Rolling bearings are widely used in industrial manufacturing, and ensuring their stable and effective fault detection is a core requirement in the manufacturing process. However, it is a great challenge to achieve a highly accurate rolling bearing fault diagnosis because of the severe imbalance and distribution differences in fault data due to weak early fault features and interference from environmental noise. An intelligent fault diagnosis strategy for rolling bearings based on grayscale image transformation, a generative adversative network, and a convolutional neural network was proposed to solve this problem. First, the original vibration signal is converted into a grayscale image. Then more training samples are generated using GANs to solve severe imbalance and distribution differences in fault data. Finally, the rolling bearing condition detection and fault identification are carried out by using SECNN. The availability of the method is substantiated by experiments on datasets with different data imbalance ratios. In addition, the superiority of this diagnosis strategy is verified by comparing it with other mainstream intelligent diagnosis techniques. The experimental result demonstrates that this strategy can reach more than 99.6% recognition accuracy even under substantial environmental noise interference or changing working conditions and has good stability in the presence of a severe imbalance in fault data.

This paper proposes a golden sine grey wolf optimizer (GSGWO) that can be adapted to the obstacle-crossing function to solve the path planning problem of obstacle-crossable robot. GSGWO has been improved from the gray wolf optimizer (GWO), which provide slow convergence speed and easy to fall into local optimum, especially without obstacle-crossing function. Firstly, aiming at the defects of GWO, the chaotic map is introduced to enrich the initial population and improve the convergence factor curve. Then, the convergence strategy of the golden sine optimizer is introduced to improve the shortcomings of GWO, such as insufficient convergence speed in the later stage and the ease with which it falls into the local optimum. Finally, by adjusting the working environment model, path generation method and fitness function, the path-planning problem of the obstacle-crossing robot is adapted. In order to verify the feasibility of the algorithm, four standard test functions and three different scale environment models are selected for simulation experiments. The results show that in the performance test of the algorithm, the GSGWO has higher convergence speed and accuracy than the GWO under different test functions. In the path-planning experiment, the length, number and size of inflection points and stability of the path planned by the GSGWO are better than those of the GWO. The feasibility of the GSGWO is verified.