CN-122018392-A - Multifunctional hot standby underwater robot on duty device and method

CN122018392ACN 122018392 ACN122018392 ACN 122018392ACN-122018392-A

Abstract

A multifunctional hot-standby underwater robot on-duty device and method adopts a double-board parallel hot-standby working mode with the same hardware structure, combines special handshake communication and fault monitoring switching logic, ensures that the on-duty function can be seamlessly replaced by another board card within seconds when any single board fails, and integrates the composite functions of water leakage detection, external communication monitoring, multiplex driving output and the like. The device and the method can effectively improve the reliability of the underwater unattended task and expand the application field of equipment.

Inventors

JIANG HAIYANG
LIU JIA
ZOU SHUANG
SHAO LIRONG
JIANG TIANHAO
SUN TINGTING
WANG MINGMING

Assignees

中船辽海装备有限责任公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (6)

1. The multifunctional hot standby underwater robot on duty device is characterized by comprising a rust-proof shell and two on duty circuit board cards with the same structure inside, wherein the two on duty circuit board cards are connected with a UUV complete machine system through an aviation socket; When the UUV system enters a dormant state, the guard device cuts off a direct connection path between the UUV main control computer and the underwater acoustic communication machine, accesses the direct connection path into a communication link, and provides a power-down driving signal for the main control computer and the emergency computer.
2. The apparatus of claim 1, wherein any one of the guard circuit boards comprises a power 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 for controlling the drive output circuit to provide a power-down drive signal for the main control computer and the emergency computer according to the sleep setting condition or the sleep instruction, judging the wake-up condition, controlling the drive output circuit to provide a power-up drive signal, and judging and switching the faults of the main board and the standby board; The communication interface circuit is used for converting the USART signal of the MCU into 485 level to complete the communication function with the main control computer or the underwater acoustic communication machine, and is also provided with a magnetic latching relay for switching communication paths, wherein when the system goes into dormancy, the direct communication between the main control computer and the underwater acoustic communication machine is disconnected, and the system is communicated with the underwater acoustic communication machine by an on-duty device; The water leakage detection circuit is provided with a plurality of water leakage detection channels which are respectively connected with the water leakage sensor and connected with a micro-power consumption operational amplifier, the input is pulled down when in water leakage, and the input is sent to the MCU for detection after the operational amplifier is shaped; And the drive output circuit is used for providing a plurality of independent drive signals for powering on or powering off the main control computer, the emergency computer and the magnetic latching relay, adopts an isolation drive design, only generates instant pulse when needed, and has no continuous power consumption.
3. The apparatus according to claim 1 or 2, wherein the parallel operation and switching method of two of the on-duty circuit boards comprises: (1) The self-checking and handshake process comprises the steps that a main board completes core function self-checking once per second, wherein the core function self-checking comprises water leakage detection, communication monitoring and timer state, and then immediately sends a handshake signal to a standby board once; (2) Fault judgment and switching: when the main board is abnormal in function, if the main board is abnormal in function of water leakage detection or communication monitoring, an error signal is sent to the standby board, and after the standby board receives the error signal, the standby board immediately takes over control right, wakes up the main control computer and the emergency computer, and reports the reason of self-checking fault; When the main board communication fails, if the standby board does not receive any handshake signal of the main board within a specified time, judging that the main board is dead, firstly resetting the main board, then immediately taking over all output interfaces including driving signals and communication interfaces, waking up a main control computer and an emergency computer, and reporting a reason of resetting fault, wherein at the moment, the output of the standby board is changed from a high-resistance state to an effective state, and synchronous and seamless switching of external interfaces is realized.
4. The apparatus of claim 1, wherein the method for waking up the UUV host computer by the attendant apparatus comprises: The timing awakening is triggered by setting the awakening time; The water leakage event is awakened, namely the state of a UUV cabin is monitored in real time through a water leakage detection circuit, and any path of water leakage is detected to trigger the awakening; And the external instruction awakening is realized by monitoring the underwater acoustic communication machine through the independent communication interface, triggering the awakening when receiving the target instruction, and completely forwarding the stored instruction information to the main control computer after the awakening.
5. The apparatus of claim 1, wherein the on-duty device maintains periodic communication with the underwater sound communicator in place of the host computer during system sleep and temporarily stores critical task information to ensure that post-wake task context is not lost.
6. A method of operating a multifunctional hot standby underwater robot using the apparatus of any of claims 1-5, comprising the steps of: the double boards are independently powered and started, the self-checking circuit works, and the external interface is driven by the main board by default; The system is in a sleep and watch state, wherein a main board periodically executes water leakage detection, communication monitoring and timer decrementing operations, and sends a heartbeat pulse to a standby board through a handshaking circuit every second, and the standby board continuously monitors the pulse; a water leakage comparison circuit, a communication decoding circuit or a timer return-to-zero circuit on the main board generates a wake-up trigger signal, and the main board immediately sends out wake-up pulses through a driving circuit controlled by the main board; If the main board is interrupted by 'heartbeat' pulse caused by hardware fault, the overtime monitoring circuit of the standby board triggers the switching logic, the switching logic circuit firstly resets the main board, then operates the multiplexing switch to switch all external interfaces to the standby board, and finally sends out wake-up pulse by the standby board; After the main board or the standby board after switching wakes up the system, the communication information temporarily stored in the memory is sent to the main control computer through the 485 interface circuit.

Description

Multifunctional hot standby underwater robot on duty device and method Technical Field The invention relates to the field of underwater unmanned on duty equipment, in particular to a multifunctional hot standby underwater robot on duty device applied to underwater robot equipment. Background The current UUV unattended task generally adopts a timing control scheme based on a single chip such as a singlechip, an FPGA or a DSP, and realizes the operation and dormancy switching of the system by controlling the on-off of a relay. Such a solution, although simple in structure, has a single point failure risk, and once the on-duty control unit fails, the entire UUV system cannot be awakened, and the task fails and may cause equipment loss. Disclosure of Invention The disclosure provides a multifunctional hot standby underwater robot guard device, which aims to solve the problem of reliable guard of an underwater robot. The intelligent water leakage detection system is characterized in that a dual-board card (a main board and a standby board) parallel hot backup working mode with the same hardware structure is adopted, and special handshake communication and fault monitoring switching logic are combined, so that when any single board fails, the on-duty function can be seamlessly replaced by another board card within seconds, and meanwhile, the composite functions of water leakage detection, external communication monitoring, multipath driving output and the like are integrated. The multifunctional hot standby underwater robot on duty device mainly comprises a rust-proof shell and two on duty circuit board cards with the same structure inside, wherein the two on duty circuit board cards are connected with a UUV complete machine system through an aviation socket; When the UUV system enters a dormant state, the guard device cuts off a direct connection path between the UUV main control computer and the underwater acoustic communication machine, accesses the direct connection path into a communication link, and provides a power-down driving signal for the main control computer and the emergency computer. Further, any one of the guard circuit boards comprises 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 for controlling the drive output circuit to provide a power-down drive signal for the main control computer and the emergency computer according to the sleep setting condition or the sleep instruction, judging the wake-up condition, controlling the drive output circuit to provide a power-up drive signal, and judging and switching the faults of the main board and the standby board; The communication interface circuit is used for converting the USART signal of the MCU into 485 level to complete the communication function with the main control computer or the underwater acoustic communication machine, and is also provided with a magnetic latching relay for switching communication paths, wherein when the system goes into dormancy, the direct communication between the main control computer and the underwater acoustic communication machine is disconnected, and the system is communicated with the underwater acoustic communication machine by an on-duty device; The water leakage detection circuit is provided with a plurality of water leakage detection channels which are respectively connected with the water leakage sensor and connected with a micro-power consumption operational amplifier, the input is pulled down when in water leakage, and the input is sent to the MCU for detection after the operational amplifier is shaped; And the drive output circuit is used for providing a plurality of independent drive signals for powering on or powering off the main control computer, the emergency computer and the magnetic latching relay, adopts an isolation drive design, only generates instant pulse when needed, and has no continuous power consumption. Further, the parallel operation and switching method of the two on-duty circuit boards comprises the following steps: (1) The self-checking and handshake process comprises the steps that a main board completes core function self-checking once per second, wherein the core function self-checking comprises water leakage detection, communication monitoring and timer state, and then immediately sends a handshake signal to a standby board once; (2) Fault judgment and switching: when the main board is abnormal in function, if the main board is abnormal in function of water leakage detection or communication monitoring, an error signal is sent to the standby board, and after the standby board receives the error signal, the standby board immediately takes over control right, wakes up the main control computer and the emergency computer, and reports the reason of self-checking fault; When the main board communication fails, if the standby board does not receive an