Multifunctional hot backup underwater robot on-duty device and method

Abstract

According to the multifunctional hot backup underwater robot guarding equipment and method, a double-board-card parallel hot backup working mode with the same hardware structure is adopted, special handshake communication and fault monitoring switching logic are combined, it is ensured that when any single board fails, the guarding function can be seamlessly replaced by the other board card in the second level, and the safety of a guarding system is guaranteed. And meanwhile, the water leakage detection function, the external communication monitoring function, the multi-path driving output function and the like are integrated. According to the device and the method, the reliability of an underwater unattended task can be effectively improved, and the equipment application field is expanded.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned equipment, and in particular to a multifunctional hot backup underwater robot monitoring device for use in underwater robot equipment. Background Technology

[0002] Currently, unattended UUV operations typically employ timing control schemes based on single chips such as microcontrollers, FPGAs, or DSPs, switching between system operation and sleep modes by controlling the on / off state of relays. While this approach is simple in structure, it carries a single point of failure risk. If the monitoring control unit malfunctions, the entire UUV system will be unable to be woken up, resulting in mission failure and potential equipment damage. Summary of the Invention

[0003] This disclosure provides a multifunctional hot-backup underwater robot monitoring device, aiming to solve the problem of reliable underwater robot monitoring. Its core lies in: employing a parallel hot-backup working mode with two identical boards (main board and backup board), combined with dedicated handshake communication and fault monitoring switching logic, ensuring that in the event of any single board failure, the monitoring function can be seamlessly taken over by the other board within seconds. It also integrates multiple functions such as leakage detection, external communication monitoring, and multi-channel drive output.

[0004] The multifunctional hot backup underwater robot monitoring device disclosed herein mainly includes: a rust-resistant outer shell and two identical monitoring circuit boards inside, which are connected to the UUV system via aviation sockets; the two monitoring circuit boards are a redundant hot backup system that is powered on simultaneously and operates in parallel.

[0005] When the UUV system enters a dormant state, the monitoring device disconnects the direct connection between the UUV main control computer and the underwater acoustic communication device, connects itself to the communication link, and provides a power-down drive signal to the main control computer and the emergency computer. In this state, the monitoring device continues to perform monitoring tasks, including: leak detection and monitoring the underwater acoustic communication device signal. When the wake-up conditions are met, the monitoring device provides a power-on drive signal again and restores the direct connection.

[0006] Furthermore, each of the aforementioned monitoring circuit boards includes: a power supply circuit, an MCU control circuit, a communication interface circuit, a water leakage detection circuit, and a drive output circuit, wherein:

[0007] The MCU control circuit is used to control the drive output circuit to provide power-down drive signals to the main control computer and the emergency computer according to the hibernation setting conditions or hibernation commands; to determine the wake-up conditions and control the drive output circuit to provide power-on drive signals; and to determine and switch between the main and backup boards.

[0008] Communication interface circuit: used to convert the MCU's USART signal to 485 level to complete the communication function with the main control computer or underwater acoustic communication device; at the same time, a magnetic latching relay is provided for switching the communication path: when the system enters sleep mode, the direct communication between the main control computer and the underwater acoustic communication device is disconnected, and the monitoring device communicates with the underwater acoustic communication device; when the system is woken up, the direct communication between the main control computer and the underwater acoustic communication device is restored.

[0009] Leakage detection circuit: It has several leakage detection channels, which are connected to the leakage sensor and connected in parallel to the low power operational amplifier. Normally, the input is high level, and when there is a leak, the input is pulled low. After being shaped by the operational amplifier, it is sent to the MCU for detection.

[0010] Drive output circuit: Provides several independent drive signals for powering on or off the main control computer, emergency computer, and magnetic latching relay. It adopts an isolated drive design, generating instantaneous pulses only when needed, with no continuous power consumption.

[0011] Furthermore, the parallel operation and switching method of the two monitoring circuit boards includes:

[0012] (1) Self-test and handshake: The motherboard completes a core function self-test once per second, including: water leakage detection, communication monitoring, and timer status, and then immediately sends a handshake signal to the backup board; the entire handshake process is controlled within 1-2 seconds;

[0013] (2) Fault diagnosis and switching:

[0014] When the motherboard malfunctions: If the motherboard detects a leak detection or communication monitoring malfunction during self-test, it sends an error signal to the backup board. Upon receiving the signal, the backup board immediately takes over control, wakes up the main control computer and the emergency computer, and reports the cause of the "self-test failure".

[0015] When the motherboard communication fails: If the backup board does not receive any handshake signal from the motherboard within the specified time, the motherboard is judged to be "frozen". The backup board first resets the motherboard, and then immediately takes over all output interfaces, including drive signals and communication interfaces, wakes up the main control computer and the emergency computer, and reports the reason for the "reset failure". At this time, the backup board output changes from a high impedance state to an effective state, realizing synchronous and seamless switching of external interfaces.

[0016] Furthermore, the method for the monitoring device to wake up the UUV master control computer includes:

[0017] Timed wake-up: Triggers wake-up by setting a wake-up time;

[0018] Leakage event wake-up: The UUV cabin status is monitored in real time through the leakage detection circuit, and wake-up is triggered when any leakage is detected.

[0019] External command wake-up: The underwater acoustic communication device is monitored through an independent communication interface. When a target command is received, wake-up is triggered, and the stored command information is forwarded to the main control computer in its entirety after wake-up.

[0020] Furthermore, during system hibernation, the monitoring device replaces the main control computer to maintain periodic communication with the underwater acoustic communication device and temporarily stores critical task information to ensure that the task context is not lost after waking up.

[0021] A method for monitoring a multifunctional hot-backup underwater robot using the above-mentioned device mainly includes the following steps:

[0022] Dual-board independent power supply startup, self-test circuit operation, external interfaces are driven by the motherboard by default;

[0023] System hibernation mode: The motherboard periodically performs water leakage detection, communication monitoring, and timer decrement operations, and sends a "heartbeat" pulse to the backup board every second through the handshake circuit. The backup board continuously monitors this pulse.

[0024] The leakage comparison circuit, communication decoding circuit, or timer reset circuit on the motherboard generates a wake-up trigger signal, and the motherboard then sends a wake-up pulse through the drive circuit it controls.

[0025] If the motherboard's "heartbeat" pulse is interrupted due to a hardware failure, the timeout monitoring circuit of the backup board triggers the switching logic. The switching logic circuit first resets the motherboard, then operates the multiplexer to switch all external interfaces to the backup board, and finally the backup board sends a wake-up pulse.

[0026] After the motherboard or the switched backup board wakes up the system, the communication information temporarily stored in the memory is sent to the main control computer through the 485 interface circuit.

[0027] Compared with the prior art, the beneficial effects of this disclosure are:

[0028] (1) Significantly improved reliability: Through dual-machine hot backup and intelligent seamless switching mechanism, the single point of failure risk of traditional single-chip monitoring solution is completely eliminated, ensuring that the monitoring function can continue to operate reliably when any circuit board fails.

[0029] (2) Highly integrated functions: It integrates multiple functions such as timed wake-up, multi-channel water leakage detection, dual-channel communication relay and monitoring, multi-channel drive output and information buffering into a single module, simplifying the UUV system structure.

[0030] (3) Fault traceability: The module not only realizes fault switching, but also accurately identifies and reports the fault type to the host computer through status signals or preset communication codes (such as self-test fault, communication timeout reset), which facilitates subsequent maintenance and diagnosis.

[0031] (4) Low power consumption and high environmental adaptability: Under the premise of realizing complex functions and dual-machine hot backup, the overall power consumption is controlled within 2W, and the hardware adopts industrial / military grade components to meet the long-term working requirements under harsh underwater environments (wide temperature, high humidity, high pressure).

[0032] (5) Interface transparency and low power consumption: The hardware switching process is transparent to the upper-layer system, and through carefully designed power management and component selection, it can achieve complex redundant functions while meeting the stringent power consumption requirements of underwater equipment. Attached Figure Description

[0033] The above and other objects, features and advantages of this disclosure will become more apparent from the more detailed description of exemplary embodiments of this disclosure taken in conjunction with the accompanying drawings, in which the same reference numerals generally represent the same components.

[0034] Figure 1 This is a block diagram illustrating the connection with an external device according to an exemplary embodiment of this disclosure;

[0035] Figure 2 For the external structure of the equipment;

[0036] Figure 3 It is a power conversion circuit;

[0037] Figure 4 For MCU control circuit;

[0038] Figure 5 For water leakage detection circuit;

[0039] Figure 6 For port output isolation circuit;

[0040] Figure 7 This is a schematic diagram of the external connections of a magnetic latching relay;

[0041] Figure 8 This is a schematic diagram of the equipment's workflow;

[0042] Figure 9 A 3D view of the device board (front view). Detailed Implementation

[0043] Preferred embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0044] This disclosure provides a multifunctional hot-backup underwater robot monitoring device and method. It features leakage detection, communication, hot-backup switching, fault self-diagnosis, and reliable stand-alone operation, effectively improving the reliability of unmanned underwater tasks and expanding the application areas of the equipment.

[0045] In one exemplary implementation, as shown in the appendix Figure 1 As shown, a monitoring device according to this disclosure consists of a rust-resistant outer shell and two identical monitoring circuit boards inside, which are connected to the UUV system via two aviation sockets (models XCE24F26K1P1 and XCE24F26K1P1X).

[0046] Its system-level functional connections, such as Figure 1 As shown: The device is powered by the system's 24V power supply. When the system is operating at full capacity, the main control computer and the underwater acoustic communication device are directly connected via a magnetic latching relay (JMX-4115M) within the device. When the system enters sleep mode, the device disconnects the direct connection between the main control computer and the communication device, connects to the communication link itself, and provides a power-down drive signal to both the main control computer and the emergency computer. In this state, the device continues to perform tasks such as leak detection and monitoring the underwater acoustic communication device signal. When the wake-up conditions are met, the device re-provides the power-on drive signal and restores the direct connection.

[0047] 1. Hardware Components

[0048] The specific hardware components of each monitoring circuit board card include:

[0049] (1) Power supply circuit: An isolated DC / DC power module (WRB_ST-1WR2) is used to convert the input 20-36VDC to 5V and 3.3V, with overvoltage, overcurrent, undervoltage and reverse connection protection. An ultra-low power LDO (TPS7A05) is used to generate the 3.3V power supply required by the MCU.

[0050] (2) Main control circuit: The core controller of each board uses the pin-compatible but lower power consumption STM32L053 chip (or STM32F103C8T3 as another embodiment), paired with military-grade high-stability temperature-compensated crystal oscillator (ZA400) to ensure clock accuracy (30-day deviation ≤2ms).

[0051] (3) Communication interface circuit: The MAX13487 chip is used to convert the MCU's USART signal to 485 level. The communication path between the main control computer and the underwater acoustic communication device is switched by a magnetic latching relay JMX-4115M (operating time ≤15ms).

[0052] (4) Leakage detection circuit: 5 detection channels are connected in parallel to the low-power operational amplifier OPA333. Normally, the level is high. When there is a leak, the input is pulled low and sent to the MCU for detection after being shaped by the operational amplifier.

[0053] (5) Drive output circuit: Provides 4 independent 24V / 0.1A drive signals (used to control the magnetic latching relays of the main control and emergency computer to power on / off), adopts isolated drive design, and generates instantaneous pulses (>15ms) only when needed, with no continuous power consumption.

[0054] 2. Intelligent hot backup and seamless switching mechanism based on two-way handshake communication

[0055] In this embodiment, the two monitoring circuit boards are not a simple primary and secondary cold backup, but a hot backup system that powers on simultaneously and runs in parallel. The specific working principle is as follows:

[0056] (1) Self-test and handshake: The motherboard completes a core function self-test (leakage detection, communication monitoring, timer status) once per second, and then immediately sends a handshake signal to the backup board. The entire handshake process is controlled within 1-2 seconds.

[0057] (2) Fault diagnosis and switching:

[0058] Scenario A (Motherboard Malfunction): If the motherboard detects a leak or communication monitoring malfunction during self-test, it sends an error signal to the backup board. Upon receiving this signal, the backup board immediately takes over control, wakes up the main controller and emergency computer, and reports the cause of the "self-test failure".

[0059] Scenario B (Motherboard Communication Failure): If the backup board does not receive any handshake signal from the motherboard within a specified time (e.g., 2 seconds), the motherboard is judged to be "frozen". The backup board first resets the motherboard, then immediately takes over all output interfaces (including drive signals, communication interfaces, etc.), wakes up the main controller and emergency computer, and reports the cause of the "reset failure". At this time, the backup board output changes from a high-impedance state to an active state, realizing synchronous and seamless switching of external interfaces.

[0060] (3) Unique External Interface: Although it has two internal boards, it appears as a single logical device to the external (main control computer). When the main control computer communicates with it, it does not need to distinguish whether the motherboard or the backup board is currently working, and the switching process is transparent to the upper-level system.

[0061] 3. Multi-factor wake-up and information hosting integration

[0062] In this embodiment, the monitoring device integrates multiple wake-up condition judgment and temporary information storage functions:

[0063] Scheduled wake-up: The wake-up time can be set for up to 30 days (43,200 minutes).

[0064] Leakage event wake-up: The UUV cabin status is monitored in real time through 5 high-reliability leakage detection circuits (using low-power op-amp OPA333). The wake-up is triggered when any circuit detects leakage (low level).

[0065] External command wake-up: The underwater acoustic communication device is monitored through an independent 485 interface. When a target command (such as a task command) is received, the device is triggered to wake up and then forwards the stored command information to the main control computer.

[0066] Information hosting: During system hibernation, the module replaces the main control computer to maintain periodic communication with the underwater acoustic communication device and temporarily stores key task information (such as target point coordinates, speed commands, etc.) to ensure that the task context is not lost after waking up.

[0067] 4. Workflow:

[0068] The operation of the device is achieved through state transitions in the aforementioned hardware architecture:

[0069] (1) Initial power-on state: Dual boards start with independent power supply, self-test circuit works, and external interfaces are driven by the motherboard by default.

[0070] (2) System hibernation mode: The motherboard periodically performs operations such as water leakage detection, communication monitoring, and timer decrement, and sends a "heartbeat" pulse to the backup board every second through the handshake circuit. The backup board continuously monitors this pulse.

[0071] (3) Wake-up trigger state: The water leakage comparison circuit, communication decoding circuit or timer zeroing circuit on the motherboard generates a wake-up trigger signal, and the motherboard then sends a wake-up pulse through the drive circuit it controls.

[0072] (4) Fault Switching Status: If the motherboard's "heartbeat" pulse is interrupted due to a hardware failure, the standby board's timeout monitoring circuit triggers the switching logic. The switching logic circuit first resets the motherboard, then operates the multiplexer to switch all external interfaces to the standby board, and finally the standby board sends a wake-up pulse. This process is driven by hardware logic and is completed within seconds.

[0073] (5) Information transmission status: Regardless of whether the system is woken up by the motherboard or the switched backup board, the communication information temporarily stored in the memory can be sent to the main control computer through the 485 interface circuit.

[0074] The detailed design and implementation of each part are further explained below:

[0075] 1. Main technical specifications and usage requirements

[0076] (1) Main technical indicators

[0077] The multi-functional hot-backup underwater robot monitoring equipment has the following electrical performance specifications:

[0078] (1) Input voltage range: +20~36VDC;

[0079] (2) Continuous power consumption ≤ 2W;

[0080] (3) Uses 485 serial communication with the main control computer and the underwater acoustic communication device;

[0081] (4) It has a 4-channel +24±1.2V (0.1A) power supply drive function;

[0082] (5) MTBF ≥ 10,000 hours (estimated value).

[0083] (6) Total weight: ≤4kg.

[0084] (2) Main usage requirements

[0085] The electrical performance indicators of the multi-functional hot-backup underwater robot monitoring equipment meet the requirements described in Chapter 4.1.

[0086] The equipment can be reliably used in ambient temperatures ranging from -20℃ to +55℃, and stored at temperatures ranging from -40℃ to +70℃.

[0087] Relative humidity: 5%–95%;

[0088] Atmospheric pressure: 86 kPa~106 kPa.

[0089] 2. Overall design

[0090] Equipment external structure such as Figure 2 As shown, the overall dimensions of the machine shall not exceed: (Length) 262mm ± 0.8mm x (Width) 150mm ± 0.8mm x (Height) 45mm ± 0.8mm;

[0091] The equipment connects to the system via two aviation sockets, model XCE24F26K1P1 and XCE24F26K1P1X, featuring a design to prevent incorrect insertion. Both the inner and outer surfaces of the chassis are anodized, and conductive adhesive strips are used to fill the seams to maintain the chassis's conductive shielding. All screws are secured to prevent loosening, and the chassis is painted.

[0092] The necessary external interface pin functions of the device are shown in the table below:

[0093] Table 1 External Pins and Functions

[0094]

[0095] 3. Power conversion circuit:

[0096] Powered by a rated 24V supply from the system, the voltage is converted to 5V and 3.3V via an isolated DC / DC power module (including overvoltage, overcurrent, undervoltage, and short-circuit protection). Figure 3 As shown:

[0097] An isolated DC / DC power supply module (WRB_ST-1WR2) is used to convert the input 20-36VDC to 5V and 3.3V, with overvoltage, overcurrent, undervoltage, and reverse connection protection. An ultra-low power LDO (TPS7A05) is used to generate the 3.3V power supply required by the MCU.

[0098] The 5V level powers the water leakage detection input and the 485 serial port conversion function. The isolated 5V power supply is then converted to 3.3V power supply through the ultra-low power LDO chip TPS7A05 to power the MCU control circuit.

[0099] 4. MCU control circuit:

[0100] The core controller of each board uses the pin-compatible but lower power consumption STM32L053 chip (or STM32F103C8T3 as another embodiment), paired with a military-grade high-stability temperature-compensated crystal oscillator (ZA400) to ensure clock accuracy (30-day deviation ≤2ms).

[0101] The control function uses the STM32L053, an ultra-low-power chip fully compatible with the STM32F103, as the main control chip. USART1 and USART2 pins, in conjunction with the MAX13487 chip, are converted to RS-485 levels to facilitate communication between the host computer and the underwater acoustic communication unit. A JMX-4115M magnetic latching relay is used to switch the device between the underwater acoustic communication unit and the host computer via the RS-485 serial port. This type of relay has an actuation or reset time of ≤15ms, meeting the system's second-level switching requirements. The specific circuit is as follows... Figure 4 As shown.

[0102] It uses an STM32F103 chip as the main control chip with a main frequency of 72MHz, and a military-grade 8MHz temperature-compensated active crystal oscillator as the external clock input, which has higher stability than ordinary and voltage-controlled crystal oscillators. Its time deviation does not exceed 2ms within 30 days.

[0103] 5. Leakage detection circuit:

[0104] The five detection channels are connected to the low-power operational amplifier OPA333 via the logic gate circuit SN54LS30. This can protect the device from external level fluctuations during equipment commissioning. The normal level is high, and the input is pulled low when there is a water leak. After being shaped by the operational amplifier, the input is sent to the MCU for detection.

[0105] The five external input signals correspond to five pairs of leak detection interfaces. A low level indicates a leak, while a high level indicates an open circuit. The leak detection circuit is as follows: Figure 5 As shown:

[0106] In the diagram, each channel is connected to the input terminal of the low-power power amplifier chip OPA333 via logic gate circuits. When no water leakage occurs, the water leakage detection interface is not conductive, and the input pin is at a high level; when water leakage occurs, the water leakage detection interface is conductive, and the input pin is at a low level. The output terminal is connected to the microcontroller detection port via a current-limiting resistor.

[0107] 6. Switch drive circuit:

[0108] It is used to provide 4 independent 24V / 0.1A drive signals (for controlling the magnetic latching relays of the main controller and emergency computer to power on / off), and adopts an isolated drive design, generating instantaneous pulses (>15ms) only when needed, with no continuous power consumption.

[0109] like Figure 6 As shown: It has 4 power supply drive functions (+24±1.2V, 0.1A), providing power-on and power-off drive signals to the main control computer and emergency computer respectively. The signals are generated by the MCU control circuit, driven by current, and also have reverse voltage protection function.

[0110] Since the drive signal is used to operate the magnetic latching relay within the system, it does not require continuous power supply. Only a 24V rising edge signal with a current greater than 15ms and a current of not less than 0.1A is needed. Therefore, there is no continuous power consumption.

[0111] 7. Communication interface circuit:

[0112] The MAX13487 chip is used to convert the MCU's USART signals to 485 level. A magnetic latching relay JMX-4115M (operating time ≤15ms) is used to switch the communication path between the main control computer and the underwater acoustic communication device.

[0113] In this embodiment, the device communicates with the host and the underwater acoustic communication unit via RS485 serial port.

[0114] The baud rate is customizable, referencing the underwater acoustic communication protocol. It has 1 start bit, 8 data bits, 1 stop bit, and no parity.

[0115] Communication content:

[0116] (1) Time synchronization information transmission and feedback

[0117] The master computer sends timing commands to the device. The specific communication protocol is shown in Table 2.

[0118] Table 2 Time synchronization instructions

[0119]

[0120] The format of the equipment feedback data is shown in Table 3.

[0121] Table 3 Timing Command Feedback

[0122]

[0123] (2) Wake-up time setting and feedback

[0124] The host sends a wake-up time setting command. See Table 4 for the specific communication protocol details.

[0125] Table 4 Wake-up Time Setting Instructions

[0126]

[0127] The format of the equipment feedback data is shown in Table 5.

[0128] Table 5 Wake-up Time Setting Command Feedback

[0129]

[0130] If multiple times are received, the time set by the last time will be used as the confirmation time.

[0131] (3) The main control computer and the emergency computer send a communication completion instruction.

[0132] After confirming the completion of the above-mentioned interactive work, the main control computer sends a communication completion instruction. The device shuts down the main control computer and the emergency computer 10 seconds after receiving the instruction, and starts timing at the same time. The instruction format is shown in Table 6.

[0133] Table 6 Communication Completion Instructions

[0134]

[0135] (4) The main control computer and the emergency computer send wake-up information and feedback.

[0136] After the main control computer starts up, it detects that the guard circuit switch is turned on, and then sends a command to obtain wake-up information. The command format is shown in Table 7.

[0137] Table 7 Commands for obtaining wake-up information

[0138]

[0139] The device provides feedback on the wake-up reason and task information, and simultaneously sends time synchronization information to the main control computer. The data format is shown in Table 8.

[0140] Table 8 Wake-up Information Feedback Data

[0141]

[0142] The specific format of the above commands can be customized.

[0143] In this embodiment, the magnetic latching relay is as shown in the attached diagram. Figure 7 As shown, 1A and 1B are both monitored devices. Magnetic latching relays only consume power when activated; they do not consume energy when not activated.

[0144] Initially, 2A and 3A are connected, that is, the underwater acoustic communication device is connected to the main control computer. When a power-down command is received, that is, the current in the X1-X2 direction generates a magnetic field that causes the relay to operate, connecting 2A and 1A and 2B and 1B, that is, connecting the underwater acoustic communication device to the monitoring equipment.

[0145] During the UUV system's power-off period, the monitoring equipment is responsible for communication with the underwater acoustic communication device. When a power-on command is generated, i.e., current flows in the Y1-Y2 direction, the relay activates again, reconnecting to 2A and 3A, and the main control computer takes over communication with the underwater acoustic communication device. A schematic diagram of the equipment's workflow is shown below. Figure 8 As shown.

[0146] 8. Low power consumption design

[0147] By selecting low-power components (low quiescent current power supply, low-power operational amplifier, microcontroller sleep mode), optimizing circuit design (magnetic latching relay to eliminate holding power), and managing instantaneous power consumption (peak-shifting drive), the continuous power consumption of the dual-machine system is achieved to ≤2W. The device board's 3D diagram (front view) is shown below. Figure 9 As shown.

[0148] The above technical solutions are merely exemplary embodiments of the present invention. For those skilled in the art, based on the application methods and principles disclosed in the present invention, it is easy to make various types of improvements or modifications, and not limited to the methods described in the specific embodiments of the present invention. Therefore, the methods described above are merely preferred and not restrictive.

Claims

1. A multifunctional hot-backup underwater robot monitoring device, characterized in that, include: The rust-resistant outer shell and two identical internal guard circuit boards are connected to the UUV system via aviation sockets; the two guard circuit boards form a redundant hot backup system that is powered on simultaneously and operates in parallel. When the UUV system enters a dormant state, the monitoring device disconnects the direct connection between the UUV main control computer and the underwater acoustic communication device, connects itself to the communication link, and provides a power-down drive signal to the main control computer and the emergency computer. In this state, the monitoring device continues to perform monitoring tasks, including: leak detection and monitoring of underwater acoustic communication signals; when the wake-up conditions are met, the monitoring device provides a power-on drive signal again and restores the direct connection path.

2. The apparatus according to claim 1, characterized in that, Each of the aforementioned monitoring circuit boards includes: a power supply circuit, an MCU control circuit, a communication interface circuit, a water leakage detection circuit, and a drive output circuit, wherein: The MCU control circuit is used to control the drive output circuit to provide power-down drive signals to the main control computer and the emergency computer according to the hibernation setting conditions or hibernation commands; to determine the wake-up conditions and control the drive output circuit to provide power-on drive signals; and to determine and switch between the main and backup boards. Communication interface circuit: used to convert the MCU's USART signal to 485 level to complete the communication function with the main control computer or underwater acoustic communication device; at the same time, a magnetic latching relay is provided for switching the communication path: when the system enters sleep mode, the direct communication between the main control computer and the underwater acoustic communication device is disconnected, and the monitoring device communicates with the underwater acoustic communication device; when the system is woken up, the direct communication between the main control computer and the underwater acoustic communication device is restored. Leakage detection circuit: It has several leakage detection channels, which are connected to the leakage sensor and connected in parallel to the low power operational amplifier. Normally, the input is high level, and when there is a leak, the input is pulled low and sent to the MCU for detection after being shaped by the operational amplifier. Drive output circuit: Provides several independent drive signals for powering on or off the main control computer, emergency computer, and magnetic latching relay. It adopts an isolated drive design, generating instantaneous pulses only when needed, with no continuous power consumption.

3. The apparatus according to claim 1 or 2, characterized in that, The parallel operation and switching method of the two monitored circuit boards includes: (1) Self-test and handshake: The motherboard completes a core function self-test once per second, including: water leakage detection, communication monitoring, and timer status, and then immediately sends a handshake signal to the backup board; the entire handshake process is controlled within 1-2 seconds; (2) Fault diagnosis and switching: When the motherboard malfunctions: If the motherboard detects a leak detection or communication monitoring malfunction during self-test, it sends an error signal to the backup board. Upon receiving the signal, the backup board immediately takes over control, wakes up the main control computer and the emergency computer, and reports the cause of the "self-test failure". When the motherboard communication fails: If the backup board does not receive any handshake signal from the motherboard within the specified time, the motherboard is judged to be "frozen". The backup board first resets the motherboard, and then immediately takes over all output interfaces, including drive signals and communication interfaces, wakes up the main control computer and the emergency computer, and reports the reason for the "reset failure". At this time, the backup board output changes from a high impedance state to an effective state, realizing synchronous and seamless switching of external interfaces.

4. The apparatus according to claim 1, characterized in that, The method for the monitoring device to wake up the UUV master computer includes: Timed wake-up: Triggers wake-up by setting a wake-up time; Leakage event wake-up: The UUV cabin status is monitored in real time through the leakage detection circuit, and wake-up is triggered when any leakage is detected. External command wake-up: The underwater acoustic communication device is monitored through an independent communication interface. When a target command is received, wake-up is triggered, and the stored command information is forwarded to the main control computer in its entirety after wake-up.

5. The apparatus according to claim 1, characterized in that, During system hibernation, the monitoring device replaces the main control computer to maintain periodic communication with the underwater acoustic communication device and temporarily stores critical task information to ensure that the task context is not lost after the system is woken up.

6. A method for monitoring a multifunctional hot-backup underwater robot using the device described in any one of claims 1-5, characterized in that, Includes the following steps: Dual-board independent power supply startup, self-test circuit operation, external interfaces are driven by the motherboard by default; System hibernation mode: The motherboard periodically performs water leakage detection, communication monitoring, and timer decrement operations, and sends a "heartbeat" pulse to the backup board every second through the handshake circuit. The backup board continuously monitors this pulse. The leakage comparison circuit, communication decoding circuit, or timer reset circuit on the motherboard generates a wake-up trigger signal, and the motherboard then sends a wake-up pulse through the drive circuit it controls. If the motherboard's "heartbeat" pulse is interrupted due to a hardware failure, the timeout monitoring circuit of the backup board triggers the switching logic. The switching logic circuit first resets the motherboard, then operates the multiplexer to switch all external interfaces to the backup board, and finally the backup board sends a wake-up pulse. After the motherboard or the switched backup board wakes up the system, the communication information temporarily stored in the memory is sent to the main control computer through the 485 interface circuit.

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