At present, the control systems of industrial scene inspection robots are mostly based on ROS framework. Although the framework has great development convenience, it still has great limitations in the process of operation: communication interruption cannot be reconnected, low availability, strong dependence on platform environment, high network requirements. A distributed robot control system based on ZMQ communication mechanism was proposed. The communication components were from ZMQ network library, and the distributed idea was used to build multiple nodes of the robot business system to achieve a highly available robot control system. The experimental results show that compared with the ROS system, the offline control system based on the distributed architecture of ZMQ communication has the advantages of stability and reliability, network reconnection mechanism, and basically no third-party library dependencies, problems during development, deployment and use are solved. The reliability and stability of the patrol robot can be effectively improved.