通过大量的试验和错误，我找到了解决我的问题的另一种方法。mpromonet可能是大多数情况下要走的路，我只是想避免使用像Apache这样的大依赖性。我还认为这应该是可以做到的，只是一些简单的UDP消息。
这个解决方案也是基于SO用户托马斯的有用代码here。我主要是通过删除线程简化了他的代码，并添加了一些注解。同样，他的解决方案可能比我的更好（性能更高）;但是，我的可能更容易理解一个初学者（像我）。
下面是代码：

import java.io.ByteArrayInputStream;
import java.io.File;
import java.io.IOException;
import java.net.*;

import javax.xml.namespace.QName;
import javax.xml.soap.*;
import java.util.*;

public class ONVIFDeviceDiscoveryFIN {

   // Following constants are related to Discovery process
   public static final int WS_DISCOVERY_TIMEOUT = 4000; // 4 seconds. Time to wait to receive a packet
   public static final int WS_DISCOVERY_PORT = 3702; 
   public static final String WS_DISCOVERY_ADDRESS_IPv4 = "239.255.255.250";

   // note that the probe below MUST be given a unique urn:uuid. Devices will NOT reply if the urn:uuid is not unique! 
   public static final String WS_DISCOVERY_PROBE_MESSAGE = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n" + 
        "<soap:Envelope xmlns:soap=\"http://www.w3.org/2003/05/soap-envelope\" xmlns:tds=\"http://www.onvif.org/ver10/device/wsdl\" xmlns:tns=\"http://schemas.xmlsoap.org/ws/2005/04/discovery\" xmlns:wsa=\"http://schemas.xmlsoap.org/ws/2004/08/addressing\">\r\n" + 
        "   <soap:Header>\r\n" + 
        "      <wsa:Action>http://schemas.xmlsoap.org/ws/2005/04/discovery/Probe</wsa:Action>\r\n" + 
        "      <wsa:MessageID>urn:uuid:5e1cec36-03b9-4d8b-9624-0c5283982a00</wsa:MessageID>\r\n" + 
        "      <wsa:To>urn:schemas-xmlsoap-org:ws:2005:04:discovery</wsa:To>\r\n" + 
        "   </soap:Header>\r\n" + 
        "   <soap:Body>\r\n" + 
        "      <tns:Probe>\r\n" + 
        "         <tns:Types>tds:Device</tns:Types>\r\n" + // Constraint to find just ONVIF devices hopefully? Recall we are sending a probe on the 192.168.0.50 network; if we have no constraints, it would find everything there! WS-Discovery generally is for much more than ONVIF, like printers and stuff
        "      </tns:Probe>\r\n" + 
        "   </soap:Body>\r\n" + 
        "</soap:Envelope>";

   private static ArrayList<String> getResponsesToProbe(String uuid) throws IOException{
       // TODO: add in ability to send scope and type constraints
       // NOTE: We do need to know the address of the network interface to discover devices on...
       // Function composes and sends a Probe to discover devices on the network. uuid is the urn:uuid to put in the probe. Functions returns all the SOAP-Infused XML responses (all the ProbeMatches).

       // give the probe a unique urn:uuid (we must do this for each probe!). This is generated outside function
       final String probe = WS_DISCOVERY_PROBE_MESSAGE.replaceAll("<wsa:MessageID>urn:uuid:.*</wsa:MessageID>", "<wsa:MessageID>urn:uuid:" + uuid + "</wsa:MessageID>");

       // set up the "sender and receiver"; this is the socket that we send our probe from, and where we receive back the ProbeMatch responses.
       // NOTE:  that we do need to know the address of the network interface to discover devices on... (port could be anything)
       final int port = 55000;
       DatagramSocket senderAndReceiver = new DatagramSocket(port, InetAddress.getByName("192.168.0.50")); // so you do need to know the address of your network interface to discover devices on...
       senderAndReceiver.setSoTimeout(WS_DISCOVERY_TIMEOUT);

       // send the probe 
       DatagramPacket probeMsg = new DatagramPacket(probe.getBytes(), probe.length(), InetAddress.getByName(WS_DISCOVERY_ADDRESS_IPv4), WS_DISCOVERY_PORT);
       senderAndReceiver.send(probeMsg);

       // read in the responses
       ArrayList<String> responses = new ArrayList(); // this is the collection of all SOAP-infused XML ProbeMatch responses
       byte[] receiverBuffer = new byte[8192];
       DatagramPacket receiverPacket = new DatagramPacket(receiverBuffer, receiverBuffer.length); // this is the packet that receive the response in. Get's updated with the next response on each call to .receive()
       while (true) {
           try {
               senderAndReceiver.receive(receiverPacket);
               responses.add(new String(receiverPacket.getData()));

           } catch (SocketTimeoutException e) {
               // System.out.println("Socket read timeout; taken to mean that there is no more responses -- i.e., no more Probe Matches");
               break;
           }
       }

       // close the socket
       senderAndReceiver.close();

       return responses;

   }

   public static void main(String[] args) throws IOException, SOAPException {

       final String uuid = UUID.randomUUID().toString(); // generate the uuid to add to the Probe message

       ArrayList<String> responses = getResponsesToProbe(uuid); // responses is a collection of all the SOAP-infused XML ProbeMatches . It's all of our responses to the probe; it's basically the devices we've discovered!

    }

}

使用此功能的一些注意事项：
1.要使用此解决方案，您需要知道要查看的“网络接口”。在我的代码中，这是192.168.0.50。这是我要查找的摄像头所在的网络。要查找此接口，请在cmd提示符下运行arp -a命令（不确定如何在Mac或Linux上做到这一点），然后定位你的摄像头的IP。它福尔斯的接口就是你想要用来做那个“192. 168. 0. 50”的接口。在我有限的理解中，这些接口基本上将你的网络分段，所以你需要选择一个合适的接口来查找设备。我认为（？）托马斯的代码通过查找所有这些网络接口来避免这个问题。这在his code的第81-100行中完成。
1.当你发送探测器的时候，你必须给予它一个唯一的UUID，这是我做这件事时犯的一个错误;我在探测器（WS_DISCOVERY_PROBE_MESSAGE）中测试了一个硬编码的UUID，它可以一次性发现设备;但是在那之后，如果你用相同的UUID发送一个探测器，设备似乎根本不会回复。你也不会得到错误响应，这就是为什么我很坚韧找到答案。这就好像设备保存了一些内部日志，记录了所有接收到的探测器的UUID;如果你发送一个带有旧UUID的探头，它会拒绝它。或者至少，我正在测试的兼容ONVIF的摄像机（AXIS M3045-V）就是这种情况。我不确定ONVIF规范是否 * 要求 * 这种行为，但至少在AXIS M3045-V中很明显。
1.注意：SOAP通常依赖于HTTP进行传输;但这里我们在UDP上使用它。
我希望这能帮助任何想做类似事情的人。如果有什么我能帮上忙的，请告诉我;在这一点上，我已经阅读了大量的文档，所以我可能可以帮上忙！

使用CXF WSDiscoveryClient可以探测ONVIF设备。
默认情况下，WSDiscoveryClient使用WS-discovery 1.1，ONVIF使用WS-discovery 1.0，因此您需要启用WS-discovery 1.0。
一个简短的实现可以是：

import java.util.List;
import javax.xml.ws.EndpointReference;
import org.apache.cxf.ws.discovery.WSDiscoveryClient;

public class Main 
{
    public static void main(String[] args) 
    {
        WSDiscoveryClient client = new WSDiscoveryClient();
        client.setVersion10(); // use WS-discovery 1.0
        client.setDefaultProbeTimeout(1000); // timeout 1s

        System.out.println("Probe:" + client.getAddress());
        List<EndpointReference> references = client.probe();

        System.out.println("Nb answsers:" + references.size());
        for (EndpointReference ref : references)
        {
            System.out.println(ref.toString());
        }
    }
}

我已经修改了一个库来与ONVIF摄像头接口。它使用WS-Discovery进行发现。它目前在获取友好名称方面做得不好。我正在研究如何在不进行身份验证的情况下获取该名称。它是一个Kotlin库，有一个JVM目标，所以我相信您可以从Java使用它。
https://github.com/sproctor/ONVIF-Camera-Kotlin/