Multi-protocol real-time communication method and system for pipeline robot

The invention discloses a pipeline robot multi-protocol real-time communication method and system, and belongs to the technical field of pipeline robots. The method comprises the following steps: firstly, connecting an S3C6410 core board with each interface, and constructing a pipeline robot multi-protocol real-time communication platform; a communication protocol program of the pipeline robot is carried on the S3C6410 core board; and finally, realizing multi-protocol real-time communication by adopting a publishing/subscribing and monitoring mechanism combined algorithm. The system provided by the invention is simple to construct, performs interface connection of a plurality of real-time protocol communication protocols, has certain universality, and can be applied to most industrial communication applications at present; while the communication efficiency is ensured, the state feedback of the action of the pipeline robot is increased, the communication reliability is improved, and favorable conditions are p