A monitoring host and a monitoring system based on core board double-redundancy hot backup

Abstract

The application relates to a monitoring host and a monitoring system based on core board card double-redundancy hot backup, and belongs to the field of redundant computers. The monitoring host and system comprise two core board cards, namely a main board card and a backup board card, the two core board cards are provided with network ports for connecting a platform network, and a communication line is directly connected between the two core board cards; the main board card is used for sending monitoring data to the platform network through the network port and periodically sending a heartbeat signal of the main board card to the platform network; the backup board card is used for receiving the heartbeat signal of the main board card through the network port to monitor the state of the main board card, and when the state of the main board card is monitored to be abnormal, sending a state inquiry message to the main board card through the communication line, and when a response signal of the abnormal state of the main board card is received or the response signal is abnormal, performing main-backup switching and sending monitoring data to the platform network and periodically sending a heartbeat signal of the backup board card to the platform network. The application reduces the cost of a double-redundancy switching system and improves the reliability of main-backup board card fault switching.

Description

Technical Field

[0001] This invention belongs to the field of redundant computers, specifically relating to a monitoring host and monitoring system based on dual redundancy hot backup of core boards. Background Technology

[0002] For monitoring hosts, the purpose is to monitor important areas in real time to detect anomalies and take appropriate action. For example, in modern ships, fire is a major threat to their survivability. A fire alarm monitoring system can monitor all important areas of the ship in real time. Fire alarm monitoring systems contain various types of detectors in large numbers. Due to the special nature of ship missions, fire alarm monitoring systems must maintain long-term, uninterrupted, and reliable operation during voyages. Therefore, how to reliably and quickly acquire and process information from the detectors within the fire alarm monitoring system to formulate appropriate fire response plans is a crucial problem that needs to be solved to improve the survivability of ships in fire situations.

[0003] To ensure the stability of monitoring systems, most existing technologies implement redundancy at the host device level. For example, a fire alarm monitoring system might have two host devices. However, this method increases hardware costs and requires a certain failover time, failing to meet the requirements for reliable information acquisition, uploading, and real-time information processing within the monitoring system. Furthermore, existing dual-machine redundancy switching systems either require external arbitration during master-slave switching, as disclosed in Chinese invention patent application CN109739694 A, or rely solely on heartbeat signals between the master and slave devices for fault determination and autonomous switching. The first type of switching system is costly, while the second type's fault determination is unreliable and prone to unnecessary switching. Summary of the Invention

[0004] The purpose of this invention is to provide a monitoring host and monitoring system based on dual redundancy hot backup of core boards, so as to solve the problems of high cost and low reliability of existing dual-machine redundancy switching systems.

[0005] To achieve the above objectives, the monitoring host based on dual redundancy hot backup of core boards provided by the present invention includes two core boards: the main board is in working state, and the backup board is in hot standby state. Both core boards are equipped with network ports for connecting to the platform network, and a communication line is directly connected between the two core boards. The main board is used to send monitoring data to the platform network through its own network port and to periodically send its own heartbeat signal to the platform network. The backup board is used to receive the heartbeat signal from the main board through its own network port, monitor the status of the main board based on the heartbeat signal, and when an abnormal status of the main board is detected, send a status query message to the main board through the communication line. When a response signal indicating an abnormal status of the main board is received, or when the response signal is abnormal, a primary / backup switch is performed, and monitoring data and its own heartbeat signal are sent to the platform network.

[0006] Furthermore, when the backup board receives a response signal indicating that the main board is in normal status, it does not perform a primary / backup switch and continues to monitor the main board's heartbeat signal.

[0007] Furthermore, the backup board periodically sends status query messages to the main board via the communication line.

[0008] Furthermore, if the backup board fails to receive the heartbeat signal from the mainboard for the first consecutive set cycle, the mainboard is determined to be in an abnormal state.

[0009] Furthermore, if the backup board fails to receive a response signal from the mainboard for the second consecutive set cycle, the response signal is determined to be abnormal.

[0010] Furthermore, each core board is equipped with two independent CAN ports, each of which is used to connect to various sensors via the CAN bus.

[0011] The beneficial effects of the monitoring host of this invention are as follows: by setting up redundant dual boards in the monitoring host, compared with the traditional method of setting up dual monitoring hosts, the equipment cost is reduced while ensuring reliability. Each board is connected by a direct communication line. When the motherboard is found to be abnormal based on the heartbeat signal, a status query message can be sent through this communication line to reconfirm the motherboard status, thus improving the reliability of the primary / backup board failure switching.

[0012] To achieve the above objectives, the monitoring system based on dual redundancy hot backup of core boards provided by the present invention includes a monitoring host, a platform network, and at least one sensor. The monitoring host includes two core boards: the main board is in working state, and the backup board is in hot standby state. Each sensor is communicatively connected to both core boards. The two core boards are connected to the platform network via network ports, and a communication line is directly connected between the two core boards. The main board sends monitoring data to the platform network and periodically sends its own heartbeat signal to the platform network through its own network port. The backup board receives the heartbeat signal from the main board through its own network port to monitor the main board's status. When an abnormality is detected in the main board, the backup board sends a status query message to the main board through the communication line. When a response signal indicating an abnormality in the main board's status is received or no response signal is received from the main board, a primary / backup switch is performed, and monitoring data and periodic heartbeat signals are sent to the platform network.

[0013] Furthermore, when the backup board receives a response signal indicating that the main board is in normal status, it does not perform a primary / backup switch and continues to monitor the main board's heartbeat signal.

[0014] Furthermore, the backup board periodically sends status query messages to the main board via the communication line.

[0015] Furthermore, if the backup board fails to receive a response signal from the mainboard for the second consecutive set cycle, the response signal is determined to be abnormal.

[0016] Furthermore, each core board is equipped with two independent CAN ports, namely the first CAN port and the second CAN port. After the CAN bus is connected to each sensor in sequence, one end of the CAN bus is connected to the first CAN port and the other end is connected to the second CAN port.

[0017] Furthermore, each core board is equipped with a receive buffer, which is used to store the data extracted from the CAN port. For any sensor sending two data streams to the two CAN ports of the core board at any given time, only one copy is stored in the receive buffer.

[0018] Furthermore, each CAN port of the core board receives data uploaded by each sensor via the CAN bus and temporarily stores it in the CAN buffer; the data reception task of the CAN port and the data storage task of the reception buffer are performed in parallel using different threads.

[0019] Furthermore, the data storage task in the receiving buffer is executed once every set time interval, which is set according to the core board's processing capacity for data storage tasks and the real-time requirements of the monitoring system.

[0020] Furthermore, the sensors upload data to each core board at a fixed cycle. For each transmission channel, the monitoring host records the latest time of the data uploaded by each sensor received in that transmission channel, and calculates the difference between the latest time of the data uploaded by each sensor and the time of the last data upload. If the difference for a certain sensor is greater than a set time, it is determined that the sensor is offline in the current transmission channel.

[0021] Furthermore, the sensors upload data according to a fixed period. For each transmission channel, the monitoring host records the latest time of the data uploaded by each sensor received in that transmission channel, and calculates the difference between the latest time of the data uploaded by each sensor and the time of the last data upload. If the difference for a certain sensor is greater than a set time, an inspection command is sent to that sensor through that transmission channel. If no data is received from the sensor in the next upload cycle, the sensor is determined to be offline in the current transmission channel. If the sensor is offline in both transmission channels, the sensor is determined to be offline.

[0022] Furthermore, based on the offline status of each sensor in the two transmission channels, the status of the two transmission channels is determined: if all sensors are online normally in both transmission channels, the status of the two transmission channels is normal; if not all sensors are online in either channel, the status of the two transmission channels is open circuit; if all sensors are offline in both channels, the status of the two transmission channels is short circuit.

[0023] The beneficial effects of the monitoring system of this invention are as follows: By setting up redundant dual boards in the monitoring host, compared with the traditional method of setting up dual monitoring hosts, the system reduces equipment costs while ensuring reliability. Each board is connected to a direct communication line. When a motherboard malfunction is detected based on a heartbeat signal, a status query message can be sent through this communication line to reconfirm the motherboard status, thus improving the reliability of primary / backup board failover. Attached Figure Description

[0024] Figure 1 A schematic diagram of the structure of a monitoring host based on dual redundancy hot backup of the core board provided in an embodiment of the present invention; Figure 2 This is a flowchart of the primary / standby board fault switching process provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a monitoring system based on dual redundancy hot backup of the core board provided in an embodiment of the present invention; Figure 4 This is a diagram of a dual-terminal logical ring CAN bus network structure provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a data fusion strategy provided in an embodiment of the present invention; Figure 6 This is a flowchart of the sensor offline determination process provided in an embodiment of the present invention; Figure 7 This is a schematic diagram showing the monitoring loop in normal condition, provided in an embodiment of the present invention. Figure 8 This is a schematic diagram showing the monitoring loop being open in an embodiment of the present invention; Figure 9 This is a schematic diagram showing the monitoring loop being in a short-circuit state, as provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0026] The basic idea of ​​this invention is to improve the reliability of the monitoring system by setting up two redundant core boards in the monitoring host, instead of adding a new monitoring host, thus reducing equipment costs. The two core boards send their own heartbeat information to the platform network. The backup board monitors the motherboard's heartbeat information. When it detects an abnormal state of the motherboard based on the heartbeat information, it directly sends a status confirmation message to the motherboard. After confirming that the other party's state is indeed abnormal, a master-slave switchover is performed. A master-slave switchover only occurs when both the heartbeat signal and the status confirmation signal are satisfied simultaneously, thus ensuring high reliability.

[0027] Example of a monitoring host based on dual redundancy hot backup of core boards: like Figure 1 , 2 As shown, the monitoring host of the present invention includes two core boards: a main board in active state and a backup board in hot standby state. Each core board has a network port connected to the platform network, and a direct communication line connects the two core boards. When the monitoring host starts working, both core boards receive data from sensor nodes. However, only the main board sends its acquired monitoring data and periodically sends its own heartbeat signal to the platform network through its own network port. The backup board does not send its acquired monitoring data or its own heartbeat signal to the platform network. However, the backup board receives the main board's heartbeat signal from the platform network through its own network port and monitors the main board's status based on the heartbeat signal. When the main board's heartbeat signal is abnormal, the backup board sends a status query message to the main board through the direct communication line between the two. Upon receiving a response signal indicating an abnormal main board status, or when the response signal is abnormal, a master / slave switch is performed, and the backup board sends its acquired monitoring data and periodically sends its own heartbeat message to the platform network.

[0028] In this system, when the backup board detects an abnormal status on the motherboard based on its heartbeat signal, it sends a status query message to the motherboard via a dedicated network to improve reliability. If the issue stems from a communication failure between the motherboard and the platform network, the motherboard sends an abnormal status response signal to the backup board via the dedicated network. Upon receiving this response, the backup board initiates a master-slave switchover. If the motherboard is damaged, it will be unable to perform communication functions and will therefore be unable to send any communication messages. Consequently, the backup board will not receive any response signal, indicating an abnormal response signal, and a master-slave switchover will occur. If the motherboard's network status is normal, it replies with a normal response message to the backup board. When the backup board receives this normal response signal, a master-slave switchover is not initiated, and the backup board continues to monitor the motherboard's heartbeat on the platform network.

[0029] The platform network is the communication network between the monitoring host and the monitoring backend.

[0030] Preferably, during the primary / backup switchover, the motherboard restarts its own network module, sets the network sending module to the off mode and the network receiving module to the on mode, at which point the motherboard becomes the backup board; the original backup board sends the processed monitoring data information to the platform network and periodically sends its own heartbeat to the platform network, and the backup board becomes the motherboard.

[0031] To ensure the reliability of status query message transmission, the backup board periodically sends status query messages to the main board through the communication line.

[0032] Furthermore, if the backup board fails to receive a heartbeat signal from the mainboard for the first set period, the mainboard is deemed to be in an abnormal state. The first set period can be configured according to actual needs, such as 2, 3, or 4 periods.

[0033] Furthermore, if the backup board fails to receive a response signal (whether normal or abnormal) from the mainboard for a second consecutive set period, the response signal is considered abnormal, the mainboard is deemed damaged, and the backup board is switched to the mainboard. The second set period can be configured according to actual needs, such as 2, 3, or 4 periods.

[0034] Furthermore, the communication line directly connecting the motherboard and the backup board is an RS485 communication line, but other serial communication methods are also possible.

[0035] Furthermore, such as Figure 4 As shown, each core board has two independent CAN ports. Figure 4The CAN bus consists of two ports (CAN1 and CAN2). Each CAN port is used to connect to the respective sensors via the CAN bus. In practical applications, after the CAN bus is connected to each sensor in sequence, one end of the CAN bus is connected to the CAN1 port and the other end is connected to the CAN2 port, thus forming a dual-terminal logic ring CAN bus network structure.

[0036] In this embodiment, the dual-redundancy hot backup method of the motherboard avoids the problem of important monitoring information not being able to be uploaded due to motherboard network failure or motherboard damage, thereby improving the reliability of the monitoring system.

[0037] Example of a monitoring system based on dual redundancy hot backup of core boards: like Figure 3 As shown, the monitoring system in this embodiment includes a monitoring host, a platform network, and at least one sensor. The monitoring host includes two core boards: a main board that is in operation and a backup board that is in hot standby mode. Each sensor is communicatively connected to both core boards. Both core boards are connected to the platform network via network ports, and a communication line is directly connected between them. The main board sends monitoring data to the platform network and periodically sends its own heartbeat signal to the platform network through its own network port. The backup board receives the heartbeat signal from the main board through its own network port to monitor the main board's status. When an abnormality is detected in the main board's status, it sends a status query message to the main board through the communication line. Upon receiving a response signal indicating an abnormality in the main board's status or when the response signal is abnormal, it performs a primary / backup switchover and sends monitoring data to the platform network and periodically sends its own heartbeat signal.

[0038] In this system, when the backup board detects an abnormal status on the motherboard based on its heartbeat signal, it sends a status query message to the motherboard via a dedicated network to improve reliability. If the issue stems from a communication failure between the motherboard and the platform network, the motherboard sends an abnormal status response signal to the backup board via the dedicated network. Upon receiving this response, the backup board initiates a master-slave switchover. If the motherboard is damaged, it will be unable to perform communication functions and will therefore be unable to send any communication messages. Consequently, the backup board will not receive any response signal, indicating an abnormal response signal, and a master-slave switchover will occur. If the motherboard's network status is normal, it replies with a normal response message to the backup board. When the backup board receives this normal response signal, a master-slave switchover is not initiated, and the backup board continues to monitor the motherboard's heartbeat on the platform network.

[0039] Preferably, during the primary / backup switchover, the motherboard restarts its own network module, sets the network sending module to the off mode and the network receiving module to the on mode, at which point the motherboard becomes the backup board; the original backup board sends the processed monitoring data information to the platform network and periodically sends its own heartbeat to the platform network, and the backup board becomes the motherboard.

[0040] To ensure the reliability of status query message transmission, the backup board periodically sends status query messages to the main board through the communication line.

[0041] Furthermore, if the backup board fails to receive a heartbeat signal from the mainboard for the first set period, the mainboard is deemed to be in an abnormal state. The first set period can be configured according to actual needs, such as 2, 3, or 4 periods.

[0042] Furthermore, if the backup board fails to receive a response signal (whether normal or abnormal) from the mainboard for a second consecutive set period, the response signal is considered abnormal, the mainboard is deemed damaged, and the backup board is switched to the mainboard. The second set period can be configured according to actual needs, such as 2, 3, or 4 periods.

[0043] Furthermore, the communication line directly connecting the motherboard and the backup board is an RS485 communication line, but it can also be an RS232 or other communication line.

[0044] To further improve the reliability of the monitoring system in acquiring monitoring data, each core board is equipped with two independent CAN ports, namely CAN1 and CAN2. After the CAN bus is connected to each sensor in sequence, one end of the CAN bus is connected to CAN1 and the other end is connected to CAN2, thus forming a dual-terminal logical ring CAN bus network structure. Figure 4 As shown. Taking the motherboard as an example, the two independent CAN ports (CAN1, CAN2) of the motherboard are connected to the sensors in a logical loop to form a monitoring loop. The CAN bus is connected to the sensors in sequence and then sent to the CAN1 port of the board. After connecting to all the sensors in reverse, the data is sent to the CAN2 port of the board. The two CAN ports of the motherboard are the start and end points of the loop network. At this time, the data sent by any sensor in the logical loop will be received by the CAN1 and CAN2 ports respectively. The networking method of the backup board is the same.

[0045] Therefore, each sensor has two transmission paths to upload the collected data to the core board. To avoid redundancy and complexity in the data stored on each core board and to achieve rapid data processing, the sensor data received from the two CAN ports is fused and processed by the program. For example... Figure 5As shown, each core board has a receive buffer, which stores data extracted from the CAN port. The principle of data fusion processing is that for any sensor sending data to the two CAN ports of the core board through two transmission paths at any given time, only one copy is stored in the receive buffer. Specifically, the data received from the two CAN ports is transmitted across threads while ensuring thread safety, and the data is stored in the receive buffer in an overwriting manner. That is, for any sensor sending data to the CAN1 and CAN2 ports of the board at any given time, the data will be stored at the same storage address in the receive buffer, and the data received earlier will be overwritten by the data received later.

[0046] like Figure 5 As shown, each CAN port on the core board is equipped with a CAN buffer. After receiving data from various sensors via the CAN bus, the CAN port temporarily stores it in the CAN buffer. To improve the processing speed of the monitoring host, a multi-threaded design is adopted in the program. The data reception task of the CAN port and the data storage task of the reception buffer are performed in parallel using different threads. Compared to serial reception and processing within the same thread, parallel processing can improve the processing time of a single sensor by an average of 5ms. That is, within one sensor transmission cycle, the overall processing time of all sensors is improved by approximately 5ms × N, where N is the number of all detectors monitored by the fire alarm host.

[0047] The frequency at which sensor data is transmitted from the CAN buffer to the receive buffer has a critical impact on program performance. Since the CAN port's receiving speed is greater than the receive buffer's data storage speed, transmitting data frame by frame immediately after receiving it would result in a large volume of data being transmitted in a very short time. The receiving function would be unable to process the transmitted data in a timely manner, leading to data accumulation in a queue and causing unexpected program results, such as blocking. Therefore, it is necessary to reduce the transmission frequency. However, if the transmission frequency is too low, data already received by the CAN port will be delayed, reducing the real-time performance of data processing, which is unacceptable for scenarios with high real-time monitoring requirements. Therefore, the setting of the transmission frequency (i.e., the interval between data storage tasks in the receive buffer) needs to strike a balance between data processing real-time performance and board processing performance. Therefore, in this embodiment, the data storage task in the receive buffer is executed once every set time interval. This set time interval is determined based on the core board's processing capacity for data storage tasks and the real-time requirements of the monitoring system. Preferably, the set time interval is set to 50ms. Because the data is transmitted once every set time interval, it can be ensured that, provided the CAN hardware receive buffer is large enough, the impact on program performance caused by the sensor sending a large amount of data to the bus due to state changes within a certain period of time can be avoided.

[0048] Preferably, the core board is equipped with a timer to periodically scan the data in the receive buffer and perform corresponding logical processing.

[0049] When all sensors are working normally, they upload data according to a fixed cycle. For each transmission channel, the monitoring host records the latest time of the data uploaded by each sensor received within that channel and calculates the difference between the latest time of each sensor's data upload and the time of the previous data upload (the next newest time). If the difference for a certain sensor is greater than a set time, then the sensor is determined to be offline in the current transmission channel. Preferably, the set time is two sensor upload cycles. As a preferred implementation, if the difference for a certain sensor is greater than the set time, the transmission channel automatically sends an inspection command to that sensor. If the sensor still does not upload data in the next upload cycle, then the sensor is determined to be offline in the current transmission channel.

[0050] If a sensor is offline in both transmission channels, it is determined that the sensor is offline in both channels. Figure 6 As shown.

[0051] Furthermore, the status of the dual transmission channels can be determined based on the offline / online status of all sensors. The status of the dual transmission channels is categorized into three types: normal, open circuit, and short circuit. If all sensors are normally online in both transmission channels, then the status of the dual transmission channels is normal. Figure 7 As shown; if not all sensors are online in any channel, the dual transmission channel is in an open circuit state, as shown. Figure 8 As shown, sensors A and B are offline in channel 2, and sensor C is offline in channel 1. In this case, the circuit state is determined to be open. If all sensors are offline in both transmission channels, the state of the two transmission channels is short-circuited, as shown below. Figure 9 As shown, sensors A, B, and C are all offline in both channel 1 and channel 2, indicating a short circuit in both transmission channels. Determining the status of the dual transmission channels enhances the maintainability of the monitoring system.

[0052] When the solution of this invention is applied to marine fire monitoring, the marine fire alarm host is configured according to the monitoring host of this invention, and the marine fire monitoring system is configured according to the monitoring system of this invention. The sensors can be smoke sensors, temperature sensors, video sensors, image sensors, etc., thus obtaining a fire alarm host and fire monitoring system based on dual redundancy hot backup of the core board. The uploading of sensor alarm status of this fire alarm host and monitoring system is not affected by single board or single CAN port failure, which can ensure reliable acquisition and uploading of fire alarm information. Moreover, based on the parallel processing of receiving and storage tasks and the reasonable setting of transmission frequency, the real-time performance of fire information processing can be improved. By analyzing the sensor status and comprehensively deriving the status of the dual-channel detection loop, the abnormality of the loop can be specifically investigated according to the status of each loop, enhancing the maintainability of the fire alarm monitoring system.

Claims

1. A monitoring host based on dual redundancy hot backup of core boards, characterized in that, The monitoring host includes two core boards: the main board is in working condition, and the backup board is in hot standby condition. Both core boards are equipped with network ports for connecting to the platform network, and the two core boards are directly connected by a communication line. The main board is used to send monitoring data to the platform network through its own network port and to periodically send its own heartbeat signal to the platform network. The backup board is used to receive the heartbeat signal from the motherboard through its own network port, monitor the status of the motherboard based on the heartbeat signal, and send a status query message to the motherboard through the communication line when an abnormal status of the motherboard is detected. When a response signal indicating an abnormal status of the motherboard is received or when the response signal is abnormal, the backup board performs a primary / backup switch, sends monitoring data to the platform network, and periodically sends its own heartbeat signal.

2. The monitoring host based on dual redundancy hot backup of the core board as described in claim 1, characterized in that, When the backup board receives a normal response signal from the main board, it does not perform a primary / backup switch and continues to monitor the main board's heartbeat signal.

3. The monitoring host based on dual redundancy hot backup of the core board as described in claim 1, characterized in that, The backup board periodically sends status query messages to the main board through the communication line.

4. The monitoring host based on dual redundancy hot backup of the core board as described in claim 1, characterized in that, If the backup board fails to receive the heartbeat signal from the mainboard for the first set period of time, the mainboard is determined to be in an abnormal state.

5. The monitoring host based on dual redundancy hot backup of the core board according to claim 1, characterized in that, If the backup board fails to receive a response signal from the mainboard for the second consecutive set cycle, the response signal is deemed abnormal.

6. The monitoring host based on dual redundancy hot backup of the core board according to claim 1, characterized in that, Each core board has two independent CAN ports, each used to connect to various sensors via the CAN bus.

7. A monitoring system based on dual redundancy hot backup of a core board, characterized in that, The monitoring system includes a monitoring host, a platform network, and at least one sensor. The monitoring host includes two core boards: the main board is in working state, and the backup board is in hot standby state. Each sensor is communicatively connected to the two core boards. The two core boards are connected to the platform network through network ports, and a communication line is directly connected between the two core boards. The motherboard card sends monitoring data to the platform network through its own network port and periodically sends its own heartbeat signal to the platform network. The backup board receives the motherboard's heartbeat signal through its own network port to monitor the motherboard's status. When an abnormal motherboard status is detected, it sends a status query message to the motherboard through the communication line. When it receives a response signal indicating an abnormal motherboard status or does not receive any response signal from the motherboard, it performs a primary / backup switch and sends monitoring data to the platform network and periodically sends its own heartbeat signal.

8. The monitoring system based on dual redundancy hot backup of the core board according to claim 7, characterized in that, When the backup board receives a normal response signal from the main board, it does not perform a primary / backup switch and continues to monitor the main board's heartbeat signal.

9. The monitoring system based on dual redundancy hot backup of the core board according to claim 7, characterized in that, The backup board periodically sends status query messages to the main board through the communication line.

10. The monitoring system based on dual redundancy hot backup of the core board according to claim 7, characterized in that, If the backup board fails to receive a response signal from the mainboard for the second consecutive set cycle, the response signal is deemed abnormal.

11. The monitoring system based on dual redundancy hot backup of the core board according to claim 7, characterized in that, Each core board has two independent CAN ports, namely the first CAN port and the second CAN port. After the CAN bus is connected to each sensor in sequence, one end of the CAN bus is connected to the first CAN port and the other end is connected to the second CAN port.

12. The monitoring system based on dual redundancy hot backup of the core board according to claim 11, characterized in that, Each core board has a receive buffer, which is used to store the data extracted from the CAN port. For any sensor sending two data streams to the two CAN ports of the core board at any time, only one copy is stored in the receive buffer.

13. The monitoring system based on dual redundancy hot backup of the core board according to claim 12, characterized in that, Each CAN port of the core board receives data uploaded by each sensor via the CAN bus and temporarily stores it in the CAN buffer; the data reception task of the CAN port and the data storage task of the reception buffer are performed in parallel using different threads.

14. The monitoring system based on dual redundancy hot backup of the core board according to claim 13, characterized in that, The data storage task in the receive buffer is executed once every set time interval, which is set according to the core board's processing capacity for data storage tasks and the real-time requirements of the monitoring system.

15. The monitoring system based on dual redundancy hot backup of the core board according to claim 11, characterized in that, The sensors upload data to each core board at a fixed period. For each transmission channel, the monitoring host records the latest time of the data uploaded by each sensor received in that transmission channel, and calculates the difference between the latest time of the data uploaded by each sensor and the time of the last data upload. If the difference for a certain sensor is greater than a set time, it is determined that the sensor is offline in the current transmission channel.

16. The monitoring system based on dual redundancy hot backup of the core board according to claim 15, characterized in that, The sensors upload data at fixed intervals. For each transmission channel, the monitoring host records the latest time of the data uploaded by each sensor received in that transmission channel and calculates the difference between the latest time of the data uploaded by each sensor and the time of the last data upload. If the difference for a certain sensor is greater than a set time, an inspection command is sent to that sensor through that transmission channel. If no data is received from the sensor in the next upload cycle, the sensor is determined to be offline in the current transmission channel. If the sensor is offline in both transmission channels, the sensor is determined to be offline.

17. The monitoring system based on dual redundancy hot backup of the core board according to claim 15 or 16, characterized in that, The status of the two transmission channels is determined based on the offline status of each sensor in the two transmission channels: if all sensors are online normally in both transmission channels, then the status of the two transmission channels is normal. If not all sensors are online in any channel, the dual transmission channel is in an open circuit state; if all sensors are offline in both channels, the dual transmission channel is in a short circuit state.

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