Intelligent switching control method and system for underwater electronic modules

Abstract

The present invention discloses an intelligent switching control method and system for underwater electronic modules, relating to the technical field of electronic module redundancy control. The method comprises: constructing a dual-redundant subsystem comprising a first subsystem and a second subsystem with the same architecture; monitoring the operating status of the electronic modules in the first subsystem and locating the faulty module; if multiple faulty modules exist, generating a first electronic module switching priority sequence based on a minimum unit module switching strategy; connecting to the second subsystem to obtain a corresponding second electronic module switching priority sequence; establishing a switching communication line, and executing module switching control according to the sequence. This method thereby achieves the technical effect of improving system utilization after a fault, avoiding overall system failure due to separate faults, and enhancing the reliability and stability of the electronic modules.

Description

Technical Field

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

[0002] In the field of electronic module control, redundant design is often employed to improve system reliability. Traditional solutions often employ underwater redundant systems with "whole-unit redundant switching." This means that when one subsystem fails, the entire system switches to another redundant subsystem to continue operation. This switching process fails to carefully assess the specific module failures within the subsystem. When a local module in a subsystem fails, the entire subsystem is simply switched, which can lead to reduced system utilization. Furthermore, if different modules in two subsystems fail, this can easily lead to overall system failure, preventing further improvements in system reliability.

[0003] In summary, the existing technologies have the technical problems of low system utilization and easy failure of the entire system caused by 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 in the prior art such as high latency, lack of real-time performance, incomplete monitoring, and insufficient predictability, thereby achieving the technical effects of improving system utilization after a fault, avoiding overall system failure due to separate faults, and enhancing the reliability and stability of the electronic module.

[0005] In a first aspect, the present invention provides an intelligent switching control method for an underwater electronic module, wherein the intelligent switching control method for an underwater electronic module includes:

[0006] A dual redundant subsystem is constructed, wherein the dual redundant subsystem includes a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem.

[0007] Monitor each electronic module of the first subsystem, output an operating status data set, and identify the operating status data set to locate a faulty electronic module.

[0008] It is determined whether there are multiple faulty electronic modules. If there are multiple faulty electronic modules, the multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0009] Connecting to the second subsystem, obtaining a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0010] A switching communication line is established, and switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence is performed according to the switching communication line.

[0011] In a feasible implementation, each electronic module of the first subsystem is monitored, including a heartbeat detection mechanism, a status IO monitoring channel mechanism, and a CAN bus data interaction mechanism.

[0012] 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.

[0013] The operation status data set is output according to the functional response status, input and output level status and communication data status.

[0014] In a feasible implementation, before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, the method further includes:

[0015] The coupling characteristics of each electronic module are analyzed, including communication frequency, response delay, functional weight and fault influencing factors.

[0016] Calculation is performed based on the coupling characteristics to obtain coupling indicators of each electronic module.

[0017] The electronic modules are divided based on the coupling index, and the first and second types of electronic modules are output, wherein the first type of electronic modules are strongly coupled electronic modules with a coupling index greater than a preset coupling threshold, and the second type of electronic modules are weakly coupled electronic modules with a coupling index less than or equal to the preset coupling threshold.

[0018] In a feasible implementation, after dividing the electronic modules based on the coupling index, the method further includes:

[0019] If the current faulty electronic module belongs to the first type of electronic module, the minimum unit module switching strategy is triggered to analyze the multiple faulty electronic modules.

[0020] If the current faulty electronic module belongs to the second type of electronic module, the hot switching repair strategy is triggered to perform hot repair on the faulty electronic module.

[0021] When the hot repair returns a success result, the minimum unit module switching strategy is not triggered.

[0022] When the hot repair returns a failure result, the minimum unit module switching strategy is triggered to analyze multiple faulty electronic modules and generate a first electronic module switching priority sequence.

[0023] In a feasible implementation, multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, including:

[0024] Performing a fault chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chain faulty electronic modules.

[0025] A switching priority evaluation is performed on the independent faulty electronic modules to generate an independent switching priority sequence, wherein the switching priority evaluation is obtained by weighting the functional criticality, load status and coupling index of each electronic module.

[0026] The chain-fault electronic modules are analyzed to generate a chain-fault priority sequence.

[0027] The independent switching priority sequence and the chain switching priority sequence are merged to generate a first electronic module switching priority sequence.

[0028] In a feasible implementation, analyzing the chain-failure electronic modules to generate a chain-failure priority sequence includes:

[0029] The chain fault electronic modules are analyzed for connectivity and fault propagation paths to determine the key fault electronic modules and accompanying fault electronic modules.

[0030] Performing a switching priority evaluation on the critical fault electronic modules to generate a chain switching priority sequence.

[0031] In a feasible implementation, identifying the operating status data set to locate the faulty electronic module includes:

[0032] Construct a healthy operation status sample set corresponding to each electronic module.

[0033] The operating status data set is compared with the healthy operating status sample set to obtain the state deviation corresponding to each electronic module, and the electronic module with a state deviation greater than a preset deviation is identified as a faulty electronic module.

[0034] In a feasible implementation, identifying an electronic module whose state deviation is greater than a preset deviation as a faulty electronic module further includes:

[0035] The underwater environment in which the dual redundant subsystem is located is detected.

[0036] A deviation tolerance threshold is dynamically configured according to the underwater environment, the preset deviation is updated according to the deviation tolerance threshold, the state deviation is compared with the updated preset deviation, and a faulty electronic module is identified.

[0037] In a feasible implementation, a dual redundant subsystem is constructed, wherein each subsystem in the dual redundant subsystem includes a power supply module, a main control module, an interface module and a carrier module, and the electronic modules of each subsystem communicate with each other through a CAN bus and a status IO signal.

[0038] In a 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 comprises:

[0039] The redundant subsystem construction component is used to construct a dual redundant subsystem, wherein the dual redundant subsystem includes a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem.

[0040] The status monitoring and fault location component is used to monitor each electronic module of the first subsystem, output an operation status data set, and identify the operation status data set to locate the faulty electronic module.

[0041] The fault quantity judgment component is used to judge whether the number of the faulty electronic modules is multiple. If the number of the faulty electronic modules is multiple, the multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0042] The switching sequence acquisition component is used to connect to the second subsystem and acquire the second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0043] The switching control component is used to establish a switching communication line and perform switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0044] The present invention discloses an intelligent switching control method and system for underwater electronic modules, comprising: constructing a dual-redundant structure system, including a first subsystem and a second subsystem with the same structure as the first subsystem, the latter serving as a 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 identified faulty electronic modules exceeds one, and if so, performing fault analysis on them based on the minimum unit module switching strategy to form a switching priority sequence for the first electronic module; enabling the second subsystem, and matching and generating a corresponding switching priority sequence for the electronic modules in the second subsystem based on the switching priority sequence of the first electronic module; establishing a corresponding communication switching path, and executing 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 underwater electronic modules disclosed by the present invention solve the technical problems of high latency, lack of real-time performance, incomplete monitoring, and insufficient predictability, and achieve the technical effects of improving system utilization after a fault, avoiding overall failure of the system due to separate faults, and improving the reliability and stability of the electronic module. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The figure is a flow chart of an intelligent switching control method of an underwater electronic module according to the present invention.

[0046] Figure 2 The figure is a structural diagram of an intelligent switching control system of an underwater electronic module according to the present invention.

[0047] Description of the accompanying 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. DETAILED DESCRIPTION

[0048] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention, rather than all, are shown in the drawings.

[0049] Example 1, as Figure 1 The figure is a flow chart of an intelligent switching control method of an underwater electronic module according to the present invention, wherein the intelligent switching control method of an underwater electronic module includes:

[0050] S100: Construct a dual-redundant subsystem, wherein the dual-redundant subsystem includes a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem.

[0051] Specifically, we first configure a dual-redundant subsystem for the target scenario. This dual-redundant subsystem consists of two identical subsystems with identical configurations: the first subsystem and the second subsystem. The second subsystem can be considered an architectural replica of the first subsystem, taking over its functions in the event of a failure or abnormal operation of the first subsystem, ensuring continuous and stable system operation. The two subsystems are identical in hardware composition and interaction methods, and operate independently yet collaboratively.

[0052] In some embodiments, a dual redundant subsystem is constructed, wherein each subsystem in the dual redundant subsystem includes a power module, a main control module, an interface module and a carrier module, and the electronic modules of each subsystem communicate with each other through a CAN bus and status IO signals.

[0053] Specifically, the first and second subsystems each include a carrier module, an interface module, a main control module, and a power module. These modules communicate with each other via the CAN bus and status I / O signals. Preferably, corresponding modules within the subsystems (e.g., interface module A and interface module B, main control module A and main control module B, etc.) synchronize data via the CAN bus. Communication between modules at each level within the subsystem utilizes a combination of CAN data synchronization and status I / O indications to achieve status awareness and fault diagnosis.

[0054] For example, carrier module A of subsystem A is responsible for the communication transmission between interface module A and the host computer configuration. Interface module A communicates with main control module A and interacts with interface module B of subsystem B. Main control module A interacts with power module A and peripheral acquisition and drive boards, etc. Power module A is responsible for power supply and interacts with main control module A and power module B of subsystem B.

[0055] The aforementioned process of building dual redundant subsystems is the foundation for achieving high reliability, rapid diagnosis, and failover, enhancing system reliability. If a module in a subsystem fails, the system can switch to the corresponding module in the redundant subsystem based on the fault diagnosis results, ensuring that critical system functions are not affected, reducing the risk of system failure due to single-point failures, and improving the system's survivability in harsh environments.

[0056] S200: Monitor each electronic module of the first subsystem, output an operating status data set, and identify the operating status data set to locate a faulty electronic module.

[0057] Specifically, taking the first subsystem as the normal subsystem, by monitoring each electronic module of the first subsystem, a corresponding operating status data set can be obtained, and the 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 determined whether there is a fault in the first subsystem and the specific electronic module with the fault can be located.

[0058] Specifically, periodic status monitoring is performed on each electronic module in the first subsystem (including the power module, main control module, interface module, and carrier module), and operational status information of each module is acquired and aggregated to form an operational status dataset. This 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 records of heartbeat packets between modules, voltage, current, and other operational parameters.

[0059] In some embodiments, each electronic module of the first subsystem is monitored, 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; the operating status data set is output according to the functional response status, input and output level status, and communication data status.

[0060] Specifically, each electronic module of the first subsystem is monitored, and the monitoring mechanisms involved include 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.

[0061] The beneficial effects of the above method steps are mainly reflected in: through the comprehensive use of multiple monitoring mechanisms, the operating status of the electronic module can be fully and accurately obtained, thereby improving the reliability of fault monitoring; the analysis of the operating status data set realizes accurate fault location, and provides accurate fault information for subsequent switching control, which can speed up fault handling, reduce the impact time of faults on system operation, and improve system availability and operating efficiency.

[0062] In some embodiments, identifying the operating status data set to locate the faulty electronic module includes:

[0063] Construct a healthy operating status sample set corresponding to each electronic module; compare the operating status data set with the healthy operating status sample set to obtain the state deviation corresponding to each electronic module, and identify the electronic module with a state deviation greater than a preset deviation as a faulty electronic module.

[0064] Specifically, the healthy operating status sample set is a reference dataset constructed by collecting multiple instances of operating status data from an electronic module while it is in normal operation. This dataset is used to characterize the module's operational characteristics in a healthy state. For example, this sample set may include data from multiple dimensions, such as the module's communication latency range (e.g., CAN response time is 5ms-10ms), normal fluctuation ranges for voltage and current, heartbeat packet reception frequency, stable level of status IOs, packet loss rate, and error rate.

[0065] Specifically, state deviation refers to the degree of difference between the current operating state data and the healthy operating state sample, which can be measured by Euclidean distance, Manhattan distance, cosine similarity or other statistical / machine learning methods. The larger the state deviation, the more abnormal the current module state is.

[0066] Specifically, to identify the operating status data set to locate the faulty electronic module, first, during the initial deployment or debugging phase of the system, the status data of each electronic module is collected multiple times to construct its healthy operating status sample set. The sample set can store the health status of each module in the form of mean, standard deviation, threshold interval, etc., or it can be represented in clustering form (different clusters and cluster centers).

[0067] Furthermore, during the operation of the system, the current operating status data of each electronic module is continuously collected to form an operating status data set, and the current operating status data is compared with the healthy operating status sample of the corresponding module to calculate the state deviation (such as using Euclidean distance).

[0068] Furthermore, the calculated state deviation is compared with the preset deviation threshold. If the deviation is greater than the threshold, the corresponding electronic module can be determined to be a faulty module, and the faulty module can be marked as a fault, so as to facilitate the subsequent triggering of the redundant switching strategy to switch to the backup module to ensure the stable operation of the system.

[0069] For example, if the current CAN response time of interface module A is 30ms, while its healthy sample average is 8ms, and the deviation exceeds a set threshold (such as 15ms), the system identifies interface module A as a faulty module.

[0070] The aforementioned method, based on comparative analysis of healthy sample sets and state deviations, avoids the misjudgment and omission issues inherent in traditional fault diagnosis based on a single metric, making fault location more scientific and reliable. Furthermore, accurate and rapid fault location allows the system to quickly identify the location and severity of the faulty module, immediately triggering a switching control strategy, reducing the duration of the fault's impact on system operation and improving overall system stability and reliability.

[0071] For example, in deepwater oil and gas production operations, if the carrier module of the underwater electronic control module fails, timely and accurate fault location can enable the system to switch to the redundant carrier module within seconds, ensuring uninterrupted oil and gas data transmission, ensuring the continuity and safety of production operations, and avoiding operation stagnation and huge economic losses caused by untimely fault troubleshooting.

[0072] In some implementations, identifying an electronic module whose state deviation is greater than a preset deviation as a faulty electronic module further includes:

[0073] Detecting the underwater environment in which the dual-redundant subsystem is located; dynamically configuring a deviation tolerance threshold according to the underwater environment, updating the preset deviation according to the deviation tolerance threshold, comparing the state deviation with the updated preset deviation, and identifying a faulty electronic module.

[0074] Specifically, in some underwater application scenarios, there is great uncertainty in the operating environment (i.e., large environmental fluctuations), such as changes in water pressure, temperature, electromagnetic interference, signal attenuation, etc., which may cause the operating status of the electronic module to fluctuate in a short period of time. At this time, if a fixed preset deviation threshold is still used for fault judgment, misjudgment or missed judgment may occur.

[0075] Optionally, in some embodiments, an environmental perception mechanism is introduced to dynamically adjust the judgment threshold of the state deviation (i.e., the preset deviation) by detecting the current underwater environmental state, so as to improve the accuracy of fault judgment and environmental adaptability.

[0076] Specifically, the above method includes:

[0077] First, the system's integrated environmental sensors (such as water pressure, temperature, conductivity, and noise sensors) continuously and in real time monitor the current underwater environment, generating a set of environmental state parameters. The system then categorizes the current underwater environment into several levels or types based on these collected parameters, such as normal (low interference, low noise), moderate interference (moderate water pressure fluctuations, signal attenuation), and high interference (high noise, high temperature, and strong interference).

[0078] Furthermore, different deviation tolerance thresholds can be preset for different levels of underwater environments, i.e., the range of state deviations allowed by the system. These deviation tolerance thresholds can be determined based on statistical analysis methods or actual engineering experience. For example, in high-interference environments, a higher deviation tolerance threshold can be configured, allowing larger state fluctuations to be considered normal.

[0079] Finally, the deviation tolerance threshold corresponding to the current environment is applied to the original preset deviation to form an updated deviation threshold. For example:

[0080] ;

[0081] in, is the basic deviation threshold, the amount of adjustment caused by the environment (i.e., deviation from the tolerance threshold); is the updated deviation threshold.

[0082] The electronic module's current state deviation is then compared to the updated deviation threshold. If it exceeds this threshold, the module is identified as faulty. For example, the deviation tolerance threshold for interface module A is 10ms under normal conditions, but adjusted to 20ms under high-interference conditions. If the current deviation is 15ms, it will be identified as faulty under normal conditions but considered normal under high-interference conditions.

[0083] Through the above process, the environmental perception and dynamic threshold adjustment mechanism introduced achieves more accurate, stable and intelligent fault judgment, avoiding non-fault states caused by environmental disturbances from being misjudged as faults; at the same time, the judgment criteria can be adaptively adjusted according to changes in the underwater environment, enhancing environmental adaptability, ensuring stable operation in high-interference environments, and reducing false alarms and missed alarms.

[0084] S300: Determine whether there are multiple faulty electronic modules. If there are multiple faulty electronic modules, analyze the multiple faulty electronic modules according to a minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0085] Specifically, in some complex operating scenarios, there may be a situation where the state deviation of multiple electronic modules exceeds the limit at the same time. For example, under strong interference or system overload conditions, multiple modules may be identified as faulty electronic modules at the same time. In order to avoid performance degradation or failure due to 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 sequence when multiple faulty modules exist at the same time, and generate a first electronic module switching priority sequence.

[0086] For example, in a complex underwater electronic system, if the power module, interface module, and carrier module all fail at the same time, and analysis determines that the power module failure has the most serious impact on the entire system, it will be listed as the priority switchover object, followed by the interface module, and finally the carrier module, to minimize system downtime and ensure the rapid recovery of critical functions.

[0087] Specifically, the minimum unit module switching strategy can determine which modules to switch first to restore system functions by evaluating the impact of each faulty module on the overall operation of the system, and ultimately generate a first electronic module switching priority sequence, that is, a module list sorted according to comprehensive factors such as module importance and switching urgency, which is used to guide subsequent switching operations, thereby minimizing system interference and maximizing resource utilization.

[0088] In some embodiments, before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, the method further includes:

[0089] The coupling characteristics of each electronic module are analyzed, including communication frequency, response delay, functional weight, and fault impact factor; calculations are performed based on the coupling characteristics to obtain coupling indicators of each electronic module; and each electronic module is divided into first and second categories based on the size of the coupling indicators, where the first category of electronic modules is a strongly coupled electronic module greater than a preset coupling threshold, and the second category of electronic modules is a weakly coupled electronic module less than or equal to the preset coupling threshold.

[0090] Specifically, before executing the minimum unit module switching strategy, the coupling characteristics of all electronic modules are analyzed, and based on the analysis results, the modules are divided into strong coupling modules and weak coupling modules, thereby providing a basis for subsequent switching priority sorting.

[0091] Specifically, first, the interaction relationship between each electronic module in the system is modeled and the following coupling characteristic parameters are extracted:

[0092] Table 1 Exemplary coupling characteristic parameters

[0093] Coupling characteristic parameters meaning Communication frequency The number of data interactions between two modules per unit time Response delay Average request-response latency between modules Functional weight The importance of the module in the system functional structure Fault impact factor The degree to which a module failure affects the operating status of other modules (obtained through historical fault propagation data or system simulation)

[0094] Then, based on the above characteristic parameters, a weighted calculation method is used to obtain the coupling index of each module. The coupling index quantifies the degree of mutual correlation between modules. According to the size of the coupling index, the modules can be grouped and divided accordingly, and classified into the first type of electronic modules and the second type of electronic modules, respectively, for differentiated 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 (strong coupling module); correspondingly, if the coupling index is less than the preset coupling threshold, it is divided into the second type of electronic module (weak coupling module).

[0095] Through this process, we can accurately distinguish which faulty modules have a significant impact on overall operations (strongly coupled modules) and which have a relatively small impact (weakly coupled modules). This allows us to prioritize strongly coupled faulty modules when executing the minimum unit module switching strategy, ensuring rapid recovery of core system functions and minimizing failure losses. For weakly coupled modules, we can adopt a more flexible approach, reducing unnecessary switching operations, improving resource utilization, streamlining processes, accelerating overall recovery, and reducing operational complexity and costs.

[0096] In some implementations, after dividing the electronic modules based on the coupling index, the method further includes:

[0097] If the current faulty electronic module belongs to the first category of electronic modules, the minimum unit module switching strategy is triggered to analyze the multiple faulty electronic modules; if the current faulty electronic module belongs to the second category of electronic modules, the hot switching repair strategy is triggered to perform hot repair on the faulty electronic module; when the hot repair returns a successful result, the minimum unit module switching strategy is not triggered; when the hot repair returns a failed result, the minimum unit module switching strategy is triggered to analyze the multiple faulty electronic modules and generate a first electronic module switching priority sequence.

[0098] Specifically, in order to further improve fault handling efficiency and resource scheduling flexibility, different processing strategies are selectively triggered according to the coupling type of the current faulty electronic module to implement a differentiated fault response mechanism.

[0099] Specifically, the minimum unit module switching strategy refers to a switching strategy that aims to minimize the number of unit modules involved in switching under the premise of restoring system functions, that is, to reduce the switching operations that need to be performed as much as possible.

[0100] Specifically, first, determine the category of the electronic module currently identified as faulty. If it belongs to the first category of electronic modules (strong coupling), the minimum unit module switching strategy is directly triggered. For example, underwater, if key modules such as power supply and main control fail, the communication frequency is high, the latency is low, the functional weight is high, and the coupling index exceeds the threshold, then according to the minimum unit module switching strategy, according to the functional criticality and load status evaluation, a switching priority sequence is generated, and key modules are switched first.

[0101] Specifically, if the fault belongs to the second category of electronic modules (weakly coupled), the hot swap repair strategy is prioritized. This strategy attempts to quickly recover the faulty module without interrupting overall system operation. Hot swap repair strategies include module-level soft restart, functional subunit remapping, dynamic resource reallocation, communication link self-recovery, and online control parameter calibration.

[0102] Specifically, if the hot repair returns a successful result (for example, the module status is restored to the normal range), the current fault handling process ends and redundant switching is not triggered; on the contrary, if the hot repair returns a failure result, that is, the module status is still abnormal, the minimum unit module switching strategy is triggered, all current faulty modules are analyzed, the first electronic module switching priority sequence is generated, and the redundant switching operation is performed accordingly.

[0103] For example, assuming the current faulty module is module B, which belongs to the second type of electronic module (weak coupling), the corresponding process is as follows:

[0104] Determine if module B is a weakly coupled module → trigger the hot-swap repair strategy; attempt to soft-restart module B and recalibrate its parameters; if the repair is successful → module B recovers and the process ends; if the repair fails → combine with other faulty modules (such as modules A and C) to trigger the minimum unit switching strategy; generate a switching priority sequence: [module C → module A → module B], and perform redundant switching in sequence.

[0105] Through the above methods and steps, an intelligent fault-tolerant mechanism with hierarchical response and dynamic decision-making is realized. Hot repair is used first to avoid unnecessary redundant switching. Weakly coupled modules attempt local repair to reduce the impact on other modules. Strongly coupled modules directly enter the switching strategy to ensure the continuity of the core functions of the system. After the hot repair fails, the switching process is automatically entered to ensure closed-loop fault handling, ensuring the efficient and stable operation of the electronic module system.

[0106] In some embodiments, multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, including:

[0107] Performing a fault chain association analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chained faulty electronic modules; performing a switching priority evaluation on the independent faulty electronic modules to generate an independent switching priority sequence, wherein the switching priority evaluation is obtained by performing a weighted calculation on the functional criticality, load status, and coupling index of each electronic module; analyzing the chained faulty electronic modules to generate a chained switching priority sequence; and fusing the independent switching priority sequence and the chained switching priority sequence to generate a first electronic module switching priority sequence.

[0108] Specifically, first, the fault chain relationship modeling and analysis is performed on the multiple faulty electronic modules currently identified to identify whether there are causal or collaborative fault propagation paths between the modules. For example, this process can be implemented as follows:

[0109] Construct a fault propagation graph based on the module communication topology graph and functional dependency graph; analyze the response timing, abnormal synchronization and functional coupling between modules; and use graph algorithms (such as connected component analysis and graph cut algorithm) to identify chain fault clusters.

[0110] Specifically, if there is an obvious dependency, communication link coupling, or functional collaboration relationship between a group of modules, and their fault states have a temporal or logical correlation, they are classified as chain-fault 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, it is classified as an independent fault electronic module.

[0111] Furthermore, for each identified independently faulty electronic module, its switching priority is calculated based on its criticality within the system and its current operating status, and an independent switching priority sequence is generated. Exemplary switching priority evaluation metrics include, but are not limited to: functional criticality, i.e., the degree to which the module supports the system's primary functions; load status, i.e., the amount of data processing or resource utilization currently undertaken by the module; and coupling index, i.e., the degree of coupling between the module and other modules. Calculating switching priority can be achieved through a weighted calculation method.

[0112] Furthermore, since chain-fault electronic modules have collaborative failures or causal propagation relationships, a holistic analysis and strategic switching approach is required. The processing methods include: analyzing the propagation direction and core nodes of each module in the chain; prioritizing switching the source fault module or key propagation node in the chain; considering the minimum interference path of chain switching to avoid chain diffusion caused by miscutting. 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 switching priority sequence, which represents the recommended switching order in the chain module.

[0113] Finally, the independent switching priority sequence and the chain switching priority sequence are merged to generate the final first electronic module switching priority sequence, wherein the fusion method may include: setting the global priority weights of the independent module and the chain module; if there is a high priority propagation risk in the chain module, it can be put in front as a whole; if the independent module has a greater impact on the system function, it can be processed first.

[0114] The fault chain identification mechanism and multi-dimensional priority evaluation method introduced through the above process achieve the following technical effects: system-level cascading failures caused by incorrect switching sequences are avoided through chain analysis; based on a comprehensive evaluation of multi-dimensional indicators such as function, load, and coupling, the scientific nature of switching decisions is improved, and switching interference and resource waste are reduced.

[0115] In some implementations, analyzing the chained fault electronic modules to generate a chained switching priority sequence includes:

[0116] The connectivity and fault propagation paths of the chain fault electronic modules are analyzed to determine the key fault electronic modules and the accompanying fault electronic modules; the switching priority of the key fault electronic modules is evaluated to generate a chain switching priority sequence.

[0117] Optionally, first, graph modeling is performed on the multiple electronic modules that constitute the chained fault. This includes: establishing a communication topology or functional dependency graph between modules; constructing a directed propagation graph based on information such as the time of fault occurrence, the direction of abnormal propagation, and communication coupling relationships; and identifying the critical paths and propagation nodes in the fault propagation chain through graph traversal and path tracing methods, combined with node in-degree / out-degree analysis, node propagation centrality, node ranking in the propagation path, and causal relationships. Chained modules are then divided into: critical fault electronic modules (located at the starting point or relay node of the propagation path, which drive propagation and are typically the root cause or propagation core of the fault) and accompanying fault electronic modules (located at the end of the propagation path or on non-critical paths, whose abnormal status may be caused by critical module failures and have passive response characteristics).

[0118] Furthermore, only critical faulty electronic modules are evaluated for switching priority to avoid mishandling of accompanying modules. Specifically, only the critical faulty electronic modules are considered for direct switching. Optionally, evaluation metrics include propagation influence, functional level, path controllability, historical failure rate, or health metrics (optional).

[0119] S400: Connecting to the second subsystem, and obtaining a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence.

[0120] Specifically, the second subsystem is connected, and according to the module identifier in the first electronic module switching priority sequence, the corresponding redundant module in the second subsystem is obtained to generate a second electronic module switching priority sequence.

[0121] Specifically, the module mapping table or module numbering rules can be used to identify the redundant modules in the second subsystem for each faulty module in the first subsystem to maintain module sequence consistency and ensure the synchronization of switching operations; if some modules are in an inactive state in the second subsystem, the corresponding initialization and status preparation should be performed in advance.

[0122] Through the above process, precise module switching and seamless connection 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.

[0123] S500: Establishing a switching communication line, and performing switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0124] Specifically, a switching communication line is established between the first subsystem and the second subsystem for control signal transmission, state synchronization, and data migration during the switching process. The switching communication line includes:

[0125] 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.

[0126] Among them, redundant switching control operations include: powering on, activating and self-testing the standby module; data context migration and state synchronization; function takeover and task recovery; powering off or isolating the main module; and switching success confirmation and log recording.

[0127] For example, the switching communication lines can be constructed based on the CAN bus, SPI, RS485, or a high-speed serial link, and support redundant communication mechanisms to ensure communication reliability during switching. For example, CAN switching route 1, CAN switching route 2, and CAN switching route 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 module A and power module B.

[0128] Through the above process, precise module switching and seamless connection between the first and second subsystems can be achieved, improving the reliability and stability of the system while reducing maintenance costs and workload.

[0129] In summary, the intelligent switching control method of an underwater electronic module provided by the present invention has the following technical effects:

[0130] By constructing a dual-redundant structure system, including a first subsystem and a second subsystem with the same structure, the latter serves as a 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 identified faulty electronic modules exceeds one, and if there are multiple, performing fault analysis on them based on the minimum unit module switching strategy to form a switching priority sequence for the first electronic module; enabling the second subsystem, and matching and generating the corresponding electronic module switching priority sequence in the second subsystem according to the switching priority sequence of the first electronic module; establishing a corresponding communication switching path, and executing the linkage switching control between the electronic modules of the first subsystem and the second subsystem according to the path, thereby achieving the technical effect of improving the system utilization rate after a fault, avoiding the overall failure of the system due to separate faults, and improving the reliability and stability of the electronic module.

[0131] Example 2, as Figure 2 This is a schematic diagram of the structure of an intelligent switching control system for an underwater electronic module of the present invention. For example, Figure 1 The flow chart of the intelligent switching control method of the underwater electronic module of the present invention can be shown as follows: Figure 2 The structure shown is implemented.

[0132] Based on the same concept as the intelligent switching control method of an underwater electronic module in the embodiment, the present invention also provides an intelligent switching control system for an underwater electronic module, including:

[0133] The redundant subsystem construction component 11 is used to construct a dual redundant subsystem, wherein the dual redundant subsystem includes a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem.

[0134] The status monitoring and fault location component 12 is used to monitor each electronic module of the first subsystem, output an operation status data set, and identify the operation status data set to locate the faulty electronic module.

[0135] The fault quantity judgment component 13 is used to judge whether the number of the faulty electronic modules is multiple. If the number of the faulty electronic modules is multiple, the multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence.

[0136] The switching sequence acquisition component 14 is 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.

[0137] The switching control component 15 is used to establish a switching communication line and perform switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

[0138] 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.

[0139] 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.

[0140] The operation status data set is output according to the functional response status, input and output level status and communication data status.

[0141] In some embodiments, before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, the fault quantity determination component 13 performs the following steps:

[0142] The coupling characteristics of each electronic module are analyzed, including communication frequency, response delay, functional weight and fault influencing factors.

[0143] Calculation is performed based on the coupling characteristics to obtain coupling indicators of each electronic module.

[0144] The electronic modules are divided based on the coupling index, and the first and second types of electronic modules are output, wherein the first type of electronic modules are strongly coupled electronic modules with a coupling index greater than a preset coupling threshold, and the second type of electronic modules are weakly coupled electronic modules with a coupling index less than or equal to the preset coupling threshold.

[0145] In some implementations, after the electronic modules are divided based on the coupling index, the fault quantity determination component 13 further includes:

[0146] If the current faulty electronic module belongs to the first type of electronic module, the minimum unit module switching strategy is triggered to analyze the multiple faulty electronic modules.

[0147] If the current faulty electronic module belongs to the second type of electronic module, the hot switching repair strategy is triggered to perform hot repair on the faulty electronic module.

[0148] When the hot repair returns a success result, the minimum unit module switching strategy is not triggered.

[0149] When the hot repair returns a failure result, the minimum unit module switching strategy is triggered to analyze multiple faulty electronic modules and generate a first electronic module switching priority sequence.

[0150] In some embodiments, multiple faulty electronic modules are analyzed according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence. The execution steps of the fault quantity determination component 13 include:

[0151] Performing a fault chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chain faulty electronic modules.

[0152] A switching priority evaluation is performed on the independent faulty electronic modules to generate an independent switching priority sequence, wherein the switching priority evaluation is obtained by weighting the functional criticality, load status and coupling index of each electronic module.

[0153] The chain-fault electronic modules are analyzed to generate a chain-fault priority sequence.

[0154] The independent switching priority sequence and the chain switching priority sequence are merged to generate a first electronic module switching priority sequence.

[0155] In some embodiments, the chain-failure electronic modules are analyzed to generate a chain-failure priority sequence, and the execution steps of the fault quantity determination component 13 further include:

[0156] The chain fault electronic modules are analyzed for connectivity and fault propagation paths to determine the key fault electronic modules and accompanying fault electronic modules.

[0157] Performing a switching priority evaluation on the critical fault electronic modules to generate a chain switching priority sequence.

[0158] In some embodiments, the steps of identifying the operating status data set and locating the faulty electronic module by the status monitoring and fault locating component 12 include:

[0159] Construct a healthy operation status sample set corresponding to each electronic module.

[0160] The operating status data set is compared with the healthy operating status sample set to obtain the state deviation corresponding to each electronic module, and the electronic module with a state deviation greater than a preset deviation is identified as a faulty electronic module.

[0161] In some implementations, an electronic module whose state deviation is greater than a preset deviation is identified as a faulty electronic module, and the execution steps of the state monitoring and fault location component 12 further include:

[0162] The underwater environment in which the dual redundant subsystem is located is detected.

[0163] A deviation tolerance threshold is dynamically configured according to the underwater environment, the preset deviation is updated according to the deviation tolerance threshold, the state deviation is compared with the updated preset deviation, and a faulty electronic module is identified.

[0164] Furthermore, the execution steps of the redundant subsystem construction component 11 include: constructing a dual redundant subsystem, wherein each subsystem in the dual redundant subsystem includes a power supply module, a main control module, an interface module and a carrier module, and the electronic modules of each subsystem communicate with each other through a CAN bus and a status IO signal.

[0165] It should be understood that the embodiments mentioned in this specification focus on their differences from other embodiments. The specific embodiments in the aforementioned embodiment one are also applicable to the intelligent switching control system of an underwater electronic module described in embodiment two. For the sake of brevity of the specification, they will not be further elaborated here.

[0166] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the embodiments mentioned above. It should be understood that those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention and are all included in the scope of protection of the present invention.

Claims

1. An intelligent switching control method for an underwater electronic module, characterized in that: include: Constructing a dual redundant subsystem, the dual redundant subsystem comprising a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem; Monitor each electronic module of the first subsystem, output an operating status data set, and identify the operating status data set to locate a faulty electronic module; determining whether there are multiple faulty electronic modules; if there are multiple faulty electronic modules, analyzing the multiple faulty electronic modules according to a minimum unit module switching strategy to generate a first electronic module switching priority sequence; connecting to the second subsystem to obtain a second electronic module switching priority sequence corresponding to the first electronic module switching priority sequence; Establishing a switching communication line, and performing switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line; Before analyzing multiple faulty electronic modules according to the minimum unit module switching strategy, the following steps are also included: Analyze the coupling characteristics of each electronic module, including communication frequency, response delay, functional weight, and fault impact factor; Calculating according to the coupling characteristics to obtain coupling indicators of each electronic module; Divide the electronic modules based on the coupling index, and output a first type of electronic module and a second type of electronic module, wherein the first type of electronic module is a strongly coupled electronic module with a coupling index greater than a preset coupling threshold, and the second type of electronic module is a weakly coupled electronic module with a coupling index less than or equal to the preset coupling threshold; Analyze multiple faulty electronic modules according to the minimum unit module switching strategy to generate a first electronic module switching priority sequence, including: Performing a fault chain correlation analysis on the multiple faulty electronic modules to obtain independent faulty electronic modules and chain faulty electronic modules; Performing a switching priority evaluation on the independently faulty electronic modules to generate an independent switching priority sequence, wherein the switching priority evaluation is obtained by weighting the functional criticality, load status, and coupling index of each electronic module; Analyzing the chain-fault electronic modules to generate a chain-switching priority sequence; The independent switching priority sequence and the chain switching priority sequence are merged to generate a first electronic module switching priority sequence.

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; The heartbeat detection mechanism obtains the functional response status of each electronic module, the state 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; The operation status data set is output 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: After dividing the electronic modules based on the coupling index, the method further includes: If the current faulty electronic module belongs to the first type of electronic module, triggering 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, the hot switching repair strategy is triggered to perform hot repair on the faulty electronic module; When the hot repair returns a success result, the minimum unit module switching strategy is not triggered; When the hot repair returns a failure result, the minimum unit module switching strategy is triggered to analyze multiple faulty electronic modules and generate a first electronic module switching priority sequence.

4. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that: Analyze the chain-fault electronic modules to generate a chain-switching priority sequence, including: Analyze the connectivity and fault propagation paths of the chain fault electronic modules to determine the key fault electronic modules and accompanying fault electronic modules; Performing a switching priority evaluation on the critical fault electronic modules to generate a chain switching priority sequence.

5. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that: Identifying the operating status data set to locate the faulty electronic module includes: Construct a healthy operation status sample set corresponding to each electronic module; The operating status data set is compared with the healthy operating status sample set to obtain the state deviation corresponding to each electronic module, and the electronic module with a state deviation greater than a preset deviation is identified as a faulty electronic module.

6. The intelligent switching control method of an underwater electronic module according to claim 5, characterized in that: Identifying an electronic module whose state deviation is greater than a preset deviation as a faulty electronic module, further comprising: detecting the underwater environment in which the dual redundant subsystem is located; A deviation tolerance threshold is dynamically configured according to the underwater environment, the preset deviation is updated according to the deviation tolerance threshold, the state deviation is compared with the updated preset deviation, and a faulty electronic module is identified.

7. The intelligent switching control method of an underwater electronic module according to claim 1, characterized in that: A dual redundant subsystem is constructed, wherein each subsystem in the dual redundant subsystem includes a power supply module, a main control module, an interface module and a carrier module, and the electronic modules of each subsystem communicate with each other through a CAN bus and a status IO signal.

8. An intelligent switching control system for underwater electronic modules, characterized in that: A method for implementing an intelligent switching control method of an underwater electronic module according to any one of claims 1 to 7, comprising: A redundant subsystem construction component, used to construct a dual redundant subsystem, wherein the dual redundant subsystem includes a first subsystem and a second subsystem, wherein the second subsystem is a redundant subsystem having the same architecture as the first subsystem; a state monitoring and fault location component, configured to monitor each electronic module of the first subsystem, output an operating state data set, and identify the operating state data set to locate a faulty electronic module; a fault quantity determination component, configured to determine whether there are multiple faulty electronic modules; if there are multiple faulty electronic modules, analyzing the multiple faulty electronic modules according to a minimum unit module switching strategy to generate a first electronic module switching priority sequence; 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; The switching control component is used to establish a switching communication line and perform switching control between the first electronic module switching priority sequence and the second electronic module switching priority sequence according to the switching communication line.

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