CN103631221B - A kind of distant operate services robot system - Google Patents
A kind of distant operate services robot system Download PDFInfo
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- CN103631221B CN103631221B CN201310589961.6A CN201310589961A CN103631221B CN 103631221 B CN103631221 B CN 103631221B CN 201310589961 A CN201310589961 A CN 201310589961A CN 103631221 B CN103631221 B CN 103631221B
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Abstract
The present invention discloses a kind of distant operate services robot system, comprise the robot body and the operated from a distance terminal that connect by wireless communication networks, in robot system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and task operating terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal; Interactive voice module comprises two interactive voice terminals, be located at respectively on robot body and operated from a distance terminal on; Video monitoring module comprises that the IMAQ transmission submodule of being located on robot body and the image of being located in operated from a distance terminal receive display sub-module, and monitoring module comprises that the state acquisition of being located on robot body sends submodule and receives display sub-module with the state of being located in operated from a distance terminal. This distant operate services robot system provides easy mode to allow user manipulate robot, reduces the development difficulty of service robot and user's use difficulty.
Description
Technical field
The present invention relates to Robotics field, particularly a kind of for welcome's reception or interaction entertainment performanceDistant operate services robot system.
Background technology
At present, the level of intelligence of robot does not reach yet and can independently complete complicated task, especially existsUnder the destructuring environment of dynamic change (as needs and the mutual welcome of people reception and interactive event performance etc.Occasion), take robot automation to control and add that the mode of artificial remotely assisted operation will be more suitable for thisThe application of He Xia robot.
Traditional master-slave mode man-machine interactive system conventionally by operating personnel according to site environment, closely to machinePeople sends single action command, then completes corresponding action by robot. Which operation more complicated,And the content of operation is more fixing, robot is only suitable for the occasion in fixation application, if need change behaviourMake function, often need professional and technical personnel again to develop, use cost is quite high. And for welcomeThe occasions such as reception, interaction entertainment performance, the action of robot is complicated and changeable, and need to be existingIn the very short time, just revise. Therefore, traditional master-slave mode man-machine interaction robot inapplicable.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, for welcome's reception or interaction entertainment performance,Also lower distant operate services robot system of a kind of easy to use, development cost is provided.
Technical scheme of the present invention is: a kind of distant operate services robot system, comprises robot body and far awayJourney operating terminal, connects by wireless communication networks between robot body and operated from a distance terminal; RobotIn system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and appointBusiness operating terminal, task management module is located on robot body, and task operating terminal is located at operated from a distance eventuallyOn end; Interactive voice module comprises two interactive voice terminals, and two interactive voice terminals are located at respectively machineIn the upper and operated from a distance terminal of human body; Video monitoring module comprises that IMAQ transmission submodule and image connectReceive display sub-module, IMAQ transmission submodule is located on robot body, and image receives display sub-moduleBe located in operated from a distance terminal; Monitoring module comprises that state acquisition sends submodule and state receives demonstrationSubmodule, state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located at farOn journey operating terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, catches in real time robotSound around is also transferred to operated from a distance terminal by wireless communication networks, operating personnel is sent simultaneouslyAfter sound collection, send to robot body by wireless communication networks, after the change of voice is processed, by robotAudio amplifier on body plays back;
Video monitoring module arrives long-range for the Image Real-time Transmission that camera collection on robot body is arrivedOperating terminal;
Monitoring module is for detecting in real time the supply voltage of robot body and surrounding environment barrierDirection, and send the bearing data of voltage and barrier to far-end operation terminal, makes the operating personnel can be farOn journey operating terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment.
Wherein, the task that is provided with in task management module is explained submodule, and task explains that submodule is used for taskThe directive script of file makes an explanation, and according to the mapping relations of instruction and function, the letter that call instruction is correspondingNumber is carried out instruction;
The assignment file that task management module is edited and carried out is mainly by the directive script group of robot bodyBecome, each directive script include instruction name and parameter two parts, can be divided into directive script mobile finger by purposesMake, limbs instruction, expression instruction, phonetic order and system command etc., assignment file can be used as function quiltDirective script calls; Assignment file can be saved as text formatting or XML file format; Work as taskWhen file is XML file format, describe instruction with XML node as instruction node, use respectively XMLAttribute description instruction name and the parameter of node;
The perception file that task management module is edited and explained saves as XML file format, perception fileDescribe the corresponding relation between perception and behavior, the content of describing according to perception file, when certain is specificWhen perception occurs, by the explanation to perception file, robot body can be carried out corresponding behavior; Be perceived asSelf-defining event (event of pressing as game paddle button), behavior refers to the script of robot bodyOrder is described; In perception file, perception is described with an XML node, with the attribute of this XML nodeThe type of perception and the data of perception are described, by an instruction node, multiple instruction node or as perceptionThe child node of node is described behavior corresponding to perception;
Non-technological development personnel can, according to the content of perception collection and instruction set, use text software for editingAnd XML Document Editing software editing assignment file and perception file, to reach oneself definition robot meritThe object of energy.
In described robot body, be also provided with mobile module and limb action module, mobile module and limb actionModule is connected with task management module respectively;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
On described robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, soundCase is connected with the interactive voice terminal of being located on robot body respectively with microphone, camera and IMAQTransmission submodule connects, and detection of obstacles sensor sends submodule with state acquisition and is connected.
Described operated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
The described Intelligent mobile equipment with touch-screen is mobile phone or panel computer;
In the time that operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used forThe shift action of remote control robot body, another rocking bar is for the limbs of remote control robot bodyAction; User can be closed the event that on game paddle, each button is pressed and corresponding behavior by perception fileConnection gets up, and defines each button press down the row that robot correspondence will be carried out afterwards by editor's perception fileFor file;
In the time that operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with voidIntend rocking bar region, point moving of position conversion and control robot body in virtual rocking bar region by userAction and limb action; Specifically: in virtual rocking bar region, detect user and point the position at place, andUser's finger position is converted to corresponding position data or speed data, then according to the operation of virtual rocking barContent is converted to the directive script that robot body is corresponding, and sends to robot body by wireless network,Explain that by task submodule makes an explanation and carries out.
By virtual rocking bar, translational speed and moving direction that remote operator can control body,The simultaneously angle of the limb action of control body (as nod, panning angle, raise one's hand, wave etc.).Operated from a distance terminal comprises one or more virtual rocking bars. Generally comprise 2 virtual rocking bars, one of themVirtual rocking bar is for the shift actions such as advancing, retreat, turn and stop of control, when user's fingerWhile leaving the region of virtual rocking bar, virtual rocking bar can be specified and be reset to zero-bit, and at this time robot will stop;Another virtual rocking bar is for the nodding, shake the head or other limb action of control, when user's finger fromWhile opening the region of virtual rocking bar, the position that rocking bar can keep current is motionless, allows robot keep corresponding limbBody angle is constant.
When described operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided withTask button region, video monitoring regional, voice dialogue region, condition monitoring region, the first virtual rocking barRegion, the second virtual rocking bar region and stop button, task button region, the first virtual rocking bar region,Two virtual rocking bar regions are connected with the task operating terminal in operated from a distance terminal respectively with stop button, videoGuarded region and image receive display sub-module and are connected, voice dialogue region and being located in operated from a distance terminalInteractive voice terminal connects, and condition monitoring region receives display sub-module with state and is connected; Task button regionInside be provided with at least one scene mode.
By increasing the task button of scene and scene, can increase the function of robot body. Task buttonAssociated with behavior file, in the time pressing task button, task operating terminal is by behavior file corresponding this buttonName is combined into the directive script of act of execution file, sends to robot body by wireless communication networks, byTask in task management module explains that submodule takes charge of the explanation execution.
Wherein, the editable data of task button comprise text and behavior literary composition corresponding to button that button showsPart name, can be in operated from a distance terminal direct Update Table, the XML literary composition that also can specify by editorPart, then explains this XML file by task operating terminal, automatically generating scene and task button.
In voice dialogue region, use microphone gather the audio signal of environment and send out by wireless communication networksGive robot body, receive the voice data sending over from robot body simultaneously and play.
Video monitoring regional is used for receiving and showing the view data sending over from robot body.
Condition monitoring region is used for receiving and showing the voltage data and the obstacle that send over from robot bodyThing status data.
When this distant operate services robot system operation, by between robot body and operated from a distance terminalWirelessly transmitting data is finished the work. For interactive voice module, by the interactive voice terminal of operated from a distance terminalSend and monitor or talk with the interactive voice terminal of instruction to robot body, and collection, the transmission of developing audio frequencyAnd monitoring reception and broadcasting; The interactive voice terminal of robot body is received after instruction, gathers voice dataSend to the interactive voice terminal of operated from a distance terminal, and play the audio frequency sending over from operated from a distance terminalData; By the end of operated from a distance terminal control audio monitoring and dialogue. For video monitoring module and stateMonitoring module, its course of work and interactive voice module class seemingly, are all to be sent accordingly by operated from a distance terminalInstruction, is received and is processed by module corresponding on robot body, acquisition of image data, status data,Then transmitting back operated from a distance terminal shows. For the operation part of robot body, as pass through handleOr task button manipulation robot, first operated from a distance terminal is converted to correspondence by the operation on interfaceRobot script instruction, by wireless communication networks, instruction is sent on robot body, and by taskAdministration module makes an explanation and carries out.
The present invention, with respect to prior art, has following beneficial effect:
1, this distant operate services robot system is performed and proposes for welcome's reception or interaction entertainment,Easy to use, development cost is also lower, can be required machine according to tasks carrying by non-specialized-technical personnelThe task that people controls, task editor control complete appointment; Gai Yao operate services robotSystem provides easy mode to allow user manipulate robot, reached reduce service robot development difficulty andThe object of user's use difficulty, has further promoted in social life universal of robot.
2, in this distant operate services robot system, operated from a distance terminal compatible games handle and its simultaneouslyIts Intelligent mobile equipment. For simple task (being generally no more than 10 tasks), can adopt game paddleOperation, operating handle is good and system is simple. For more complicated task, can pass through Intelligent mobile equipment(as Android panel computer, mobile phone etc.) carry out distant operation to robot. Teleworker does not needNear robot, by voice dialogue module, video monitoring module and monitoring module just can perceptionTo environment around. By the function of all right self-defined scene of task operating terminal and task button, do not haveThe quantitative restriction of task.
3, on the basis of this distant operate services robot system, by robot body and operated from a distance terminalCarry out communication by wide area network or internet, make robot there is scapegoat's effect, can use robotReplace far-end operation person to participate in momentous conference, office, interview etc., reduced the spatial limitation exchanging.
Brief description of the drawings
Fig. 1 is the principle schematic of this distant operate services robot system.
Fig. 2 is this user interface layout figure that wants operate services robot system medium-long range operating terminal.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but reality of the present inventionThe mode of executing is not limited to this.
Embodiment
A kind of distant operate services robot system of the present embodiment, as shown in Figure 1, comprises robot body and far awayJourney operating terminal, connects by wireless communication networks between robot body and operated from a distance terminal; RobotIn system, be provided with interactive voice module, video monitoring module, monitoring module, task management module and appointBusiness operating terminal, task management module is located on robot body, and task operating terminal is located at operated from a distance eventuallyOn end; Interactive voice module comprises two interactive voice terminals, and two interactive voice terminals are located at respectively machineIn the upper and operated from a distance terminal of human body; Video monitoring module comprises that IMAQ transmission submodule and image connectReceive display sub-module, IMAQ transmission submodule is located on robot body, and image receives display sub-moduleBe located in operated from a distance terminal; Monitoring module comprises that state acquisition sends submodule and state receives demonstrationSubmodule, state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located at farOn journey operating terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, catches in real time robotSound around is also transferred to operated from a distance terminal by wireless communication networks, operating personnel is sent simultaneouslyAfter sound collection, send to robot body by wireless communication networks, after the change of voice is processed, by robotAudio amplifier on body plays back;
Video monitoring module arrives long-range for the Image Real-time Transmission that camera collection on robot body is arrivedOperating terminal;
Monitoring module is for detecting in real time the supply voltage of robot body and surrounding environment barrierDirection, and send the bearing data of voltage and barrier to far-end operation terminal, makes the operating personnel can be farOn journey operating terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment.
Wherein, the task that is provided with in task management module is explained submodule, and task explains that submodule is used for taskThe directive script of file makes an explanation, and according to the mapping relations of instruction and function, the letter that call instruction is correspondingNumber is carried out instruction;
The assignment file that task management module is edited and carried out is made up of the directive script of robot body, eachDirective script include instruction name and parameter two parts, can be divided into directive script move, limb by purposesBody instruction, expression instruction, phonetic order and system command etc., assignment file can be used as function and is referred to by scriptOrder is called; Assignment file can be saved as text formatting or XML file format; When assignment file isWhen XML file format, describe instruction with XML node as instruction node, use respectively XML nodeAttribute description instruction name and parameter;
The perception file that task management module is edited and explained saves as XML file format, perception fileDescribe the corresponding relation between perception and behavior, the content of describing according to perception file, when certain is specificWhen perception occurs, by the explanation to perception file, robot body can be carried out corresponding behavior; Be perceived asSelf-defining event (event of pressing as game paddle button), behavior refers to the script of robot bodyOrder is described; In perception file, perception is described with an XML node, with the attribute of this XML nodeThe type of perception and the data of perception are described, by an instruction node, multiple instruction node or as perceptionThe child node of node is described behavior corresponding to perception;
Non-technological development personnel can, according to the content of perception collection and instruction set, use text software for editingAnd XML Document Editing software editing assignment file and perception file, to reach oneself definition robot meritThe object of energy.
In robot body, be also provided with mobile module and limb action module, mobile module and limb action moduleBe connected with task management module respectively;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
On robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, audio amplifier andMicrophone is connected with the interactive voice terminal of being located on robot body respectively, camera and IMAQ transmissionSubmodule connects, and detection of obstacles sensor sends submodule with state acquisition and is connected.
Operated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
The Intelligent mobile equipment with touch-screen can be mobile phone or panel computer;
In the time that operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used forThe shift action of remote control robot body, another rocking bar is for the limbs of remote control robot bodyAction; User can be closed the event that on game paddle, each button is pressed and corresponding behavior by perception fileConnection gets up, and defines each button press down the row that robot correspondence will be carried out afterwards by editor's perception fileFor file;
In the time that operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with voidIntend rocking bar region, point moving of position conversion and control robot body in virtual rocking bar region by userAction and limb action; Specifically: in virtual rocking bar region, detect user and point the position at place, andUser's finger position is converted to corresponding position data or speed data, then according to the operation of virtual rocking barContent is converted to the directive script that robot body is corresponding, and sends to robot body by wireless network,Explain that by task submodule makes an explanation and carries out.
By virtual rocking bar, translational speed and moving direction that remote operator can control body,The simultaneously angle of the limb action of control body (as nod, panning angle, raise one's hand, wave etc.).Operated from a distance terminal comprises one or more virtual rocking bars. Generally comprise 2 virtual rocking bars, one of themVirtual rocking bar is for the shift actions such as advancing, retreat, turn and stop of control, when user's fingerWhile leaving the region of virtual rocking bar, virtual rocking bar can be specified and be reset to zero-bit, and at this time robot will stop;Another virtual rocking bar is for the nodding, shake the head or other limb action of control, when user's finger fromWhile opening the region of virtual rocking bar, the position that rocking bar can keep current is motionless, allows robot keep corresponding limbBody angle is constant.
When operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is as Fig. 2 instituteShow, user interface is provided with task button region 1, video monitoring regional 2, voice dialogue region 3, shapeState guarded region 4, the first virtual rocking bar region 5, the second virtual rocking bar region 6 and stop button 7, appointBusiness button area, the first virtual rocking bar region, the second virtual rocking bar region and stop button respectively with long-range behaviourThe task operating terminal of doing in terminal connects, and video monitoring regional receives display sub-module with image and is connected, languageSound dialog region is connected with the interactive voice terminal of being located in operated from a distance terminal, condition monitoring region and stateReception display sub-module connects; In task button region, be provided with at least one scene mode (as shown in Figure 2,For scene 1-1 and scene 1-2).
By increasing the task button of scene and scene, can increase the function of robot body. Task buttonAssociated with behavior file, in the time pressing task button, task operating terminal is by behavior file corresponding this buttonName is combined into the directive script of act of execution file, sends to robot body by wireless communication networks, byTask in task management module explains that submodule takes charge of the explanation execution.
Wherein, the editable data of task button comprise text and behavior literary composition corresponding to button that button showsPart name, can be in operated from a distance terminal direct Update Table, the XML literary composition that also can specify by editorPart, then explains this XML file by task operating terminal, automatically generating scene and task button.
In voice dialogue region, use microphone gather the audio signal of environment and send out by wireless communication networksGive robot body, receive the voice data sending over from robot body simultaneously and play.
Video monitoring regional is used for receiving and showing the view data sending over from robot body.
Condition monitoring region is used for receiving and showing the voltage data and the obstacle that send over from robot bodyThing status data.
When this distant operate services robot system operation, by between robot body and operated from a distance terminalWirelessly transmitting data is finished the work. For interactive voice module, by the interactive voice terminal of operated from a distance terminalSend and monitor or talk with the interactive voice terminal of instruction to robot body, and collection, the transmission of developing audio frequencyAnd monitoring reception and broadcasting; The interactive voice terminal of robot body is received after instruction, gathers voice dataSend to the interactive voice terminal of operated from a distance terminal, and play the audio frequency sending over from operated from a distance terminalData; By the end of operated from a distance terminal control audio monitoring and dialogue. For video monitoring module and stateMonitoring module, its course of work and interactive voice module class seemingly, are all to be sent accordingly by operated from a distance terminalInstruction, is received and is processed by module corresponding on robot body, acquisition of image data, status data,Then transmitting back operated from a distance terminal shows. For the operation part of robot body, as pass through handleOr task button manipulation robot, first operated from a distance terminal is converted to correspondence by the operation on interfaceRobot script instruction, by wireless communication networks, instruction is sent on robot body, by and by appointBusiness administration module makes an explanation and carries out.
As mentioned above, just can realize preferably the present invention, above-described embodiment is only preferred embodiment of the present invention,Not be used for limiting practical range of the present invention; Be that all equalizations of doing according to content of the present invention change and modify,All by the claims in the present invention scope required for protection is contained.
Claims (6)
1. a distant operate services robot system, is characterized in that, comprises robot body and long-range behaviourMake terminal, between robot body and operated from a distance terminal, connect by wireless communication networks; Robot systemInside be provided with interactive voice module, video monitoring module, monitoring module, task management module and task behaviourMake terminal, task management module is located on robot body, and task operating terminal is located in operated from a distance terminal;Interactive voice module comprises two interactive voice terminals, and two interactive voice terminals are located at respectively robot bodyIn upper and operated from a distance terminal; Video monitoring module comprises that IMAQ transmission submodule and image receive demonstrationSubmodule, IMAQ transmission submodule is located on robot body, and image receives display sub-module and is located at farOn journey operating terminal; Monitoring module comprises that state acquisition sends submodule and state receives demonstration submodulePiece, state acquisition sends submodule and is located on robot body, and state receives display sub-module and is located at long-range behaviourDo in terminal;
Wherein, perception file is edited and explained to task management module, for editing and execute the task file;
Task operating terminal is as operating personnel's operation executing means;
Interactive voice module is carried out interaction for operating personnel and the people around of robot, catches in real time robotSound around is also transferred to operated from a distance terminal by wireless communication networks, operating personnel is sent simultaneouslyAfter sound collection, send to robot body by wireless communication networks, after the change of voice is processed, by robotAudio amplifier on body plays back;
Video monitoring module arrives long-range for the Image Real-time Transmission that camera collection on robot body is arrivedOperating terminal;
Monitoring module is for detecting in real time the supply voltage of robot body and surrounding environment barrierDirection, and send the bearing data of voltage and barrier to far-end operation terminal, makes the operating personnel can be farOn journey operating terminal, view the voltage of robot body and the barrier situation of robot body surrounding environment;
The task that is provided with in described task management module is explained submodule, and task explains that submodule is used for task literary compositionThe directive script of part makes an explanation, and according to the mapping relations of instruction and function, the function that call instruction is correspondingCarry out instruction;
Wherein, the assignment file that task management module is edited and carried out is mainly referred to by the script of robot bodyOrder composition, each directive script include instruction name and parameter two parts, directive script comprises move, limbsInstruction, expression instruction, phonetic order and system command, assignment file is called by directive script as function;Assignment file is saved as text formatting or XML file format; When assignment file is XML trayWhen formula, describe instruction with XML node as instruction node, use respectively the attribute description of XML nodeInstruction name and parameter;
The perception file that task management module is edited and explained saves as XML file format, perception fileCorresponding relation between perception and behavior is described; Be perceived as self-defining event, behavior robot bodyDirective script describe; In perception file, perception is described with an XML node, with this XML jointThe type of attribute description perception and the data of perception of point, with an instruction node, multiple instruction node or workFor the child node of sensing node is described behavior corresponding to perception.
2. a kind of distant operate services robot system according to claim 1, is characterized in that, described inIn robot body, be also provided with mobile module and limb action module, mobile module and limb action module are respectivelyBe connected with task management module;
Wherein, mobile module advances, retreats, turns and move to specified coordinate for control body;
Limb action module completes the limb action of head, hand and shank for control body.
3. a kind of distant operate services robot system according to claim 1, is characterized in that, described inOn robot body, be also provided with audio amplifier, microphone, camera and detection of obstacles sensor, audio amplifier and MikeWind is connected with the interactive voice terminal of being located on robot body respectively, camera and IMAQ transmission submodulePiece connects, and detection of obstacles sensor sends submodule with state acquisition and is connected.
4. a kind of distant operate services robot system according to claim 1, is characterized in that, described inOperated from a distance terminal is Intelligent mobile equipment or the game paddle with touch-screen.
5. a kind of distant operate services robot system according to claim 4, is characterized in that, described inThe Intelligent mobile equipment with touch-screen is mobile phone or panel computer;
In the time that operated from a distance terminal is game paddle, game paddle is provided with two rocking bars, and a rocking bar is used forThe shift action of remote control robot body, another rocking bar is for the limbs of remote control robot bodyAction;
In the time that operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with voidIntend rocking bar region, point moving of position conversion and control robot body in virtual rocking bar region by userAction and limb action.
6. a kind of distant operate services robot system according to claim 5, is characterized in that, described inWhen operated from a distance terminal is mobile phone or panel computer, the user interface of operated from a distance terminal is provided with task buttonRegion, video monitoring regional, voice dialogue region, condition monitoring region, the first virtual rocking bar region,Two virtual rocking bar region and stop buttons, task button region, the first virtual rocking bar region, the second virtual shakingBar region is connected with the task operating terminal in operated from a distance terminal respectively with stop button, video monitoring regionalReceive display sub-module with image and is connected, voice dialogue region and be located at the interactive voice in operated from a distance terminalTerminal connects, and condition monitoring region receives display sub-module with state and is connected; In task button region, be provided with toFew a kind of scene mode.
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