消防机器人底盘热防护多通道温度采集系统设计与试验

Design and Experiment of Multi-channel Temperature Acquisition System for Fire Fighting Robot Chassis Thermal Protection

摘要:

针对消防机器人底盘工作环境不低于300℃的要求,以及对底盘型腔进行多点测温的需求,开发了基于Labview的消防机器人底盘热防护8通道温度采集软硬件系统。实现了基于串口Modbus RTU协议的温度数据采集与传输,系统具有用户注册、串口配置、温度曲线实时显示、超温声光报警、数据显示与保存、历史数据回放、数据表显示与小波降噪等功能。通过该系统对底盘型腔进行了4种工况的热防护温度检测试验,验证了系统的可靠性。此外,针对温度曲线中出现的噪声干扰,引入了小波分析,采用Labview与Matlab混合编程方法,通过小波阈值滤波算法对采集到的数据进行了降噪处理,并与各通道温度原始数据进行了对比,达到了较好的滤波效果。该系统可视化效果好,数据采集实时且准确,对工业现场多点温度的实时检测具有借鉴意义。

Abstract:

Aiming at the working environment of the fire-fighting robot chassis is not lower than 300℃, for meeting the demand of multi-point temperature measurement of the robot chassis cavity, an 8-channel temperature acquisition system consisting of the software and the hardware based on Labview platform is developed, which can be used for the thermal protection testing of the fire-fighting robot chassis. The system realizes the temperature data collection and transmission by the serial port and Modbus RTU protocol, in detail, which has the functions of user registration, serial port configuration, temperature curve real-time display, over-temperature sound and light alarm, data display and storage, historical data playback, data table display and wavelet denoising. Through this system, four working conditions of thermal protection temperature detection experiments for the chassis cavity are carried out , and the reliability of the system is verified. In addition, in view of the noise interference appearing in the temperature curve, Labview and Matlab hybrid programming method is adopted through calling Matlab"s own wavelet threshold filtering algorithm , the collected data is filtered by four different threshold criteria. Meanwhile, which is compared with the original temperature data of each channel, indicating that a better filtering effect is obtained. In conclusion, the system has good visualization effect, real-time and accurate data collection function, which has certain reference significance for real-time detection of multi-point temperature in industrial field.