基于Sperling指标的消防灭火机器人运行品质判定

摘要

A fire robot always bears high impact load due to the abominable fire environment and fatigue stress; therefore it is difficult to assess its operation quality, affecting its fire fighting operation and causing serious conse- quences. The vibration of the fire robot reveals its operation conditions and life. The paper discusses the operation quality of a fire robot and analyzes the kinetic energy and displacement caused by vibration because they have great influence on its life. It also sets up a platform for experiments on robot vibration to acquire the vibration acceleration signals and then analyze and process them through the Fourier transform and the wavelet filtering. To show the vibration of the fire robot and grade its operation quality, we use the channel accumulation algorithm to obtain the Sperling indexes. In the end, we propose our fire robot operation quality grading method so as to judge the health conditions of the fire robot and decide whether it should be in service or not.%消防灭火机器人的作战环境恶劣，常经受各种巨大的冲击载荷，其运行品质因而变得非常不可预测。这也将直接影响灭火作战的正常进行，导致不可预料的危险，而机器人振动情况反映的运行品质将表征机器人的生命周期和运行状况。通过分析影响机器人运行品质最严重的位移三阶导数与振动动能，进而引出Sperling指标，用以表征机器人振动情况。同时，搭设机器人振动实验平台，采集机器人振动加速度信号，通过傅里叶变化和小波滤波等方式，分析和处理加速度信号，通过分频道式累加算法，得到机器人的Sperling指标。在实验基础上，提出一套完备的消防排烟机器人运行品质分级方法，用以判定其是否适合继续服役。