Design And Implementation Of Service Robot Audio-visual System Based On Gstreamer

In the 21st century,the research and industrialization of service robots have been developing constantly.With the aggravation of aging problem in China,there has been an explosive growth of home service robots.Audio-visual system,an important part of service robot,is not only the entrance of command but also the representation of functions.It plays a decisive role in user experience.However,the current robot audio-visual system has some problems,such as poor degree of platformization,low completion,specific hardware binding,lack of flexibility,difficult to transplant,poor scalability and so on.Based on the "Great Wisdom" service robot platform developed independently by the laboratory,this paper discusses the design and implementation of audio-visual system for heterogeneous robot platform by applying advanced software design methods to solve the problems of poor flexibility,scalability and portability in the audio-visual system.In the design,system is divided into the implementation layer and the application layer by using the hierarchical mode.The implementation layer focuses on improving the flexibility and scalability of the system.The complex components are decomposed and simplified into a simple chain structure.Then a node system based on composite mode is designed to organize Gstreamer components.The node system keeps the uniform appearance and the internal structure.It can be flexibly assembled and expanded to improve the flexibility and scalability of the system.The application layer focuses on improving the portability of the system.Modular design is adopted in the design,and abstract factor mode is applied to improve the scalability of the system by specializing corresponding modules for heterogeneous software and hardware platforms.Besides,with the realization of the system,functional testing and performance comparison testing are carried out to verify the effectiveness and availability of the system.The performance of the system function satisfies the design demands.In performance comparison test,audio-visual system is compared with traditional Gstreamer to quantify the design cost of the system in order to improve flexibility.Results show the system designed in this paper effectively improved the flexibility,scalability and portability of the system with less resource cost,which achieves the design goal.