阅读说明：本技术 用于动力浮标故障自动应急的北斗示位装置及控制方法 (Beidou position indicating device for automatic emergency of power buoy fault and control method ) 是由 管凤旭 王梓琦 张勋 严浙平 李娟� 于 2019-10-15 设计创作，主要内容包括：本发明提供的是一种用于动力浮标故障自动应急的北斗示位装置及控制方法。包括柔性太阳能板、北斗复合天线、无线电天线、太阳能电源管理与主/备电源切换单元、北斗定位与通讯单元；北斗复合天线和无线电天线放在动力浮标的天线支架上,柔性太阳能板放在天线杆和天线支架上；太阳能电源管理与切换单元、北斗定位与通讯单元放在北斗密封舱内；主控单元与主电池放在主控密封舱内。北斗密封舱、主控密封舱、柔性太阳能板和天线之间是通过防水电缆连接。本发明与传统的浮标相比,可实现在主控密封舱因漏水等故障导致不能继续工作恶劣情况下仍能继续向监控中心发送自身位置信息,方便找到因不能工作而失去联系的动力浮标。(The invention provides a Beidou position indicating device for automatic emergency of power buoy faults and a control method. The solar energy power supply management and main/standby power supply switching unit comprises a flexible solar panel, a Beidou composite antenna, a radio antenna, a solar energy power supply management and main/standby power supply switching unit and a Beidou positioning and communication unit; the Beidou composite antenna and the radio antenna are arranged on an antenna bracket of the power buoy, and the flexible solar panel is arranged on the antenna mast and the antenna bracket; the solar power supply management and switching unit and the Beidou positioning and communication unit are placed in the Beidou sealed cabin; the main control unit and the main battery are placed in the main control sealed cabin. The Beidou sealed cabin, the master control sealed cabin, the flexible solar panel and the antenna are connected through waterproof cables. Compared with the traditional buoy, the invention can realize that the self-position information can be continuously sent to the monitoring center under the severe condition that the main control sealed cabin can not continuously work due to the faults such as water leakage and the like, thereby being convenient for finding the power buoy which loses contact due to the incapability of working.)

1. The utility model provides a big dipper position indicating device for power buoy trouble is automatic emergent, characterized by: including flexible solar panel, big dipper compound antenna, radio antenna, solar energy power management and main/be equipped with power switching unit, big dipper location and communication unit, big dipper compound antenna and radio antenna install on power buoy's antenna boom, flexible solar panel installs on power buoy's antenna mast and/or antenna boom, solar energy power management and main/be equipped with power switching unit, big dipper location and communication unit set up in big dipper sealed cabin, the big dipper sealed cabin is installed in the antenna mast bottom, the top of buoy main part, flexible solar panel, all through waterproof cable connection between big dipper compound antenna and radio antenna and the main control sealed cabin of big dipper sealed cabin and buoy main part.

2. The Beidou position indicating device for automatic power buoy fault emergency according to claim 1, characterized in that: in the solar power supply management and main/standby power supply switching unit, a coil loop of a relay (K1) is connected with the No. 3 and No. 4 pin of a waterproof interface of the Beidou sealed cabin, and a second diode (D2) is connected with a coil loop of the relay (K1) in parallel and respectively connected with DC12V ends and 12VGND ends of the main control sealed cabin; two movable contacts of the relay (K1) are respectively connected with VCC and GND of a power distribution module (U2), two normally open contacts of the relay (K1) are respectively connected with power supplies DC12V and 12VGND introduced by a main control sealed cabin, two normally closed contacts of the relay (K1) are respectively connected with BGND of a storage battery (BT1) and the output end of a first diode (D1), the input end of the first diode (D1) is connected to a positive electrode BVCC of the storage battery (BT1) through a switch (S1), and the switch (S1) is used for debugging; the output ends Vout + and Vout-of the charging module (U4) are connected with storage batteries (BVCC and BGND of BT1, the input ends Win and Gnd of the charging module (U4) are connected with a solar charging waterproof interface (P2) and a flexible solar panel through a waterproof cable, the 1 st pin CAN-and the 2 nd pin CAN + of the waterproof interface of the Beidou sealed cabin are respectively connected to the 6 th pin and the 7 th pin of a CAN bus driver (U3) in the Beidou positioning and communication module, the output ends of the power distribution module (U2) are respectively 5V, 3.3V and GND, and 5V and 3.3V power supplies are provided for other circuits.

3. The Beidou position indicating device for automatic power buoy fault emergency according to claim 1 or 2, characterized in that: in the Beidou positioning and communication unit, Vcc and Gnd pins of a Beidou positioning and communication module (U5) are respectively connected with VCC and GND of a solar power supply management and main/standby power supply switching unit; the Beidou positioning and communication module (U5 communication antenna Send and Receive pins are respectively connected with a coaxial waterproof cable waterproof connector P3 and P4 and then connected with the Beidou composite antenna through a waterproof coaxial cable), a data sending pin Txd and a data receiving pin Rxd of the Beidou positioning and communication module (U5) are respectively connected with a data receiving pin Rxd and a data sending pin Txd of the slave controller U1, the slave controller (U1) is powered by a power distribution module of a solar power management and main/standby power switching unit, Vcc and Gnd pins of the slave controller (U1) are respectively connected with 3.3V and GND of the power distribution module, CanTx and CanRx pins of the slave controller (U1) are respectively connected with TXD and RXD pins of the CAN bus driver (U3), the CAN bus driver (U3) is powered by the solar power management and the power distribution module of the main/standby power switching unit, the CAN driver (U3) and the CAN bus driver are respectively connected with 5V and GND pins of the Vcc, the CANH and CANL pins of a CAN bus driver (U3) are respectively connected with the No. 2 and No. 1 pins of a waterproof interface P1 of a Beidou sealed cabin and are connected with a main controller of a main control sealed cabin through waterproof cables, a resistor R1 is connected between the CANH and the CANL pins of the CAN bus driver (U3) in parallel, the S pin of the CAN bus driver (U3) is connected with GND, the vref pin of the S pin is suspended, one end of a first capacitor (C1) is connected with the Vcc pin of the CAN bus driver (U3), and the other end of the first capacitor (C1) is connected with GND; the second capacitor (C2) is connected with the RXD pin of the CAN bus driver (U3) at one end and GND at the other end.

4. The Beidou position indicating device for automatic power buoy fault emergency according to claim 1 or 2, characterized in that: DC12V and 12VGND in a main control unit of the main control sealed cabin are respectively connected with a pin port 4 and a pin port 3 of a waterproof interface of the electric control sealed cabin, a waterproof cable is connected to a solar power management and main/standby power switching unit of the Beidou sealed cabin, a CAN communication line of the main control unit is connected to a pin port 2 and a pin port 1 of the waterproof interface of the electric control sealed cabin, and then the CAN communication line of the main control unit is connected to a Beidou positioning and communication unit in the Beidou sealed cabin through the waterproof cable; the main controller communicates with a radio station, and the radio station antenna is connected to a coaxial waterproof connector (P6) and then connected to the radio antenna through a waterproof coaxial cable.

5. The Beidou position indicating device for automatic power buoy fault emergency according to claim 3, characterized in that: DC12V and 12VGND in a main control unit of the main control sealed cabin are respectively connected with a pin port 4 and a pin port 3 of a waterproof interface of the electric control sealed cabin, a waterproof cable is connected to a solar power management and main/standby power switching unit of the Beidou sealed cabin, a CAN communication line of the main control unit is connected to a pin port 2 and a pin port 1 of the waterproof interface of the electric control sealed cabin, and then the CAN communication line of the main control unit is connected to a Beidou positioning and communication unit in the Beidou sealed cabin through the waterproof cable; the main controller communicates with a radio station, and the radio station antenna is connected to a coaxial waterproof connector (P6) and then connected to the radio antenna through a waterproof coaxial cable.

6. The control method of the Beidou position indicating device for automatic emergency of power buoy failure as set forth in claim 1 is characterized in that:

(1) after the power buoy starts to work, the main battery supplies power to all the modules, and meanwhile, a 12V power supply is provided for supplying power to the Beidou sealed cabin;

(2) the main controller receives buoy position information transmitted from the Beidou sealed cabin through the CAN bus and simultaneously checks whether the working states of all equipment of the buoy are normal or not in real time;

(3) if all the working states are normal, reporting all the working state information including the positions of the buoys to a monitoring center through a radio station and a radio station antenna at regular time, and simultaneously sending an information code indicating normal working to a slave controller of the Beidou sealed cabin through a CAN bus; if the master controller finds that the similar master control sealed cabin has a water seepage problem or other non-serious faults and the master controller CAN still work, immediately reporting fault information containing the position of the buoy to a monitoring center through a radio station and a radio antenna, and simultaneously sending an information code indicating the fault to the slave controller of the Beidou sealed cabin through a CAN bus; if the main sealed cabin has serious water leakage or other serious faults, the main controller cannot normally work to cause that the main controller cannot communicate with a slave controller of the Beidou sealed cabin, and when the slave controller finds that the main controller does not work, the position information of the buoy is automatically reported in a short message mode through a Beidou satellite at regular time; when serious faults occur in the main sealed cabin and the power supply failure of the Beidou sealed cabin is caused, the solar power supply management and main/standby power supply switching unit automatically switches the standby storage battery in the Beidou sealed cabin to supply power, and the standby storage battery is charged by the solar panel.

Technical Field

The invention relates to an emergency position indicating device and a control method thereof.

Background

The power buoy is a buoy which does not need anchoring and fixing, is provided with a storage battery propeller and can realize autonomous movement and fixed-point stay. Therefore, compared with a mooring buoy, the power buoy has a more complicated control circuit, so that the main control sealed cabin of the power buoy for placing the electronic components and auxiliary equipment such as control equipment and a radio station is extremely important to be waterproof. When the main control sealed cabin leaks water, the circuit or the auxiliary equipment is easily damaged, or the power buoy cannot normally work due to various other faults, cannot report the position and various state information of the power buoy by radio, and cannot move autonomously to float on water along with waves. Therefore, when the buoy breaks down, the buoy needs to be automatically warned and automatically trigger certain emergency protection measures, and can continuously and automatically report the position information of the buoy to a monitoring center.

The method based on Beidou positioning and the emergency position indicating method which are common to the existing buoys both adopt a single power supply for power supply, and the power supply is generally arranged in a sealed cabin. If the water seepage of the sealed cabin is serious, the main control unit cannot work, the battery fails, and various other failures are caused, so that the buoy cannot report various information to the monitoring center and autonomously moves, and the contact between workers and the buoy is lost. The mooring buoy can be fixed and cannot flow along with water flow; the power buoy which is out of control can flow along with the water flow, so that the worker can hardly find the power buoy which is out of contact. Therefore, an emergency position indicating circuit and an emergency position indicating device which can automatically acquire self position information through Beidou and report the self position information in a short message mode under the condition that both control electricity and power electricity are invalid are needed to be designed. And when the working personnel can not find the power buoy losing the autonomous movement in time due to various environmental factors, the continuous working time of the emergency position indicating device is limited by the energy of the battery carried by the emergency position indicating device.

Disclosure of Invention

The invention aims to provide a Beidou position indicating device for automatic emergency of power buoy failure, which can continuously send self position information to a monitoring center under the severe condition that a master control sealed cabin cannot continuously work due to failures such as water leakage and the like. The invention aims to provide a control method of a Beidou position indicating device for automatic emergency of power buoy faults.

The purpose of the invention is realized as follows:

the invention discloses a Beidou position indicating device for automatic emergency of power buoy faults, which comprises a flexible solar panel, a Beidou composite antenna, a radio antenna, a solar power management and main/standby power switching unit and a Beidou positioning and communication unit, wherein the Beidou composite antenna and the radio antenna are arranged on an antenna bracket of a power buoy, the flexible solar panel is arranged on an antenna mast and/or the antenna bracket of the power buoy, the solar power management and main/standby power switching unit and the Beidou positioning and communication unit are arranged in a Beidou sealed cabin, the Beidou sealed cabin is arranged at the bottom of the antenna mast and above a buoy body, and the flexible solar panel, the Beidou composite antenna and the radio antenna are connected with the Beidou sealed cabin and the main control sealed cabin of the buoy body through waterproof cables.

The Beidou position indicating device for automatic emergency of power buoy failure can also comprise:

1. in the solar power supply management and main/standby power supply switching unit, a coil loop of a relay K1 is connected with the No. 3 and No. 4 pin of a waterproof interface of the Beidou sealed cabin, and a second diode D2 is connected with a coil loop of a relay K1 in parallel and respectively connected with DC12V ends and 12VGND ends of the main control sealed cabin; two movable contacts of the relay K1 are respectively connected with VCC and GND of a power distribution module U2, two normally open contacts of the relay K1 are respectively connected with power supplies DC12V and 12VGND introduced by a main control sealed cabin, two normally closed contacts of the relay K1 are respectively connected with BGND of a storage battery BT1 and the output end of a first diode D1, the input end of the first diode D1 is connected to an anode BVCC of the storage battery BT1 through a switch S1, and the switch S1 is used for debugging; the output ends Vout + and Vout-of the charging module U4 are connected with the BVCC and BGND of the storage battery BT1, the input ends Win and Gnd of the charging module U4 are connected with a solar charging waterproof interface P2 and a flexible solar panel through a waterproof cable; the 1 st pin CAN-and the 2 nd pin CAN + of the waterproof interface of the Beidou sealed cabin are respectively connected to the 6 th and 7 th pins of a chip U3 in the Beidou positioning and communication module; the output ends of the power distribution module U2 are respectively 5V, 3.3V and GND, and provide 5V and 3.3V power for other circuits.

2. In the Beidou positioning and communication unit, Vcc and Gnd pins of a Beidou positioning and communication module U5 are respectively connected with VCC and GND of a solar power supply management and main/standby power supply switching unit; the Send and Receive pins of a communication antenna of the Beidou positioning and communication module U5 are respectively connected with a waterproof connector P3 and a waterproof connector P4 of a coaxial waterproof cable and then connected with a Beidou composite antenna through the waterproof coaxial cable; a data sending pin Txd and a data receiving pin Rxd of the Beidou positioning and communication module U5 are respectively connected with a data receiving pin Rxd and a data sending pin Txd of the slave controller U1; the slave controller U1 is powered by a power distribution module of the solar power management and master/standby power switching unit, Vcc and Gnd pins of the slave controller U1 are respectively connected with 3.3V and GND of the power distribution module, CanTx and CanRx pins of the slave controller U1 are respectively connected with TXD and RXD pins of the CAN bus driver U3; the chip U3 is powered by a power distribution module of a solar power management and main/standby power switching unit, Vcc and GND pins of the chip U3 are respectively connected with 5V and GND of the power distribution module, CANH and CANL pins of the chip U3 are respectively connected with the No. 2 and No. 1 pins of a waterproof interface P1 of a Beidou sealed cabin and are connected with a main controller of the main control sealed cabin through a waterproof cable, a resistor R1 is connected between the CANH and CANL pins of the U3 in parallel, an S pin of the chip U3 is connected with GND, a vref pin of the chip U3 is suspended, one end of a first capacitor C1 is connected with the Vcc pin of the U3, and the other end of the; the second capacitor C2 has one end connected with the RXD pin of U3 and the other end connected with GND.

3. DC12V and 12VGND in a main control unit of the main control sealed cabin are respectively connected with a pin port 4 and a pin port 3 of a waterproof interface of the electric control sealed cabin, a waterproof cable is connected to a solar power management and main/standby power switching unit of the Beidou sealed cabin, a CAN communication line of the main control unit is connected to a pin port 2 and a pin port 1 of the waterproof interface of the electric control sealed cabin, and then the CAN communication line of the main control unit is connected to a Beidou positioning and communication unit in the Beidou sealed cabin through the waterproof cable; the main controller communicates with the radio station, and the radio station antenna is connected to the coaxial waterproof connector P6 and then connected to the radio antenna through the waterproof coaxial cable.

The invention discloses a control method of a Beidou position indicating device for automatic emergency of power buoy faults, which comprises the following steps:

after the power buoy starts to work, the main battery supplies power to all the modules, and meanwhile, a 12V power supply is provided for supplying power to the Beidou sealed cabin;

secondly, the main controller receives buoy position information transmitted from the Beidou sealed cabin through a CAN bus and simultaneously checks whether the working states of all equipment of the buoy are normal or not in real time;

if all the work states are normal, reporting all the work state information including the positions of the buoys to a monitoring center through a radio station and a radio station antenna at regular time, and simultaneously sending information codes indicating normal work to a slave controller of the Beidou sealed cabin through a CAN bus; if the master controller finds that the similar master control sealed cabin has a water seepage problem or other non-serious faults and the master controller CAN still work, immediately reporting fault information containing the position of the buoy to a monitoring center through a radio station and a radio antenna, and simultaneously sending an information code indicating the fault to the slave controller of the Beidou sealed cabin through a CAN bus; if the main sealed cabin has serious water leakage or other serious faults, the main controller cannot normally work to cause that the main controller cannot communicate with a slave controller of the Beidou sealed cabin, and when the slave controller finds that the main controller does not work, the position information of the buoy is automatically reported in a short message mode through a Beidou satellite at regular time; when serious faults occur in the main sealed cabin and the power supply failure of the Beidou sealed cabin is caused, the solar power supply management and main/standby power supply switching unit automatically switches the standby storage battery in the Beidou sealed cabin to supply power, and the standby storage battery is charged by the solar panel.

The solar energy is adopted to charge the storage battery, so that the emergency position indicating device can work for a long time, and continuous buoy position information is provided for rescue work of workers.

The invention has the following advantages: when the power buoy starts to work, the self-position information can be automatically acquired through the Beidou satellite and is in two-way communication with the main controller, whether the main controller works normally or not is automatically checked in a timing mode, and when the main controller is found not to work, the interference of the main controller is not needed, and the self-position information of the buoy is automatically reported in a short message mode directly through the Beidou satellite; and under the condition that the main battery does not work normally due to serious water leakage or other faults, the solar battery can be automatically switched to a standby solar battery, the position information of the solar battery can be continuously acquired through the Beidou satellite for a long time, and a short message is sent to the monitoring center.

Drawings

FIG. 1 is a schematic diagram of a power buoy fault automatic emergency Beidou position indicating energy-saving device.

FIG. 2 is a circuit diagram of a solar power management and main/standby power switching unit.

FIG. 3 is a circuit diagram of a Beidou positioning and communication unit.

FIG. 4 is a schematic diagram of a master control unit circuit.

FIG. 5 is a flow chart of the working of the automatic emergency Beidou position indicating energy-saving device for power buoy failure.

Detailed Description

The invention is described in more detail below by way of example.

With reference to fig. 1, the invention mainly comprises a flexible solar panel, a big dipper composite antenna, a radio antenna, a solar power management and main/standby power switching unit, and a big dipper positioning and communication unit, and the invention is mutually matched with a main control unit and a main battery in a main control sealed cabin of a buoy body. The Beidou composite antenna is a composite antenna of Beidou and a GPS.

The Beidou composite antenna and the radio antenna are arranged on an antenna bracket of the power buoy, and the flexible solar panel is arranged on the antenna mast and the antenna bracket; the solar power supply management and switching unit and the Beidou positioning and communication unit are arranged in the Beidou sealed cabin. Like a common buoy, the power buoy can float on the water surface, and an antenna rod of the power buoy is not easy to be immersed by water; therefore, the Beidou sealed cabin is arranged at the bottom of the antenna mast, so that the Beidou sealed cabin is exposed above the water surface as much as possible, and the water leakage chance of the Beidou sealed cabin is reduced. The main control unit and the main battery are placed in a main control sealed cabin, and the main control sealed cabin is arranged in the submerged buoy body. The Beidou sealed cabin, the master control sealed cabin, the flexible solar panel and the antenna are connected through waterproof cables.

Under normal conditions, the main battery in the main control sealed cabin supplies power for all equipment (including a propeller) and serves as a default power supply of the Beidou sealed cabin. When the master control unit normally works, the CAN bus is in two-way communication with the slave controller in the Beidou sealed cabin, so that buoy self-position information transmitted from the Beidou sealed cabin is received on one hand, and on the other hand, concise information such as whether the slave controller works normally or not is sent to the Beidou sealed cabin at regular time. Meanwhile, the main control unit reports the position information of the buoy and other working state information to the monitoring center at regular time through a radio station and a radio antenna.

The Beidou positioning and communication unit in the Beidou sealed cabin receives the position information of the buoy through the Beidou composite antenna, and on the one hand, the position information of the buoy is sent to the main control sealed cabin through the CAN bus; and on the other hand, the information of whether the main control unit works normally or not transmitted from the main control sealed cabin is received, if the information indicates that the main control unit works normally, the short message information is automatically transmitted to the monitoring center through the Beidou satellite at a longer interval so as to indicate that the Beidou positioning and communication unit works normally.

When a main control unit in a main control sealed cabin detects that the sealed cabin leaks water or other faults are found and the main control unit can still work, fault information is sent through a radio station immediately, and meanwhile concise information such as fault codes is sent to the Beidou sealed cabin; after receiving concise information such as fault codes and the like, the Beidou positioning and communication unit immediately sends short message information to the monitoring center through the Beidou satellite so as to send information backup.

When the main control unit does not work due to serious water leakage in the main control sealed cabin or serious faults of the main battery and other faults, the Beidou positioning and communication unit in the Beidou sealed cabin cannot receive concise information such as whether the main control unit works normally or not within a period of time, and then the short message information (including the position information of the buoy) is automatically sent to the monitoring center through the Beidou satellite, and the fault condition is reported. If the main battery can not provide power, the solar power management and main/standby power switching unit in the Beidou sealed cabin automatically cuts off the power supply of the main battery and the standby battery in the Beidou sealed cabin supplies power.

The flexible solar panel installed on the antenna support and the antenna rod is used for charging the standby storage battery, so that the Beidou positioning and communication unit in the Beidou sealed cabin can work for a long time (continuously or discontinuously), and buoy position information is provided for workers to implement recovery work.

As shown in fig. 2, the coil loop of the double-pole double-throw relay K1 in the solar power management and main/standby power switching unit is connected to the 3 rd and 4 th pins of the waterproof interface of the beidou sealed cabin, and is respectively connected to the DC12V and 12VGND of the main control sealed cabin through waterproof cables, and the diode D2 is connected in parallel with the coil loop of the K1 and is respectively connected to the DC12V and 12VGND ends. Two movable contacts of the relay K1 are respectively connected with VCC and GND of a power distribution module U2, two normally open contacts of the relay K1 are respectively connected with power supplies DC12V and 12VGND introduced by a main control sealed cabin, two normally closed contacts of the relay K1 are respectively connected with BGND of a storage battery BT1 and the output end of a diode D1, the input end of the diode D1 is connected to an anode BVCC of a storage battery BT1 through a switch S1, and the switch S1 is used for debugging. The output ends Vout + and Vout-of the charging module U4 are connected with the BVCC and BGND of the storage battery BT1, the input ends Win and Gnd of the charging module U4 are connected with a solar charging waterproof interface P2, and are connected with the flexible solar panel through a waterproof cable. The 1 st pin CAN-and the 2 nd pin CAN + of the waterproof interface of the Beidou sealed cabin are respectively connected to the 6 th and 7 th pins of a chip U3(TJA050T) in the Beidou positioning and communication module. The output ends of the power distribution module U2 are respectively 5V, 3.3V and GND, and provide 5V and 3.3V power for other circuits.

After the buoy system is formally started, the switch S1 should be in a closed state; when a main battery in the main control sealed cabin CAN normally provide power, a 12V power supply and a CAN bus communication circuit are provided for a P1 interface through a waterproof cable, a coil of a double-pole double-throw relay K1 is electrified by DC12V and 12VGND, a normally open contact of the relay K1 is closed, VCC is connected with DC12V, GND is connected with 12VGND, namely the main sealed cabin supplies power for Beidou sealed cabin equipment, and a power supply of a standby storage battery is disconnected; when the main control sealed cabin provides power and can not work normally, the coil of the relay K1 loses power and can not work, the normally closed contact of the relay K1 is closed, VCC and GND of the relay K1 are connected to a power supply circuit of the storage battery BT1, and the power supply circuit of the main sealed cabin providing power is disconnected; the power VCC and GND selected by the relay K1 are connected to the power distribution module U2, and 5V and 3.3V output by the U2 are used for supplying power to the U3 in the Beidou positioning and communication unit and the slave controller U1 respectively. The flexible solar panel is connected to the solar waterproof interface P2 through a waterproof cable, and then the battery BT1 is charged through the charging module U4.

As shown in fig. 3, the working voltage range of the big dipper positioning and communication module U5 in the big dipper positioning and communication unit is 9V-30V, and is powered by the power supply of the solar power management and main/standby power switching unit, i.e. Vcc and Gnd pins of the big dipper positioning and communication module U5 are respectively connected to Vcc and Gnd of the solar power management and main/standby power switching unit; the communication antenna Send and Receive pin of the Beidou positioning and communication module U5 are respectively connected with a coaxial waterproof cable waterproof connector P3 and P4, and then connected with the Beidou composite antenna through a waterproof coaxial cable. The data sending pin Txd and the data receiving pin Rxd of the Beidou positioning and communication module U5 are respectively connected with the slave controller U1

And a data receive pin Rxd and a data transmit pin Txd. The slave U1 is powered by the power distribution module of the solar power management and master/standby power switching unit, the Vcc and Gnd pins of the slave U1 are respectively connected with 3.3V and GND of the power distribution module, and the CanTx and CanRx pins of the slave U1 are respectively connected with the TXD and RXD pins of the CAN bus driver U3(TJA 050T). The chip U3 is powered by the power distribution module of the solar power management and main/standby power switching unit, and the Vcc and GND pins of the chip U3 are respectively connected with the 5V and GND of the power distribution module. The CANH and CANL pins of the chip U3 are respectively connected with the No. 2 and No. 1 pins of a waterproof interface P1 of the Beidou sealed cabin and are connected with a main controller of the main control sealed cabin through waterproof cables, and the resistor R1 is connected between the CANH and CANL pins of the U3 in parallel and is used for absorbing high-speed CAN bus signal reflection and echo waves. The S pin of the chip U3 is connected to GND, and its vref pin is floating. One end of the capacitor C1 is connected with a Vcc pin of the U3, and the other end is connected with GND; one end of the capacitor C2 is connected with the RXD pin of the U3, and the other end is connected with GND. The capacitors C1 and C2 are used for filtering.

Through big dipper location and communication module U5 and big dipper composite antenna, both can receive the self position information that big dipper satellite provided from controller U1, can send short message information again and give the surveillance center. The slave controller U1 communicates bi-directionally with the master controller within the master capsule via the CAN bus driver U3. The slave controller U1 receives the master controller working state information code sent by the master controller and returns response information, if the information sent by the master controller indicates that the buoy works normally, short message information is sent to the monitoring center through the Beidou positioning and communication module U5 at a longer interval (about 10 minutes or longer); if the information sent by the main controller indicates that the buoy has a fault, short message information is immediately sent to the monitoring center to report fault information; if the master controller information is not received within the set time, the master control unit is considered to be incapable of working normally, the slave controller immediately and continuously sends short message information to the monitoring center according to the set time period, and reports the position and working state information of the slave controller.

As shown in fig. 4, DC12V and 12VGND in the main control unit of the main control sealed cabin in the main control unit are respectively connected with the 4 th and 3 rd pin ports of the waterproof interface of the electric control sealed cabin, and are connected to the solar power management and main/standby power switching unit of the Beidou sealed cabin through waterproof cables, and the CAN communication line of the main control unit is connected to the 2 nd and 1 st pins of the waterproof interface of the electric control sealed cabin, and then is connected to the Beidou positioning and communication unit in the Beidou sealed cabin through the waterproof cables; the main controller communicates with the radio station, and the radio station antenna is connected to the coaxial waterproof connector P6 and then connected to the radio antenna through the waterproof coaxial cable.

With reference to fig. 5, the power buoy fault automatic emergency Beidou position indicating energy-saving device comprises the following specific working steps:

step 1: after the whole buoy system starts to work, the main battery supplies power to the main control sealed cabin and the Beidou sealed cabin, and the solar power management and main/standby power switching unit selects the power supply of the main sealed cabin to supply power to the Beidou positioning and communication unit; the solar panel charges the standby storage battery through the charging module.

Step 2: the Beidou sealed cabin acquires self-position information through a Beidou satellite and sends the self-position information to the main sealed cabin; when serious faults occur in the main sealed cabin and the power supply failure of the Beidou sealed cabin is caused, the solar power supply management and main/standby power supply switching unit automatically switches the standby storage battery in the Beidou sealed cabin to supply power for the Beidou positioning and communication unit.

And step 3: the main controller receives buoy position information transmitted from the Beidou sealed cabin. And simultaneously, checking whether the working states of all equipment of the buoy are normal or not in real time, namely checking whether water leakage or other faults exist or not.

And 4, step 4: if the main sealed cabin has serious water leakage or other serious faults, the main controller can not work. When the slave controller finds that the master controller does not work, the buoy position information is automatically reported in a short message mode through the Beidou satellite at regular time.

And 5: when the master controller can work and no fault occurs, all working state information including the position of the buoy is reported to the monitoring center through the radio station at regular time, an information code indicating normal working is sent to the slave controller at the same time, and short message information is sent to the monitoring center through the Beidou satellite at long intervals by the slave controller.

Step 6: the main controller can work, but when the main sealed cabin leaks water or other faults, fault information including the position of the buoy is immediately reported to the monitoring center through the radio station, meanwhile, a fault information code is sent to the slave controller, and the slave controller sends short message report fault information to the monitoring center through the Beidou satellite. And repeatedly executing the steps 2-6.