#.NETDatabases[M].WroxPressLtd.2001.96-98.
[17] Shawn Wildermuth. Pragmatic ADO.NET: Data Access for the InternetWorld[M].AddisonWesley/Pearson.2003.5-12.
[18]Rebecca Riordan.ADO.NET程序设计(第 1版)[M].北京:清华大学出版社.2002.43-49.
[19]李香敏,徐进,姜世锋.SQLServer2000编程员指南[M].北京:希望电子出版社.2000年.196-202.
[20]谭保华,等.存储过程在 SQLServer数据库系统中的应用.计算机与数字工程[J],2005
[21]CardelliniV,CasalicchioE.ColaianniM.AperformancestudeyofdistributearchitechecturesforthequalityofWebservicesIn:Proc.ofHawaiiInt?lConfonSystemSciences[J].2001,355-356
[22]Fensel Dieter, Bussler Christoph. The Web Service Modeling FrameworkWSMF[J].ElectronicCommerceResearchandApplications,2002,1(2):113-137.
[23]饶 元,冯博琴.新网络体系结构-WebService研究综述[J].计算机科学,2004,31(5):1-4.
[24]杨正祥,等.基于 WebService的采购管理系统设计.湖北工业大学学报[J].2005.
[25]AoyamaM,WeerawaranaS,MaruyamaH.WebServiceEngineering:PromisesandChallenges[C]. InternationalConferenceonSoftwareEngineering,Orlando,Florida,USA,2002.
[26]微软公司.用VisualBasic.NET和VisualC#.NET开发XMLWeb服务于服务器组件.北京:清华大学出版社.2003.189-192.
[27] DAN G. Web services architect, Part 1: an introduction to dynamice-business[EB/OL].http://www/106.ibm.com/developerworks/webservices/library/wa-arcl,2001-04.
[28]郭广军,刘凤龙,胡玉平.NET中基于 XML的异构数据转换技术的研究[J].微型机与应用,2005,24(4):7-9.
[29]孙永强.Web服务深入编程[M].北京:清华大学出版社,2002-6.
[30]HAOHe.Whatisservice-orientedarchitecture?[EB/OL].http://webservices.xml.com/pub/soa.html,2003-09-30.
[31]ChaiXiaolu. WebServiceArchitectureTechnologyOverview[J].UDDI-Chinaorg,2003.
[32]RobertTabor著,徐继伟英宇等译.NETXMLWeb服务[M],机械工业出版社.2002-5
[33]杨正祥,等.基于 WebService的工业机器人远程智能控制系统研究[J].计算机测量与控制,2005.
[34] Michael Halvorson. Microsoft Visual C#.NET Step by Step[M]. MicrosoftPress.2002.7-10
[35]胡海璐,彭接文,胡智宇.XMLWebServices高级编程范例[M].北京:电子工业出版社。2003-2.
[36]H.M.Deitel,P.J.Deitel,T.R.Nieto.VisualC#.NETHowtoProgram(SecondEdition)[M]. 2002.225-229.
[37](美)TomArcher著,侯晓霞,柴洪辉译.c#技术内幕[M].北京:清华大学出版社.2002-1.
[38]林海.浏览器/服务器应用开发[M].北京:科学出版社.2000.40-42.
[39](美)AdrianTurtschi等著,王海峰,冯义,郭卫平译.c#.NET web开发指南[M].北京:机械工业出版社.2002?7.
[40]余成武.ASP.NET培训教程[M].第 1版.北京:中国水利水电出版社,2003.18-35
[41]梁昊.基于 Web的高校科研管理信息系统的设计与实现[D].万方数据库,2002.
[42]StephenWalther.ASP.NETUnleashed[M].SAMS.2002.
[43]NikhilKothari、VandanaDatye.DevelopingMicrosoftASP.NETServerControlsandComponents.MicrosoftCorporation[M].2003.
[44]G.AndrewDuthie.MicrosoftASP.NETStepbyStep[M].MicrosoftPress.2002.
[45]DouglasJ.Reilly.DesigningMicrosoftASP.NETApplications[M].MicrosoftPress.2002.
[46]G.AndrewDuthie.MicrosoftASP.NETStepbyStep[M].MicrosoftPress.2002.
[47]贾东耀.B/S结构监控系统事实数据的动态显示[J].电气自动化,2002,12(4):36-37.
[48] Duncan Mackenzie、 Kent Sharkey. Teach Yourself Visual C#.NET in 21Days[M].Sams.2002.
[49]KwonOByung.MetaWebService:BuildingWeb-BasedOpenDecisionSupportSystemBasedonWebServices[J].ExpertSystemwithApplications,2003,24(4):375-389.
[50]肖筱华,赵鹤鸣.语音技术在 CTI系统中的应用[J],苏州大学学报(工科版),2002,22(2),60-64.
[51]PhilipClarkson, TonyRobinson,Improvedlanguagemodellingthroughbetterlanguagemodelevaluationmeasures[J],ComputerSpeech&Language.2001.Vol15(N1).39-53.
[52]谭保华,熊健民,刘幺和.湖北工学院招生语音应答系统[J].湖北工学院学报.2003,18(5),24-27.
[53]谭保华,等.基于 CT的语音控制逻辑研究[J].自动化技术与应用,2005.
[54]肖熙,王侠,王作英.基于 Dialogic语音卡实时数据采集的电话语音识别系统[J].计算机工程与应用,2004,8(1),14-17.