diff --git a/.env b/.env
index b7bf7d5..e17e131 100644
--- a/.env
+++ b/.env
@@ -7,3 +7,6 @@ VITE_SERVICE_PORT=5175
 # /home/cmvr/zh/mkcert 目录中的证书文件名
 HTTPS_CERT_FILENAME=192.168.0.224+2.pem
 HTTPS_KEY_FILENAME=192.168.0.224+2-key.pem
+
+VITE_VIDEO_SERVER_HOST=http://192.168.0.224
+VITE_TERMINAL_ID=c2f8a06826baf03843925c1a2a13bcfd
\ No newline at end of file
diff --git a/components.d.ts b/components.d.ts
index 1121baa..f57449b 100644
--- a/components.d.ts
+++ b/components.d.ts
@@ -20,7 +20,9 @@ declare module 'vue' {
     ElIcon: typeof import('element-plus/es')['ElIcon']
     ElInput: typeof import('element-plus/es')['ElInput']
     ElMain: typeof import('element-plus/es')['ElMain']
+    ElOption: typeof import('element-plus/es')['ElOption']
     ElRow: typeof import('element-plus/es')['ElRow']
+    ElSelect: typeof import('element-plus/es')['ElSelect']
     ElSlider: typeof import('element-plus/es')['ElSlider']
     ElSwitch: typeof import('element-plus/es')['ElSwitch']
     ElTag: typeof import('element-plus/es')['ElTag']
diff --git a/server/index.js b/server/index.js
index 7c9e45d..5cc9864 100644
--- a/server/index.js
+++ b/server/index.js
@@ -226,7 +226,7 @@ app.post('/api/agv/getCurrentMap', async (req, res) => {
 
 // 机器人运动控制
 app.post('/api/agv/moveRobot', async (req, res) => {
-  const grpcClient = setVelocity(req.body.ip)
+  const grpcClient = createAGVGrpcClient(req.body.ip)
   const request = {
     header: {
       device_id: req.body.deviceId || 'agv_src1100'
diff --git a/src/stores/robot.js b/src/stores/robot.js
index ccc4707..106eac3 100644
--- a/src/stores/robot.js
+++ b/src/stores/robot.js
@@ -4,6 +4,7 @@ import { defineStore } from 'pinia'
 export const useRobotStore = defineStore('robot', {
   state: () => ({
     ip: '192.168.0.28:50052',
+    robotType: 'inspection',
     agvDeviceId:'src1100',
     almDeviceId: 'huayan_arm',
     spkDeviceId: 'spk1',
@@ -32,6 +33,9 @@ export const useRobotStore = defineStore('robot', {
     setIp(str) {
         this.ip = str
     },
+    setRobotType(str) {
+        this.robotType = str
+    },
     setAgvDeviceId(str) {
         this.agvDeviceId = str
     },
diff --git a/src/views/Address.vue b/src/views/Address.vue
index 0eab5be..bf1e0d4 100644
--- a/src/views/Address.vue
+++ b/src/views/Address.vue
@@ -9,7 +9,13 @@
                     <el-form-item label="IP和端口" prop="ip">
                         <el-input v-model="ruleForm.ip" placeholder="请输入IP和端口" />
                     </el-form-item>
-                    <el-form-item label="底盘设备ID" prop="agvDeviceId">
+                    <el-form-item label="机器人类型" prop="robotType">
+                        <el-select v-model="ruleForm.robotType" placeholder="请选择机器人类型">
+                            <el-option label="巡检机器人" value="inspection"></el-option>
+                            <el-option label="讲解机器人" value="explanation"></el-option>
+                        </el-select>
+                    </el-form-item>
+                    <!-- <el-form-item label="底盘设备ID" prop="agvDeviceId">
                         <el-input v-model="ruleForm.agvDeviceId" placeholder="请输入底盘设备ID" />
                     </el-form-item>
                     <el-form-item label="机械臂设备ID" prop="almDeviceId">
@@ -23,7 +29,7 @@
                     </el-form-item>
                     <el-form-item label="相机设备ID" prop="cameraDeviceId">
                         <el-input v-model="ruleForm.cameraDeviceId" placeholder="请输入相机设备ID" />
-                    </el-form-item>
+                    </el-form-item> -->
                 </el-form>
                 <el-button :loading="loading" @click="testConnect" class="connect">进入上位机控制页面</el-button>
             </div>
@@ -46,32 +52,36 @@ const loading = ref(false)
 const ruleFormRef = ref()
 const ruleForm = ref({
     ip: '',
-    agvDeviceId:'src1100',
-    almDeviceId: 'huayan_arm',
-    spkDeviceId: 'spk1',
-    micDeviceId: 'mic1',
-    cameraDeviceId: 'real_cam1'
+    robotType: 'inspection',
+    // agvDeviceId:'src1100',
+    // almDeviceId: 'huayan_arm',
+    // spkDeviceId: 'spk1',
+    // micDeviceId: 'mic1',
+    // cameraDeviceId: 'real_cam1'
 })
 
 const rules = ref({
     ip: [
         { required: true, message: '请输入机器人IP和端口', trigger: 'blur' }
     ],
-    agvDeviceId: [
-        { required: true, message: '请输入底盘设备ID', trigger: 'blur' }
-    ],
-    almDeviceId: [
-        { required: true, message: '请输入机械臂设备ID', trigger: 'blur' }
-    ],
-    spkDeviceId: [
-        { required: true, message: '请输入扬声器设备ID', trigger: 'blur' }
-    ],
-    micDeviceId: [
-        { required: true, message: '请输入麦克风设备ID', trigger: 'blur' }
-    ],
-    cameraDeviceId: [
-        { required: true, message: '请输入相机设备ID', trigger: 'blur' }
+    robotType: [
+        { required: true, message: '请选择机器人类型', trigger: 'blur' }
     ],
+    // agvDeviceId: [
+    //     { required: true, message: '请输入底盘设备ID', trigger: 'blur' }
+    // ],
+    // almDeviceId: [
+    //     { required: true, message: '请输入机械臂设备ID', trigger: 'blur' }
+    // ],
+    // spkDeviceId: [
+    //     { required: true, message: '请输入扬声器设备ID', trigger: 'blur' }
+    // ],
+    // micDeviceId: [
+    //     { required: true, message: '请输入麦克风设备ID', trigger: 'blur' }
+    // ],
+    // cameraDeviceId: [
+    //     { required: true, message: '请输入相机设备ID', trigger: 'blur' }
+    // ],
 })
 
 const testConnect = async () => {
@@ -79,16 +89,26 @@ const testConnect = async () => {
     if (valid) {
         loading.value = true
         robotStore.setIp(ruleForm.value.ip)
-        robotStore.setAgvDeviceId(ruleForm.value.agvDeviceId)
-        robotStore.setAlmDeviceId(ruleForm.value.almDeviceId)
-        robotStore.setSpkDeviceId(ruleForm.value.spkDeviceId)
-        robotStore.setMicDeviceId(ruleForm.value.micDeviceId)
-        robotStore.setCameraDeviceId(ruleForm.value.cameraDeviceId)
+        robotStore.setRobotType(ruleForm.value.robotType)
+        if (ruleForm.value.robotType === 'inspection') {
+            robotStore.setAgvDeviceId('src1100')
+            robotStore.setAlmDeviceId('huayan_arm')
+            robotStore.setSpkDeviceId('spk1')
+            robotStore.setMicDeviceId('mic1')
+            robotStore.setCameraDeviceId('real_cam1')
+        } else if (ruleForm.value.robotType === 'explanation') {
+            robotStore.setAgvDeviceId('src1100')
+            robotStore.setAlmDeviceId('huayan_arm')
+            robotStore.setSpkDeviceId('spk1')
+            robotStore.setMicDeviceId('mic1')
+            robotStore.setCameraDeviceId('real_cam1')
+        }
+        
         // const result = await getRuntimeState({
         //     ip: robotStore.ip,
         //     deviceId: ruleForm.value.agvDeviceId
         // })
-        // loading.value = false
+        loading.value = false
         // if (result.code === 200) {
         //     robotStore.setPosition(result.data.pose)
         //     robotStore.setBattery(result.data.battery)
@@ -150,12 +170,23 @@ const testConnect = async () => {
             margin-bottom: 12px;
         }
 
+        :deep(.el-form-item__label) {
+            font-size: 16px;
+            line-height: 40px;
+        }
+
         :deep(.el-input__inner) {
             height: 40px;
             // 避免 iPad Safari 聚焦小字号输入框时自动缩放页面。
             font-size: 16px;
         }
 
+        :deep(.el-select__wrapper) {
+            height: 40px;
+            // 避免 iPad Safari 聚焦小字号输入框时自动缩放页面。
+            font-size: 16px;
+        }
+
         .connect {
             width: 340px;
             height: 50px;
diff --git a/src/views/arm/MechanicalArm.vue b/src/views/arm/MechanicalArm.vue
index 94747b7..703177c 100644
--- a/src/views/arm/MechanicalArm.vue
+++ b/src/views/arm/MechanicalArm.vue
@@ -97,16 +97,16 @@
               <div class="axis-label x">X</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">前后平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('x', '-', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('x', '+', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -119,16 +119,16 @@
               <div class="axis-label y">Y</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">左右平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('y', '-', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('y', '+', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -141,16 +141,16 @@
               <div class="axis-label z">Z</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">上下平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('z', '-', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('z', '+', 'end'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -177,16 +177,16 @@
               <div class="axis-label x">X</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">前后平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('x', '-', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('x', '+', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -199,16 +199,16 @@
               <div class="axis-label y">Y</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">左右平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('y', '-', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('y', '+', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -221,16 +221,16 @@
               <div class="axis-label z">Z</div>
               <div class="axis-slider-wrap">
                 <div class="axis-name">上下平移</div>
-                <div>
+                <div class="axis-control-buttons">
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('z', '-', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <Remove />
                     </el-icon>
                   </el-button>
                   <el-button class="press-control" type="primary" circle @pointerdown="startPointerControl($event, () => move('z', '+', 'posture'))"
                     @pointerup="endPointerControl" @pointercancel="endPointerControl">
-                    <el-icon size="24">
+                    <el-icon size="32">
                       <CirclePlus />
                     </el-icon>
                   </el-button>
@@ -254,7 +254,7 @@
 </template>
 
 <script setup>
-import { nextTick, onMounted, onUnmounted, ref } from 'vue'
+import { nextTick, onMounted, onUnmounted, reactive, ref } from 'vue'
 import UrdfView from './UrdfView.vue'
 import { getPoseApi, getJointStateApi, moveJApi, torqueOnApi, speedJApi, stopMotionApi, speedLApi } from '@/api/arm'
 import { Remove, CirclePlus } from '@element-plus/icons-vue'
@@ -497,6 +497,9 @@ onUnmounted(() => {
     touch-action: none;
     -webkit-user-select: none;
     user-select: none;
+    min-width: 48px;
+    min-height: 48px;
+    font-size: 22px;
   }
 
   // 主体三栏布局
@@ -589,6 +592,19 @@ onUnmounted(() => {
           :deep(.el-input__wrapper) {
             background-color: $color-background-base;
             box-shadow: 0 0 0 1px $color-accent-border inset;
+            min-height: 48px;
+            font-size: 17px;
+          }
+
+          :deep(.el-input-group__prepend),
+          :deep(.el-input-group__append) {
+            padding: 0;
+          }
+
+          .press-control {
+            width: 52px;
+            min-height: 48px;
+            margin: 0;
           }
         }
       }
@@ -610,10 +626,10 @@ onUnmounted(() => {
       border-left: 1px solid $color-accent-border;
 
       .controller {
-        margin-bottom: 60px;
+        margin-bottom: 48px;
 
         .title {
-          font-size: 20px;
+          font-size: 22px;
           font-weight: bold;
           margin-bottom: 10px;
         }
@@ -628,6 +644,7 @@ onUnmounted(() => {
             display: flex;
             align-items: center;
             gap: 10px;
+            min-height: 68px;
             padding: 10px 14px;
             background: $color-background-base;
             border: 1px solid $color-accent-border;
@@ -640,13 +657,13 @@ onUnmounted(() => {
             }
 
             .axis-label {
-              width: 28px;
-              height: 28px;
+              width: 36px;
+              height: 36px;
               border-radius: 6px;
               display: flex;
               align-items: center;
               justify-content: center;
-              font-size: 13px;
+              font-size: 16px;
               font-weight: 700;
               flex-shrink: 0;
             }
@@ -671,11 +688,37 @@ onUnmounted(() => {
 
 
             .axis-slider-wrap {
+              position: relative;
               flex: 1;
               display: flex;
               align-items: center;
-              justify-content: space-between;
-              gap: 4px;
+              justify-content: center;
+              min-width: 0;
+
+              .axis-name {
+                position: absolute;
+                left: 50%;
+                z-index: 1;
+                font-size: 16px;
+                white-space: nowrap;
+                pointer-events: none;
+                transform: translateX(-50%);
+              }
+
+              .axis-control-buttons {
+                position: relative;
+                z-index: 2;
+                width: 100%;
+                display: flex;
+                align-items: center;
+                justify-content: space-between;
+
+                .press-control {
+                  width: 50px;
+                  height: 50px;
+                  margin: 0;
+                }
+              }
             }
           }
         }
@@ -683,6 +726,7 @@ onUnmounted(() => {
     }
 
     .speed-container {
+      min-height: 48px;
       display: flex;
       align-items: center;
       justify-content: space-between;
@@ -690,6 +734,7 @@ onUnmounted(() => {
       .label,
       .proportion {
         width: 100px;
+        font-size: 16px;
         text-align: center;
       }
 
@@ -698,6 +743,15 @@ onUnmounted(() => {
         flex: 1;
         min-width: 0;
 
+        :deep(.el-slider) {
+          height: 40px;
+        }
+
+        :deep(.el-slider__button) {
+          width: 24px;
+          height: 24px;
+        }
+
         .speed-tooltip {
           position: absolute;
           bottom: calc(100% + 7px);
diff --git a/src/views/camera/index.vue b/src/views/camera/index.vue
index 3b93673..8975598 100644
--- a/src/views/camera/index.vue
+++ b/src/views/camera/index.vue
@@ -14,15 +14,20 @@ import VoiceConversation from './VoiceConversation.vue';
 import { computed } from 'vue';
 import { useRobotStore } from '@/stores/robot';
 
+const VIDEO_SERVER_HOST = import.meta.env.VITE_VIDEO_SERVER_HOST || 'http://localhost:8080/'
+const TerminalId = import.meta.env.VITE_TERMINAL_ID || 'c2f8a06826baf03843925c1a2a13bcfd'
+
 const robotStore = useRobotStore()
-const videoUrl = computed(() => {
-    if (!robotStore.ip || !robotStore.cameraDeviceId) return ''
-    const params = new URLSearchParams({
-        ip: robotStore.ip,
-        deviceId: robotStore.cameraDeviceId
-    })
-    return `/api/camera/video?${params}`
-})
+const videoUrl = `${VIDEO_SERVER_HOST}/api/edge/camera/rgb-stream/public?terminalId=${TerminalId}&deviceId=${robotStore.cameraDeviceId}`
+
+// const videoUrl = computed(() => {
+//     if (!robotStore.ip || !robotStore.cameraDeviceId) return ''
+//     const params = new URLSearchParams({
+//         ip: robotStore.ip,
+//         deviceId: robotStore.cameraDeviceId
+//     })
+//     return `/api/camera/video?${params}`
+// })
 </script>
 <style lang="scss" scoped>
 .page-container {