CN112447027A - State detection method, state detection device, computer device and readable storage medium - Google Patents
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Abstract
A state detection method is applied to a robot working system comprising a plurality of working devices, and comprises the following steps: acquiring equipment identification codes of a plurality of pieces of to-be-detected working equipment; acquiring state data corresponding to a plurality of equipment identification codes in real time, wherein the state data is in work or in shutdown; combining the acquired state data to acquire state combined data; and matching the state combination data with a preset relation table to obtain a corresponding combination judgment result so as to judge whether the robot working system is abnormal, wherein the preset relation table comprises the corresponding relation between a plurality of state combination data and the combination judgment result. The invention also provides a state detection device, a computer device and a storage medium. According to the invention, the running state of the robot working system is automatically detected through the state information of the plurality of working devices, so that the labor cost is saved, and the detection efficiency is improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a state detection method and device for an industrial robot working system, a computer device and a computer readable storage medium.
Background
The current robot work system includes a plurality of working equipment, for example emergency exit, control button, industrial robot, and every working equipment has a plurality of operating condition, has following problem now, how to judge whether the operating condition of robot work system is normal in real time.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a state detection method, a state detection apparatus, a computer apparatus, and a computer-readable storage medium to solve the above problems.
A first aspect of the present application provides a state detection method applied to a robot work system including a plurality of work apparatuses, the method including:
acquiring equipment identification codes of a plurality of pieces of to-be-detected working equipment;
acquiring state data corresponding to a plurality of equipment identification codes from a detection sensor in real time, wherein the state data is in work or in shutdown;
combining the acquired state data to acquire state combined data;
and matching the state combination data with a preset relation table to obtain a corresponding combination judgment result so as to judge whether the robot working system is abnormal, wherein the preset relation table comprises a plurality of corresponding relations between the state combination data and the combination judgment result.
Further, after acquiring the state data corresponding to the plurality of device identification codes in real time, the method further comprises the following steps:
recording time data corresponding to each state data, wherein the time data comprise a start time and an end time;
and combining the time data to obtain time combined data corresponding to the state combined data, wherein the time combined data comprises one or more of duration, occurrence time period and sequence of the state data of each state combined data.
Further, the preset relationship table further includes a plurality of corresponding relationships between the time combination data and the combination determination result, and in the step of matching the state combination data with the preset relationship table, the time combination data and the preset relationship table are simultaneously matched.
Further, the preset relationship table further includes a plurality of correspondence relationships between the combination determination results and event levels, and after the step of "matching the state combination data with the preset relationship table to obtain a corresponding combination determination result to determine whether the robot work system is abnormal" the method further includes:
judging the event level of the state combination data according to the combination judgment result, wherein the event level comprises a first event level, a second event level and a third event level, and the first event level represents that the robot working system operates normally; the second event level represents that the robot working system is running abnormally, and the abnormality comprises the existence of illegal operation; the third event level represents an operational failure of the robotic work system.
Further, if the event level is a second event level, sending out alarm information, wherein the alarm information comprises at least one of sound and light alarm, mail alarm, short message alarm and voice alarm;
and if the event level is a third event level, sending a forcing instruction to the working system, wherein the forcing instruction comprises at least one of a shutdown instruction and a repair instruction.
Further, the working equipment includes at least one emergency exit, locates at least one robot in the emergency exit and locating at least one control button of emergency exit department, the emergency exit with control button common control the robot, the emergency exit still is used for keeping apart the robot, wherein the emergency exit is through opening and closing the operation control of emergency exit the start and the stop of robot, control button is through pressing and resetting control button control the start and the stop of robot.
Further, after the step of acquiring status data corresponding to a plurality of device identification codes in real time, the method further includes:
and recording the change times of the state data of the plurality of working devices, and analyzing the stability of the robot working system according to the change times.
A second aspect of the present application provides a state detection device, including:
the information acquisition module is used for acquiring equipment identification codes of a plurality of pieces of working equipment of the robot working system and acquiring state data of the plurality of pieces of working equipment from the detection sensor in real time;
the combination module is used for combining the state data of the plurality of working devices to obtain state combination data;
and the matching module is used for matching the state combination data with a preset relation table to obtain a corresponding combination judgment result so as to judge whether the robot working system is abnormal or not, wherein the preset relation table comprises a plurality of corresponding relations between the state combination data and the plurality of combination judgment results.
A third aspect of the application provides a computer arrangement comprising a processor for implementing the state detection method when executing a computer program stored in a memory.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the state detection method.
The invention automatically detects the running state of the robot working system in real time through the combination of the state information of a plurality of working devices, has novel design and strong practicability, saves the labor detection cost and improves the detection efficiency.
Drawings
Fig. 1 is a flowchart of a status detection method according to an embodiment of the present invention.
Fig. 2 is a block diagram of a state detection apparatus according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a computer device according to an embodiment of the invention.
Description of the main elements
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Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a detailed description of the present invention will be given below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. 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 invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
Fig. 1 is a flowchart of a state detection method according to an embodiment of the present invention. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs. For convenience of explanation, only portions related to the embodiments of the present invention are shown.
The present invention is described by way of example only, but not by way of limitation.
In this embodiment, the state detection method provided by the present invention is used for detecting whether a working state of a robot working system is normal, where the robot working system includes a plurality of working devices, each of the plurality of working devices is at least one control button, at least one safety door, and at least one robot, the safety door is used for safely isolating the robot, and the control button is disposed near the safety door and used for controlling the robot to stop and start.
It will be appreciated that the security gate may also be used to control the stopping and starting of the robot, for example, when the security gate is opened the robot stops and when the security gate is closed the robot may start. When the control button is pressed, the robot stops; when control button resets, the robot can start, only if the emergency exit is opened and control button resets promptly, and the robot can start, and emergency exit and control button control robot's start jointly, and dual control can improve the security of system.
As shown in fig. 1, the state detection method specifically includes the following steps:
step S1: and acquiring the equipment identification codes of a plurality of pieces of working equipment to be detected.
In one embodiment, the plurality of working devices are a robot, a security gate, and a control button, respectively. The equipment identification code comprises a first equipment identification code of the robot, a second equipment identification code of the safety door and a third equipment identification code of the control button, wherein the equipment identification code is used for uniquely identifying one piece of working equipment.
Step S2: and acquiring state data corresponding to the equipment identification codes in real time.
The status data is in-service or out-of-service. In an embodiment, the state data includes first state data of the robot corresponding to the first device identification code, second state data of the safety door corresponding to the second device identification code, and third state data of the control button corresponding to the third device identification code, the first state data is that the robot stops working or the robot works, the second state data is that the safety door is opened or the safety door is closed, and the third state data is that the control button or the reset control button is pressed, wherein the pressing of the control button indicates that the robot is controlled to stop working, and the reset control button indicates that the robot can start working.
In an embodiment, when the state data of the working device changes, the working device sends the changed state data to the state detection device.
In one embodiment, status data corresponding to a plurality of the device identification codes is obtained from the detection sensor in real time. The detection sensor can be data acquisition hardware equipment, and the accessible ethernet will collect data transmission and go out, locates robot work system one side. It is understood that in other embodiments, the state detection device detects the state of the working device in real time through the sensor to obtain the state change of the working device.
Step S3: and recording time data corresponding to each state data.
Wherein the time data includes a start time and an end time of each status data.
Step S4: and combining the plurality of state data and the time data thereof to obtain state combined data and corresponding time combined data.
The status combination data includes a combination of the status data of a plurality of working devices.
And acquiring corresponding time combination data according to the time data of each state combination data, wherein the time combination data comprises at least one of duration, occurrence time period and sequence of a plurality of state data.
The sequence is the sequence of occurrence of the plurality of state data in each state combination data, the duration is the duration of each state combination data, and the occurrence time period is the time period of occurrence of each state combination data. For example, the normal procedure of spot inspection is: the point inspection personnel press the control button, the robot stops working, and then the safety door is opened for inspection. If the safety door is opened firstly, and then the control button is pressed, the robot stops working, the condition of the point inspection flow of the point inspection personnel is abnormal, and the point inspection personnel breaks rules and regulations of the point inspection operation flow.
In the working time of the robot working system: if the opening time of the safety door, the stopping time of the robot, or the time when the control button is pressed exceeds a certain length of time, the working efficiency of the robot working system may be affected. For example, if the working time of the robot is normal and the stop time of the robot exceeds 30 minutes, it is determined that the operation of the working system of the robot is abnormal.
The occurrence time period is the time of occurrence of each group of state combination data of the robot working system, it can be understood that a group of state combination data of the robot working system is normal in a preset time period, and may be abnormal or faulty in other time periods, for example, in order to ensure that the robot working system operates normally, a spot inspection needs to be performed before the robot working system operates, in order not to affect normal operation, the spot inspection process is generally performed in a specific time period, for example, 8: 00-8: 15 am or 13: 00-13: 15 pm, a normal spot inspection process is performed in a specified time period, the related state combination data of the robot working system belongs to a normal process, the spot inspection is indicated to be normal, the spot inspection is performed in the specified time period, and the maintenance time of the related state combination data in the spot inspection process exceeds a first time period (for example, 30 minutes) or is less than a second time period (for example, 1 minute), And if the state combined data in the point inspection flow has flows except the normal point inspection flow, the point inspection flow is not in accordance with the regulations and abnormal operation exists.
Step S5: and matching the state combination data and the time combination data with a preset relation table to obtain a combination judgment result so as to judge whether the robot working system is abnormal. The preset relationship table includes a correspondence between a plurality of the state combination data and a plurality of time combination data and a corresponding combination determination result.
In one embodiment, the predetermined relationship of the robotic work system is shown in table 1.
TABLE 1 Preset relationship Table
Note: the first state data of the robot is denoted as R, the second state data of the safety door is denoted as D, and the third state data of the control button is denoted as E. Wherein in the first state data: 1 indicates that the robot is in operation, and 0 indicates that the robot stops operating. In the second state data: 1 represents the opening of the safety door, 0 represents the closing of the safety door; in the third state data: 1 represents control button reset, 0 represents control button press; t1, T2 are predetermined time periods, for example 1 hour. Where "none" indicates that the set of state combination data does not have a requirement for duration or precedence.
Referring to table 1, in an embodiment, the preset relationship table includes a corresponding relationship between a plurality of state combination data and a plurality of time combination data and a corresponding combination determination result, the time combination data is a combination of the time data, the time data is a start time and an end time of the state data, and the time combination data includes any one of a duration of the state combination data and a sequence of the plurality of state data.
It will be appreciated that in another preferred embodiment, the time combination data further comprises a time period during which the state combination data occurs.
It is to be understood that the preset relationship table of the robot working system is not limited to table 1, and table 1 is only one example.
The combined determination result is normal, abnormal or faulty.
In one embodiment, the matching step is: and simultaneously matching the state combination data and the time combination data with a preset relation table to obtain a combination judgment result.
In another preferred embodiment, the matching step is: firstly, matching state combination data with a preset relation table to obtain a combination judgment result;
and if the number of the combined judgment results is more than one, matching the time combined data with the preset relation table to determine a unique combined judgment result.
Step S6: and judging the event level of the state combination data according to the combination judgment result. The event level comprises normal, abnormal and fault, wherein the normal indicates that the working system operates normally; the abnormity represents the abnormal operation of the working system and has illegal operation; the fault is indicative of a failure in operation of the operating system.
And if the event level is abnormal, sending alarm information, wherein the alarm information comprises sound and light alarm, mail alarm, short message alarm and voice alarm.
And if the event level is a fault, sending a forced instruction to the working system, wherein the forced instruction comprises at least one of a shutdown instruction and a repair instruction, the shutdown instruction is used for forcibly instructing the robot working system to enter a stopped state, and the repair instruction is used for instructing the robot working system to perform self-repair or enter a state to be repaired.
It is understood that in other embodiments, the event levels of the state combination data are the first event level, the second event level and the third event level, and it is understood that the corresponding event classification levels may be selected according to the actual application scenario.
It is understood that in other embodiments, after step S2, the method further includes the following steps: and recording the change times of the state data of the plurality of working devices, and analyzing the stability of the robot working system according to the change times. For example, the change times of the state data of each working device within 24 hours per day are recorded, and the stability of the robot working system, such as whether a safety maintenance robot needs to be opened frequently or not, is analyzed and judged according to the change times.
It is to be understood that the steps related to the time data in steps S3, S4, and S5 may be omitted. It is understood that step S6 may be omitted.
The state detection method provided by the invention can detect whether the state of the working system is normal or not according to the state information of the working equipment, whether the spot inspection process of the working system is executed according to the specified time or steps or not, and when the working system is in fault or abnormal, the invention can also judge the event level of the state of the working system according to the state information and carry out graded early warning according to the event level so as to reduce the loss caused by the fault or abnormal working system.
According to the invention, automatic detection is realized through the state data of the working equipment, the labor cost is saved, the detection efficiency is improved, grading early warning can be performed according to the detection result, the occurrence of possible hidden dangers is remotely controlled by sending a forced shutdown instruction to the robot working system, statistical analysis is performed according to parameters such as time combination data, state combination data and change times, and the stability and the possible generated hidden dangers of the robot working system are detected.
Example two
Fig. 2 is a structural diagram of a state detection device according to a second embodiment of the present invention, and only shows portions related to the second embodiment of the present invention for convenience of description, and the following details are provided.
Referring to fig. 2, the state detection apparatus 100 may be divided into a plurality of functional modules according to the functions performed by the apparatus, and the functional modules are used for performing the steps in the corresponding embodiment of fig. 1 to realize the state detection function. In this embodiment of the present invention, the functional modules of the state detection apparatus 100 may include an information obtaining module 101, a recording module 102, a combining module 103, a matching module 104, a control module 105, and an alarm module 106. The functions of the respective functional blocks will be described in detail in the following embodiments.
The information acquiring module 101 is configured to acquire status data of a plurality of working devices of the robot working system in real time.
In this embodiment, the status data includes first status data of the robot, second status data of the safety door, and third status data of the control button, where the first status data is when the robot stops working or the robot works, the second status data is when the safety door is opened or the safety door is closed, and the third status data is when the control button is pressed or the control button is reset.
In this embodiment, the robot working system transmits the status information of the plurality of working devices to the status detecting apparatus 100 in real time. It is understood that the transmission method includes a wireless communication method or a wireless communication method.
The information obtaining module 101 is further configured to obtain device identification codes of a plurality of working devices of the robot working system.
In this embodiment, the device identification codes include a first device identification code of the robot, a second device identification code of the security gate, and a third device identification code of the control button, where the device identification codes are used to uniquely identify one working device.
The recording module 102 is configured to record time data of the status data of the plurality of working devices, where the time data includes a start time and an end time of the status data;
the recording module 102 is further configured to record change times of the state data of the plurality of working devices, and analyze stability of the robot working system according to the change times.
The combining module 103 is configured to combine the status data of the plurality of working devices to obtain status combined data.
It is to be understood that, in a preferred embodiment, the combining module 103 is further configured to combine the time data corresponding to the plurality of status data to obtain time combined data, where the time combined data includes any one of a duration, an occurrence time period, and a sequence of the plurality of status data of the status combined data.
The matching module 104 is configured to match the preset relationship table with the state combination data to obtain a combination determination result corresponding to the state combination data, so as to determine whether the robot working system is abnormal.
The matching module 104 is further configured to match the state combination data, the time combination data, and the preset relationship table to obtain a corresponding combination determination result. The preset relation table comprises state combination data, time combination data and corresponding combination judgment results.
The control module 105 is configured to send a control command to the robot work system, where the control command includes a stop instruction, and specifically, send a forced stop instruction to the robot work system to command the robot work system to forcibly stop operating.
The alarm module 106 is configured to send alarm information, where the alarm information includes an audible and visual alarm, a mail alarm, a short message alarm, and a voice alarm.
EXAMPLE III
Fig. 3 is a schematic diagram of a computer device according to a third embodiment of the present invention. The computer device 1 comprises a memory 20, a processor 30 and a computer program 40, such as a robot work system status detection program, stored in the memory 20 and executable on the processor 30. The processor 30, when executing the computer program 40, implements the steps of the above-described state detection method embodiments, such as the steps S1-S6 shown in fig. 1. Alternatively, the processor 30, when executing the computer program 40, implements the functions of the modules/units in the above device embodiments, such as the modules 101 to 106 in fig. 2.
Illustratively, the computer program 40 may be partitioned into one or more modules/units that are stored in the memory 20 and executed by the processor 30 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 40 in the computer apparatus 1. For example, the computer program 40 may be divided into an information obtaining module 101, a recording module 102, a combining module 103, a matching module 104, a control module 105 and an alarm module 106 in fig. 2, and specific functions of each module are described in embodiment two.
The computer device 1 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. It will be understood by those skilled in the art that the schematic diagram 3 is only an example of the computer apparatus 1, and does not constitute a limitation to the computer apparatus 1, and may include more or less components than those shown, or combine some components, or different components, for example, the computer apparatus 1 may further include an input and output device, a network access device, a bus, and the like.
The Processor 30 may be a Central Processing Unit (CPU), and may include other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 30 is the control center of the computer device 1 and connects the various parts of the whole computer device 1 by various interfaces and lines.
The memory 20 may be used for storing the computer program 40 and/or the module/unit, and the processor 30 implements various functions of the computer device 1 by running or executing the computer program and/or the module/unit stored in the memory 20 and calling data stored in the memory 20. The memory 20 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the computer apparatus 1, and the like. The storage 20 may include an external storage medium, and may also include a memory. In addition, the memory 20 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The modules/units integrated with the computer device 1 may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the flow of the method of implementing the above embodiments may also be implemented by a computer program, which may be stored in a computer readable storage medium and used by a processor to implement the steps of the above embodiments of the method. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In the embodiments provided in the present invention, it should be understood that the disclosed computer apparatus and method can be implemented in other ways. For example, the above-described embodiments of the computer apparatus are merely illustrative, and for example, the division of the units is only one logical function division, and there may be other divisions when the actual implementation is performed.
In addition, functional units in the embodiments of the present invention may be integrated into the same processing unit, or each unit may exist alone physically, or two or more units are integrated into the same unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The units or computer means recited in the computer means claims may also be implemented by the same unit or computer means, either in software or in hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A state detection method is applied to a robot working system comprising a plurality of working devices, and is characterized by comprising the following steps:
acquiring equipment identification codes of a plurality of pieces of to-be-detected working equipment;
acquiring state data corresponding to a plurality of equipment identification codes from a detection sensor in real time, wherein the state data is in work or in shutdown;
combining the acquired state data to acquire state combined data;
and matching the state combination data with a preset relation table to obtain a corresponding combination judgment result so as to judge whether the robot working system is abnormal, wherein the preset relation table comprises a plurality of corresponding relations between the state combination data and the combination judgment result.
2. The status detection method according to claim 1, wherein the step of obtaining the status data corresponding to the plurality of device identification codes further comprises:
recording time data corresponding to each state data, wherein the time data comprise a start time and an end time;
and combining the time data to obtain time combined data corresponding to the state combined data, wherein the time combined data comprises one or more of duration, occurrence time period and sequence of the state data of each state combined data.
3. The status detecting method according to claim 2, wherein the predetermined relationship table further includes a plurality of correspondences between the time combination data and the combination determination result, and in the step of matching the status combination data with the predetermined relationship table, the time combination data is simultaneously matched with the predetermined relationship table.
4. The status detection method according to claim 1, wherein the preset relationship table further includes a plurality of correspondence relationships between the combination determination results and event levels, and after the step of "matching the status combination data with the preset relationship table to obtain a corresponding combination determination result to determine whether the robot work system is abnormal" the method further includes:
judging the event level of the state combination data according to the combination judgment result, wherein the event level comprises a first event level, a second event level and a third event level, and the first event level represents that the robot working system operates normally; the second event level represents that the robot working system is running abnormally, and the abnormality comprises the existence of illegal operation; the third event level represents an operational failure of the robotic work system.
5. The status detection method according to claim 4,
if the event level is a second event level, sending alarm information, wherein the alarm information comprises at least one of sound and light alarm, mail alarm, short message alarm and voice alarm;
and if the event level is a third event level, sending a forcing instruction to the working system, wherein the forcing instruction comprises at least one of a shutdown instruction and a repair instruction.
6. The status detecting method according to claim 1, wherein the working device comprises at least one safety gate, at least one robot provided in the safety gate, and at least one control button provided at the safety gate, the safety gate and the control button together control the robot, the safety gate is further used to isolate the robot, wherein the safety gate controls the robot to start and stop by an operation of opening and closing the safety gate, and the control button controls the robot to start and stop by pressing and resetting the control button.
7. The status detecting method according to claim 1, wherein after the step of acquiring status data corresponding to a plurality of said device identification codes in real time, the method further comprises:
and recording the change times of the state data of the plurality of working devices, and analyzing the stability of the robot working system according to the change times.
8. A state detection device, characterized in that the state detection device comprises:
the information acquisition module is used for acquiring equipment identification codes of a plurality of pieces of working equipment of the robot working system and acquiring state data of the plurality of pieces of working equipment in real time;
the combination module is used for combining the state data of the plurality of working devices to obtain state combination data;
and the matching module is used for matching the state combination data with a preset relation table to obtain a corresponding combination judgment result so as to judge whether the robot working system is abnormal or not, wherein the preset relation table comprises a plurality of corresponding relations between the state combination data and the plurality of combination judgment results.
9. A computer arrangement, characterized in that the computer arrangement comprises a processor for implementing the state detection method as claimed in any one of claims 1 to 7 when executing a computer program stored in a memory.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the state detection method according to any one of claims 1 to 7.
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