Depending on how you identify the correct device you could take a look at gssdp-discover in gupnp-tools package (which is part of the GUPnP project). If that is not what you want but you are prepared to code a bit, take a look at the source: gssdp-discover is only ~100 lines of C so you should be a able to do what you want in a few dozen lines of python...
Example:
$ gssdp-discover -t uuid:c013f58f-3072-4c3b-9df8-4f869c03edf2 -n 3
Using network interface wlan0
Scanning for resources matching uuid:c013f58f-3072-4c3b-9df8-4f869c03edf2
resource available
USN: uuid:c013f58f-3072-4c3b-9df8-4f869c03edf2
Location: http://10.10.15.61:49152/description.xml
$