Inspection robot control method and system and inspection robot

Abstract

The invention relates to the technical field of robot control, and discloses an inspection robot control method and system and an inspection robot, and the method comprises the steps: responding to an inspection instruction of a control terminal, and entering an initial inspection stage of a target place; starting a first communication link to transmit inspection video data, inspection measurement data and an inspection instruction with a control terminal; acquiring a first real-time link parameter during transmission through the first communication link; and when the first real-time link parameter meets a communication link switching condition, determining that the inspection robot enters an interference inspection stage, and in the interference inspection stage, starting a second communication link to transmit inspection state data and an inspection instruction with the control terminal. By adopting the method, the communication continuity can be improved in complex scenes such as pipelines.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a control method, system and inspection robot for inspection robots. Background Technology

[0002] In industrial inspection scenarios, although 2.4 / 5.8GHz WiFi can transmit high-definition video and point cloud data, the signal attenuation is severe and it is susceptible to electromagnetic interference in enclosed metal environments such as pipelines and culverts, resulting in a surge in packet loss rate and connection interruption. While 433 / 900MHz data transmission communication has strong penetration and good anti-interference, its bandwidth is extremely low, and it can only carry control commands and simple status data, and cannot transmit back the core sensing information of the inspection.

[0003] Therefore, a single wireless link cannot meet the requirements of high bandwidth and strong anti-interference. However, current technologies lack functional division of primary and backup links, parameter collaborative monitoring and scene adaptive switching mechanisms, which makes inspection robots prone to loss of control and data loss in interference areas, severely limiting safety and operational continuity. Summary of the Invention

[0004] In view of this, the embodiments of this application provide a control method, system and inspection robot for inspection robots, which can effectively solve the technical problems of the lack of functional division of main and backup links, parameter collaborative monitoring and scene adaptive switching mechanism in the current technology.

[0005] In a first aspect, embodiments of this application provide a method for controlling an inspection robot, including: In response to the inspection command from the control terminal, during the initial inspection phase upon entering the target location, the first communication link is activated to transmit inspection video data, inspection measurement data, and inspection commands to the control terminal. Collect the first real-time link parameters when transmitting through the first communication link; When the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage, and in the interference inspection stage, the second communication link is activated to transmit inspection status data and inspection instructions to the control terminal.

[0006] Secondly, embodiments of this application provide a patrol robot control system, including: The inspection robot is equipped with a first wireless module and a second wireless module operating at different frequency bands. The first wireless module and the second wireless module are respectively used to establish a first communication link and a second communication link between the inspection robot and the control terminal. The inspection robot is used to execute the above-described inspection robot control method.

[0007] Thirdly, this application also provides an inspection robot, including: The control module is used to respond to the inspection commands from the control terminal and control the inspection robot to enter the target area for the initial inspection phase. The first wireless module is used to enable the first communication link to transmit inspection video data, inspection measurement data and inspection instructions to the control terminal during the initial inspection phase. The control module is also used to collect the first real-time link parameters of the first communication link during transmission; when the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage. The second wireless module is used to enable the second communication link to transmit inspection status data and inspection commands to the control terminal during the interference inspection phase.

[0008] The embodiments of this application have the following beneficial effects: By employing dual-band link division of labor and condition-triggered switching, the reliability of inspection is significantly improved: the first communication link ensures the real-time transmission of large-capacity inspection data in open / low-disturbance environments; when the link parameters trigger a change condition, it seamlessly switches to the second communication link, which is responsible for transmitting control commands and key status data, ensuring that the robot does not lose control and avoiding the risk of work stoppage or collision caused by a single link interruption, thus improving communication continuity in closed scenarios such as pipelines. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This illustration shows a working scenario of the inspection robot according to an embodiment of this application; Figure 2 This paper shows a schematic diagram of a framework for an inspection robot control system according to an embodiment of this application. Figure 3 A flowchart illustrating an inspection robot control method according to an embodiment of this application is shown. Detailed Implementation

[0011] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0012] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0013] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0014] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0015] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0016] Figure 1 The diagram illustrates a working scenario of an inspection robot according to an embodiment of this application. Exemplarily, the inspection robot includes: The control module is used to respond to the inspection commands from the control terminal and control the inspection robot to enter the target area for the initial inspection phase. The first wireless module is used to establish and control the first communication link between the terminal and the control terminal, and is enabled in the initial inspection phase to transmit inspection video data, inspection measurement data and inspection instructions to the control terminal. The control module is also used to collect the first real-time link parameters of the first communication link during transmission; when the first real-time link parameters meet the communication link switching conditions, it determines that the inspection robot has entered the interference inspection stage. The second wireless module is used to establish and control the second communication link between the terminals, and is activated during the interference inspection phase to transmit inspection status data and inspection instructions to the control terminal.

[0017] In one embodiment, the inspection robot is equipped with a first wireless module and a second wireless module (dual-link wireless communication module) with different operating frequency bands. The first wireless module and the second wireless module are respectively used to establish a first communication link and a second communication link between the inspection robot and the control terminal.

[0018] Among them, the inspection robot refers to a special-purpose robot with autonomous mobility, multi-sensor perception capabilities, and local decision-making and execution capabilities. The physical structure of the inspection robot includes: Mobile chassis (including anti-slip tracks / omnidirectional wheels, adaptable to the inner wall of pipes, the curved surface of wind turbine blades, or complex workshop floors); control module (embedded main control MCU, running a lightweight real-time operating system, with edge data caching and compression capabilities); dual-mode wireless communication hardware platform (integrating the first wireless module and the second wireless module); local storage unit (solid-state storage, used to temporarily store high-definition video streams and point cloud data during the second communication link activation).

[0019] Understandably, inspection robots are designed for industrial inspection scenarios (including but not limited to the inside of metal pipes, the surface of wind turbine blades, box culvert structures, and substation equipment areas). Their movement trajectories are constrained by preset path planning, and they can operate continuously in non-open environments such as strong electromagnetic interference, high-frequency metal obstruction, and limited space.

[0020] The control module refers to the embedded control unit deployed locally on the inspection robot. Its hardware includes a microcontroller (MCU), and its software runs a real-time task scheduling framework. In essence, this control module does not rely on cloud servers or remote control terminals to issue switching logic; all judgments and executions are completed in a closed loop on the robot itself, meeting the low latency and high reliability requirements of industrial scenarios.

[0021] The first wireless module refers to a high-speed wireless communication module operating in the 2.4GHz and / or 5.8GHz frequency bands.

[0022] The first wireless module is dedicated to building a high-throughput, low-latency first communication link, undertaking bidirectional real-time transmission of high-definition video streams, lidar point cloud data, sonar ranging frames, and complete inspection command sets; the first wireless module can provide ≥50Mbps effective payload bandwidth in environments with no significant obstructions and controllable electromagnetic interference (such as pipeline wellheads, blade roots, and open areas of workshops).

[0023] The second wireless module refers to a narrowband data transmission module that operates in the 433MHz and / or 900MHz frequency band. The second wireless module is dedicated to building a robust and occlusion-resistant second communication link, undertaking the bidirectional reliable transmission of key control commands (forward / stop / attitude adjustment), key robot status data (battery SOC, motor temperature, collision alarm, IMU attitude angle), and lightweight diagnostic logs. The second wireless module can maintain a command delivery rate of ≥99.5% in environments with strong metal obstructions (such as 60-meter deep straight pipes and 90° bends) and strong electromagnetic interference (around substations and welding equipment). The effective bandwidth is 1–25 kbps, and the data frame length is ≤128 bytes.

[0024] The first communication link refers to the primary wireless communication channel that is high-speed, high-bandwidth, and low-latency, jointly constructed by the 2.4GHz or 5.8GHz high-frequency WiFi 6 wireless module carried by the inspection robot and the WiFi 6 access point corresponding to the control terminal.

[0025] The second communication link refers to a robust, anti-blocking, low-bandwidth backup wireless communication channel jointly constructed by the 433MHz or 900MHz low-frequency data transmission module carried by the inspection robot and the corresponding data transmission transceiver unit of the control terminal. Understandably, the second communication link does not carry high-bandwidth service data such as inspection video data (e.g., high-definition video) or inspection measurement data (e.g., point cloud data). It is only actively activated during the interference inspection phase and remains in a low-power standby listening state during the initial and recovery inspection phases.

[0026] Figure 2 A schematic diagram of a patrol robot control system according to an embodiment of this application is shown. Exemplarily, the patrol robot control system includes: Inspection robots and control terminals; The inspection robot is equipped with a first wireless module and a second wireless module operating at different frequencies. The first wireless module and the second wireless module are used to establish corresponding first and second communication links between the inspection robot and the control terminal, respectively. The inspection robot is used to execute the inspection robot control method in the embodiments of this application.

[0027] Among them, the inspection robot control system refers to a closed-loop dual-mode redundant communication control system for complex industrial environments, which consists of two physically separate but logically coordinated entity units: Part 1: The inspection robot serves as a mobile execution terminal, equipped with a first wireless module (2.4 / 5.8GHz WiFi6), a second wireless module (433 / 900MHz data transmission), a local control module, multiple sensors, and a local storage unit.

[0028] The second part is that the control terminal, as a remote human-machine interaction and task scheduling center, is deployed in a safe area outside the target site (such as the pipeline wellhead monitoring room, the wind power booster station control console, and the workshop scheduling workstation).

[0029] Understandably, all key control logic, such as link switching triggering, data routing allocation, local cache management, and pre-activation preparation, is autonomously completed by the inspection robot's terminal control module. The control terminal only undertakes the functions of issuing instructions, receiving status, transmitting data back, and visual presentation, and does not participate in real-time switching decisions.

[0030] The inspection robot control system establishes spatial anchor points by using the real-time metering data of the inspection robot and the interference marker and recovery marker positions pre-placed in the digital map, thereby achieving predictive pre-activation (rather than passive response) of link switching and significantly reducing switching latency.

[0031] A control terminal refers to a fixed or portable industrial control device deployed outside the target location, possessing human-machine interaction capabilities and dual-mode communication transceiver capabilities. Its hardware components include: Dual-mode wireless transceiver unit: integrates a first wireless transceiver module (2.4 / 5.8GHz WiFi6 module) and a second wireless transceiver module (433 / 900MHz data transmission module) that are strictly corresponding to the inspection robot end.

[0032] Human-machine interface: High-definition industrial touch screen, running dedicated visualization monitoring software, real-time display of dual-link status indicators and robot real-time pose (based on UWB / SLAM fusion positioning), battery level, sensor health; inspection path planning map, current progress bar, and abnormal event alarm pop-ups.

[0033] Understandably, the control terminal does not execute link switching decisions, but only receives link switching request signals actively reported by the inspection robot, and does not send forced switching commands to the robot.

[0034] Figure 3 A flowchart illustrating an inspection robot control method according to an embodiment of this application is shown. Exemplarily, the inspection robot control method includes: In step S302, in response to the inspection command from the control terminal, during the initial inspection phase upon entering the target location, the first communication link is activated to transmit inspection video data, inspection measurement data, and inspection commands to the control terminal.

[0035] Among them, the inspection command refers to the structured command issued by the control terminal to the inspection robot to start, control or terminate the inspection operation, including but not limited to: start / stop the inspection task, set the movement speed and direction, adjust the gimbal pitch angle, trigger the lidar scan, perform sonar ranging, and enter / exit the obstacle avoidance mode.

[0036] The target location refers to the physical space environment in which the inspection robot performs its work. It has typical industrial characteristics such as being enclosed, highly shielded, and subject to complex electromagnetic interference. Examples include the inside of metal pipes, the surface of wind turbine blades, and the inspection channels of precision equipment in workshops.

[0037] The initial inspection phase refers to the initial stage of operation when the inspection robot enters the target location (e.g., the entrance to a pipe well) and is in a state of no significant metal obstruction, low electromagnetic interference, and stable WiFi signal.

[0038] Inspection video data refers to the image sequence data collected in real time by the high-definition camera carried by the inspection robot. The content of the inspection video data focuses on the defects of the inner wall / surface of the target site (such as rust, cracks, stains, deformation), and is the core inspection result data, which needs to be transmitted back with high fidelity and low latency.

[0039] Inspection measurement data refers to quantified physical parameter data collected by non-visual sensors carried by the inspection robot, including but not limited to: lidar point cloud data, ultrasonic / sonar ranging data, the inspection robot's attitude angles (pitch angle / roll angle / yaw angle), and environmental temperature, humidity, and gas concentration sensor readings. Understandably, the aforementioned inspection measurement data can be used to construct 3D spatial models, determine its own pose, and identify obstacles; it is bandwidth-sensitive but has lower real-time requirements than control commands.

[0040] Specifically, in response to the inspection command sent by the control terminal, during the initial inspection phase when the inspection robot enters the target area, the first communication link (i.e., the 2.4GHz / 5.8GHz WiFi6 link) is activated to establish a two-way communication connection with the control terminal, and three types of data are transmitted in real time through this link: inspection video data, inspection measurement data, and inspection command.

[0041] Optionally, during this initial inspection phase, the second communication link (433MHz / 900MHz data transmission link) is in a low-power standby state, only periodically monitoring the link layer heartbeat signal and not participating in business data transmission. The starting point of the initial inspection phase is precisely calibrated by the positioning module. For example, when the positioning module detects that the horizontal distance between the robot and the pipeline wellhead is less than 3 meters, or the cumulative travel distance of the odometer is less than 5 meters, it determines that the phase has begun.

[0042] Through the above embodiments, by enabling the transmission of all inspection data through a high-bandwidth first communication link during the initial inspection phase, this application fully leverages the throughput advantages of WiFi 6 in open, low-interference environments to achieve zero-latency, high-fidelity real-time transmission of high-definition video and multi-source measurement data, significantly improving human-machine collaboration efficiency and defect identification accuracy; at the same time, the backup link is placed in an energy-saving standby state, effectively extending the robot's single-operation endurance time and avoiding radio frequency resource competition and power consumption redundancy caused by dual-link concurrency.

[0043] Step S304: Collect the first real-time link parameters when transmitting through the first communication link.

[0044] Among them, the first real-time link parameters refer to the two basic physical layer indicators that characterize the current communication quality of the first communication link, which are obtained and reported in real time by the robot during the data transmission process between the inspection robot and the control terminal through the first communication link (2.4GHz / 5.8GHz WiFi 6 link): First signal strength: in dBm, representing the power strength of the radio frequency signal from the control terminal as measured by the first wireless module.

[0045] First packet loss rate: The unit is percentage (%), which is defined as the proportion of data frames sent by the robot to the control terminal that are not correctly acknowledged within a unit time window (such as 1 second), and is calculated using the rolling window counting method.

[0046] Specifically, the inspection robot control module calls the underlying driver interface of the first wireless module (WiFi6) to poll and obtain the power intensity of the currently received signal at a fixed frequency, such as 10Hz. At the same time, within each second time window, it counts the number of data frames carrying sequence numbers sent by the robot to the uplink channel and the number of valid acknowledgment frames returned by the control terminal. The first packet loss rate is calculated by the formula: First packet loss rate = (number of sent frames - number of acknowledgment frames) / number of sent frames × 100%.

[0047] Through the above embodiments, millisecond-level dynamic perception and objective quantitative evaluation of WiFi link quality are achieved, avoiding the risk of misjudgment caused by relying on indirect indicators such as subjective signal icons, network layer PING latency, or application layer stuttering. This application bases link switching decisions on the actual physical layer channel state, significantly improving the accuracy and robustness of switching timing.

[0048] Step S306: When the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage. During the interference inspection stage, the second communication link is activated to transmit inspection status data and inspection instructions to the control terminal.

[0049] The communication link switching condition refers to a set of preset threshold combinations used to trigger an active switching from the first communication link to the second communication link. This set includes: a first signal strength threshold. 70 dBm (typical), range is 68 dBm to 72 dBm; First packet loss rate threshold: 15% (typical), ranging from 12% to 15%.

[0050] Optionally, the dual-parameter joint trigger combined with time-based jitter reduction constraint is satisfied: when the first real-time signal strength is continuously lower than the first signal strength threshold and the first real-time packet loss rate is continuously higher than the first packet loss rate threshold, and the dual conditions are stably met within 3 consecutive seconds, the communication link switching condition is determined to be satisfied.

[0051] The interference inspection stage refers to the specific operational state that the inspection robot enters when it encounters metal structure obstruction (e.g., a straight pipe section with a depth ≥ 40m) during its operation inside the target site, causing the quality of the first communication link to continuously deteriorate and the conditions for switching the communication link to be met.

[0052] Understandably, the interference inspection phase begins with the formal activation of the second communication link and its commencement of critical data transmission, and ends with the robot leaving the obstruction / interference zone and the second link parameters meeting the recovery conditions. During this interference inspection phase, the robot maintains autonomous movement and sensor data acquisition, but only uploads inspection status data and receives basic inspection commands through the second communication link; high-definition video and point cloud data uploads are paused and cached locally.

[0053] Inspection status data refers to low-frequency, small-volume key information generated by the inspection robot during operation, reflecting its own health and operational status. This includes: remaining battery power, motor drive current / temperature, collision sensor trigger flag, wireless module operating temperature, remaining local storage capacity, and lightweight frame format, which is dedicated to transmission via the second communication link.

[0054] The second communication link refers to a dedicated wireless communication channel, independent of the first communication link (WiFi), jointly constructed by the second wireless module (433MHz or 900MHz low-frequency band data transmission module) carried by the inspection robot and the corresponding data transmission transceiver unit of the control terminal.

[0055] Understandably, the second communication link is specifically designed for robust, low-latency, and bidirectional reliable transmission of critical control commands and inspection status data (such as battery level, collision alarms, attitude angles, and remaining storage capacity) in industrial scenarios with strong obstructions and high electromagnetic interference, such as inside metal pipes and wind turbine blades. This second communication link does not carry high-bandwidth service data such as high-definition video or LiDAR point clouds; it is only actively activated during the interference inspection phase and remains in a low-power standby listening state during the initial and recovery inspection phases.

[0056] Specifically, when the control module determines that the communication link switching conditions are met, it enters the interference inspection stage and performs the operation of enabling the second communication link: First, the control module sends a hardware wake-up command to the second wireless module (433MHz data transmission module), starts its radio frequency front-end and baseband processor, and loads the pre-configured first communication parameters (including operating frequency, spreading factor, forward error correction level, and lightweight data frame format template).

[0057] Subsequently, the robot sends a time synchronization probe frame to the control terminal via the second wireless module. Upon receiving the frame, the control terminal immediately returns an acknowledgment frame with a precise timestamp. The control module performs link-layer time synchronization and channel estimation based on the round-trip time delay and the timestamp difference, ultimately establishing a stable and reliable second communication link. Afterward, the robot stops uploading inspection video data and inspection measurement data via the first communication link, and instead periodically uploads inspection status data to the control terminal only via the second communication link, while receiving low-bandwidth inspection commands from the control terminal (e.g., maintaining the current position, fine-tuning the pitch angle, initiating sonar scanning).

[0058] Through the above embodiments, relying on the excellent diffraction capability and spread spectrum anti-multipath characteristics of the 433MHz low-frequency band, even in a 60-meter deep metal pipe where WiFi signal is completely unavailable, control commands can still be delivered within 100ms and status data can be transmitted back in seconds, completely eliminating high-risk situations such as robot loss of control, deviation from the path, and collision with equipment.

[0059] On the other hand, by explicitly limiting the data types and bandwidth usage of the second link, protocol stack congestion and retransmission storms caused by carrying video streams are avoided, significantly improving the operational stability and lifespan of the second communication link in long-term interference scenarios.

[0060] In one embodiment, the first real-time link parameters include a first signal strength and a first packet loss rate; the communication link switching conditions include a first signal strength threshold and a first packet loss rate threshold; when the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection phase, including: Match the first real-time signal strength with the first signal strength threshold, and match the first real-time packet loss rate with the first packet loss rate threshold; If the first real-time signal strength is less than the first signal strength threshold and the first real-time packet loss rate is greater than the first packet loss rate threshold, the inspection robot is determined to have entered the interference inspection stage.

[0061] The first real-time signal strength refers to the received signal power indication value, measured in dBm, output in real time by the built-in detection circuit of the WiFi chip in the first wireless module, during the process of the inspection robot receiving radio frequency signals from the control terminal via the first wireless module. Optionally, this indication value is collected every 100ms, filtered by a moving average, and stored in a local buffer, representing the instantaneous channel energy level of the first communication link at the physical layer.

[0062] The first signal strength threshold is a critical value preset in the inspection robot control module to determine whether the first communication link has significantly deteriorated. A typical value is... 70 dBm, with an allowable adjustment range of 68 dBm to 72 dBm.

[0063] The first real-time packet loss rate refers to the proportion of dedicated probe frames carrying incremental sequence numbers sent by the inspection robot to the uplink channel within a preset time window of seconds that are not correctly returned as acknowledgment frames by the control terminal.

[0064] The first packet loss rate threshold refers to the packet loss rate critical value preset in the inspection robot control module to characterize the deterioration of the first communication link data path. The typical value is 15%, and the allowable adjustment range is 12% to 15%.

[0065] Specifically, the control module reads the latest filtered first real-time signal strength value and first real-time packet loss rate value from the buffer; calls the comparator function to perform the if (first real-time signal strength < first signal strength threshold) and if (first real-time packet loss rate > first packet loss rate threshold) judgments respectively.

[0066] The pre-activation and switching process of the second communication link is triggered only when both judgment results are true. This dual-condition joint judgment mechanism effectively avoids false triggering caused by a single parameter being affected by transient noise or occasional bit errors.

[0067] In one embodiment, after switching the first communication link to the second communication link, the uploading of inspection video data and inspection measurement data to the control terminal is paused, and the inspection video data and inspection measurement data obtained after switching to the second communication link are saved to the inspection robot's storage unit.

[0068] The storage unit of the inspection robot refers to a non-volatile local data cache device with industrial-grade reliability integrated inside the robot body. For example, the storage unit is an embedded storage device.

[0069] Specifically, after the first communication link is switched to the second communication link, the system immediately performs a data stream redirection operation: the control module sends instructions to the video encoding unit and the sensor data acquisition unit to suspend the push of inspection video data frames and inspection measurement data packets to the uplink channel of the first wireless module; at the same time, the currently acquired video bitstream and point cloud data are continuously written into the circular buffer of the storage unit according to the timestamp.

[0070] Optionally, all write operations enable verification logging, recording the start address, length, checksum, and write timestamp of each data block. When the remaining space in the storage unit falls below a preset threshold (e.g., 5%), the control module triggers an alarm and automatically overwrites the oldest non-critical log data, but always retains the inspection video and point cloud raw data from the most recent 30 minutes. This ensures that during disruptive inspection phases lasting several hours (e.g., operating on an entire 60-meter straight pipe), all raw sensing data can be temporarily stored without loss and accurately resumed after the link is restored.

[0071] In one embodiment, real-time metering data of the inspection robot and the location of interference markers on the inspection path inside the target location are acquired. When the real-time meter reading indicates that the inspection robot has reached the interference mark position, the first pre-activation operation of the second communication link is performed. The first pre-activation process includes: Wake up and initialize the radio frequency front-end and baseband processor of the second wireless module, so that the second wireless module enters the ready state for transmission and reception; The pre-configured first communication parameters are loaded into the second wireless module. The first communication parameters include at least the inspection working frequency and the lightweight data frame format template. By sending a time synchronization probe frame to the control terminal and receiving an acknowledgment response from the control terminal regarding the time synchronization probe frame, time synchronization at the link layer between the second communication link and the control terminal is completed.

[0072] Among them, the real-time metering data refers to the final axial displacement value output by the control module after multi-modal fusion correction, which is used for defect location marking to meet the sub-centimeter-level coordinate accuracy requirements of underground pipeline / wind turbine blade inspection.

[0073] Interference marker locations refer to spatial coordinate points on the inspection path that are manually marked or identified by algorithms and are prone to causing a sharp deterioration in the performance of the first communication link (WiFi). Physical basis for these locations can include: the starting point of a metal pipe bend, flange connections, areas with dense steel mesh in box culverts, and transition sections at the root of wind turbine blades—locations with strong signal blocking or reflection characteristics. Optionally, these interference marker locations are stored in the robot's storage unit in the form of coordinates (x, y, z) or relative distance (e.g., 42.3m from the wellhead).

[0074] The first pre-activation operation refers to the second communication link hardware and software preparation actions triggered in advance by the control module when the inspection robot has not yet entered the interference inspection stage but has approached the interference mark position. This includes three steps: waking up the radio frequency front end, loading communication parameters, and completing link layer time synchronization. The purpose is to compress the second link start-up delay from the usual hundreds of milliseconds to ≤30ms, so as to achieve predictive seamless switching.

[0075] The radio frequency front end refers to the analog circuit part of the second wireless module that is responsible for transmitting and receiving radio frequency signals, including: power amplifier, low noise amplifier, radio frequency switch, filter bank and antenna matching network; the operating frequency is configured by the baseband processor, and local oscillator locking and power calibration need to be completed after startup.

[0076] The baseband processor is the core chip in the second wireless module that performs digital signal processing. Its functions include: spread spectrum modulation / demodulation, encoding and decoding, frame synchronization detection, verification, and MAC layer protocol stack operation. The initialization of the baseband processor includes loading firmware, configuring registers, and starting timers.

[0077] The ready-to-transmit and ready-to-receive state means that the second wireless module has completed the power-on calibration of the RF front-end and the initialization of the baseband processor. The physical layer and the media access control layer are both in idle listening mode, and can immediately respond to the control module's instructions, and start sending probe frames or receiving response frames within ≤5ms without needing to be reset or reconfigured again.

[0078] The first communication parameter refers to the minimum necessary configuration set preset for the second communication link to ensure its reliable operation during the interference inspection phase, including: inspection operating frequency (e.g., 433.25MHz), spreading factor, forward error correction level, lightweight data frame format template, and channel access mechanism.

[0079] The inspection working frequency refers to the center carrier frequency actually used by the second wireless module during the interference inspection phase, preferably 433.25MHz. This inspection working frequency has been verified by electromagnetic compatibility tests and has the best penetration loss ratio in the target location's metallic environment.

[0080] Lightweight data frame format templates refer to compact binary data encapsulation structures designed specifically for second communication links. Lightweight data frame format templates ensure that the transmission time of a single frame is stable at ≤80ms.

[0081] The time synchronization probe frame is a dedicated MAC layer (Medium Access Control) management frame that is sent unidirectionally from the second wireless module to the control terminal during the pre-activation phase. Its payload contains a high-precision timestamp, which is used by the control terminal to calculate the link round-trip delay and calibrate the clock offset between the two parties.

[0082] The acknowledgment response (ACK) for a time synchronization probe frame refers to the ACK frame (acknowledgment frame) returned by the control terminal within ≤2ms after receiving the time synchronization probe frame. Its payload carries the timestamp of the control terminal's local clock. The robot completes link-layer time synchronization by comparing the sending, receiving, and returning times, providing a timing reference for the deterministic transmission of subsequent commands / status data. The link layer refers to the media access control sublayer followed by the second communication link.

[0083] Specifically, the control module continuously reads the (x, y, z) coordinates output by the positioning module and the accumulated travel distance of the odometer. Every fixed interval, such as 100ms, it compares these coordinates with the pre-stored interference marker positions in the local inspection path file (e.g., the starting point of a pipe bend: x=12.5m, y=0.2m, z=). 3.1m) Perform Euclidean distance comparison; when the distance between the real-time coordinates and the location of the interference marker is ≤ the preset allowable distance, such as 0.5m, it is determined that the robot is about to enter the strong interference zone, and the control module immediately starts the first pre-activation operation: First, a hardware enable command is sent to the second wireless module, enabling the second wireless module's RF front-end to complete local oscillator locking and power calibration. The baseband processor loads firmware and configures registers, and both enter the ready-to-transmit and ready-to-receive state. Subsequently, the pre-configured first communication parameters (including the inspection operating frequency of 433.25MHz, spreading factor, and lightweight data frame format template) are written into the module register. Finally, the second wireless module encapsulates a time synchronization probe frame according to the template and sends it to the control terminal. After receiving it, the control terminal returns an acknowledgment response carrying a local timestamp within ≤2ms. The control module parses the acknowledgment response and completes link-layer time synchronization (synchronization error ≤10μs). At this point, the second communication link has the capability to deliver commands in seconds and awaits the formal triggering of the interference inspection phase.

[0084] Through the above embodiments, by using a predictive first pre-activation operation based on real-time metering data and preset interference marker positions, this application significantly reduces the end-to-end activation delay of the second communication link from 120–200ms in the traditional passive triggering scheme to ≤30ms, achieving true zero-perception of link switching.

[0085] In one embodiment, the second real-time link parameters of the first communication link are collected during transmission; when the second real-time link parameters meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase; during the recovery inspection phase, the first communication link is reactivated to transmit inspection video data, inspection measurement data and inspection instructions to the control terminal.

[0086] Among them, the second real-time link parameters refer to two basic physical layer indicators that characterize the current communication quality of the link, which are obtained in real time by the underlying driver of the robot's wireless module during the data transmission process between the inspection robot and the control terminal through the first communication link: Second signal strength: in dBm, representing the radio frequency signal power from the data transmission module of the control terminal as measured by the robot receiving module.

[0087] Second packet loss rate: The unit is percentage (%), which is defined as the proportion of uplink probe frames sent by the robot to the control terminal that are not correctly ACKed within a unit time window (such as 2 seconds).

[0088] The communication link recovery condition refers to a set of preset threshold combinations used to trigger the second communication link to actively recover to the first communication link (WiFi). Its components include: a second signal strength threshold. 65 dBm (typical), range is 63 dBm to 67 dBm; Second packet loss rate threshold: 5% (typical), ranging from 4% to 6%.

[0089] Optionally, the communication link recovery condition is satisfied by satisfying the dual-parameter joint confirmation combined with time-based jitter reduction constraints: when the second real-time signal strength is continuously higher than or equal to the second signal strength threshold, and the second real-time packet loss rate is continuously lower than or equal to the second packet loss rate threshold, and this dual condition is stably satisfied for 3 consecutive seconds, the communication link recovery condition is determined to be satisfied. This communication link recovery condition is specifically designed for the gradual signal recovery characteristics when the robot leaves the enclosed obstructed area and returns to an open, low-interference environment (such as a pipe wellhead or blade root).

[0090] The recovery inspection phase refers to the specific operational state that the inspection robot enters after it has moved away from metal structures (such as exiting pipe bends or leaving the steel reinforcement area of ​​box culverts) or away from strong electromagnetic interference sources (such as away from welding equipment) during its operation inside the target site, resulting in continuous improvement in the quality of the second communication link and meeting the conditions for communication link recovery.

[0091] The recovery inspection phase begins with the formal reactivation of the first communication link and the resumption of full data transmission, and ends with the robot completing the resume transmission of locally cached data and the system transitioning to normal operation. During this phase, the robot simultaneously uploads inspection videos and point cloud data through the first communication link and receives all types of inspection instructions, while the second communication link switches to a low-power monitoring state in preparation for the next switchover.

[0092] Specifically, when the second communication link is enabled, the control module synchronously collects the second real-time link parameters of the first communication link; when the second real-time signal strength is detected to be ≥ If the signal strength is 65 dBm and the second real-time packet loss rate is ≤ 5%, and this state remains stable for 3 consecutive seconds, the system determines that the communication link recovery conditions are met, and the inspection robot enters the recovery inspection phase.

[0093] At this time, the control module wakes up the first wireless module (WiFi6), loads the pre-configured second communication parameters (including the 5.8GHz operating frequency and video encoding parameters), and completes the link layer time synchronization of the first communication link by sending time synchronization probe frames and receiving acknowledgment responses. Subsequently, the system re-enables the first communication link, resumes the bidirectional real-time transmission of high-definition inspection video, LiDAR point cloud, and all inspection commands, and switches the second communication link to low-power monitoring mode to prepare for possible subsequent switching.

[0094] The above embodiments effectively avoid link oscillations and switching in critical interference zones (such as transition sections at pipeline exits), where the WiFi signal drops again just as it recovers due to instantaneous reflection fluctuations, causing frequent system oscillations between primary and backup links. This allows locally cached inspection data to resume transmission within seconds after link recovery, without manual intervention or task restart, significantly improving the automation level and data delivery efficiency of the entire inspection process.

[0095] In one embodiment, after entering the recovery inspection phase, the inspection video data and inspection quantity data locally stored by the inspection robot during the interference inspection phase are resumed to the control terminal through the first communication link.

[0096] Specifically, the target location is the location to be inspected, such as a carbon steel oil pipeline with an inner diameter of Φ800mm and a total length of 120m. The inspection route is planned as follows: from the wellhead (marker point P0), go along the straight pipe section to the bend at 60m (interference marker point P1), then continue the inspection to 90m (interference marker point P2) after the bend, and finally return to the wellhead along the original route (restoration marker point P0).

[0097] Data caching process: When the robot reaches P1 (42.3m from the wellhead), the positioning module triggers the first pre-activation operation; when it reaches 5m after P1 (i.e., at 47.3m), the first real-time signal strength of the first communication link drops to At 75dBm and with the first packet loss rate rising to 22%, the switching conditions are met, and the system enters the interference inspection phase. At this time, the control module immediately stops pushing video and point cloud data to the WiFi module and continuously writes the subsequently collected encoded video stream and lidar point cloud data into the storage unit according to the timestamp. Resume transmission from breakpoint: After the robot returns and passes P1 (42.3m), it continues forward and detects that the first real-time signal strength of the first communication link has recovered at a distance of 8.5m from the wellhead. With the packet loss rate dropping to 3.2% and remaining stable for 3 seconds at 62dBm, the system determines that the recovery conditions are met and enters the recovery inspection phase. The control module then wakes up the first wireless module, loads the 5.8GHz frequency point and decoding parameters, and completes link layer time synchronization. Subsequently, it initiates breakpoint resumption. Video retransmission: Read the start timestamp of the first unuploaded continuously encoded image frame in the storage unit and send a retransmission request frame to the control terminal; after the control terminal responds, the robot pushes the continuously encoded image frames one by one in the original encoding order. After each continuously encoded image frame is transmitted, it receives an ACK confirmation. If it does not receive an ACK confirmation after a timeout, it automatically retransmits the continuously encoded image frame.

[0098] Point cloud retransmission: Upload frames one by one in ascending order of timestamp, with each frame accompanied by a sequence number and message digest; the control terminal returns batch confirmation after receiving a preset number of consecutive frames, such as 100.

[0099] In one embodiment, the second real-time link parameters include a second signal strength and a second packet loss rate; the communication link switching conditions include a second signal strength threshold and a second packet loss rate threshold; when the second real-time link parameters meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase, including: Match the second real-time signal strength with the second signal strength threshold, and match the second real-time packet loss rate with the second packet loss rate threshold; If the second real-time signal strength is greater than or equal to the second signal strength threshold, and the second real-time packet loss rate is less than or equal to the second packet loss rate threshold, the inspection robot is determined to enter the recovery inspection phase.

[0100] The second real-time signal strength refers to the received signal power indication value output in real time by the built-in detection circuit of the receiving chip of the second wireless module when the inspection robot receives radio frequency signals from the data transmission unit of the control terminal through the second wireless module (433MHz / 900MHz data transmission module). The unit is dBm, which represents the instantaneous channel energy level of the second communication link in the current environment and is used for recovery decision-making.

[0101] The second signal strength threshold is a pre-set critical value in the inspection robot control module used to determine whether the second communication link has escaped a strong interference environment. A typical value is... 65 dBm, with an allowable adjustment range of 63 dBm to 67 dBm; This second signal strength threshold is set to account for the characteristic that the signal naturally recovers after the robot leaves the bend of the metal pipe, moves away from the reinforced concrete area of ​​the box culvert, or exits the area blocked by the curved surface of the wind turbine blade. A value higher than this indicates that the robot has entered an open area where the first communication link can work stably.

[0102] The second real-time packet loss rate refers to the proportion of dedicated probe frames carrying incremental sequence numbers sent by the inspection robot to the uplink channel within a preset time window, for which the control terminal does not correctly return an ACK confirmation frame; the calculation formula is: Second real-time packet loss rate = (Total number of frames sent) (Number of successful ACK frames) / Total number of frames sent × 100%; This value is updated every fixed time, such as 1 second, and reflects the stability of the data path of the second communication link at the MAC layer. It is a key indicator for judging whether environmental interference has been significantly reduced.

[0103] The second packet loss rate threshold is a critical value preset in the inspection robot control module to characterize that the interference level of the environment in which the second communication link is located has been significantly reduced. The typical value is 5%, and the allowable adjustment range is 4% to 6%. If it is lower than this value, it means that the current space has met the basic channel quality requirements for reliable reconstruction of the WiFi link.

[0104] Specifically, the control module reads the latest filtered second real-time signal strength value and second real-time packet loss rate value from the buffer; calls the comparator function to execute the if (second real-time signal strength value >= second signal strength threshold) and if (second packet loss rate <= second packet loss rate threshold) judgments respectively; only when both judgment results are true at the same time, the control module sets the recovery stage flag bit and triggers the second pre-activation and link reconstruction process of the first communication link.

[0105] In one embodiment, the first packet loss rate threshold ranges from 12% to 15%, and the second packet loss rate threshold ranges from 6% to 4%; the first signal strength threshold ranges from -68 to -72 dBm, and the second signal strength threshold ranges from -63 to -67 dBm.

[0106] Preferably, the first packet loss rate threshold is 15%, the second packet loss rate threshold is 5%, the first signal strength threshold is -70dBm, and the second signal strength threshold is -65dBm.

[0107] In one embodiment, when the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage, including: when all the first real-time link parameters within the first preset interval meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage. When the second real-time link parameters meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase, including: when all the second real-time link parameters within the second preset interval meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase.

[0108] The first preset interval duration refers to the minimum duration window set to prevent erroneous handover caused by a temporary degradation in signal strength or packet loss rate due to instantaneous interference (such as welding pulses or motor start-stop). Its typical value is 3 seconds, and the allowable adjustment range is 2–5 seconds. Within this duration, the control module continuously monitors the first real-time signal strength (RSSI1) and the first real-time packet loss rate (PLR1). Only when both of them continuously meet the condition that "RSSI1 < first signal strength threshold" and "PLR1 > first packet loss rate threshold" will the interference inspection phase be determined.

[0109] The second preset interval is the minimum continuous stable time window set to prevent false recovery caused by momentary fluctuations in RSSI2 or PLR2 due to occasional disturbances such as multipath reflection and the start-up and shutdown of nearby devices during the recovery process of the second communication link. Its typical value is 3 seconds, and the allowable adjustment range is 2-5 seconds. Within this time, the control module continuously monitors the second real-time signal strength (RSSI2) and the second real-time packet loss rate (PLR2). Only when both of them continuously satisfy "RSSI2 ≥ second signal strength threshold" and "PLR2 ≤ second packet loss rate threshold" is the recovery inspection phase determined. This second preset interval is consistent with the first preset interval, reflecting the symmetry of the system design.

[0110] Through the above embodiments, by setting a uniform and configurable first / second preset interval duration (typically 3 seconds), this application completely shields the millisecond-level transient interference that frequently occurs in the target location, avoiding false switching / false recovery caused by a single signal strength drop or occasional ACK loss.

[0111] In one embodiment, real-time metering data of the inspection robot and the location of the recovery marker on the inspection path inside the target site are acquired; When the real-time metering data indicates that the inspection robot has reached the recovery marker position, the second pre-activation operation of the first communication link is performed.

[0112] The second pre-activation process includes: Wake up and initialize the radio frequency front-end and baseband processor of the first wireless module, so that the first wireless module enters the ready state for transmission and reception; The pre-configured second communication parameters are loaded into the first wireless module. The second communication parameters include the inspection working frequency and video stream encoding parameters. By sending a time synchronization probe frame to the control terminal and receiving an acknowledgment response from the control terminal regarding the time synchronization probe frame, time synchronization at the link layer between the second communication link and the control terminal is completed.

[0113] The second communication parameter refers to the minimum necessary configuration set preset for the first communication link (2.4GHz / 5.8GHz WiFi6) to rebuild the connection during the recovery inspection phase, ensuring its high throughput, low latency, and anti-interference operation. This includes the inspection operating frequency and video stream encoding parameters. This second communication parameter is loaded into the WiFi module register by the control module during the pre-activation phase to avoid delays caused by renegotiation after recovery.

[0114] The inspection operating frequency refers to the center carrier frequency actually used by the first wireless module (WiFi6) during the recovery inspection phase, preferably 5.785GHz. The video stream encoding parameters refer to the encoding configuration combination optimized specifically for real-time transmission of inspection video.

[0115] Specifically, the control module continuously analyzes the (x, y, z) coordinates output by the UWB positioning module and the odometer travel. When it detects that the robot's horizontal distance from the wellhead is ≤1.5m (i.e., reaching the recovery marker position P0), it immediately initiates the second pre-activation operation: First, a hardware start command is sent to the first wireless module (WiFi 6) to enable the RF front-end of the first wireless module to complete local oscillator locking and power calibration. The baseband processor loads firmware and initializes the MAC protocol stack, and together they enter the ready state for transmission and reception. Then, the pre-configured second communication parameters (including the inspection working frequency of 5.785GHz and video stream encoding parameters) are written into the module register. Finally, the first wireless module encapsulates a time synchronization probe frame according to the specification and sends it to the control terminal. After receiving it, the control terminal returns an ACK response carrying the local clock stamp within ≤2ms. The control module parses the response and completes the link layer time synchronization. At this time, the first communication link has a fully functional ready state and is waiting for the formal triggering of the recovery inspection phase.

[0116] Through the above embodiments, by using a predictive second pre-activation operation based on real-time metering data and the recovery marker position, this application reduces the end-to-end reconstruction latency of the first communication link (WiFi 6) from 350–600ms in the traditional scheme to ≤50ms, achieving seamless return of the main link at the second level: not only eliminating video transmission breakpoints, but also reducing the refresh latency of the control terminal interface to a level imperceptible to the human eye, significantly improving the immersive experience of human-machine collaboration and the efficiency of operational decision-making.

[0117] It is understood that the system in this embodiment corresponds to the inspection robot control method in the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0118] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the terminal device to perform the functions of the various modules in the above-described inspection robot control method or the above-described inspection robot control system.

[0119] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0120] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.

[0121] This application also provides a computer-readable storage medium for storing computer programs used in the aforementioned terminal devices. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0123] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0124] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0125] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A control method for an inspection robot, characterized in that, The inspection robot is equipped with a first wireless module and a second wireless module operating at different frequency bands. The first wireless module and the second wireless module are respectively used to establish a first communication link and a second communication link between the inspection robot and the control terminal. The method includes: In response to the inspection command from the control terminal, during the initial inspection phase upon entering the target location, the first communication link is activated to transmit inspection video data, inspection measurement data, and inspection commands to the control terminal. Collect the first real-time link parameters when transmitting through the first communication link; When the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage, and in the interference inspection stage, the second communication link is activated to transmit inspection status data and inspection instructions to the control terminal.

2. The method according to claim 1, characterized in that, After switching the first communication link to the second communication link, the method further includes: The upload of the inspection video data and the inspection measurement data to the control terminal is paused, and the inspection video data and the inspection measurement data obtained after switching the second communication link are saved to the storage unit of the inspection robot.

3. The method according to claim 1, characterized in that, The method further includes: Collect the second real-time link parameters of the first communication link during transmission; When the second real-time link parameters meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase. During the recovery inspection phase, the first communication link is reactivated to transmit the inspection video data, the inspection measurement data, and the inspection instructions to the control terminal.

4. The method according to claim 3, characterized in that, The method further includes: After entering the recovery inspection phase, the inspection robot transmits the inspection video data and inspection measurement data locally stored during the interference inspection phase to the control terminal via the first communication link.

5. The method according to claim 3, characterized in that, The first real-time link parameters include a first signal strength and a first packet loss rate; the communication link switching conditions include a first signal strength threshold and a first packet loss rate threshold. The step of determining that the inspection robot has entered the interference inspection phase when the first real-time link parameters meet the communication link switching conditions includes: The first real-time signal strength is matched with the first signal strength threshold, and the first real-time packet loss rate is matched with the first packet loss rate threshold. If the first real-time signal strength is less than the first signal strength threshold, and the first real-time packet loss rate is greater than the first packet loss rate threshold, the inspection robot is determined to have entered the interference inspection stage.

6. The method according to claim 5, characterized in that, The second real-time link parameters include a second signal strength and a second packet loss rate; the communication link switching conditions include a second signal strength threshold and a second packet loss rate threshold. When the second real-time link parameters meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase, including: The second real-time signal strength is matched with the second signal strength threshold, and the second real-time packet loss rate is matched with the second packet loss rate threshold; If the second real-time signal strength is greater than or equal to the second signal strength threshold, and the second real-time packet loss rate is less than or equal to the second packet loss rate threshold, the inspection robot is determined to enter the recovery inspection phase.

7. The method according to claim 6, characterized in that, The first packet loss rate threshold ranges from 12% to 15%, and the second packet loss rate threshold ranges from 6% to 4%. The first signal strength threshold ranges from -68 to -72 dBm, and the second signal strength threshold ranges from -63 to -67 dBm.

8. The method according to claim 3, characterized in that, The step of determining that the inspection robot has entered the interference inspection phase when the first real-time link parameters meet the communication link switching conditions further includes: When all the first real-time link parameters within the first preset interval meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage. The step of determining that the inspection robot enters the recovery inspection phase when the second real-time link parameters meet the communication link recovery conditions further includes: When all the second real-time link parameters within the second preset interval meet the communication link recovery conditions, the inspection robot is determined to enter the recovery inspection phase.

9. The method according to claim 3, characterized in that, The method further includes: Acquire real-time metering data of the inspection robot, as well as the location of interference markers and / or recovery markers on the inspection path inside the target location; When the real-time metering data indicates that the inspection robot has reached the location of the interference mark, the first pre-activation operation of the second communication link is performed. When the real-time metering data indicates that the inspection robot has reached the recovery marker position, a second pre-activation operation of the first communication link is performed.

10. The method according to claim 9, characterized in that, The first pre-activation operation includes: Wake up and initialize the radio frequency front-end and baseband processor of the second wireless module, so that the second wireless module enters the ready state for transmission and reception; The pre-configured first communication parameters are loaded into the second wireless module. The first communication parameters include at least the inspection working frequency and the lightweight data frame format template. By sending a time synchronization probe frame to the control terminal and receiving an acknowledgment response from the control terminal regarding the time synchronization probe frame, time synchronization at the link layer between the second communication link and the control terminal is completed.

11. The method according to claim 9, characterized in that, The second pre-activation operation includes: Wake up and initialize the radio frequency front-end and baseband processor of the first wireless module, so that the first wireless module enters the ready state for transmission and reception. The pre-configured second communication parameters are loaded into the first wireless module. The second communication parameters include the inspection working frequency and video stream encoding parameters. By sending a time synchronization probe frame to the control terminal and receiving an acknowledgment response from the control terminal regarding the time synchronization probe frame, time synchronization at the link layer between the second communication link and the control terminal is completed.

12. An inspection robot, characterized in that, include: The control module is used to respond to the inspection commands from the control terminal and control the inspection robot to enter the target area for the initial inspection phase. The first wireless module is used to establish and control the first communication link between the terminal and the control terminal, and is activated during the initial inspection phase to transmit inspection video data, inspection measurement data and inspection instructions to the control terminal. The control module is also used to collect the first real-time link parameters of the first communication link during transmission; when the first real-time link parameters meet the communication link switching conditions, it is determined that the inspection robot has entered the interference inspection stage. The second wireless module is used to establish and control the second communication link between the terminals, and is activated during the interference inspection phase to transmit inspection status data and inspection instructions to the control terminal.

13. A control system for an inspection robot, characterized in that, The system includes: an inspection robot and a control terminal; The inspection robot is equipped with a first wireless module and a second wireless module operating at different frequency bands. The first wireless module and the second wireless module are respectively used to establish a first communication link and a second communication link between the inspection robot and the control terminal. The inspection robot is used to perform the inspection robot control method as described in any one of claims 1 to 11.

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