Intelligent inspection robot control system and remote control method

Abstract

The invention relates to the technical field of intelligent inspection, in particular to an intelligent inspection robot control system and a remote control method, and the method comprises the following steps: obtaining an instruction packet, and analyzing the instruction packet to obtain an inspection task, an obstacle avoidance rule and a soft start-stop rule; extracting inspection points from the database to form an inspection point set; generating an inspection path according to the inspection task, and calculating the distance between two adjacent inspection task execution points on the inspection path; calculating to obtain a time difference between two adjacent inspection points; generating a control instruction; analyzing the received control instruction, driving the inspection robot to move according to an inspection path, and feeding back state information of the inspection robot in real time; the system comprises a main control module, a power supply module, a driving control module, a distance sensor, a sound-light alarm module and a communication module. According to the invention, the inspection robot is remotely controlled to inspect, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent inspection technology, and in particular to an intelligent inspection robot control system and a remote control method. Background Art

[0002] In recent years, with the rapid development of robotics and telecommunication technologies, remote-controlled inspection robots have emerged and gradually demonstrated their unique advantages in the field of tunnel inspection. These robots can operate in environments that are difficult to reach or dangerous for humans, and can achieve real-time monitoring and health assessment of the internal structure of the tunnel through high-precision sensors and advanced data processing capabilities. In addition, they can also transmit inspection data to operators in real time through remote control systems, greatly improving the efficiency and safety of inspection work. Existing inspection robots are equipped with a series of high-precision sensors, high-definition cameras and infrared cameras for collecting various data, and are equipped with high-capacity battery packs, including at least main batteries and auxiliary batteries, to ensure endurance. Existing inspection robots are usually driven by motors, and some inspection robots include multiple motors to meet the inspection speed requirements. By combining wireless local area network (WLAN) and 4G / 5G mobile network technologies, corresponding communication base stations are deployed in the tunnel to maintain stable communication connections inside and outside the tunnel. In addition, the robot is also equipped with a satellite positioning system (GPS), which can achieve precise positioning outside the tunnel or in open areas.

[0003] However, the closed and complex environment of tunnels poses great challenges to their construction, daily maintenance and emergency response. The traditional manual inspection method is not only inefficient, but also has great safety hazards. Therefore, finding an efficient and safe inspection method has become an urgent need for the development of the industry. Summary of the invention

[0004] The present invention performs inspection operations by remotely controlling the inspection robot, formulates an inspection path for the inspection robot, and the inspection robot starts and ends the inspection task of the inspection point on time according to the start time and stop time data to ensure the timeliness and efficiency of the task.

[0005] The technical solution provided by the present invention is: a remote control method for an intelligent inspection robot, the method comprising: Obtaining an instruction packet and parsing the instruction packet to obtain inspection tasks, obstacle avoidance rules, and soft start and stop rules; Extract inspection points from the database to form an inspection point set; Generate an inspection path according to the inspection task, and calculate the distance between two adjacent inspection task execution points on the inspection path; Calculate the time difference between two adjacent inspection points; Generate control instructions; Parse the received control instructions and drive the inspection robot to move along the inspection path, and provide real-time feedback on the status information of the inspection robot.

[0006] Preferably, before obtaining the instruction packet and parsing the instruction packet to obtain the inspection task, the inspection task and the soft start and stop rules, the following steps are also included: Multiple communication nodes are set up on the inspection route to establish data communication between two adjacent communication nodes; Establishing a data connection between the communication node and the external control terminal; Establish a data connection between the communication node and the inspection robot.

[0007] Preferably, the obtaining of the instruction packet and parsing the instruction packet to obtain the inspection task, obstacle avoidance rules and soft start and stop rules include: Receive a command packet sent by an external control terminal, wherein the command includes: inspection task point information, obstacle avoidance rules, and soft start and stop rules; The inspection task points include the names of multiple inspection points related to the inspection task, the inspection start time and the inspection end time; The soft start-stop rule includes a start time point and a stop time point corresponding to the inspection point; The obstacle avoidance rules include several safety distance thresholds, intervention distance thresholds, and remote intervention conditions.

[0008] Preferably, extracting inspection points from the database to form an inspection point set includes: Extract the name and coordinate information of the inspection point from the database; The name and coordinate information of the inspection point are combined into the task point coordinate vector: ; The coordinate vectors of multiple task points form a set of inspection points ,in, Indicates the number of inspection points.

[0009] Preferably, the generating of the inspection path according to the inspection task comprises the following steps: Extract the name of the inspection point from the inspection task; According to the name of the inspection point, the coordinates corresponding to the name of the inspection point are extracted from the inspection point set; Using the coordinates of the inspection points, the inspection points are sorted according to the distance principle to generate the inspection path, which includes: Obtain the coordinate information of the inspection robot, use the coordinates of the inspection robot as the reference origin of the inspection path, calculate the distance between each inspection point and the inspection robot, and form a distance parameter set ;in, ; According to the order of distance from small to large, the corresponding inspection points are sorted to form an inspection point sequence, and the inspection path is generated according to the inspection point sequence.

[0010] Preferably, the calculating and obtaining the time difference between two adjacent inspection points includes: Get the first Start and stop time of each inspection point: and ; The time difference between two adjacent inspection points is: ,in, ; Get the inspection start time and inspection end time: and ; The time difference between the first inspection point and the reference origin is: ,in The stop time of the first inspection point; The generating control instruction comprises: The running speed parameter set is calculated using the distance and time difference between two adjacent inspections. The specific process is as follows: Calculate the Inspection point to Average speed between inspection points ,in ; Calculate the average speed from the first inspection point to the reference origin ; Build run speed parameter set ; Generate the corresponding The first field of the command sequence is the command sequence of the inspection point. The coordinates of the inspection point, the second field is Inspection point to The third field is the average speed of the inspection points. The start time of the inspection point, the fourth field is Stop time of each inspection point; Combine multiple instruction sequences into control instructions.

[0011] Preferably, the step of parsing the received motor control instruction and driving the inspection robot to move along the inspection path comprises: Get control instructions, parse control instructions, and obtain coordinate information, average speed, start time, and stop time data; The obtained coordinate information is compared with the coordinates of the inspection point in the inspection path. If they are equal, the inspection robot is controlled to run according to the start time and average speed in the control instruction; Collect the running speed data of the inspection robot according to the preset frequency; Collect the distance data between the inspection robot and obstacles at a preset frequency; The distance data is compared with the safety distance threshold and the intervention distance threshold respectively. When the remote intervention conditions are met, the inspection robot is controlled to stop by remote control. The real-time feedback of the status information of the inspection robot includes: Obtain the speed data of the inspection robot, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the distance data between the inspection robot and the obstacle, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the power information of the inspection robot, add the corresponding collection timestamp, and then transfer it to the local storage device for storage; Send speed data and distance data to the cloud to facilitate remote monitoring of the robot's motion status.

[0012] Preferably, the distance data is compared with the safety distance threshold and the intervention distance threshold respectively, and when the remote intervention condition is met, the inspection robot is controlled to stop by remote control, including: Step 1: Get the safety distance threshold , intervention distance threshold and remote intervention conditions, where ; Step 2: Get the distance between the inspection robot and the obstacle at a certain time point ; Step 3: Determine whether the remote access conditions are met, specifically: if , then send the sound and light alarm command, the inspection robot sends out the sound and light alarm signal, and obtains the speed at this time ;if , go to step 4, otherwise go to step 2; Step 4: If , then send remote intervention alarm information; among them, Indicates the buffer distance; Step 5: After receiving the remote intervention alarm information, the remote control terminal sends an emergency braking command to the inspection robot to control the inspection robot to stop; Step 6: Get the speed of the inspection robot again to determine whether the inspection robot stops. If yes, return to step 1; otherwise, go to step 7. Step 7: Send an emergency power-off command to the intelligent inspection robot to cut off the power supply to the inspection robot.

[0013] The present invention also provides a remote control system for an intelligent inspection robot, comprising an inspection robot body, a main control module, a power module, a drive control module, a distance sensor, an audible and visual alarm module and a communication module; The power supply module includes a main power supply, a backup power supply and a BMS module, and the BMS module is used to realize the switching between the main power supply and the backup power supply; the drive control module is used to control the operation of the driving mechanism of the inspection robot, and the distance sensor is used to measure the distance between the inspection robot and the obstacle, and transmit the distance information to the main control module; the sound and light alarm module is used to send out sound and light alarm signals; the communication module is used to connect to the communication node, and the communication module is connected to the main control module; the main control module is used to receive and parse the instruction packet, and send the parsed instruction information to the drive control module, the sound and light alarm module and the power supply module; the main control module transmits the running status of the inspection robot to the cloud through the communication module, so that the remote control terminal can monitor the running status of the inspection robot.

[0014] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the intelligent inspection robot remote control method.

[0015] Beneficial effects of the present invention: 1. In the present invention, a main power supply, a backup power supply and a BMS module are provided. The switching between the main power supply and the backup power supply is realized through the BMS module, which prolongs the battery life, reduces the maintenance cost, and ensures the stable operation of the system when the main power supply fails. The main control module sends the running status of the inspection robot to the cloud in real time through the communication module, so that the operator can monitor the running status of the robot through the remote control terminal and realize remote monitoring; the real-time measurement function of the distance sensor enables the inspection robot to dynamically identify obstacles, and the communication module is connected to the communication node deployed in the tunnel, which ensures the data transmission between the inspection robot and the cloud and the remote control terminal, and provides the necessary conditions for remote control.

[0016] 2. In the present invention, the control instruction packet is sent to the inspection robot through wireless communication transmission. The main control module built into the robot will parse the received instruction packet and extract key data such as coordinate information, average speed, start time and stop time. The coordinate information obtained by parsing is compared with the coordinate points in the pre-stored inspection path to confirm the inspection point to which the robot should currently go. According to the average speed data parsed, the drive control module will adjust the working state of the inspection robot drive mechanism (motor speed, etc.) in real time to ensure that the robot runs at the specified speed. The inspection robot will start and end the inspection task of the inspection point on time according to the start time and stop time data to ensure the timeliness and efficiency of the task and ensure that it is within the time window for the execution of the inspection task; and all the data collected above will be fed back to the main control module for dynamically adjusting the behavior of the robot to achieve closed-loop control. Through instruction parsing and execution, combined with real-time data collection and feedback, it is ensured that the inspection robot can complete the inspection work efficiently and safely according to the preset tasks.

[0017] 3. In the present invention, when the distance between the inspection robot and the obstacle is less than the safety distance threshold and the speed is greater than zero, the robot will immediately send out an audible and visual alarm signal to alert the surrounding personnel and notify the operator to take action. If the obstacle enters the critical distance and the speed is still greater than zero, the remote intervention condition is met, and the system will send a remote intervention alarm message to the remote control terminal. After receiving the alarm message, the operator of the remote control terminal can decide whether to perform manual intervention according to the actual situation, such as adjusting the speed of the robot. The operator of the remote control terminal can send an emergency braking command to the robot, which is quickly transmitted to the robot through the wireless communication network. After the robot stops, the system will check the distance to the obstacle again, confirm the safety status, and perform subsequent operations as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flowchart of a remote control method for an intelligent inspection robot. DETAILED DESCRIPTION

[0019] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0020] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0021] In order to ensure the implementation of remote control, it is first necessary to set up multiple communication nodes on the inspection route, establish data communication between two adjacent communication nodes through the communication protocol, and establish a data connection between the communication node and the external control terminal. The inspection robot and communication nodes are configured to ensure that each communication node can communicate with the inspection robot.

[0022] refer to Figure 1 The present invention provides a remote control method for an intelligent inspection robot, and the specific steps are as follows: Step 1: Obtain an instruction packet and parse the instruction packet to obtain an inspection task, obstacle avoidance rules, and soft start and stop rules; receive an instruction packet sent by an external control terminal, wherein the instruction includes: inspection task point information, obstacle avoidance rules, and soft start and stop rules; wherein the inspection task point includes the names of multiple inspection points related to the inspection task, the inspection start time, and the inspection end time; The soft start-stop rule includes a start time point and a stop time point corresponding to the inspection point; The obstacle avoidance rules include several safety distance thresholds, intervention distance thresholds, and remote intervention conditions.

[0023] Step 2: extracting inspection points from the database to form an inspection point set, specifically: extracting the name and coordinate information of the inspection points from the database; The name and coordinate information of the inspection point are combined into the task point coordinate vector: ,in, Indicates Inspection points; The coordinate vectors of multiple task points form a set of inspection points ,in, Indicates the number of inspection points.

[0024] Generate an inspection path according to the inspection task, and calculate the distance between two adjacent inspection task execution points on the inspection path, specifically: extract the name of the inspection point from the inspection task; extract the coordinates corresponding to the name of the inspection point from the inspection point according to the name of the inspection point; Using the coordinates of the inspection points, the inspection points are sorted according to the distance principle to generate the inspection path; specifically: obtain the coordinate information of the inspection robot, use the coordinates of the inspection robot as the reference origin of the inspection path, calculate the distance between each inspection point and the inspection robot, and form a distance parameter set ;in, ; Sort the corresponding inspection points in order of distance from small to large to form an inspection point sequence ,The inspection points sorted according to the inspection distance constitute the inspection path.

[0025] When planning the route, it is necessary to take into account external constraints, such as inspection time window, power supply, etc. When setting the start time and stop time for each inspection point, it is necessary to meet the inspection window time requirements to avoid the inspection work interfering with normal construction.

[0026] Step 3: Calculate the time difference between two adjacent inspection points, specifically: Get the first Start and stop time of each inspection point: and ; The time difference between two adjacent inspection points is: ,in, ; Get the inspection start time and inspection end time: and ; The time difference between the first inspection point and the reference origin is: ,in The stop time of the first inspection point.

[0027] Step 4: Generate control instructions, specifically: Step 4.1: Use the distance and time difference between two adjacent inspections to calculate the running speed parameter set. The specific process is as follows: Calculate the Inspection point to Average speed between inspection points ,in ; Calculate the average speed from the first inspection point to the reference origin ; Build run speed parameter set ; Step 4.2: Generate the The first field of the command sequence is the command sequence of the inspection point. The coordinates of the inspection point, the second field is Inspection point to The third field is the average speed of the inspection points. The start time of the inspection point, the fourth field is Stop time of each inspection point; Step 4.3, combine multiple instruction sequences into a control instruction.

[0028] Step 5: parse the received control instructions and drive the inspection robot to move along the inspection path, and provide real-time feedback on the status information of the inspection robot; The specific steps of the parsing and driving process are as follows: Get control instructions, parse control instructions, and obtain coordinate information, average speed, start time, and stop time data; The parsed coordinate information is compared with the coordinate points in the pre-stored inspection path to confirm the inspection point that the robot should currently go to. If the coordinates match successfully, the robot will confirm whether the inspection point is on the currently planned path to ensure that the inspection tasks are performed in the established order.

[0029] The sensors carried by the robot (such as IMU, encoder, etc.) are used to collect real-time operation data, including speed and direction. The real-time speed data makes it easy to monitor the running speed of the inspection robot, and the speed is adjusted in time through the drive control module (including motor driver, etc.) to make it run at the set speed.

[0030] The distance data between the inspection robot and obstacles is collected at a preset frequency; the distance data can be used for obstacle avoidance.

[0031] The distance data is compared with the safety distance threshold and the intervention distance threshold respectively. When the remote intervention conditions are met, the inspection robot is controlled to stop by remote control, specifically: Step 1: Get the safety distance threshold , intervention distance threshold and remote intervention conditions, where ; Step 2: Get the distance between the inspection robot and the obstacle at a certain time point ; Step 3: Determine whether the remote access conditions are met, specifically: if , then send the sound and light alarm command, the inspection robot sends out the sound and light alarm signal, and obtains the speed at this time ;if , go to step 4, otherwise go to step 2; Step 4: If , then send remote intervention alarm information; Buffer distance; where Indicates the buffer distance; Step 5: After receiving the remote intervention alarm information, the remote control terminal sends an emergency braking command to the inspection robot to control the inspection robot to stop; Step 6: Get the speed of the inspection robot again to determine whether the inspection robot stops. If yes, return to step 1; otherwise, go to step 7. Step 7: Send an emergency power-off command to the intelligent inspection robot to cut off the power supply to the inspection robot.

[0032] In the specific implementation process, the acceleration and deceleration of the inspection robot motor can be adjusted to achieve smooth start and stop, reduce mechanical shock and wear. This can be achieved by adjusting the PID parameters of the motor driver to ensure the smoothness of the motor movement.

[0033] The above situations that require manual remote intervention mainly include: the inspection robot fails to slow down and stop in time to avoid an object when it detects an approaching object; or fails to slow down when it is about to reach the position switch (set at the inspection point or the end of the track). This may be due to a failure in the driving mechanism or braking mechanism of the inspection robot. By manually starting the brake remotely and cutting off the power when the brake is ineffective, the running speed of the inspection robot is reduced, and an audible and visual alarm is issued to notify the safety personnel in the tunnel to handle the situation on site.

[0034] In this embodiment, the inspection scene is a tunnel. The inspection robot moves in the tunnel via a track installed in the tunnel. In order not to affect the normal tunnel traffic order, the track is usually set at the top of the tunnel. Since the route is relatively fixed, the method of determining the inspection route by the distance principle can be implemented. The inspection tasks are different each time, so the inspection points will also be different each time. Therefore, after all the inspection points are arranged according to the distance from the inspection robot, the coordinates of the inspection points, the time when the inspection robot arrives at the inspection point (stop time) and the time when it leaves the inspection point (start time) are sent to the inspection robot, and the inspection robot can realize automatic inspection of the inspection points on the inspection path.

[0035] The process of feedback information is as follows: Obtain the speed data of the inspection robot, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the distance data between the inspection robot and the obstacle, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the power information of the inspection robot, add the corresponding collection timestamp, and then transfer it to the local storage device for storage; Send speed data and distance data to the cloud to facilitate remote monitoring of the robot's motion status.

[0036] The present invention also provides a remote control system for an intelligent inspection robot, comprising a main control module, a power module, a drive control module, a distance sensor, an audible and visual alarm module and a communication module; The battery management unit includes a main power supply, a backup power supply and a BMS module, and the switching between the main power supply and the backup power supply is realized through the BMS module; the drive control module is used to control the operation of the driving mechanism of the inspection robot, the distance sensor is used to measure the distance between the inspection robot and the obstacle, and transmit the distance information to the main control module (industrial computer, etc.); the sound and light alarm module is used to send out sound and light alarm signals; the communication module is used to connect to the communication node, and the communication module is connected to the main control module; the main control module is used to receive and parse the instruction packet, and send the parsed instruction information to the drive control module, the sound and light alarm module and the battery management unit; the main control module sends the running status of the inspection robot to the cloud through the communication module, so that the remote control terminal can monitor the running status of the intelligent inspection robot.

[0037] The logic of main power supply and backup power supply discharge is: when the main battery is higher than 30%, the main power supply is discharged first, and when it is lower than 30%, the backup battery is switched to discharge. When both are lower than 30%, the two power supplies are discharged at the same time, in order to give priority to the main battery and protect the auxiliary battery to prevent both from reaching the end of their life or being damaged at the same time.

[0038] The charging logic is: when the main battery is below 80%, the main power supply is charged first; when the main battery is above 80%, the auxiliary battery is charged; when both are above 80%, dual power supply charging is supported at the same time.

[0039] The driving mechanism of the inspection robot is powered by the main power supply. In this embodiment, the driving mechanism includes two driving motors. The main power supply can be used to power the two motors at the same time, or one of the motors can be powered separately. The single motor drive or dual motor drive is determined according to the inspection distance and inspection time. The control instruction for switching the driving motor can be added to the instruction packet and sent to the inspection robot to realize the switching of the driving mode.

[0040] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the intelligent inspection robot remote control method.

[0041] The embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. The embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part, and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU), the above-mentioned functions defined in the method of the present application are executed. It should be noted that the above-mentioned computer-readable medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of an electrical, magnetic, optical, electromagnetic, infrared segment, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection with one or more wire segments, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, electrical wire, optical cable, RF, etc., or any suitable combination of the foregoing.

[0042] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0043] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments. Without departing from the principles, the implementation methods of the present invention may be deformed or modified in any way.

Claims

1. A remote control method for an intelligent inspection robot, characterized in that: The method comprises: Obtaining an instruction packet and parsing the instruction packet to obtain inspection tasks, obstacle avoidance rules, and soft start and stop rules; Extract inspection points from the database to form an inspection point set; Generate an inspection path according to the inspection task, and calculate the distance between two adjacent inspection task execution points on the inspection path; Calculate the time difference between two adjacent inspection points; Generate control instructions; Parse the received control instructions and drive the inspection robot to move along the inspection path, and provide real-time feedback on the status information of the inspection robot.

2. The remote control method of an intelligent inspection robot according to claim 1, characterized in that: Before obtaining the instruction packet and parsing the instruction packet to obtain the inspection task, the inspection task and the soft start and stop rule, the following steps are also included: Multiple communication nodes are set up on the inspection route to establish data communication between two adjacent communication nodes; Establishing a data connection between the communication node and the external control terminal; Establish a data connection between the communication node and the inspection robot.

3. The remote control method of an intelligent inspection robot according to claim 1, characterized in that: The obtaining of the instruction packet and parsing of the instruction packet to obtain the inspection task, obstacle avoidance rules and soft start and stop rules include: Receive a command packet sent by an external control terminal, wherein the command includes: inspection task point information, obstacle avoidance rules, and soft start and stop rules; The inspection task points include the names of multiple inspection points related to the inspection task, the inspection start time and the inspection end time; The soft start-stop rule includes a start time point and a stop time point corresponding to the inspection point; The obstacle avoidance rules include several safety distance thresholds, intervention distance thresholds, and remote intervention conditions.

4. The remote control method of an intelligent inspection robot according to claim 3, characterized in that: The step of extracting inspection points from the database to form an inspection point set includes: Extract the name and coordinate information of the inspection point from the database; The name and coordinate information of the inspection point are combined into the task point coordinate vector: ; The coordinate vectors of multiple task points form a set of inspection points ,in, Indicates the number of inspection points.

5. The remote control method of an intelligent inspection robot according to claim 4, characterized in that: Generating an inspection path according to the inspection task includes the following steps: Extract the name of the inspection point from the inspection task; According to the name of the inspection point, the coordinates corresponding to the name of the inspection point are extracted from the inspection point set; Using the coordinates of the inspection points, the inspection points are sorted according to the distance principle to generate the inspection path, which includes: Obtain the coordinate information of the inspection robot, use the coordinates of the inspection robot as the reference origin of the inspection path, calculate the distance between each inspection point and the inspection robot, and form a distance parameter set ;in, ; According to the order of distance from small to large, the corresponding inspection points are sorted to form an inspection point sequence, and the inspection path is generated according to the inspection point sequence.

6. The remote control method of an intelligent inspection robot according to claim 5, characterized in that: The calculation to obtain the time difference between two adjacent inspection points includes: Get the first Start and stop time of each inspection point: and ; The time difference between two adjacent inspection points is: ,in, ; Get the inspection start and end time: and ; The time difference between the first inspection point and the reference origin is: ,in The stop time of the first inspection point; The generating control instruction comprises: The running speed parameter set is calculated using the distance and time difference between two adjacent inspections. The specific process is as follows: Calculate the Inspection point to The average speed between inspection points ,in ; Calculate the average speed from the first inspection point to the reference origin ; Build run speed parameter set ; Generate the corresponding The first field of the command sequence is the command sequence of the inspection point. The coordinates of the inspection point, the second field is Inspection point to The third field is the average speed of the inspection points. The start time of the inspection point, the fourth field is Stop time of each inspection point; Combine multiple instruction sequences into control instructions.

7. The remote control method of an intelligent inspection robot according to claim 6, characterized in that: The step of parsing the received motor control instruction and driving the inspection robot to move along the inspection path includes: Get control instructions, parse control instructions, and obtain coordinate information, average speed, start time, and stop time data; The obtained coordinate information is compared with the coordinates of the inspection point in the inspection path. If they are equal, the inspection robot is controlled to run according to the start time and average speed in the control instruction; Collect the running speed data of the inspection robot according to the preset frequency; Collect the distance data between the inspection robot and obstacles at a preset frequency; The distance data is compared with the safety distance threshold and the intervention distance threshold respectively. When the remote intervention conditions are met, the inspection robot is controlled to stop by remote control. The real-time feedback of the status information of the inspection robot includes: Obtain the speed data of the inspection robot, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the distance data between the inspection robot and the obstacle, add the corresponding acquisition timestamp, and then transfer it to the local storage device for storage; Obtain the power information of the inspection robot, add the corresponding collection timestamp, and then transfer it to the local storage device for storage; Send speed data and distance data to the cloud to facilitate remote monitoring of the robot's motion status.

8. The remote control method of an intelligent inspection robot according to claim 7, characterized in that: The distance data is compared with the safety distance threshold and the intervention distance threshold respectively, and when the remote intervention condition is met, the inspection robot is controlled to stop by remote control, including: Step 1: Get the safety distance threshold , intervention distance threshold and remote intervention conditions, where ; Step 2: Get the distance between the inspection robot and the obstacle at a certain time point ; Step 3: Determine whether the remote access conditions are met, specifically: if , then send the sound and light alarm command, the inspection robot sends out the sound and light alarm signal, and obtains the speed at this time ;if , go to step 4, otherwise go to step 2; Step 4: If , then send remote intervention alarm information; Step 5: After receiving the remote intervention alarm information, the remote control terminal sends an emergency braking command to the inspection robot to control the inspection robot to stop; Step 6: Get the speed of the inspection robot again to determine whether the inspection robot stops. If yes, return to step 1; otherwise, go to step 7. Step 7: Send an emergency power-off command to the intelligent inspection robot to cut off the power supply to the inspection robot.

9. An intelligent inspection robot remote control system, comprising an inspection robot body, characterized in that: It also includes a main control module, a power module, a drive control module, a distance sensor, an audible and visual alarm module and a communication module; The power module includes a main power supply, a backup power supply and a BMS module, and the switching between the main power supply and the backup power supply is realized by the BMS module; the drive control module is used to control the operation of the drive mechanism of the inspection robot, the distance sensor is used to measure the distance between the inspection robot and the obstacle, and transmit the distance information to the main control module; the sound and light alarm module is used to send out sound and light alarm signals; the communication module is used to connect with the communication node, and the communication module is connected with the main control module; the main control module is used to receive and parse the instruction packet, and send the parsed instruction information to the drive control module, the sound and light alarm module and the power module; The main control module transmits the running status of the inspection robot to the cloud through the communication module, so that the remote control terminal can monitor the running status of the inspection robot.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the remote control method of an intelligent inspection robot as described in any one of claims 1 to 8.

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