Intelligent switching control method and system for underwater electronic module

Abstract

The invention discloses an intelligent switching control method and system for underwater electronic modules, and relates to the technical field of electronic module redundancy control, and the method comprises the steps: constructing a dual-redundancy subsystem comprising a first subsystem and a second subsystem with the same architecture; monitoring the operation state of an electronic module in the first subsystem, and positioning a fault module; if a plurality of fault modules exist, generating a first electronic module switching priority sequence according to a minimum unit module switching strategy; a second subsystem is connected, and a corresponding second electronic module switching priority sequence is obtained; and establishing a switching communication line, and executing module switching control according to the sequence. Therefore, the technical effects of improving the system utilization rate after the fault, avoiding the overall failure of the system with the fault, and improving the reliability and stability of the electronic module are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of redundant control of electronic modules, and particularly relates to an intelligent switching control method and system for underwater electronic modules. Background Art

[0002] In the field of electronic module control, in order to improve the reliability of the system, redundant design is often adopted. Traditional solutions mostly use an underwater redundant system of "whole machine redundant switching", that is, when a subsystem fails, the whole system switches to another redundant subsystem to continue working. It does not make a fine judgment on the specific module failure situation within the subsystem during the switching process. When local modules of the subsystem fail, the entire subsystem is directly switched, which easily leads to a decrease in system utilization rate, and when different modules of the two subsystems fail respectively, it is easy to cause the problem of overall system failure, and the system reliability cannot be further improved.

[0003] In summary, the existing technologies have technical problems such as low system utilization rate and easy overall system failure during switching. Summary of the Invention

[0004] The present invention provides an intelligent switching control method and system for underwater electronic modules to solve the technical problems of high latency and lack of real-time performance, incomplete monitoring and insufficient predictability in the existing technologies, and achieve the technical effects of improving the system utilization rate after a failure, avoiding the overall failure of the system with separate failures, and enhancing the reliability and stability of the electronic modules.

[0005] In a first aspect, the present invention provides an intelligent switching control method for underwater electronic modules, wherein the intelligent switching control method for underwater electronic modules includes: Construct a dual redundant subsystem, the dual redundant subsystem includes a first subsystem and a second subsystem, and the second subsystem is a redundant subsystem with the same architecture as the first subsystem.

[0006] Monitor each electronic module of the first subsystem, output a running state data set, and identify the faulty electronic module by locating the running state data set.

[0007] Judge whether the number of the faulty electronic modules is multiple. If the number of the faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0008] Connect the second subsystem to obtain a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0009] Establish a switching communication line, and perform switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0010] In a feasible implementation, by monitoring each electronic module of the first subsystem, including a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism.

[0011] Among them, the heartbeat detection mechanism obtains the functional response status of each electronic module, the status IO monitoring channel mechanism obtains the input and output level status of each electronic module, and the CAN bus data interaction mechanism obtains the communication data status between each electronic module.

[0012] According to the functional response status, input and output level status, and communication data status, the operating status data set is output.

[0013] In a feasible implementation, before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, it further includes: Performing coupling characteristic analysis on each electronic module, including communication frequency, response delay, function weight, and fault impact factor.

[0014] Calculating according to the coupling characteristics to obtain the coupling index of each electronic module.

[0015] Dividing each electronic module based on the coupling index size, and outputting the first type of electronic module and the second type of electronic module. Among them, the first type of electronic module is a strongly coupled electronic module greater than the preset coupling threshold, and the second type of electronic module is a weakly coupled electronic module less than or equal to the preset coupling threshold.

[0016] In a feasible implementation, after dividing each electronic module based on the coupling index size, it further includes: If the current faulty electronic module belongs to the first type of electronic module, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules.

[0017] If the current faulty electronic module belongs to the second type of electronic module, trigger the hot swap repair strategy to perform hot repair on the faulty electronic module.

[0018] When the hot repair return result is successful, do not trigger the minimum unit module switching strategy.

[0019] When the hot repair return result is failed, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules and generate a first electronic module switching priority sequence.

[0020] In a feasible implementation, analyzing multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, including: Perform fault chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chained faulty electronic modules.

[0021] Evaluate the switching priorities of the independent faulty electronic modules to generate an independent switching priority sequence, where the switching priority evaluation is obtained by calculating weights for the functional criticality, load status, and coupling metrics of each electronic module.

[0022] Analyze the chained faulty electronic modules to generate a chained switching priority sequence.

[0023] Fuse the independent switching priority sequence and the chained switching priority sequence to generate a first electronic module switching priority sequence.

[0024] In a feasible implementation, analyzing the chained faulty electronic modules to generate a chained switching priority sequence includes: Analyze the connectivity and fault propagation paths of the chained faulty electronic modules to determine critical faulty electronic modules and accompanying faulty electronic modules.

[0025] Evaluate the switching priorities of the critical faulty electronic modules to generate a chained switching priority sequence.

[0026] In a feasible implementation, identifying the faulty electronic modules by locating the operating state dataset includes: Construct a healthy operating state sample set for each electronic module.

[0027] Compare the operating state dataset with the healthy operating state sample set to obtain the state deviation degree corresponding to each electronic module, and identify the electronic modules with a state deviation degree greater than the preset deviation degree as faulty electronic modules.

[0028] In a feasible implementation, further including, when identifying the electronic modules with a state deviation degree greater than the preset deviation degree as faulty electronic modules: Detect the underwater environment where the dual redundant subsystem is located.

[0029] Dynamically configure the deviation tolerance threshold according to the underwater environment, update the preset deviation degree according to the deviation tolerance threshold, compare the state deviation degree with the updated preset deviation degree, and identify the faulty electronic modules.

[0030] In a feasible implementation, construct a dual redundant subsystem, where each subsystem in the dual redundant subsystem includes a power module, a main control module, an interface module, and a carrier module, and the various electronic modules in each subsystem communicate through a CAN bus and status IO signals.

[0031] Second aspect, the present invention further provides an intelligent switching control system for an underwater electronic module, wherein the intelligent switching control system for an underwater electronic module includes: A redundant subsystem construction component, configured to construct a dual-redundant subsystem, the dual-redundant subsystem includes a first subsystem and a second subsystem, and the second subsystem is a redundant subsystem with the same architecture as the first subsystem.

[0032] A status monitoring and fault location component, configured to monitor each electronic module of the first subsystem, output an operating status data set, and identify the faulty electronic module by locating the operating status data set.

[0033] A fault quantity judgment component, configured to judge whether the number of the faulty electronic modules is multiple. If the number of the faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy, and generate a first electronic module switching priority sequence.

[0034] A switching sequence acquisition component, configured to connect to the second subsystem and acquire a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0035] A switching control component, configured to establish a switching communication line and perform switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0036] The present invention discloses an intelligent switching control method and system for an underwater electronic module, including: constructing a dual-redundant structure system, including a first subsystem and a second subsystem with the same structure as the first subsystem, and the latter is used as the redundant backup of the former; monitoring the status of each electronic module in the first subsystem, obtaining its operating status data set, and identifying and locating the faulty electronic module based on the data set; judging whether the number of the identified faulty electronic modules exceeds one. If it is multiple, perform fault analysis on them based on the minimum unit module switching strategy to form a switching priority sequence of the first electronic module; enable the second subsystem, and match and generate a corresponding electronic module switching priority sequence in the second subsystem according to the switching priority sequence of the first electronic module; establish a corresponding communication switching path, and perform linkage switching control between the electronic modules of the first subsystem and the second subsystem according to the path. The intelligent switching control method and system for an underwater electronic module disclosed by the present invention solve the technical problems of high latency and lack of real-time performance, incomplete monitoring and insufficient predictability, and achieve the technical effects of improving the utilization rate of the system after a fault, avoiding the overall failure of the system with separate faults, and enhancing the reliability and stability of the electronic module. Description of the Drawings

[0037] Figure 1Schematic flow diagram of an intelligent switching control method for an underwater electronic module according to the present invention.

[0038] Figure 2 Schematic structural diagram of an intelligent switching control system for an underwater electronic module according to the present invention.

[0039] Explanation of reference numerals in the drawings: redundant subsystem construction component 11, status monitoring and fault location component 12, fault quantity judgment component 13, switching sequence acquisition component 14, switching control component 15. Specific implementation mode

[0040] The above technical solutions will be described in detail below in conjunction with the drawings in the specification and specific implementation modes to better understand the above technical solutions. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments for explaining the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention. In addition, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings rather than all.

[0041] Example 1, as Figure 1 Schematic flow diagram of an intelligent switching control method for an underwater electronic module according to the present invention. Among them, the intelligent switching control method for an underwater electronic module includes: S100: Construct a dual-redundant subsystem. The dual-redundant subsystem includes a first subsystem and a second subsystem. The second subsystem is a redundant subsystem with the same architecture as the first subsystem.

[0042] Specifically, first configure the dual-redundant subsystem in the target scenario. This dual-redundant subsystem includes two completely identical subsystems, that is, two sets of subsystems with the same configuration: the first subsystem and the second subsystem. Among them, the second subsystem can be considered as an architectural replica of the first subsystem, used to take over its functions when the first subsystem fails or operates abnormally, ensuring the continuous and stable operation of the system. The two are the same in terms of hardware composition, interaction methods, etc., and are independent of each other and work in cooperation.

[0043] In some embodiments, a dual-redundant subsystem is constructed. Among them, each subsystem in the dual-redundant subsystem includes a power module, a main control module, an interface module, and a carrier module, and each electronic module in each subsystem communicates through a CAN bus and status IO signals.

[0044] Specifically, both the first subsystem and the second subsystem include a carrier module, an interface module, a main control module, a power supply module, etc. Communication between each module is carried out through the CAN bus and status IO signals. Preferably, corresponding modules between subsystems (such as interface module A and interface module B, main control module A and main control module B, etc.) perform data synchronization through the CAN bus; the communication between each hierarchical module within the subsystem adopts a combination of CAN data synchronization and status IO indication to achieve status perception and fault judgment.

[0045] Exemplarily, the carrier module A of subsystem A is responsible for the communication transmission between interface module A and the upper computer configuration. Interface module A communicates with main control module A and interacts with interface module B of subsystem B at the same time. Main control module A interacts with power supply module A and peripheral acquisition and drive boards, etc. Power supply module A is responsible for power supply and interacts with main control module A and power supply module B of subsystem B.

[0046] The above process of constructing the dual-redundancy subsystem is the basis for achieving high reliability, fast diagnosis and switching, and is used to enhance the reliability of the system. When a certain module in the subsystem fails, the system can switch to the corresponding module of the redundant subsystem according to the fault diagnosis result, ensuring that the key functions of the system are not affected, reducing the risk of system paralysis caused by single-point failures, and improving the survival ability of the system in harsh environments.

[0047] S200: Monitor each electronic module of the first subsystem, output an operating status data set, and identify the faulty electronic module by locating the operating status data set.

[0048] Specifically, taking the first subsystem as the normal subsystem, by monitoring each electronic module of the first subsystem, the corresponding operating status data set can be obtained. This data set is used to reflect the real-time operating status of the first subsystem. In other words, by analyzing the real-time operating status, it can be judged whether there is a fault in the first subsystem and the specific faulty electronic module can be located.

[0049] Specifically, perform periodic status monitoring on each electronic module in the first subsystem (including the power supply module, main control module, interface module, and carrier module), obtain and summarize the operating status information of each module, and form an operating status data set. It includes but is not limited to the CAN communication status of each module, the response time of key communication data packets, the status IO signal level, the reception / loss record of inter-module heartbeat packets, operating parameters such as voltage and current.

[0050] In some embodiments, by monitoring each electronic module of the first subsystem, including a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism; wherein, the heartbeat detection mechanism obtains the functional response status of each electronic module, the status IO monitoring channel mechanism obtains the input and output level status of each electronic module, and the CAN bus data interaction mechanism obtains the communication data status between each electronic module; according to the functional response status, input and output level status, and communication data status, the operation status data set is output.

[0051] Specifically, monitoring each electronic module of the first subsystem involves monitoring mechanisms such as a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism. Among them, the heartbeat detection mechanism is used to obtain the functional response status of each electronic module (whether the module is online), the status IO monitoring channel mechanism is used to obtain the input and output level status of each electronic module (used to reflect the response delay), and the CAN bus data interaction mechanism is used to obtain the communication data status between each electronic module (used to reflect whether the linkage with other modules is smooth); the above status information together constitutes the operation status data set, providing a data basis for subsequent fault location.

[0052] The beneficial effects of the above method steps are mainly reflected in: through the comprehensive application of multiple monitoring mechanisms, the operation status of electronic modules can be obtained comprehensively and accurately, improving the reliability of fault monitoring; the analysis of the operation status data set realizes accurate fault location, providing accurate fault information for subsequent switching control, which can speed up the fault handling speed, reduce the impact time of faults on system operation, and improve the availability and operation efficiency of the system.

[0053] In some embodiments, identifying the faulty electronic module by locating the operation status data set includes: Construct a healthy operation status sample set corresponding to each electronic module; compare the operation status data set with the healthy operation status sample set to obtain the status deviation degree corresponding to each electronic module, and identify the electronic module with a status deviation degree greater than the preset deviation degree as the faulty electronic module.

[0054] Specifically, the healthy operation status sample set is a reference data set constructed by collecting the operation status data of the electronic module multiple times when the electronic module is in a normal working state, and is used to characterize the operation characteristics of the electronic module in a healthy state. Exemplarily, this sample set can include data in multiple dimensions, such as: the communication delay range of the module (such as the CAN response time is 5ms to 10ms), the normal fluctuation range of voltage and current, the heartbeat packet reception frequency, the stable level status of the status IO, the packet loss rate, the error rate, etc.

[0055] Specifically, the state deviation degree refers to the degree of difference between the current operating state data and the healthy operating state samples, which can be measured by Euclidean distance, Manhattan distance, cosine similarity or other statistical / machine learning methods. The larger the state deviation degree, the more abnormal the current module state is considered to be.

[0056] Specifically, to identify the operating state data set for locating faulty electronic modules, first, during the initial deployment or debugging phase of the system, the state data of each electronic module is collected multiple times to construct a healthy operating state sample set. The sample set can store the healthy state of each module in the form of mean, standard deviation, threshold interval, etc., or can be represented in a clustering form (different clustering clusters and cluster centers).

[0057] Furthermore, during the operation of the system, the current operating state data of each electronic module is continuously collected to form an operating state data set, and the current operating state data is compared with the healthy operating state samples of the corresponding module to calculate the state deviation degree (such as using Euclidean distance).

[0058] Furthermore, the calculated state deviation degree is compared with a preset deviation threshold. If the deviation degree is greater than the threshold, the corresponding electronic module can be determined as a faulty module, and the faulty module is marked for failure, which is convenient for subsequently triggering a redundancy switching strategy to switch to a standby module to ensure the stable operation of the system.

[0059] Exemplarily, if the current CAN response time of interface module A is 30 ms, while its healthy sample mean is 8 ms and the deviation degree exceeds the set threshold (such as 15 ms), the system will mark interface module A as a faulty module.

[0060] In the above method steps, the comparison and analysis based on the healthy sample set and the state deviation degree avoid the problems of false judgment and missed judgment that are prone to occur in the traditional method of relying on a single indicator to judge faults, making the fault location more scientific and reliable. On the other hand, accurate and rapid fault location can enable the system to quickly know the location and severity of the faulty module, immediately trigger a switching control strategy, reduce the impact time of the fault on the system operation, and improve the overall stability and reliability of the system.

[0061] For example, in deep - water oil and gas production operations, if a carrier module of an underwater electronic control module fails, timely and accurate fault location can enable the system to switch to a redundant carrier module within seconds, ensure uninterrupted oil and gas data transmission, and ensure the continuity and safety of the production operation, avoiding production stagnation and huge economic losses caused by untimely fault troubleshooting.

[0062] In some implementation manners, marking the electronic module with a state deviation degree greater than the preset deviation degree as a faulty electronic module further includes: Detect the underwater environment where the dual-redundant subsystem is located; dynamically configure the deviation tolerance threshold according to the underwater environment, update the preset deviation degree according to the deviation tolerance threshold, compare the state deviation degree with the updated preset deviation degree, and identify the faulty electronic module.

[0063] Specifically, in some underwater application scenarios, the operating environment has great uncertainties (i.e., large environmental fluctuations), such as water pressure changes, temperature changes, electromagnetic interference, signal attenuation, etc., which may cause fluctuations in the operating state of electronic modules in a short period of time. At this time, if a fixed preset deviation degree threshold is still used for fault judgment, misjudgment or missed judgment may occur.

[0064] Optionally, in some embodiments, an environmental perception mechanism is introduced. By detecting the current underwater environment state, the judgment threshold of the state deviation degree (i.e., the preset deviation degree) is dynamically adjusted to improve the accuracy of fault judgment and environmental adaptability.

[0065] Specifically, the above method includes: First, through the environmental sensors integrated in the system (such as water pressure sensors, temperature sensors, conductivity sensors, noise sensors, etc.), continuously and real-time detect the current underwater environment state to form an environmental state parameter set. Then, according to the collected environmental state parameters, the current underwater environment is divided into several levels or types, for example: normal environment (low interference, low noise), medium interference environment (medium water pressure fluctuation, signal attenuation), high interference environment (high noise, high temperature, strong interference), etc.

[0066] Furthermore, different deviation tolerance thresholds are preset for different levels of underwater environments, that is, the state deviation range allowed by the system. This deviation tolerance threshold can be determined based on statistical analysis methods or engineering practical experience. Exemplarily, in a high interference environment, a higher deviation tolerance threshold can be configured, that is, a larger state fluctuation is allowed to be regarded as a normal state.

[0067] Finally, the deviation tolerance threshold corresponding to the current environment is applied to the original preset deviation degree to form an updated deviation degree threshold. For example: ; wherein, is the basic deviation degree threshold, is the adjustment amount caused by the environment (i.e., the deviation tolerance threshold); is the updated deviation degree threshold.

[0068] Subsequently, compare the current state deviation of the electronic module with the updated deviation threshold. If it exceeds this value, it is identified as a faulty electronic module. For example, the deviation tolerance threshold of interface module A in a normal environment is 10 ms, and it is adjusted to 20 ms in a high-interference environment. If the current deviation is 15 ms, it will be identified as a faulty module in a normal environment, while it is considered normal in a high-interference environment.

[0069] Through the above process, the introduced environmental perception and dynamic threshold adjustment mechanism realizes more accurate, stable, and intelligent fault judgment, avoiding misjudging non-fault states as faults caused by environmental disturbances. At the same time, it can adaptively adjust the judgment criteria according to changes in the underwater environment, enhancing environmental adaptability, ensuring stable operation in high-interference environments, and reducing false alarms and missed alarms.

[0070] S300: Determine whether the number of the faulty electronic modules is multiple. If the number of the faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0071] Specifically, in some complex operation scenarios, there may be a situation where the state deviation of multiple electronic modules exceeds the limit simultaneously. For example, in a strong interference or system overload state, multiple modules may be simultaneously identified as faulty electronic modules. To avoid performance degradation or failure caused by excessive switching or exhaustion of redundant resources, a priority analysis method based on the minimum unit module switching strategy can be used to reasonably plan the switching order when multiple faulty modules exist simultaneously, generating a first electronic module switching priority sequence.

[0072] For example, in a complex underwater electronic system, if the power supply module, interface module, and carrier module fail simultaneously, and it is analyzed and determined that the failure of the power supply module has the most serious impact on the entire system, then it is listed as the priority switching object, followed by the interface module, and finally the carrier module, so as to minimize the system downtime and ensure the rapid recovery of key functions.

[0073] Specifically, the minimum unit module switching strategy can evaluate the impact degree of each faulty module on the overall operation of the system, determine which modules to switch first to restore the system function, and finally generate a first electronic module switching priority sequence, that is, a module list sorted according to comprehensive factors such as the importance of the module and the urgency of switching, which is used to guide subsequent switching operations, thereby minimizing system interference and maximizing resource utilization.

[0074] In some embodiments, before analyzing the multiple faulty electronic modules according to the minimum unit module switching strategy, it further includes: Perform coupling characteristic analysis on each electronic module, including communication frequency, response delay, function weight, and fault impact factor; calculate according to the coupling characteristics to obtain the coupling index of each electronic module; divide each electronic module based on the magnitude of the coupling index, and output the first type of electronic module and the second type of electronic module, where the first type of electronic module is a strongly coupled electronic module greater than a preset coupling threshold, and the second type of electronic module is a weakly coupled electronic module less than or equal to the preset coupling threshold.

[0075] Specifically, before executing the minimum unit module switching strategy, first perform coupling characteristic analysis on all electronic modules, and divide the modules into strongly coupled modules and weakly coupled modules based on the analysis results, so as to provide a basis for subsequent switching priority ranking.

[0076] Specifically, first, model the interaction relationships between each electronic module in the system, and extract the following coupling characteristic parameters: Table 1 Exemplary coupling characteristic parameters Coupling characteristic parameter Meaning Communication frequency Number of data interactions between two modules per unit time Response delay Average delay of request-response between modules Function weight Importance of a module in the system function structure Fault impact factor Degree of influence of a module's fault on the operating states of other modules (which can be obtained through historical fault propagation data or system simulation) Then, based on the above characteristic parameters, use a weighted calculation method to obtain the coupling index of each module. This coupling index quantifies the degree of tightness of the mutual association between modules. Through the magnitude of the coupling index, the modules can be grouped and divided accordingly, and classified as the first type of electronic module and the second type of electronic module respectively, for differential processing in the subsequent "minimum unit module switching strategy". Among them, if the coupling index is greater than the preset coupling threshold, the module is divided into the first type of electronic module (strongly coupled module); correspondingly, if the coupling index is less than the preset coupling threshold, it is divided into the second type of electronic module (weakly coupled module).

[0077] Through the above process, it is possible to accurately distinguish which faulty modules have a significant impact on the overall operation (strongly coupled modules) and which have a relatively small impact (weakly coupled modules). In this way, when executing the minimum unit module switching strategy, strongly coupled faulty modules can be processed first to ensure the rapid restoration of the core functions of the system and reduce fault losses; for weakly coupled modules, a more flexible processing method can be adopted to reduce unnecessary switching operations, improve resource utilization, simplify the process, accelerate the overall restoration speed, and reduce the operation and maintenance difficulty and cost.

[0078] In some implementation manners, after dividing each electronic module based on the magnitude of the coupling index, it further includes: If the current faulty electronic module belongs to the first type of electronic module, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules; if the current faulty electronic module belongs to the second type of electronic module, trigger the hot-switching repair strategy to perform hot repair on the faulty electronic module; when the result of the hot repair returns successfully, do not trigger the minimum unit module switching strategy; when the result of the hot repair returns fails, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules and generate the first electronic module switching priority sequence.

[0079] Specifically, to further improve the fault handling efficiency and resource scheduling flexibility, according to the coupling type to which the current faulty electronic module belongs, selectively trigger different processing strategies to implement a differentiated fault response mechanism.

[0080] Specifically, the minimum unit module switching strategy refers to a switching strategy with the goal of minimizing the number of unit modules involved in the switching under the premise of restoring the system function, that is, minimizing the switching operations that need to be executed.

[0081] Specifically, first, determine the category to which the currently identified faulty electronic module belongs. If it belongs to the first type of electronic module (strong coupling), directly trigger the minimum unit module switching strategy; for example, in an underwater environment, if key modules such as power supply and main control fail, with high communication frequency, low latency, high function weight, and the coupling index exceeding the threshold, then according to the minimum unit module switching strategy, evaluate based on function criticality and load status to generate a switching priority sequence and give priority to switching key modules.

[0082] Specifically, if it belongs to the second type of electronic module (weak coupling), first try the hot-switching repair strategy, that is, try to quickly restore the faulty module without interrupting the overall operation of the system. Among them, the hot-switching repair strategy includes: module-level soft restart, function subunit remapping, dynamic resource reallocation, communication link self-recovery, online correction of control parameters, etc.

[0083] Specifically, if the result of the hot repair returns successfully (for example, the module status returns to the normal range), the current fault handling process ends and no redundant switching is triggered; conversely, if the result of the hot repair returns fails, that is, the module status is still abnormal, then trigger the minimum unit module switching strategy, analyze all current faulty modules, generate the first electronic module switching priority sequence, and perform redundant switching operations accordingly.

[0084] Exemplarily, assume that the current faulty module is module B, which belongs to the second type of electronic module (weak coupling), and the corresponding process is as follows: The determination module B is a weakly coupled module → trigger the hot - switch repair strategy; attempt to perform a soft restart + parameter recalibration of module B; if the repair is successful → the status of module B is restored, and the process ends; if the repair fails → combine with other current faulty modules (such as module A, C), trigger the minimum - unit switching strategy; generate a switching priority sequence: [module C → module A → module B], and perform redundant switching in order.

[0085] Through the above - mentioned method steps, an intelligent fault - tolerance mechanism with hierarchical response and dynamic decision - making is achieved. The hot - repair method is preferentially used to avoid unnecessary redundant switching; the weakly coupled module attempts local repair to reduce the impact on other modules; the strongly coupled module directly enters the switching strategy to ensure the continuity of the core functions of the system; after the hot - repair fails, it automatically enters the switching process to ensure the closed - loop processing of faults; ensuring the efficient and stable operation of the electronic module system.

[0086] In some embodiments, according to the minimum - unit module switching strategy, multiple faulty electronic modules are analyzed to generate a first electronic - module switching priority sequence, including: Perform fault - chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chain - type faulty electronic modules; perform switching - priority evaluation on the independent faulty electronic modules to generate an independent switching priority sequence, where the switching - priority evaluation is obtained by calculating the weights of the functional criticality, load status, and coupling index of each electronic module; analyze the chain - type faulty electronic modules to generate a chain - type switching priority sequence; fuse the independent switching priority sequence and the chain - type switching priority sequence to generate a first electronic - module switching priority sequence.

[0087] Specifically, first, perform fault - chain relationship modeling and analysis on the currently identified multiple faulty electronic modules to identify whether there are causal or collaborative fault - propagation paths between the modules. Exemplarily, this process can be achieved in the following way: Construct a fault - propagation graph based on the module communication topology graph and the functional dependency graph; analyze the response timing, abnormal synchronization, and functional coupling degree between modules; use graph algorithms (such as connected - component analysis, graph - cut algorithm) to identify chain - type fault clusters.

[0088] Specifically, if there are obvious dependency relationships, communication - link couplings, or functional collaborative relationships between a group of modules, and their fault states have temporal or logical correlations, then they are classified as chain - type faulty electronic modules; if the fault of a module does not form an associated link with other modules, or its fault originates from an independent functional unit, then it is classified as an independent faulty electronic module.

[0089] Furthermore, for the identified independent faulty electronic modules, based on their criticality in the system and current operating status, calculate their switching priorities and generate an independent switching priority sequence. Exemplarily, the switching priority evaluation metrics include, but are not limited to: functional criticality, i.e., the degree to which the module supports the main functions of the system; load status, i.e., the amount of data processing or resource occupancy rate currently borne by the module; coupling index, i.e., the degree of coupling between the module and other modules. Calculating their switching priorities can be achieved through a weighted calculation method.

[0090] Furthermore, since there are co-failure or causal propagation relationships in the chain-type faulty electronic modules, an overall analysis and strategic switching method need to be adopted for processing. The processing methods include: analyzing the propagation direction and core nodes of each module in the chain; preferentially switching the source faulty module or key propagation node in the chain; considering the minimum interference path of chain-type switching to avoid chain diffusion caused by mis-switching. At this time, indicators such as node centrality and minimum cut point in graph theory can be introduced to assist in judgment, and finally generate a chain-type switching priority sequence, indicating the recommended switching order in the chain-type modules.

[0091] Finally, fuse the independent switching priority sequence and the chain-type switching priority sequence to generate the final first electronic module switching priority sequence. Among them, the fusion methods can include: setting global priority weights for independent modules and chain-type modules; if there is a high-priority propagation risk in the chain-type modules, they can be overall advanced; if the independent modules have a greater impact on the system functions, they can be preferentially processed.

[0092] Through the fault chain identification mechanism and multi-dimensional priority evaluation method introduced in the above process, the following technical effects are achieved: avoiding system-level cascading failures caused by incorrect switching orders through chain-type analysis; comprehensively evaluating based on multi-dimensional indicators such as function, load, and coupling, improving the scientificity of switching decisions, and reducing switching interference and resource waste.

[0093] In some implementation manners, analyzing the chain-type faulty electronic modules to generate a chain-type switching priority sequence includes: Analyze the connectivity and fault propagation path of the chain-type faulty electronic modules to determine the key faulty electronic modules and accompanying faulty electronic modules; evaluate the switching priorities of the key faulty electronic modules to generate a chain-type switching priority sequence.

[0094] Optionally, first, perform graph structure modeling on multiple electronic modules that constitute a chain - type fault, including: establishing a communication topology graph or a functional dependency graph between modules; constructing a directed propagation graph based on information such as the fault occurrence time, abnormal propagation direction, and communication coupling relationship; through methods such as graph traversal and path tracing, combined with the in - degree / out - degree analysis of nodes, the propagation centrality of nodes, the position and causal relationship of nodes in the propagation path, identify the critical path and propagation nodes in the fault propagation chain. Furthermore, divide the chain - type modules into: critical fault electronic modules (located at the starting point or relay nodes of the propagation path, having a propagation driving effect, usually the root cause or propagation core of the fault) and accompanying fault electronic modules (located at the end of the propagation path or non - critical paths, whose abnormal state may be caused by the failure of critical modules, having passive response characteristics).

[0095] Furthermore, only perform switching priority evaluation on the identified critical fault electronic modules to avoid mis - switching of accompanying modules, that is, only consider direct switching of critical fault electronic modules. Optionally, the evaluation indicators include propagation influence, function level, path controllability, historical failure rate, or health - related metrics (optional).

[0096] S400: Connect to the second subsystem and obtain the second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0097] Specifically, connect to the second subsystem and, based on the module identifiers in the first electronic module switching priority sequence, obtain the corresponding redundant modules in the second subsystem, and generate the second electronic module switching priority sequence.

[0098] Specifically, through a module mapping table or module numbering rules, identify the redundant modules in the second subsystem for each faulty module in the first subsystem to maintain the consistency of the module order and ensure the synchronization of the switching operation; if some modules are in an inactive state in the second subsystem, then perform initialization and status preparation in advance accordingly.

[0099] Through the above process, precise switching and seamless docking of modules between the first subsystem and the second subsystem can be achieved, which helps to restore functions in the shortest time and with the highest efficiency when a fault occurs.

[0100] S500: Establish a switching communication line and execute the switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0101] Specifically, establish a switching communication line between the first subsystem and the second subsystem for the transmission of control signals, status synchronization, and data migration during the switching process. Among them, the switching communication line includes: Control Channel: Used to transmit switching instructions and module status control signals; Data Channel: Used to transfer operation data, cache information, or task context; Status Channel: Used to synchronize module operation status, health information, and response feedback.

[0102] Among them, the redundant switching control operations include: power-on, activation, and self-check of the standby module; data context migration and status synchronization; function takeover and task recovery; power-off or isolation of the main module; confirmation of successful switching and log recording.

[0103] Exemplarily, the switching communication line can be constructed based on CAN bus, SPI, RS485, or high-speed serial link, and supports a redundant communication mechanism to ensure communication reliability during switching. For example, corresponding CAN switching routes 1, 2, and 3 are respectively set between interface module A and interface module B, between main control module A and main control module B, and between power supply module A and power supply module B.

[0104] Through the above process, precise switching and seamless docking of modules between the first subsystem and the second subsystem can be achieved, improving the reliability and stability of the system. At the same time, the maintenance cost and workload are also reduced.

[0105] In summary, the intelligent switching control method for an underwater electronic module provided by the present invention has the following technical effects: By constructing a dual-redundant structure system, including a first subsystem and a second subsystem with the same structure as the first one, and the latter serves as the redundant backup of the former; monitoring the status of each electronic module in the first subsystem, obtaining its operation status data set, and identifying and locating the faulty electronic modules based on this data set; judging whether the number of identified faulty electronic modules exceeds one. If it is multiple, then based on the minimum unit module switching strategy, perform fault analysis on them to form a switching priority sequence of the first electronic module; enable the second subsystem, and according to the switching priority sequence of the first electronic module, match and generate the corresponding switching priority sequence of the electronic modules in the second subsystem; establish corresponding communication switching paths, and execute the linkage switching control between the electronic modules of the first subsystem and the second subsystem according to this path, so as to achieve the technical effects of improving the system utilization rate after a fault, avoiding the overall failure of the separately faulty system, and enhancing the reliability and stability of the electronic module.

[0106] Embodiment 2, as Figure 2 is a schematic structural diagram of an intelligent switching control system for an underwater electronic module of the present invention. For example, Figure 1 in which the schematic flow diagram of the intelligent switching control method for an underwater electronic module of the present invention can be implemented through a structure as Figure 2 shown.

[0107] Based on the same concept as the intelligent switching control method for an underwater electronic module in the above embodiment, the present invention further provides an intelligent switching control system for an underwater electronic module, including: A redundant subsystem construction component 11, configured to construct a dual-redundant subsystem, where the dual-redundant subsystem includes a first subsystem and a second subsystem, and the second subsystem is a redundant subsystem with the same architecture as the first subsystem.

[0108] A status monitoring and fault location component 12, configured to monitor each electronic module of the first subsystem, output an operation status data set, and identify a faulty electronic module by locating the operation status data set.

[0109] A fault quantity judgment component 13, configured to judge whether the number of faulty electronic modules is multiple. If the number of faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy, and generate a first electronic module switching priority sequence.

[0110] A switching sequence acquisition component 14, configured to connect to the second subsystem and acquire a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0111] A switching control component 15, configured to establish a switching communication line and execute switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0112] In some embodiments, the execution steps of the status monitoring and fault location component 12 include: monitoring each electronic module of the first subsystem, including a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism.

[0113] Among them, the heartbeat detection mechanism acquires the functional response status of each electronic module, the status IO monitoring channel mechanism acquires the input / output level status of each electronic module, and the CAN bus data interaction mechanism acquires the communication data status between each electronic module.

[0114] According to the functional response status, input / output level status, and communication data status, output the operation status data set.

[0115] In some embodiments, before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, the execution steps of the fault quantity judgment component 13 include: Conduct a coupling characteristic analysis on each electronic module, including communication frequency, response delay, function weight, and fault impact factor.

[0116] Calculate according to the coupling characteristics to obtain the coupling index of each electronic module.

[0117] Divide each electronic module based on the size of the coupling index, and output a first type of electronic module and a second type of electronic module, where the first type of electronic module is a strongly coupled electronic module greater than a preset coupling threshold, and the second type of electronic module is a weakly coupled electronic module less than or equal to the preset coupling threshold.

[0118] In some implementation manners, after dividing each electronic module based on the size of the coupling index, the execution steps of the fault quantity judgment component 13 further include: If the current faulty electronic module belongs to the first type of electronic module, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules.

[0119] If the current faulty electronic module belongs to the second type of electronic module, trigger the hot switching repair strategy to perform hot repair on the faulty electronic module. When the result of the hot repair returns successfully, do not trigger the minimum unit module switching strategy.

[0120] When the result of the hot repair returns fails, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules and generate a first electronic module switching priority sequence.

[0121] In some embodiments, when analyzing the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, the execution steps of the fault quantity judgment component 13 include: Perform fault chain association analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chained faulty electronic modules.

[0122] Evaluate the switching priority of the independent faulty electronic modules to generate an independent switching priority sequence, where the switching priority evaluation is obtained by calculating the weights of the functional criticality, load status, and coupling index of each electronic module.

[0123] Analyze the chained faulty electronic modules to generate a chained switching priority sequence.

[0124] Fuse the independent switching priority sequence and the chained switching priority sequence to generate a first electronic module switching priority sequence.

[0125] In some embodiments, when analyzing the chained faulty electronic modules to generate a chained switching priority sequence, the execution steps of the fault quantity judgment component 13 further include: Analyze the connectivity and fault propagation path of the chained faulty electronic modules to determine critical faulty electronic modules and accompanying faulty electronic modules.

[0126] Perform a switching priority evaluation on the critical failure electronic module to generate a chained switching priority sequence.

[0127] In some embodiments, to identify the faulty electronic module by locating the operating state data set, the execution steps of the status monitoring and fault location component 12 include: Construct a healthy operating state sample set corresponding to each electronic module.

[0128] Compare the operating state data set with the healthy operating state sample set to obtain the state deviation degree corresponding to each electronic module, and identify the electronic module with a state deviation degree greater than the preset deviation degree as a faulty electronic module.

[0129] In some implementation manners, to identify the electronic module with a state deviation degree greater than the preset deviation degree as a faulty electronic module, the execution steps of the status monitoring and fault location component 12 further include: Detect the underwater environment where the dual redundant subsystem is located.

[0130] Dynamically configure the deviation tolerance threshold according to the underwater environment, update the preset deviation degree according to the deviation tolerance threshold, compare the state deviation degree with the updated preset deviation degree, and identify the faulty electronic module.

[0131] Furthermore, the execution steps of the redundant subsystem construction component 11 include: constructing a dual redundant subsystem, where each subsystem in the dual redundant subsystem includes a power module, a main control module, an interface module, and a carrier module, and each electronic module in each subsystem communicates through a CAN bus and a status IO signal.

[0132] It should be understood that the key point of the embodiments mentioned in this specification lies in their differences from other embodiments. The specific embodiments in the foregoing Embodiment 1 are equally applicable to the intelligent switching control system of an underwater electronic module described in Embodiment 2. For the sake of brevity of the specification, no further elaboration will be made here.

[0133] It should be understood that the disclosed embodiments of the present invention and the above descriptions can enable those skilled in the art to implement the present invention using the present invention. At the same time, the present invention is not limited to the part of the embodiments mentioned above. It should be understood that ordinary technicians in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An intelligent switching control method for an underwater electronic module, characterized in that, Including: Construct a dual-redundant subsystem, where the dual-redundant subsystem includes a first subsystem and a second subsystem, and the second subsystem is a redundant subsystem with the same architecture as the first subsystem; Monitor each electronic module of the first subsystem, output an operating status data set, and identify the faulty electronic module by locating the operating status data set; Judge whether the number of faulty electronic modules is multiple. If the number of faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence; Connect the second subsystem to obtain a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence; Establish a switching communication line and execute the switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

2. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that, By monitoring each electronic module of the first subsystem, including a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism; Among them, the heartbeat detection mechanism obtains the functional response status of each electronic module, the status IO monitoring channel mechanism obtains the input and output level status of each electronic module, and the CAN bus data interaction mechanism obtains the communication data status between each electronic module; Output the operating status data set according to the functional response status, input and output level status, and communication data status.

3. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that Before analyzing the multiple faulty electronic modules according to the minimum unit module switching strategy, it also includes: Conduct a coupling characteristic analysis of each electronic module, including communication frequency, response delay, function weight, and fault impact factor; Calculate according to the coupling characteristics to obtain the coupling index of each electronic module; Divide each electronic module based on the coupling index size, and output a first type of electronic module and a second type of electronic module. Among them, the first type of electronic module is a strongly coupled electronic module greater than the preset coupling threshold, and the second type of electronic module is a weakly coupled electronic module less than or equal to the preset coupling threshold.

4. The intelligent switching control method of an underwater electronic module as claimed in claim 3, characterized in that, After dividing each electronic module based on the coupling index size, it also includes: If the current faulty electronic module belongs to the first type of electronic module, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules; If the current faulty electronic module belongs to the second type of electronic module, trigger the hot-switching repair strategy to perform hot repair on the faulty electronic module; When the hot repair returns a successful result, do not trigger the minimum unit module switching strategy; When the hot repair returns a failed result, trigger the minimum unit module switching strategy to analyze the multiple faulty electronic modules and generate a first electronic module switching priority sequence.

5. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that Analyze the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, including: Conduct a fault chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chained faulty electronic modules; Perform a switching priority evaluation on the independent faulty electronic module to generate an independent switching priority sequence, where the switching priority evaluation is obtained by calculating the weights of the functional criticality, load status, and coupling index of each electronic module; Analyze the chained faulty electronic module to generate a chained switching priority sequence; Fuse the independent switching priority sequence and the chained switching priority sequence to generate a first electronic module switching priority sequence.

6. The intelligent switching control method for an underwater electronic module according to claim 5, characterized in that Analyze the chained faulty electronic module to generate a chained switching priority sequence, including: Analyze the connectivity and fault propagation path of the chained faulty electronic module to determine the critical faulty electronic module and the accompanying faulty electronic module; Perform a switching priority evaluation on the critical faulty electronic module to generate a chained switching priority sequence.

7. The intelligent switching control method for an underwater electronic module according to claim 1, characterized in that, Identify the faulty electronic module by locating it in the operating state dataset, including: Construct a healthy operating state sample set corresponding to each electronic module; Compare the operating state dataset with the healthy operating state sample set to obtain the state deviation degree corresponding to each electronic module, and identify the electronic module with a state deviation degree greater than the preset deviation degree as a faulty electronic module.

8. The intelligent switching control method for an underwater electronic module according to claim 7, characterized in that, Identifying the electronic module with a state deviation degree greater than the preset deviation degree as a faulty electronic module further includes: Detect the underwater environment where the dual redundant subsystem is located; Dynamically configure the deviation tolerance threshold according to the underwater environment, update the preset deviation degree according to the deviation tolerance threshold, and compare the state deviation degree with the updated preset deviation degree to identify the faulty electronic module.

9. The intelligent switching control method for an underwater electronic module as described in claim 1, characterized in that, Construct a dual redundant subsystem, where each subsystem in the dual redundant subsystem includes a power module, a main control module, an interface module, and a carrier module, and each electronic module in each subsystem communicates through a CAN bus and a status IO signal.

10. An intelligent switching control system for an underwater electronic module, characterized in that, For implementing an intelligent switching control method for an underwater electronic module according to any one of claims 1-9, including: A redundant subsystem construction component for constructing a dual redundant subsystem, where the dual redundant subsystem includes a first subsystem and a second subsystem, and the second subsystem is a redundant subsystem with the same architecture as the first subsystem; A state monitoring and fault location component for monitoring each electronic module of the first subsystem, outputting an operating state dataset, and identifying the faulty electronic module by locating the operating state dataset; A fault quantity judgment component for judging whether the number of faulty electronic modules is multiple. If the number of faulty electronic modules is multiple, analyze the multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence; A switching sequence acquisition component for connecting to the second subsystem to obtain a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence; A switching control component for establishing a switching communication line and performing switching control of the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

Images