CN109782762B - Power inspection robot control system and method based on wide-narrow heterogeneous communication technology - Google Patents
Power inspection robot control system and method based on wide-narrow heterogeneous communication technology Download PDFInfo
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Abstract
The invention relates to a power inspection robot control system and method based on a wide-narrow heterogeneous communication technology, and belongs to the technical field of power inspection robots. The system comprises a visible light camera, an infrared thermal imager, an equipment noise pickup module, a light supplement lamp, a holder, a laser navigation positioning module, a motor driving module and a driving motor; the motor driving module is connected with the driving motor and used for controlling the driving motor to work; the system also comprises a main controller, a low-power consumption controller, a high-speed broadband network communication module and a low-power consumption narrowband network communication module. According to the invention, through the width isomerism of the high-speed broadband network and the low-power consumption narrow-band network, the corresponding main controller and the low-power consumption controller are matched, so that the low-power consumption control of the inspection robot is realized, the power consumption of the inspection robot in the standby and inspection movement intermission periods can be effectively reduced, the effective battery endurance mileage is prolonged, the requirement on the battery capacity is reduced, and the overall weight of the inspection robot is further reduced, so that the transportation and the maintenance are facilitated.
Description
Technical Field
The invention belongs to the technical field of power inspection robots, and particularly relates to a power inspection robot control system and method based on a wide-narrow heterogeneous communication technology.
Background
With the continuous development and maturity of the robot technology and the artificial intelligence technology, the power inspection robot becomes an important branch of the robot technology development, provides powerful support for power automation and intelligent construction, has the tendency of gradually replacing the traditional manual inspection, and has the advantages of high inspection efficiency, manpower resource cost saving, high safety factor and the like.
In order to reduce the difficulty of wiring construction and application implementation and improve the effective operation range of the robot, the power inspection robot generally adopts a design mode of battery power supply and wireless communication control, remote control and inspection data interaction of the inspection robot are realized through a wireless communication network, and each functional module, detection equipment and driving motor in the inspection robot are powered through a battery. Under the condition of battery power supply, the inspection robot is provided with a visible light camera, an infrared thermal imager, a wireless communication module, a holder, an equipment noise pickup module, a light supplement lamp, a laser navigation positioning module, a main controller, a motor driving module, a driving motor and the like which are integrated, so that a large amount of electric energy can be consumed, and the battery is required to have enough capacity to ensure that the equipment and the module can normally work within the requirement of endurance time.
At present, when an inspection robot executes an inspection task, a mode of open-loop control is generally adopted, the inspection robot opens a required functional module and detection equipment in advance according to the requirement of the inspection task, and the equipment or the module is kept in a working mode in the whole inspection task execution process, but because the actual inspection point positions are not continuous, when the inspection robot moves from one inspection point position to the next inspection point position, the electric energy consumed by the equipment or the module can be wasted. In addition, when the inspection robot is in a standby state or stops working due to faults, the started functional modules or detection equipment on the inspection robot still consume electric energy, particularly, the wireless communication module needs to meet the transmission requirement of large-flow multimedia data, a high-speed broadband wireless communication mode can be selected for general wireless communication modules, and the working current of the wireless communication module can reach hundreds of milliamperes.
In order to meet the endurance requirement of the inspection robot, a battery with larger nominal capacity is selected at present, but the battery used by the inspection robot is generally a chemical battery, the weight of the battery is in positive correlation with the capacity of the battery, and the weight of the battery is also obviously increased along with the increase of the capacity, so that the weight of the whole inspection robot is increased, the electric energy consumed in the motion process of the inspection robot is also increased along with the increase of the capacity, and the actual effective endurance mileage is reduced. In addition, the promotion of patrolling and examining robot complete machine weight still can increase the degree of difficulty of transport and later maintenance, aggravates the wearing and tearing of tire. Therefore, how to overcome the defects of the prior art is a problem which needs to be solved urgently in the technical field of the power inspection robot at present.
Disclosure of Invention
Aiming at the problems, the invention provides a power inspection robot control system and a method based on a wide-narrow heterogeneous communication technology, which realize the low power consumption control of an inspection robot through the wide-narrow heterogeneity of a high-speed broadband network and a low-power consumption narrow-band network, and the matching of a corresponding main controller and a low-power consumption controller, automatically put the main controller in a sleep mode before the inspection robot is in a standby state or does not reach a specified inspection point, and close a high-speed broadband network communication module, a visible light camera, an infrared thermal imager, an equipment noise pickup module, a light filling lamp and a power supply of a pan-tilt, realize the monitoring of control data of an upper computer platform and the remote uploading of the self running state data of the inspection robot by only utilizing the low-power consumption narrow-band network communication module, thereby reducing the power consumption of the inspection robot in the standby and inspection running periods, the effective endurance mileage of the battery is prolonged, the requirement on the capacity of the battery is reduced, and the whole weight of the inspection robot is further reduced, so that the inspection robot is convenient to transport and maintain.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the power inspection robot control system based on the wide-narrow heterogeneous communication technology comprises a visible light camera, an infrared thermal imager, an equipment noise pickup module, a light supplement lamp, a holder, a laser navigation positioning module, a motor driving module and a driving motor; the motor driving module is connected with the driving motor and used for controlling the driving motor to work;
the system also comprises a main controller, a low-power controller, a high-speed broadband network communication module and a low-power narrowband network communication module;
the main controller is respectively connected with the high-speed broadband network communication module, the visible light camera, the infrared thermal imager, the equipment noise pickup module, the light supplement lamp and the cloud deck; the main controller realizes data interaction with an upper computer platform through the high-speed broadband network communication module, is used for realizing power switch control of the high-speed broadband network communication module, the visible light camera, the infrared thermal imager, the equipment noise pickup module, the light supplement lamp and the cloud deck, is also used for realizing motion control of the cloud deck, and collects and uploads video data output by the visible light camera and the infrared thermal imager and audio data output by the equipment noise pickup module;
the low-power-consumption controller is respectively connected with the low-power-consumption narrow-band network communication module, the laser navigation positioning module, the motor driving module and the main controller and used for receiving and processing detection data of the laser navigation positioning module, controlling the work of the motor driving module, adjusting the working mode of the main controller, controlling the power switch states of the laser navigation positioning module and the motor driving module and realizing data interaction with an upper computer platform through the low-power-consumption narrow-band network communication module.
Further, preferably, the main controller adopts a CPU based on an ARM core as a control core, and the master frequency is not lower than 500 MHz.
Further, preferably, the low-power-consumption controller adopts a low-power-consumption MCU as a control core, and data interaction between the low-power-consumption MCU and the main controller and between the low-power-consumption narrow-band network communication module is realized through a serial communication interface.
Further, preferably, the high-speed broadband network communication module is composed of a radio frequency antenna and a broadband radio frequency signal processing unit which are connected with each other, and the adopted communication modes include WIFI, 3G and 4G.
Further, preferably, the low-power consumption narrowband network communication module is composed of a radio frequency antenna and a narrowband radio frequency signal processing unit which are connected with each other, and the adopted communication modes include LORA, ZIGBEE, Bluetooth and NB-IoT
The invention also provides a power inspection robot control method based on the wide-narrow heterogeneous communication technology, and the power inspection robot control system based on the wide-narrow heterogeneous communication technology comprises the following steps:
when the inspection robot does not execute an inspection task and is in a standby mode, the main controller and the low-power-consumption controller are both in a sleep mode, and the upper computer platform sends a control instruction to the low-power-consumption controller to wake up the low-power-consumption controller or the main controller so as to enable the low-power-consumption controller or the main controller to enter a normal working mode;
when the inspection robot receives an inspection task starting instruction through the low-power-consumption controller, the low-power-consumption controller is kept in a normal working mode, the laser navigation positioning module and the motor driving module are started, the inspection robot starts to move according to a path planned in the inspection task, and at the moment, the main controller is still kept in a dormant mode;
when the inspection robot moves to an inspection point position specified in an inspection task, the main controller is awakened through the low-power consumption controller to restore the normal working mode and start the high-speed broadband network communication module, then the main controller selectively starts one or more devices in the visible light camera, the infrared thermal imager, the device noise pickup module, the light supplement lamp and the holder according to the inspection task requirement, starts to execute the inspection task of the corresponding point position, and sends detection information to the upper computer platform through the high-speed broadband network communication module;
after the polling task of one polling point location is executed, the main controller sends the information of the completion of the polling task to the low-power-consumption controller, and then automatically enters a sleep mode to wait for being awakened next time;
after the polling tasks of all polling points are completely executed, the low-power-consumption controller sends the information of the completion of the polling tasks to the upper computer platform through the low-power-consumption narrow-band network communication module, and then automatically enters a sleep mode to wait for receiving a next polling task starting instruction.
The main controller has audio and video data hardware coding and decoding functions, supports at least two paths of video data input, reserves a USB interface and an Ethernet interface, and supports a sleep mode and a normal working mode, wherein the main controller automatically turns on a power supply of a high-speed broadband network communication module in the normal working mode, and can selectively turn on a visible light camera, an infrared thermal imager, an equipment noise pickup module, a light supplement lamp or a power supply of a holder according to the requirement of a routing inspection task to realize the receiving and uploading of audio and video data; under the sleep mode, the main controller automatically cuts off the power supplies of the high-speed broadband network communication module, the visible light camera, the infrared thermal imager, the equipment noise pickup module, the light supplementing lamp and the holder, stops receiving and uploading audio and video data, can adjust the working mode of the main controller through the low-power-consumption controller, and selectively enters the sleep mode or the normal working mode.
The low-power-consumption controller supports a sleep mode and a normal working mode, wherein the standby current in the sleep mode is not more than 20 microamperes, only the data monitoring function of the serial communication interface is operated, and the low-power-consumption controller can be awakened to restore the normal working mode by a data receiving interrupt signal of the serial communication interface.
The wide-narrow heterogeneous communication technology of the invention integrates a high-speed broadband network communication module and a low-power-consumption narrow-band network communication module in an inspection robot at the same time, so that the inspection robot has a high-speed broadband network communication function and a low-power-consumption narrow-band network communication function at the same time.
The communication technical form adopted by the high-speed broadband network communication module comprises but is not limited to WIFI, 3G and 4G, wherein the frequency band of a WIFI network can be selected to be 2.4GHz or 5.8GHz, the WIFI network communication module is used for uploading audio and video data and transmitting control instructions of a light supplementing lamp and a pan-tilt head, and the high-speed broadband network communication module is connected with a main controller through a USB interface, an Ethernet interface or an SPI interface.
The communication technology form for the low-power-consumption narrow-band network communication module comprises, but is not limited to, LORA, ZIGBEE, Bluetooth and NB-IoT, the communication frequency band can be selected from 433MHz, 915MHz or 2.4GHz, the low-power-consumption narrow-band network communication module is used for receiving the motion control instruction of an upper computer platform and uploading the running state data of the inspection robot, and the hardware connection with a low-power-consumption controller is realized through a serial communication interface.
The interactive data between the low-power-consumption controller and the upper computer platform comprise inspection robot control data, laser navigation positioning module detection data and inspection robot running state data which are issued by the upper computer platform, wherein the inspection robot running state data comprise but are not limited to fault information, battery electric quantity, working temperature, working current, equipment starting and stopping states and network communication states.
Compared with the prior art, the invention has the following beneficial effects:
according to the power inspection robot control system based on the wide-narrow heterogeneous communication technology, the high-speed broadband network and the low-power-consumption narrowband network are in wide-narrow heterogeneous structure and matched with the corresponding main controller and the corresponding low-power-consumption controller, the advantage of the handling capacity of the large data stream of the high-speed broadband network and the advantage of the ultralow power consumption of the low-power-consumption narrowband network are fully utilized, the working modes of the main controller and the low-power-consumption controller are dynamically adjusted according to the inspection task requirement of the inspection robot, and the corresponding network communication module, the detection equipment and the functional module are selectively opened or closed, so that the full utilization of the battery power is realized, the requirement on the battery capacity is reduced, the overall weight of the inspection robot is indirectly reduced, and the maintenance difficulty of the inspection robot is reduced.
Compared with a high-speed broadband communication mode, the average working energy consumption of the low-power-consumption narrowband communication mode can be reduced by more than 90%, and the energy consumed by wireless network communication is effectively reduced while the control requirement of the robot is ensured.
Drawings
Fig. 1 is a schematic mechanism diagram of a power inspection robot control system based on a wide-narrow heterogeneous communication technology, wherein 10, a main controller; 100. a high-speed broadband network communication module; 101. a visible light camera; 102. an infrared thermal imager; 103. an equipment noise pickup module; 104. a light supplement lamp; 105. a holder; 20. a low power consumption controller; 200. a low-power consumption narrowband network communication module; 201. a laser navigation positioning module; 202. a motor drive module; 203. a drive motor; the arrow direction is the data or signal trend;
fig. 2 is a flowchart of a power inspection robot control method based on a wide-narrow heterogeneous communication technology.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The examples do not specify particular techniques or conditions, and are performed according to the techniques or conditions described in the literature in the art or according to the product specifications. The materials or equipment used are not indicated by manufacturers, but are all conventional products available by purchase.
It will be understood by those skilled in the art that the related modules and the functions implemented by the related modules in the present invention are implemented by carrying a conventional computer software program or related protocol on the modified hardware and the devices, devices or systems formed by the hardware, and are not modified by the computer software program or related protocol in the prior art. For example, the improved computer hardware system can still realize the specific functions of the hardware system by loading the existing software operating system. Therefore, it can be understood that the innovation of the present invention lies in the improvement of the hardware module and the connection combination relationship thereof in the prior art, rather than the improvement of the software or the protocol loaded in the hardware module for realizing the related functions.
Those skilled in the art will appreciate that the modules referred to in this application are hardware devices for performing one or more of the operations, methods, steps in the processes, measures, solutions, and so on described in this application. The hardware devices may be specially designed and manufactured for the required purposes, or they may take the form of known devices in general purpose computers or other hardware devices as are known. The general purpose computer has a program stored therein that is selectively activated or reconfigured.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example 1
As shown in fig. 1, the power inspection robot control system based on the wide-narrow heterogeneous communication technology comprises a visible light camera 101, an infrared thermal imager 102, an equipment noise pickup module 103, a light supplement lamp 104, a holder 105, a laser navigation positioning module 201, a motor driving module 202 and a driving motor 203; the motor driving module 202 is connected with the driving motor 203 and is used for controlling the driving motor 203 to work;
the system also comprises a main controller 10, a low-power controller 20, a high-speed broadband network communication module 100 and a low-power narrow-band network communication module 200;
the main controller 10 is respectively connected with a high-speed broadband network communication module 100, a visible light camera 101, an infrared thermal imager 102, an equipment noise pickup module 103, a light supplement lamp 104 and a cloud deck 105; the main controller 10 realizes data interaction with an upper computer platform through the high-speed broadband network communication module 100, and is used for realizing power switch control over the high-speed broadband network communication module 100, the visible light camera 101, the infrared thermal imager 102, the equipment noise pickup module 103, the light supplement lamp 104 and the pan-tilt 105, and also for realizing motion control over the pan-tilt 105, and acquisition and uploading of video data output by the visible light camera 101 and the infrared thermal imager 102 and audio data output by the equipment noise pickup module 103;
the low-power consumption controller 20 is connected to the low-power consumption narrowband network communication module 200, the laser navigation positioning module 201, the motor driving module 202 and the main controller 10, and is configured to receive and process detection data of the laser navigation positioning module 201, control operation of the motor driving module 202, adjust an operation mode of the main controller 10, control power switch states of the laser navigation positioning module 201 and the motor driving module 202, and implement data interaction with an upper computer platform through the low-power consumption narrowband network communication module 200.
As shown in fig. 2, the power inspection robot control method based on the wide-narrow heterogeneous communication technology, which adopts the power inspection robot control system based on the wide-narrow heterogeneous communication technology according to the embodiment, includes the following steps:
when the inspection robot does not execute the inspection task and is in a standby mode, the main controller and the low-power-consumption controller are both in a sleep mode, and the upper computer platform can wake up the low-power-consumption controller or the main controller by sending a control instruction to the low-power-consumption controller so as to enable the low-power-consumption controller or the main controller to enter a normal working mode;
after the inspection robot receives an inspection task starting instruction through the low-power-consumption controller, the low-power-consumption controller is kept in a normal working mode, the laser navigation positioning module and the motor driving module are started, the inspection robot starts to move according to a path planned in the inspection task, and the main controller is still kept in a dormant mode at the moment;
when the inspection robot moves to an inspection point position specified in an inspection task, a low-power consumption controller wakes up a main controller to restore the normal working mode and start a high-speed broadband network communication module, then the main controller selectively starts one or more devices in a visible light camera, an infrared thermal imager, a device noise pickup module, a light supplement lamp and a holder according to the requirements of the inspection task, starts to execute the inspection task of the corresponding point position, and sends detection information to an upper computer platform through the high-speed broadband network communication module;
when the execution of the polling task of one polling point is finished, the main controller sends polling task execution finishing information to the low-power-consumption controller through the serial communication interface, and then automatically enters a sleep mode to wait for being awakened next time;
after the polling tasks of all polling points are completely executed, the low-power-consumption controller sends the information of the completion of the polling tasks to the upper computer platform through the low-power-consumption narrow-band network communication module, and then automatically enters a sleep mode to wait for receiving a next polling task starting instruction.
Example 2
As shown in fig. 1, the power inspection robot control system based on the wide-narrow heterogeneous communication technology comprises a visible light camera 101, an infrared thermal imager 102, an equipment noise pickup module 103, a light supplement lamp 104, a holder 105, a laser navigation positioning module 201, a motor driving module 202 and a driving motor 203; the motor driving module 202 is connected with the driving motor 203 and is used for controlling the driving motor 203 to work;
the system also comprises a main controller 10, a low-power controller 20, a high-speed broadband network communication module 100 and a low-power narrow-band network communication module 200;
the main controller 10 is respectively connected with the high-speed broadband network communication module 100, the visible light camera 101, the infrared thermal imager 102, the equipment noise pickup module 103, the light supplement lamp 104 and the cloud deck 105; the main controller 10 realizes data interaction with an upper computer platform through the high-speed broadband network communication module 100, and is used for realizing power switch control over the high-speed broadband network communication module 100, the visible light camera 101, the infrared thermal imager 102, the equipment noise pickup module 103, the light supplement lamp 104 and the pan-tilt 105, and also for realizing motion control over the pan-tilt 105, and acquisition and uploading of video data output by the visible light camera 101 and the infrared thermal imager 102 and audio data output by the equipment noise pickup module 103;
the low-power consumption controller 20 is connected to the low-power consumption narrowband network communication module 200, the laser navigation positioning module 201, the motor driving module 202 and the main controller 10, and is configured to receive and process detection data of the laser navigation positioning module 201, control the operation of the motor driving module 202, adjust the operating mode of the main controller 10, control the power switch states of the laser navigation positioning module 201 and the motor driving module 202, and implement data interaction with an upper computer platform through the low-power consumption narrowband network communication module 200.
The main controller 10 adopts a CPU based on an ARM inner core as a control core, and the main frequency is not lower than 500 MHz.
The low-power consumption controller 20 adopts a low-power consumption MCU as a control core, and realizes data interaction with the main controller 10 and the low-power consumption narrowband network communication module 200 through a serial communication interface.
The high-speed broadband network communication module 100 is composed of a radio frequency antenna and a broadband radio frequency signal processing unit which are connected with each other, and the adopted communication mode comprises WIFI, 3G and 4G.
The low-power consumption narrowband network communication module 200 is composed of a radio frequency antenna and a narrowband radio frequency signal processing unit which are connected with each other, and adopts communication modes including LORA, ZIGBEE, Bluetooth and NB-IoT
As shown in fig. 2, the power inspection robot control method based on the wide-narrow heterogeneous communication technology, which adopts the power inspection robot control system based on the wide-narrow heterogeneous communication technology according to the embodiment, includes the following steps:
when the inspection robot does not execute the inspection task and is in a standby mode, the main controller and the low-power-consumption controller are both in a sleep mode, and the upper computer platform can wake up the low-power-consumption controller or the main controller by sending a control instruction to the low-power-consumption controller so as to enable the low-power-consumption controller or the main controller to enter a normal working mode;
after the inspection robot receives an inspection task starting instruction through the low-power-consumption controller, the low-power-consumption controller is kept in a normal working mode, the laser navigation positioning module and the motor driving module are started, the inspection robot starts to move according to a path planned in the inspection task, and the main controller is still kept in a dormant mode at the moment;
when the inspection robot moves to an inspection point position specified in an inspection task, the main controller is awakened through the low-power consumption controller to restore the normal working mode and start the high-speed broadband network communication module, then the main controller selectively starts one or more devices in the visible light camera, the infrared thermal imager, the device noise pickup module, the light supplement lamp and the holder according to the inspection task requirement, starts to execute the inspection task of the corresponding point position, and sends detection information to the upper computer platform through the high-speed broadband network communication module;
after the polling task of one polling point is completely executed, the main controller sends the information of the completion of the polling task to the low-power-consumption controller through the serial communication interface, and then automatically enters a sleep mode to wait for being awakened next time;
after the polling tasks of all polling points are completely executed, the low-power-consumption controller sends polling task execution completion information to the upper computer platform through the low-power-consumption narrow-band network communication module, then automatically enters a sleep mode, and waits for receiving a next polling task starting instruction.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The method for controlling the power inspection robot based on the wide-narrow heterogeneous communication technology is characterized in that a power inspection robot control system based on the wide-narrow heterogeneous communication technology is adopted, and the power inspection robot control system comprises a visible light camera (101), an infrared thermal imager (102), an equipment noise pickup module (103), a light supplement lamp (104), a holder (105), a laser navigation positioning module (201), a motor driving module (202) and a driving motor (203); the motor driving module (202) is connected with the driving motor (203) and is used for controlling the driving motor (203) to work;
the system also comprises a main controller (10), a low-power controller (20), a high-speed broadband network communication module (100) and a low-power narrow-band network communication module (200);
the main controller (10) is respectively connected with the high-speed broadband network communication module (100), the visible light camera (101), the infrared thermal imager (102), the equipment noise pickup module (103), the light supplement lamp (104) and the cloud deck (105); the main controller (10) realizes data interaction with an upper computer platform through the high-speed broadband network communication module (100), is used for realizing power switch control of the high-speed broadband network communication module (100), the visible light camera (101), the infrared thermal imager (102), the equipment noise pickup module (103), the light supplementing lamp (104) and the cloud deck (105), is also used for realizing motion control of the cloud deck (105), and collects and uploads video data output by the visible light camera (101) and the infrared thermal imager (102) and audio data output by the equipment noise pickup module (103);
the low-power consumption controller (20) is respectively connected with the low-power consumption narrow-band network communication module (200), the laser navigation positioning module (201), the motor driving module (202) and the main controller (10) and is used for receiving and processing detection data of the laser navigation positioning module (201), controlling the work of the motor driving module (202), adjusting the working mode of the main controller (10), controlling the power switch states of the laser navigation positioning module (201) and the motor driving module (202), and realizing data interaction with an upper computer platform through the low-power consumption narrow-band network communication module (200);
the high-speed broadband network communication module (100) is composed of a radio frequency antenna and a broadband radio frequency signal processing unit which are connected with each other, and the adopted communication modes comprise WIFI, 3G and 4G;
the method comprises the following steps:
when the inspection robot does not execute an inspection task and is in a standby mode, the main controller and the low-power-consumption controller are both in a sleep mode, and the upper computer platform wakes up the low-power-consumption controller or the main controller by sending a control instruction to the low-power-consumption controller so as to enable the low-power-consumption controller or the main controller to enter a normal working mode;
after the inspection robot receives an inspection task starting instruction through the low-power-consumption controller, the low-power-consumption controller is kept in a normal working mode, the laser navigation positioning module and the motor driving module are started, the inspection robot starts to move according to a path planned in the inspection task, and the main controller is still kept in a dormant mode at the moment;
when the inspection robot moves to an inspection point position specified in an inspection task, a low-power consumption controller wakes up a main controller to restore the normal working mode and start a high-speed broadband network communication module, then the main controller selectively starts one or more devices in a visible light camera, an infrared thermal imager, a device noise pickup module, a light supplement lamp and a holder according to the requirements of the inspection task, starts to execute the inspection task of the corresponding point position, and sends detection information to an upper computer platform through the high-speed broadband network communication module;
after the polling task of one polling point location is executed, the main controller sends the information of the completion of the polling task to the low-power-consumption controller, and then automatically enters a sleep mode to wait for being awakened next time;
after the polling tasks of all polling points are completely executed, the low-power-consumption controller sends polling task execution completion information to the upper computer platform through the low-power-consumption narrow-band network communication module, then automatically enters a sleep mode, and waits for receiving a next polling task starting instruction.
2. The power inspection robot control method based on the wide-narrow heterogeneous communication technology according to claim 1, wherein the main controller (10) adopts a CPU based on an ARM core as a control core, and the main frequency is not lower than 500 MHz.
3. The power inspection robot control method based on the wide-narrow heterogeneous communication technology according to claim 1, wherein the low-power consumption controller (20) adopts a low-power consumption MCU as a control core, and data interaction between the low-power consumption controller and the main controller (10) and between the low-power consumption controller and the low-power consumption narrow-band network communication module (200) is realized through a serial communication interface.
4. The power inspection robot control method based on the wide-narrow heterogeneous communication technology according to claim 1, wherein the low-power consumption narrow-band network communication module (200) is composed of a radio frequency antenna and a narrow-band radio frequency signal processing unit which are connected with each other, and the adopted communication modes comprise LORA, ZIGBEE, Bluetooth and NB-IoT.
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