CN110989382A - Multifunctional cloud service home robot - Google Patents
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a multifunctional cloud service home robot which comprises a central processing unit, a mobile unit, an action instruction unit, a data acquisition unit, an environment monitoring unit, an intelligent interaction unit, a remote control unit, a wireless communication unit and a cloud service unit, wherein the remote control unit, the environment monitoring unit, the data acquisition unit and the intelligent interaction unit are respectively connected with the central processing unit, the central processing unit is connected with the wireless communication unit, the mobile unit and the action instruction unit, and the cloud service unit is connected with the wireless communication unit. The invention realizes a plurality of life use scenes of multifunctional linkage and intelligent prediction by collecting data of daily use modes of users through other auxiliary control modes which are developed by artificial intelligence technology and take voice interaction as a core, carry gesture recognition and the like, and realizes an induction type control mode which mainly combines a plurality of control modes.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a multifunctional cloud service home robot.
Background
With the rapid development of artificial intelligence and big data, the national Ministry of industry and trust puts forward the deep fusion of Internet, big data, artificial intelligence and manufacturing industry, and develops the great digital economy. After a large amount of data are generated, the data are stored by a low-cost memory, and are processed by a high-speed CPU, so that artificial intelligence can perform processing or judgment close to human, and the accuracy is improved. Meanwhile, the service of artificial intelligence is adopted as a high-added-value service, which becomes a main factor for acquiring more users, and the continuously-increased users generate more data, so that the artificial intelligence is further optimized, the artificial intelligence technology is based on a neural network, and a multilayer neural network is developed at the same time, so that deep machine learning can be performed.
The intelligent household robot belongs to one of the components of a household automatic system, is a special robot which appears along with artificial intelligence, and mainly engages in the work of household service, maintenance, repair, transportation, monitoring, children education and the like. When the application range of the intelligent household robot is more and more extensive, robots of different types and different functions are generated. The current home robot has low function integration level, can not perform autonomous activities in various modes, and can not well meet the requirements of users on the intelligence and diversity of the robot. Meanwhile, the robot appears in people's life more often as an identity of the nature of service or entertainment, but human-computer interaction is realized only by setting simple voice interaction, and the robot cannot collect data of the daily use mode of a user, cannot know the daily life habits or preferences of the user, cannot predict the needs of a homeowner, and cannot arrange a work routine. At present, the smart home is still in a transition stage from mobile phone control to multi-control combination, and a mobile phone APP is still a main control mode of the smart home.
Disclosure of Invention
In order to realize that the working mode of the home robot is more intelligent, the operation control mode is more automatic, the demand and the daily preference of a house owner can be predicted, and a plurality of home life scenes are covered, the invention provides the multifunctional cloud service home robot. The multifunctional cloud service home robot provided by the invention can be applied to a plurality of life use scenes of multifunctional linkage and intelligent prediction in an induction type control mode mainly combining a plurality of control modes, so as to solve the technical problems in the background technology.
The invention adopts the following technical scheme for solving the technical problems, and the multifunctional cloud service home robot is characterized by comprising a central processing unit, a mobile unit, an action instruction unit, a data acquisition unit, an environment monitoring unit, an intelligent interaction unit, a remote control unit, a wireless communication unit and a cloud service unit, wherein the remote control unit, the environment monitoring unit, the data acquisition unit and the intelligent interaction unit are respectively connected with the central processing unit, the central processing unit is connected with the wireless communication unit, the mobile unit and the action instruction unit, and the cloud service unit is connected with the wireless communication unit.
Preferably, the central processing unit includes power drive board, data preprocessing and memory and central controller to Arduino series chip is the core, and compatible Arduino 2560GFS Robot WIFI video dolly Robot main chip Xilinx-XC6SLX9 possesses the FBGA encapsulation of 256 pins, in order to realize centralized control.
Preferably, the moving unit comprises a metal crawler trolley and a gyroscope sensor, the action command unit comprises a six-degree-of-freedom mechanical arm and a rotating device, the six-degree-of-freedom mechanical arm controls up to 32 steering engines, supports RS232 and serial port communication, is convenient to be controlled by being combined with other single-chip microcomputers, and is connected with the rotating device, and the rotating device can realize 360-degree rotation of the six-degree-of-freedom mechanical arm.
Preferably, the data acquisition unit comprises a color sensor, an ultrasonic ranging module and an infrared obstacle avoidance sensor, the color sensor adopts a programmable sensor TCS230 with color spectrum frequency, an output signal of the color sensor is a digital signal, the color sensor is directly connected with the microprocessor, standard TTL and CMOS logic input can be driven, and an A \ D conversion circuit is not required to be additionally arranged; the ultrasonic ranging module is composed of an ultrasonic transmitter, a receiver and a control circuit, is used for non-contact mechanical distance sensing, ranges of 2-200 cm and can reach the accuracy of 1mm at most, and is triggered in a TRIG mode, and the TRIG is triggered to measure the distance through a high-level signal of 10us to an IO port; the infrared obstacle avoidance sensor measuring angle is 35 degrees, the effective measuring range is 2-30 cm, the detecting distance of the ultrasonic ranging module is adjusted through the potentiometer, the measuring distance is increased by rotating the potentiometer clockwise, and the measuring distance is decreased by rotating the potentiometer anticlockwise.
Preferably, the environment monitoring unit comprises a flame sensor, a gas sensor and a high-definition camera, wherein the working temperature of the flame sensor is-25-85 ℃, the flame sensor can detect an angle of 60 degrees or less and can detect a heat source and a fire source, the wavelength of the heat source which can be detected is in the range of 760-1100 nanometers, the detection sensitivity reaches the maximum near red light, and the flame sensor is specially provided with a fixed mounting hole M3 so as to be convenient and easy to use; the gas sensor adopts a thermal gas sensor, has broad spectrum on the response of all combustible gases, is insensitive to the influence of ambient temperature and humidity, has nearly linear output signals, and has the advantages of simple structure, low cost, accurate measurement, quick response and longer service life.
Preferably, the intelligent interaction unit comprises an M6 voice recognition module and an image processing module, wherein the M6 voice recognition module consists of an Arduino control chip, a power amplifier and a microphone; the image processing module consists of a high-definition camera, an image capturing card, image processing equipment and a display, and adopts machine vision as the assistance of voice interaction.
Preferably, the remote control unit adopts a MTK7620N scheme chip, a WLAN processing scheme formed by integrating 2T2R double antennas and 2.4GHZ double antennas in height, the system structure takes MTK7620N as a core, an ANT1 and ANT2 matching circuit are matched, a USB branch line and an EEPROM data transmission interface are configured, 5V direct-current voltage is adopted for power supply, a memory 32M and a flash memory 8M are provided, and the system is provided with a USB2.0 interface, a hundred mega network port, a serial port, an I/O port, a reset key, a DC plug and a power switch, so that the system is convenient to use, the crystal oscillator frequency is 20MHz, and the working frequency range is 2.402-2.48 GHz.
Preferably, the steering engine selected by the robot system is a follow-up mechanism, and if the steering engine is detected not to be in the original position, the robot system can move to the specified position; if the steering engine is located at the designated position, other actions are not carried out, and the current position is kept; the HG0680 steering engine cannot directly acquire the current position of a target, so that a PWM signal needs to be provided, the control system is a target planning system, the width required by PWM is controlled to be 2ms (2 ms/250=8 us), the obtained PWM signal is 1 degree/8 us, and the target planning system is characterized in that the steering engine meets the following characteristic; firstly, the system steering engine does not do any action at the position of A, then the CPU sends out a PWM signal of the coordinate of the position of B point, and after receiving the coordinate, the steering engine moves from the coordinate of A point to the coordinate of B point; after the CPU sends out the signal of the position of the point B, waiting for a period of time is needed, the steering engine acts to turn to the point B in the period of time, and finally the omega value of the steering engine is measured and calculated.
Preferably, the wireless communication unit comprises a GSM communication module, and the GSM communication module can give an alarm to the host through a short message when the environment monitoring unit finds the abnormality.
Preferably, the cloud service unit comprises a computer upper computer, a mobile phone app operating system and a manipulator.
The invention realizes a plurality of life use scenes of multifunctional linkage and intelligent prediction by collecting data of daily use modes of users through other auxiliary control modes which are developed by artificial intelligence technology and take voice interaction as a core, carry gesture recognition and the like, and realizes an induction type control mode which mainly combines a plurality of control modes.
Drawings
Fig. 1 is a diagram illustrating the device components and information transfer of a multifunctional cloud-based service home robot according to an embodiment of the present invention;
fig. 2 is a device configuration and hardware structure diagram of the multifunctional cloud service home robot in an non-interactive state according to the embodiment of the present invention;
fig. 3 is an information interaction diagram of the multifunctional cloud service home robot in the embodiment of the present invention in an intelligent interaction state;
fig. 4 is a schematic diagram of the rotation speed of a steering engine of the multifunctional cloud service home robot in the embodiment of the invention;
fig. 5 is a flow chart of the steering engine ω value measurement of the multifunctional cloud service home robot in the embodiment of the present invention;
fig. 6 is a control circuit diagram of an ultrasonic ranging module of the multifunctional cloud service home robot according to the embodiment of the present invention;
fig. 7 is a flowchart illustrating an operation of an action command unit of the multifunctional cloud service home robot according to an embodiment of the present invention.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, devices, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will become apparent after understanding the disclosure of the present application. For example, the order of operations described herein is merely an example, and is not limited to those set forth herein, but may be changed as will become apparent after understanding the disclosure of the present application, except for operations that must occur in a particular order.
The following specific structural or functional descriptions are exemplary to describe only examples, and the scope of the examples is not limited to the descriptions provided in this specification. And various changes and modifications may be made by one of ordinary skill in the art.
As shown in fig. 1 to 3, the multifunctional cloud service home robot of the present invention includes a central processing unit 3, a mobile unit 8, an action instruction unit 9, a data acquisition unit 5, an environment monitoring unit 4, an intelligent interaction unit 6, a remote control unit 2, a wireless communication unit 7, and a cloud service unit 1.
The cloud service unit 1 is connected with the remote control unit 2 and used for operating the robot through the remote control unit 2 by the computer upper computer, the mobile phone app operating system and the manipulator in a manual mode, and data information transmission between the robot and the robot is achieved.
The remote control unit 2 is connected with the central processing unit 3 and is used for realizing WIFI connection; the preferable remote control unit adopts a WLAN processing scheme formed by integrating MTK7620N scheme chips, 2T2R double antennas and 2.4GHz double antennas in height, the system structure takes MTK7620N as a core, and is matched with ANT1 and ANT2 matching circuits, USB branch lines and EEPROM data transmission interfaces are configured, 5v direct-current voltage is adopted for power supply, a memory 32M and a flash memory 8M are provided, and the system is provided with a plurality of interfaces such as a USB2.0, a hundred-million network port, a serial port, an I/O port, a reset key, a DC plug, a power switch and the like, the crystal oscillator frequency is 20MHZ, and the working frequency range is between 2.402 GHz and 2.48 GHz.
The environment monitoring unit 4 is connected with the central processing unit 3 and is used for sending the monitored ambient environment information to the central control unit 3; the environment monitoring unit 4 comprises a flame sensor 401 for detecting whether a fire source generates, a thermal gas sensor 402 for detecting whether flammable, explosive and other gases leak indoors, and the key components of the environment monitoring unit are a Wheatstone bridge coated with a combustion catalyst and a high-definition camera 403 for shooting and monitoring mobile video information; the preferable working temperature of the flame sensor 401 is-25-85 ℃, the sensor can detect an angle of 60 ℃ or below, can detect a heat source and a fire source, the wavelength of the heat source can be detected within the range of 760-1100 nanometers, the detection sensitivity reaches the maximum near red light, and the sensor is provided with a special fixed mounting hole M3, so that the flame sensor is convenient and easy to use.
The data acquisition unit 5 is connected with the central processing unit 3 and is used for sending environmental information acquired by the robot in the action execution process to the central processing unit 3; the data acquisition unit 5 comprises an infrared obstacle avoidance sensor 502 for enabling the robot to avoid obstacles independently, an ultrasonic distance measurement sensor 503 for measuring the azimuth distance of an object, and a color sensor 501 for identifying the color of the object; the preferable measurement angle of the infrared obstacle avoidance sensor 502 is 35 degrees, the effective measurement range is 2-30 cm, the detection distance of the module is adjusted through a potentiometer, the potentiometer is rotated clockwise to increase the measurement distance, and the potentiometer is rotated counterclockwise to decrease the measurement distance; the preferable ultrasonic ranging sensor 503 is composed of an ultrasonic transmitter, a receiver and a control circuit, is used for non-contact mechanical distance sensing, has the ranging range of 2-200 cm and the accuracy of 1mm at most, is triggered by a TRIG mode, and triggers the TRIG to measure the range by a high-level signal of 10us to an IO port; the preferred color sensor 501 is a sensor TCS230 with programmable color spectrum frequency, the output signal of the color sensor 501 is digital and the sensor is directly connected to the microprocessor, which can drive standard TTL and CMOS logic inputs without an additional a \ D conversion circuit.
The intelligent interaction unit 6 is connected with the central processing unit 3 and is used for realizing man-machine interaction; the intelligent interaction unit 6 comprises an M6 voice recognition module for recognizing language instructions, and an image processing module for realizing machine vision; the preferred M6 voice recognition module consists of an Arduino control chip 605, a power amplifier 606 and a microphone 607, and uses the voice intelligent recognition technology to recognize the person who utters the voice first rather than executing the instruction information contained therein first; the preferred image processing module employs image processing techniques for gesture recognition by high definition camera 601, image capture card 602, image processing device 603, and display 604. The voice communication is a communication mode which is more prone to daily use, instructions are given to a machine through human language, the purpose of the user is achieved, other operations are not needed, the process is more natural, meanwhile, the voice communication has advantages in specific scenes, such as remote control and driving, the effect of freeing two hands in the specific scenes can be achieved, in a relatively closed environment of a household, voice recognition becomes a mainstream human-computer interaction mode, and the machine vision and gesture recognition interaction mode is adopted as assistance of the voice communication.
The wireless communication unit 7, the mobile unit 8 and the action instruction unit 9 are respectively connected with the central processing unit 3; the wireless communication unit 7 can realize short message alarm through the GSM module 701; the moving unit 8 comprises a metal tracked trolley 802 and a gyroscope sensor 801, wherein the metal tracked trolley 802 is used for realizing accurate movement of the robot and carrying of objects or obstacles, and the gyroscope sensor 801 can determine the direction of the moving objects; the motion instruction unit 9 comprises a rotating device 901 and a six-degree-of-freedom mechanical arm 902 connected with the rotating device 901, wherein the rotating device 901 can realize 360-degree rotation of the mechanical arm, and the six-degree-of-freedom mechanical arm 902 is used for realizing a series of motion instructions and precise clamping of a target item.
The central processing unit 3 comprises a power supply driving board 301, a data preprocessing and memory 302 and a central controller 303, the optimized central processing unit 3 takes Arduino series chips as a core, is compatible with the main chip Xilinx-XC6SLX9 of the Arduino 2560GFS Robot WIFI video trolley Robot, and has FBGA (film bulk assisted gain) packaging with 256 pins so as to realize centralized control.
The six-degree-of-freedom mechanical arm 902 can control up to 32 steering engines, supports RS232 and serial port communication, is convenient to be controlled by being combined with other single-chip microcomputers, is adjusted by using a dial switch, is flexibly exchanged among four baud rates, can be controlled by a PC (personal computer) and can also work off line, and has extremely good flexibility and maneuverability.
Fig. 4 is a schematic diagram of the rotation speed of a steering engine according to an embodiment of the present invention, fig. 5 is a flowchart of ω value measurement according to an embodiment of the present invention, where the steering engine selected by the system is a servo mechanism, and if it is detected that the steering engine is not at an original position, the steering engine moves to a designated position; and if the steering engine is in the designated position, no other action is performed, and the current position is kept. Since the HG0680 steering engine cannot directly obtain the current position of the target, a PWM signal needs to be provided. The control system is a target planning system, and controls the width required by PWM (2 ms/250=8 us); the resulting PWM signal is 1 degree/8 us. The target planning system is characterized by the satisfying following characteristic of the steering engine. Firstly, the steering engine of the system does not do any action at the position of A, then the CPU sends out a PWM signal of the coordinate of the position of B point, and after receiving the coordinate, the steering engine moves from the coordinate of A point to the coordinate of B point. After the CPU sends out the signal of the position of the point B, waiting for a period of time is needed, the steering engine acts to turn to the point B in the period of time, and finally the omega value of the steering engine is measured and calculated.
A common operation method of the multifunctional cloud service home robot is shown in fig. 6: after the robot is started, the default state is the autonomous life mode, specifically, the robot can automatically monitor environmental information in the autonomous life mode, can move along tracks, and achieves information exchange with an upper computer and short message alarm communication with a person. After the function switch is turned on, all the unit modules work coordinately to realize function linkage, multiple sensors are integrated in a fusion mode, accuracy of system sensing characteristics is improved, a back pushing method and an orientation technology are added during overall framework design of the system, data conflict among all the components cannot be caused when system instructions are sent, and efficiency and stability of the system are improved.
Fig. 6 is a commonly-used operation method example of a robot, when a function switch is turned on, if the robot automatically grabs a target object, a voice command or an action command can be provided for the robot, when the robot recognizes the given command, the robot can speak "good" to an owner, in the process of grabbing the target object, a metal tracked vehicle 802 can advance along a certain route, meanwhile, a data acquisition unit 5 can detect surrounding environment information, an ultrasonic ranging sensor 503 can measure an obstacle with a distance of 2-200 cm, the precision can reach 1mm at most, an infrared obstacle avoidance sensor 502 can automatically avoid an obstacle, the measurement angle is 35 °, and the effective measurement range is 2-30 cm. If there is no obstacle in front, the metal crawler 802 reaches the position of the target object, and the rotating device 901 and the six-degree-of-freedom robot 902 cooperate to accurately grasp the target object; if an obstacle exists in front of the robot, the robot reaches the position of a target object after avoiding the obstacle, the object is grabbed, meanwhile, the color sensor 501 can detect whether the color of the grabbed target object is correct or not, the grabbing accuracy is improved, different action groups are required to be designed according to different mechanical arm motion paths in the face of different tasks, and different steering engine action combinations are formed through control; when the robot returns, the position of the owner is measured through the ultrasonic ranging sensor 503, the position of the owner is reached through the infrared obstacle avoidance sensor 502, and the target object is delivered to the owner.
The foregoing embodiments have described the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, and that various changes and modifications may be made without departing from the scope of the principles of the present invention, and the invention is intended to be covered by the appended claims.
Claims (8)
1. The utility model provides a multi-functional high in clouds service house robot, its characterized in that includes central processing unit, the mobile unit, action command unit, data acquisition unit, the environment monitoring unit, intelligent interactive unit, the remote control unit, wireless communication unit and high in the clouds service unit, wherein remote control unit, the environment monitoring unit, data acquisition unit and intelligent interactive unit link to each other with central processing unit respectively, central processing unit and wireless communication unit, the mobile unit links to each other with action command unit, high in the clouds service unit and wireless communication unit are connected.
2. The multi-functional cloud service home robot of claim 1, characterized in that: the central processing unit comprises a power supply driving board, a data preprocessing unit, a memory and a central controller, and is characterized in that an Arduino series chip is used as a core, the main chip Xilinx-XC6SLX9 of the Robot is compatible with an Arduino 2560GFS Robot WIFI video trolley Robot, and the FBGA package with 256 pins is used for realizing centralized control.
3. The multi-functional cloud service home robot of claim 1, characterized in that: the moving unit comprises a metal crawler trolley and a gyroscope sensor, the action command unit comprises a six-degree-of-freedom mechanical arm and a rotating device, the six-degree-of-freedom mechanical arm controls up to 32 steering engines, RS232 and serial port communication are supported, the six-degree-of-freedom mechanical arm is conveniently combined with other single-chip microcomputers for control, the six-degree-of-freedom mechanical arm is connected with the rotating device, and the rotating device can realize 360-degree rotation of the six-degree-of-freedom.
4. The multi-functional cloud service home robot of claim 1, characterized in that: the data acquisition unit comprises a color sensor, an ultrasonic ranging module and an infrared obstacle avoidance sensor, the color sensor adopts a programmable sensor TCS230 with color spectrum frequency, the output signal of the color sensor is a digital signal, the color sensor is directly connected with a microprocessor, the standard TTL and CMOS logic input can be driven, and an A \ D conversion circuit is not required to be additionally arranged; the ultrasonic ranging module is composed of an ultrasonic transmitter, a receiver and a control circuit, is used for non-contact mechanical distance sensing, ranges of 2-200 cm and can reach the accuracy of 1mm at most, and is triggered in a TRIG mode, and the TRIG is triggered to measure the distance through a high-level signal of 10us to an IO port; the infrared obstacle avoidance sensor measuring angle is 35 degrees, the effective measuring range is 2-30 cm, the detecting distance of the ultrasonic ranging module is adjusted through the potentiometer, the measuring distance is increased by rotating the potentiometer clockwise, and the measuring distance is decreased by rotating the potentiometer anticlockwise.
5. The multi-functional cloud service home robot of claim 1, characterized in that: the environment monitoring unit comprises a flame sensor, a gas sensor and a high-definition camera, wherein the working temperature of the flame sensor is-25-85 ℃, the flame sensor can detect an angle of 60 ℃ or below and can detect a heat source and a fire source, the wavelength of the heat source which can be detected is in the range of 760-1100 nanometers, the detection sensitivity reaches the maximum near red light, and the flame sensor is specially provided with a fixed mounting hole M3 so as to be convenient and easy to use; the gas sensor adopts a thermal gas sensor, has broad-spectrum response to all combustible gases, is insensitive to the influence of ambient temperature and humidity, and has nearly linear output signals.
6. The multi-functional cloud service home robot of claim 1, characterized in that: the intelligent interaction unit comprises an M6 voice recognition module and an image processing module, wherein the M6 voice recognition module consists of an Arduino control chip, a power amplifier and a microphone; the image processing module consists of a high-definition camera, an image capturing card, image processing equipment and a display, and adopts machine vision as the assistance of voice interaction.
7. The multi-functional cloud service home robot of claim 1, characterized in that: the remote control unit adopts a WLAN processing scheme formed by integrating MTK7620N scheme chips, 2T2R double antennas and 2.4GHZ double antennas in height, the system structure takes MTK7620N as a core, an ANT1 and ANT2 matching circuit are matched, a USB branch line and an EEPROM data transmission interface are configured, 5V direct-current voltage is adopted for supplying power, a memory 32M and a flash memory 8M are provided, the system is provided with a USB2.0, a hundred-million network port, a serial port, an I/O port, a reset key, a DC plug and a power switch interface and is convenient to use, the crystal oscillator frequency is 20MHz, and the working frequency range is 2.402-2.48 GHz.
8. The multi-functional cloud service home robot of claim 1, characterized in that: the steering engine selected by the robot system is a follow-up mechanism, and if the steering engine is detected not to be in the original position, the robot system can move to the appointed position; if the steering engine is located at the designated position, other actions are not carried out, and the current position is kept; the HG0680 steering engine cannot directly acquire the current position of a target, so that a PWM signal needs to be provided, the control system is a target planning system, the width required by PWM is controlled for 2ms, the obtained PWM signal is 1 degree/8 us, and the target planning system is characterized in that the steering engine meets the following characteristic; firstly, the system steering engine does not do any action at the position of A, then the CPU sends out a PWM signal of the coordinate of the position of B point, and after receiving the coordinate, the steering engine moves from the coordinate of A point to the coordinate of B point; after the CPU sends out the signal of the position of the point B, waiting for a period of time is needed, the steering engine acts to turn to the point B in the period of time, and finally the omega value of the steering engine is measured and calculated.
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| CN113219844A (en) * | 2020-12-26 | 2021-08-06 | 南京愔宜智能科技有限公司 | Electronic remote control terminal for smart home |
| WO2023273178A1 (en) * | 2021-06-29 | 2023-01-05 | 达闼科技（北京）有限公司 | Method and apparatus for generating robot skills, and medium, cloud server and robot control system. |
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