CN109167681B - State monitoring method and device - Google Patents
State monitoring method and device Download PDFInfo
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- CN109167681B CN109167681B CN201810893315.1A CN201810893315A CN109167681B CN 109167681 B CN109167681 B CN 109167681B CN 201810893315 A CN201810893315 A CN 201810893315A CN 109167681 B CN109167681 B CN 109167681B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0631—Management of faults, events, alarms or notifications using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0677—Localisation of faults
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/069—Management of faults, events, alarms or notifications using logs of notifications; Post-processing of notifications
Abstract
The application discloses a state monitoring method and device. The state monitoring method comprises the steps of collecting operation information of equipment, wherein the operation information comprises the following steps: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information; processing the running information according to a preset rule; and sending the processed information to a server, so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information. The method and the device solve the technical problems that the state change of the robot cannot be found in time and the fault of the robot cannot be located in time in the prior art.
Description
Technical Field
The present application relates to the field of communications, and in particular, to a method and an apparatus for monitoring a state.
Background
With the rapid development of science and technology, robots are applied more and more widely in various fields. Under the normal condition, the robot performs autonomous operation without human interference according to a preset rule through cooperation of hardware equipment and a software module, and the robot may have a certain hardware module fault or a software module fault in the operation process, so that the normal working state of the robot is affected.
Aiming at the problem of monitoring the running state of the robot, an effective solution is not provided at present.
Disclosure of Invention
The main objective of the present application is to provide a state monitoring method, so as to solve the technical problems that the state change of a robot cannot be found in time and the fault information of the robot cannot be processed in time in the prior art.
In order to achieve the above object, according to one aspect of the present application, a state monitoring method is provided.
The state monitoring method comprises the following steps:
collecting operation information of equipment, wherein the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information;
processing the running information according to a preset rule;
and sending the processed information to a server, so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information.
Further, when the running information is task execution information, the processing the running information according to a preset rule, and sending the processed information to a server includes:
storing the task process information in the equipment, and uploading a description file of the task process information to a server when the task execution result is failure;
uploading the subtask execution state information to a server, wherein the subtask execution state comprises: subtask execution starts and/or subtask execution ends.
Further, the description file comprises relevant information of task failure, and the information is used for enabling the server to determine the reason of the task failure according to the description file;
the description file also comprises address information, and the address information is used for enabling the server to call the task process information stored in the equipment according to the address information when the server cannot determine the reason of the task failure according to the description file.
Further, when the operation information is the fault alarm information, the processing the operation information according to a preset rule, and sending the processed information to a server includes: when a plurality of same fault alarm information are received in a first time interval, only one fault alarm information is sent to a server; wherein the fault alarm information comprises software fault alarm information and/or hardware fault alarm information.
Further, the running information further comprises a log, and the log comprises log information of a plurality of levels;
the processing the running information according to a preset rule, and sending the processed information to a server, includes: when the level of the log information is lower than a first preset level, discarding the log information; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, uploading the log information to a server, wherein the log information of different levels corresponds to different first threshold values.
In order to achieve the above object, according to another aspect of the present application, a condition monitoring apparatus is provided.
The condition monitoring device according to the present application includes:
the information acquisition module is used for acquiring the operation information of the equipment, and the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information;
the information processing module is used for processing the running information according to a preset rule and sending the processed information to the information sending module;
and the information sending module is used for sending the received information to the server so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information.
Further, the information processing module is configured to store the task process information in the device, and send a description file of the task process information to an information sending module when the task execution result is a failure;
and the information sending module is further configured to send the subtask execution state information to an information sending module, where the subtask execution state includes: subtask execution starts and/or subtask execution ends.
Further, the description file comprises relevant information of task failure, and the information is used for enabling the server to determine the reason of the task failure according to the description file;
the description file also comprises address information, and the address information is used for enabling the server to call the task process information stored in the equipment according to the address information when the server cannot determine the reason of the task failure according to the description file.
Further, the information processing module is configured to send only one fault warning message to the information sending module when multiple identical fault warning messages are received within a first time interval; wherein the fault alarm information comprises software fault alarm information and/or hardware fault alarm information.
Further, the running information further comprises a log, and the log comprises log information of a plurality of levels;
the information processing module is used for discarding the log information when the level of the log information is lower than a first preset level; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, sending the log information to an information sending module, wherein the log information of different levels corresponds to different first threshold values.
In the embodiment of the application, the current state change of the equipment can be monitored and the fault information of the equipment can be timely positioned by monitoring the task execution process information, the state change information of the subtasks and the fault information in the task execution process, so that the technical problems that the state change of the robot cannot be timely found and the fault of the robot cannot be timely positioned in the prior art are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of method steps according to an embodiment of the present application;
FIG. 2 is a schematic diagram of method steps according to an embodiment of the present application;
FIG. 3 is a schematic diagram of method steps according to an embodiment of the present application; and
fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the method comprises the steps of:
101, collecting operation information of equipment, wherein the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information.
The work of the robot is usually performed in the form of performing tasks, and during the task performing process of completing a work, a plurality of subtasks to be completed may be included, for example, the task of the robot is to transport an article from a place a to a place B, during the transport, the subtask 1 (riding an elevator) is included, and during the transport, the processing operations common in robot motion, such as route planning, footprint information detection, depth camera detection, etc., are also included, wherein the footprint information includes spatial information required when the device moves.
In the process of executing the task by the robot, process information of task execution is collected and recorded, the process information can be in the forms of pictures, videos or characters and the like, the process information comprises the start of the task, the end of the task, whether the task is successful or not, relevant information in the process of executing the task and the like, and the specific collected information can be set according to the requirements of monitoring and fault positioning. In the process of task execution, when the execution of the subtask is triggered, the start and end information of the subtask is recorded, so that the server can determine whether the robot completes the corresponding subtask in the process of task execution. The start and end information of the subtask may include the type, identification, time of the current subtask, identification of the device executing the subtask, and so on. For example, when the robot finishes a transportation task, the robot needs to take an elevator, when the robot needs to take the elevator, the robot sends command information to call to request to take the elevator, the robot takes the elevator and leaves the elevator through interactive response, subtask starting information when the robot sends a call request and subtask ending information when the robot leaves the elevator are collected in the process, the collected information is uploaded, and the server can determine whether the subtask taking the elevator is executed in the task of transporting goods by the robot according to the information so as to determine the state of the robot and change information of the state of the monitoring robot, for example, whether the task is executed off a route or not.
The process information about task execution is usually stored at the robot end, when the task execution fails, a description file of the process information is uploaded, the description file includes related information about the task failure, and may include information that enables the server to locate the robot failure, such as an identifier of a current task, an identifier of a device executing the current task, time of task execution, and a reason of the task failure, and specific content and form of the description file may be set as required. Optionally, the description file may further include a storage location of the process information, and the server may call the original file of the process information stored in the robot through the location information when the server cannot perform fault location according to the description file. For the process information with the task execution result being successful, the storage time can be set, and when the storage time is exceeded, the corresponding process information is automatically deleted.
And 102, processing the running information according to a preset rule.
103, sending the processed information to a server, so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information.
From the above description, it can be seen that the present invention achieves the following technical effects:
when the robot executes the task, the information of the process of task execution is recorded, and the information of the sub-task in the process of task execution is recorded, so that the working state of the robot can be judged in time. Meanwhile, the process information is reported in the robot, and the description file is uploaded when the task fails to be executed, so that the uploading of the information is reduced, the data uploading processing pressure of the robot is relieved, and in addition, the original file of the process information can be called by the server according to the requirement, so that the accuracy of fault positioning is further improved.
According to an embodiment of the present invention, there is provided a status monitoring method, as shown in fig. 2, the method including:
collecting operation information of equipment 201, wherein the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information.
The work of the robot is usually performed in the form of performing tasks, and during the task performing process of completing a work, a plurality of subtasks to be completed may be included, for example, the task of the robot is to transport an article from a place a to a place B, and during the transport, a subtask 1 (riding an elevator), a subtask 2 (controlling an electronic door), a subtask 3 (controlling a gate), etc. are included; for example, the task of a robot is a multi-point tour, which is the robot moving back and forth between a fixed number of points; for example, the task of the robot is to return to charge the charging pile for charging, the process of returning to charge the charging pile for charging includes subtask 1 (charging pile butt joint), subtask 2 (charging process), subtask 3 (leaving charging pile), etc., according to the common working process of the robot, the robot needs the cooperation of a software layer and a hardware layer when executing the tasks and the subtasks, from the software layer, the route planning, the depth camera detection, the footprint information detection, etc. are usually included, from the hardware layer, the equipment including a steering wheel, a sensor, a camera, a motor, a cpu, a memory, a storage device, a camera, a power supply, a network module, etc. performs corresponding work, and no matter in the software layer or the hardware layer, operation faults may occur, such as a task execution failure, a route planning failure, the inability to detect the depth camera, the inability of the sensor to acquire data, etc, The motor can not be used, the utilization rate of the memory is too high, the footprint information cannot be detected, and the like, so that various fault information can be collected in time in the state monitoring of the robot, the fault information is filtered and combined, and the like, and the fault information is uploaded to a server.
The uploaded fault information may include information that may describe a current fault, such as a fault type, a fault time, information of a device that has generated the fault, and the like. And when the server receives the fault information, the fault information of the robot is positioned and judged, wherein the fault can be accurately positioned by combining a description file of task process information, state information of subtasks and the like.
The above examples are merely illustrative, and do not strictly limit the relationship between the current task and the subtask, and the subtask included in a certain task may be divided and set according to different tasks.
And 202, processing the running information according to a preset rule.
And 203, sending the processed information to a server, so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information.
From the above description, it can be seen that the present invention achieves the following technical effects:
when the robot executes the task, the process information of task execution is recorded, the information of the subtask in the task execution process is recorded, the fault information in the operation process is collected, and the fault location is carried out by combining the operation process information, the subtask state information and the fault information, so that the accuracy of fault location is further improved.
According to an embodiment of the present invention, there is provided a status monitoring method, as shown in fig. 3, the method including:
301, collecting operation information of a device, the operation information including: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information.
The running information further comprises a log, and the log comprises log information of a plurality of levels; the processing the running information according to a preset rule, and sending the processed information to a server, includes: when the level of the log information is lower than a first preset level, discarding the log information; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, uploading the log information to a server, wherein the log information of different levels corresponds to different first threshold values.
The log usually defines multiple levels of log information, for example, from low level to high level, the log may be divided into: debug, info, war, Error and Fatal, wherein the debug level is the lowest, and can be used for any information which is considered to be beneficial to more detailed understanding of the system running state during debugging; the info is important, and the output information is used for feeding back the current state of the system to an end user; the last three, warning, error, and critical error, when they occur, indicate that an abnormal condition has been detected while the system is running, wherein war generally indicates that the system can be repaired and continue to run; error represents information that can be repaired but that does not determine that the system will work properly; fatal indicates that the error has not been repaired and the consequences are severe if the system continues to operate.
After the log is collected, the log information can be processed according to a set first preset level, for example, if the first preset level is war, the log information with the grade of debug, info and information is discarded, the frequency of the log information in a first time interval is counted, for example, within 5s, the frequency of occurrence of the log information with the grade of Error is counted, and when the frequency is greater than a preset threshold value, the log information and the frequency of occurrence are uploaded to a server. The thresholds corresponding to the log information of different levels are different, for example, the frequency threshold corresponding to the log information of level war is 5, the frequency threshold corresponding to the log information of level Error is 2, the frequency threshold corresponding to the log information of level Fatal is 1, and the like, and the information of the first preset level, the first time interval, the frequency threshold, and the like may be set to appropriate parameter values according to the monitoring requirement.
And 302, processing the running information according to a preset rule.
303, sending the processed information to a server, so that the server determines the operation state of the device and/or the fault position of the device according to the information.
From the above description, it can be seen that the present invention achieves the following technical effects:
when the robot executes the task, the process information of task execution is recorded, the information of the subtask in the task execution process is recorded, the fault information in the operation process is collected, the log information can be obtained, and the fault location is carried out by combining the operation process information, the subtask state information, the fault information and the log information, so that the accuracy of fault location is further improved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided an apparatus for implementing the foregoing status monitoring method, as shown in fig. 4, the apparatus includes:
the information acquisition module is used for acquiring the operation information of the equipment, and the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information;
the information processing module is used for processing the running information according to a preset rule and sending the processed information to the information sending module;
and the information sending module is used for sending the received information to the server so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information.
Further, the information processing module is configured to store the task process information in the device, and send a description file of the task process information to an information sending module when the task execution result is a failure;
and the information sending module is further configured to send the subtask execution state information to an information sending module, where the subtask execution state includes: subtask execution starts and/or subtask execution ends.
Further, the description file comprises relevant information of task failure, and the information is used for enabling the server to determine the reason of the task failure according to the description file;
the description file also comprises address information, and the address information is used for enabling the server to call the task process information stored in the equipment according to the address information when the server cannot determine the reason of the task failure according to the description file.
Further, the information processing module is configured to send only one fault warning message to the information sending module when multiple identical fault warning messages are received within a first time interval; wherein the fault alarm information comprises software fault alarm information and/or hardware fault alarm information.
Further, the running information further comprises a log, and the log comprises log information of a plurality of levels;
the information processing module is used for discarding the log information when the level of the log information is lower than a first preset level; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, sending the log information to an information sending module, wherein the log information of different levels corresponds to different first threshold values.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A condition monitoring method, comprising:
collecting operation information of equipment, wherein the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information; the task execution process information includes: the type, identification, time and identification information of the equipment executing the subtask of the current subtask;
processing the running information according to a preset rule;
sending the processed information to a server, so that the server determines the running state of the equipment and/or the fault position of the equipment according to the information; when the running information is task execution information, the running information is processed according to a preset rule, and the processed information is sent to a server, wherein the process comprises the following steps:
storing the task execution process information in the equipment, and uploading a description file of the task execution process information to a server when the task execution result is failure;
uploading the subtask execution state information to a server, wherein the subtask execution state comprises: the execution of the subtask is started and/or the execution of the subtask is finished;
accurately positioning faults by combining description files of task execution process information and state information of subtasks; the description file of the task execution process information comprises an identification of the current task, an identification of equipment for executing the current task, task execution time, a reason of task failure and a storage position of the task execution process information.
2. The method of claim 1,
the description file also comprises address information, and the address information is used for enabling the server to call the task execution process information stored in the equipment according to the address information when the server cannot determine the reason of the task failure according to the description file.
3. The method of claim 1,
when the operation information is fault warning information, the operation information is processed according to a preset rule, and the processed information is sent to a server, wherein the process comprises the following steps: when a plurality of same fault alarm information are received in a first time interval, only one fault alarm information is sent to a server; wherein the fault alarm information comprises software fault alarm information and/or hardware fault alarm information.
4. A method according to any one of claims 1-3, characterized in that:
the running information further comprises a log, and the log comprises log information of a plurality of levels;
the processing the running information according to a preset rule, and sending the processed information to a server, includes: when the level of the log information is lower than a first preset level, discarding the log information; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, uploading the log information to a server, wherein the log information of different levels corresponds to different first threshold values.
5. A condition monitoring device, comprising:
the information acquisition module is used for acquiring the operation information of the equipment, and the operation information comprises: task execution information and fault warning information; the task comprises at least one subtask, and the task execution information comprises task execution process information and subtask execution state information; the task execution process information includes: the type, identification, time and identification information of the equipment executing the subtask of the current subtask;
the information processing module is used for processing the running information according to a preset rule and sending the processed information to the information sending module;
the information sending module is used for sending the received information to the server so that the server can determine the running state of the equipment and/or the fault position of the equipment according to the information;
the information processing module is used for storing the task execution process information in the equipment, and sending the description file of the task execution process information to an information sending module when the task execution result is failure;
the system is further configured to send the subtask execution state information to an information sending module, where the subtask execution state includes: the execution of the subtask is started and/or the execution of the subtask is finished;
accurately positioning faults by combining description files of task execution process information and state information of subtasks;
the description file of the task execution process information comprises an identification of the current task, an identification of equipment for executing the current task, task execution time, a reason of task failure and a storage position of the task execution process information.
6. The apparatus of claim 5,
the description file also comprises address information, and the address information is used for enabling the server to call the task execution process information stored in the equipment according to the address information when the server cannot determine the reason of the task failure according to the description file.
7. The apparatus of claim 5,
the information processing module is used for sending only one fault alarm message to the information sending module when a plurality of same fault alarm messages are received in a first time interval; wherein the fault alarm information comprises software fault alarm information and/or hardware fault alarm information.
8. The apparatus according to any one of claims 5-7, wherein:
the running information further comprises a log, and the log comprises log information of a plurality of levels;
the information processing module is used for discarding the log information when the level of the log information is lower than a first preset level; and when the level of the log information is not lower than a first preset level, counting the occurrence frequency of the log information in a second time interval, and when the frequency is higher than a first threshold value, sending the log information to an information sending module, wherein the log information of different levels corresponds to different first threshold values.
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| CN112388625B (en) * | 2019-08-15 | 2022-05-24 | 纳恩博（北京）科技有限公司 | Task issuing method and device and task executing method and device |
| CN111152219B (en) * | 2019-12-31 | 2021-12-17 | 深圳优地科技有限公司 | Robot state monitoring method and robot state monitoring equipment |
| CN115222181B (en) * | 2021-06-30 | 2023-08-22 | 达闼机器人股份有限公司 | Robot operation state monitoring system and method |
| CN113900888A (en) * | 2021-09-22 | 2022-01-07 | 山东新一代信息产业技术研究院有限公司 | Indoor distribution robot state monitoring system |
| CN114490751A (en) * | 2021-12-29 | 2022-05-13 | 深圳优地科技有限公司 | Method, device and equipment for determining robot fault and readable storage medium |
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