The invention discloses a
harmonic reducer fault diagnosis method based on multi-source heterogeneous data fusion, and relates to the field of collaborative
robot joint fault diagnosis. In order to solve the problem that an existing
harmonic reducer fault diagnosis method is low in diagnosis rate, the invention designs a
harmonic reducer fault diagnosis method based on multi-source heterogeneous data fusion, and the method comprises the steps: collecting the vibration, torque, temperature and other multi-sensor
original data of a harmonic reducer in different fault
modes; one-dimensional time-domain signals of a plurality of sensors are converted into two-dimensional time-frequency images through
continuous wavelet transform, a fault feature time-frequency graph
data set of the harmonic reducer is constructed,
feature selection and
noise suppression are performed through a residual shrinkage unit in a DRSN-SE
algorithm, the feature representation capability is enhanced by using an SE-Net attention mechanism, and the fault feature time-frequency graph
data set of the harmonic reducer is constructed. And fusing the features of the multi-source heterogeneous data to obtain final fused features, and outputting a fault diagnosis result through a classification head. According to the invention, the problem of poor reliability of
single fault data can be effectively solved, and high-precision fault diagnosis and classification identification of the harmonic reducer are realized.