A beidou positioning and surveying integrated device based on complex environment

Abstract

The application relates to the field of installation of Beidou positioning surveying and mapping equipment, and discloses a Beidou positioning surveying and mapping integrated equipment based on complex environment, which comprises a mounting support frame, a solar photovoltaic panel is mounted on the front side of the mounting support frame, a control box is mounted on the rear side of the mounting support frame, two mounting grooves are symmetrically arranged in the mounting support frame, the two mounting grooves are separated by a cross beam, and the mounting grooves are used for accommodating and clamping a power transmission tower steel frame. The solar photovoltaic panel, the control box, the telescopic supporting rod, the angle adjusting and positioning assembly and the Beidou positioning module are all integrated on the mounting support frame, a plurality of independent components do not need to be respectively installed on site, and the deployment can be completed by only clamping the mounting grooves into the power transmission tower steel frame and locking the adjustable locking mechanism, so that the equipment is highly integrated and can be hung and used.

Description

Technical Field

[0001] This invention relates to the field of BeiDou positioning and mapping equipment installation technology, and in particular to an integrated BeiDou positioning and mapping equipment for complex environments. Background Technology

[0002] In the health monitoring of infrastructure such as power transmission lines, communication base stations, and bridges, BeiDou high-precision positioning technology is widely used for long-term monitoring of deformation parameters such as tower tilt, displacement, and settlement. Existing BeiDou monitoring equipment typically adopts a split installation method, where the BeiDou receiver, solar photovoltaic panels, control box, and other components are installed at different locations on the tower using their own independent brackets, and the components are connected by cables.

[0003] Currently, this split-type installation method typically requires installing a triangular support frame at the bottom of each device, and then installing them on the tower using their respective independent brackets. This installation method is time-consuming and carries significant risks associated with working at heights. Furthermore, different tower structures, installation locations, and surrounding environments all impose different requirements on the installation height, horizontal orientation, pitch angle, and extension distance of the BeiDou antenna. Current equipment often uses rigid fixed connections between the antenna and the support rod or only has limited adjustment capabilities in a single direction, making it impossible to simultaneously achieve fine adjustments in length extension, horizontal rotation, and pitch. In such complex installation environments, we provide an integrated BeiDou positioning and mapping device designed for complex environments to improve upon this approach. Summary of the Invention

[0004] To overcome the above shortcomings, this invention provides an integrated BeiDou positioning and mapping device for complex environments, aiming to improve the problems of cumbersome separate installation, long installation time, and insufficient adjustment freedom of the BeiDou positioning module in existing technologies, which makes it unable to adapt to complex installation environments.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a Beidou positioning and mapping integrated device based on complex environments, including a mounting support frame, a solar photovoltaic panel installed on the front side of the mounting support frame, a control box installed on the rear side of the mounting support frame, two mounting slots symmetrically opened inside the mounting support frame, and the two mounting slots are separated by a crossbeam, the mounting slots being used to accommodate and clamp the steel frame of the power transmission tower.

[0006] The front side of the mounting support frame is also provided with a vertically extending strip groove, which is located on one side of the solar photovoltaic panel. A telescopic support rod is movably connected inside the strip groove. An angle adjustment and positioning component is provided at the telescopic end of the telescopic support rod. The lower end of the angle adjustment and positioning component is rotatably connected to the telescopic end of the telescopic support rod. A Beidou positioning module is fixedly installed at the upper end of the angle adjustment and positioning component. The mounting support frame is also provided with an adjustable locking mechanism, which is used to lock the mounting support frame to the transmission tower steel frame or external support.

[0007] As a further description of the above technical solution:

[0008] The adjustable locking mechanism includes a plurality of first screw holes spaced apart on the outer wall of the mounting groove. The first screw holes are equidistant along the length of the mounting groove, and each first screw hole penetrates the outer wall of the mounting groove and communicates with the internal space of the mounting groove. A double-ended locking screw is fitted into the first screw hole. The two ends of the double-ended locking screw extend out from the inner and outer sides of the outer wall of the mounting groove, respectively, and the two ends of the double-ended locking screw are threaded with locking nuts for clamping the transmission tower steel frame from the inner and outer sides.

[0009] As a further description of the above technical solution:

[0010] A flip-up positioning plate is hinged to the bottom outer side of the mounting support frame. The flip-up positioning plate can rotate around the hinge in a vertical plane and has a horizontally unfolded state and a vertically retracted state. A second screw hole corresponding to the position of the first screw hole is provided on the flip-up positioning plate. When the flip-up positioning plate is in the horizontally unfolded state, the second screw hole is coaxially aligned with the first screw hole.

[0011] As a further description of the above technical solution:

[0012] The hinged end of the telescopic support rod is rotatably connected to the two side walls of the strip groove via a hinge shaft, allowing the telescopic support rod to rotate in and out of the strip groove. The telescopic support rod is a multi-section sleeve telescopic structure, with adjacent sleeves fixedly connected by locking sleeves to achieve length adjustment. On the side of the telescopic support rod where the hinged end is hinged to the strip groove, multiple positioning holes are spaced apart along its length.

[0013] As a further description of the above technical solution:

[0014] The mounting support frame has a sliding groove on its side. The sliding groove extends vertically and is parallel to the strip groove. Multiple positioning holes are spaced vertically on the bottom wall of the sliding groove. The positioning holes penetrate the bottom wall of the sliding groove and are connected to the inside of the strip groove. A positioning bolt is inserted into the inside of the sliding groove. The end of the positioning bolt can pass through the positioning hole and extend into the inside of the strip groove.

[0015] As a further description of the above technical solution:

[0016] After passing through the positioning hole, the positioning bolt is inserted into the positioning socket to lock the angle of the telescopic support rod in the strip groove.

[0017] As a further description of the above technical solution:

[0018] The angle adjustment positioning component includes a horizontally set mounting plate. The Beidou positioning module is fixedly installed on the upper surface of the mounting plate. A ball socket is fixedly connected to the lower surface of the mounting plate. A ball head is sleeved inside the ball socket. The ball head and the inner wall of the ball socket form a spherical joint connection, allowing the ball head to rotate omnidirectionally within the ball socket. A connecting rod is fixedly connected to the distal end of the ball head. The end of the connecting rod is fixedly connected to the distal end of the telescopic support rod.

[0019] As a further description of the above technical solution:

[0020] The lower surface of the mounting plate has a second mounting groove on each of the left and right sides of the ball socket. Each second mounting groove has a movably embedded insertion positioning block. The insertion positioning block is rotatably connected to the second mounting groove, allowing the insertion positioning block to flip within the second mounting groove. The surface of the insertion positioning block has a through positioning hole. When one end of the insertion positioning block is flipped to the bottom of the second mounting groove, the positioning hole is coaxially aligned with the first screw hole below, so that a bolt or positioning pin can be inserted for fixing.

[0021] As a further description of the above technical solution:

[0022] The distal end of the telescopic support rod is provided with symmetrical locking holes at the connection between it and the mounting plate, and a locking bolt is inserted into the locking hole.

[0023] As a further description of the above technical solution:

[0024] The mounting support frame has a mounting hole at the top of one end away from the flip positioning plate. The mounting hole can be a threaded hole or a smooth hole, which is used for the simultaneous installation of multiple Beidou positioning modules under different circumstances.

[0025] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are as follows:

[0026] 1. In this invention, the solar photovoltaic panel, control box, telescopic support rod, angle adjustment positioning component and Beidou positioning module are all integrated on the installation support frame. There is no need to install multiple independent components on site. The deployment can be completed simply by inserting the installation slot into the steel frame of the transmission tower and locking the adjustable locking mechanism. It is highly integrated and ready to use immediately after installation.

[0027] 2. In this invention, by extending and rotating the telescopic support rod, adjusting the spherical pair of the angle adjustment positioning component, and locking the positioning bolt and the positioning socket, the Beidou positioning module can achieve fine adjustment in height, horizontal angle, and pitch angle, adapting to different tower structures, different installation positions, and different satellite signal reception requirements, and meeting the requirements of high-precision mapping and positioning in complex environments.

[0028] 3. In this invention, when the flip positioning plate is in the retracted state, the second screw hole is aligned with the first screw hole, and the equipment can be hung on the crossarm or main structure of the tower. After the flip positioning plate is unfolded, it can be fixed to the ground with the installation support frame to realize the independent ground use mode, so that the same set of equipment can be adapted to installation scenarios such as hanging and vertical installation.

[0029] 4. In this invention, the design of the mounting hole allows for the installation of a second Beidou positioning module on the top of the device, enabling dual-antenna baseline measurement. This allows the device to be installed in monitoring scenarios in complex environments such as mountains and forests, improving monitoring accuracy and anti-interference capabilities, and further expanding the applicable scenarios of the device. Attached Figure Description

[0030] Figure 1 This is a schematic diagram showing the connection between the installation support frame and the steel frame of the power transmission tower for an integrated BeiDou positioning and mapping equipment based on complex environments, as proposed in this invention.

[0031] Figure 2 This is a schematic diagram of the installation support frame, strip groove, and telescopic support rod connection structure of an integrated BeiDou positioning and mapping equipment based on complex environments proposed in this invention.

[0032] Figure 3 This is a schematic diagram of the vertical structure of the installation support frame for an integrated BeiDou positioning and mapping device in a complex environment, as proposed in this invention.

[0033] Figure 4 This is a schematic diagram of the connection structure of the angle adjustment positioning component of an integrated BeiDou positioning and mapping device for complex environments proposed in this invention.

[0034] Figure 5This is a schematic diagram of the mounting plate, telescopic support rod, and locking bolt connection structure of an integrated BeiDou positioning and mapping equipment for complex environments proposed in this invention.

[0035] Figure 6 This is a schematic diagram of the plug-in positioning block and mounting slot plug-in structure of a Beidou positioning and mapping integrated device based on complex environments proposed in this invention.

[0036] Figure 7 This is a schematic diagram of the installation of multiple BeiDou positioning modules in a vertical state on the support frame of an integrated BeiDou positioning and mapping equipment for complex environments, as proposed in this invention.

[0037] Legend:

[0038] 1. Mounting support frame; 2. Solar photovoltaic panel; 3. Control box; 4. Mounting slot; 5. Transmission tower steel frame; 6. Strip groove; 7. Telescopic support rod; 8. Angle adjustment positioning component; 9. Beidou positioning module; 10. Adjustable locking mechanism; 11. First screw hole; 12. Double-headed locking screw; 13. Flip positioning plate; 14. Second screw hole; 15. Positioning insertion hole; 16. Slide groove; 17. Positioning bolt; 18. Mounting plate; 19. Ball socket; 20. Ball head; 21. Second mounting slot; 22. Insertion positioning block; 23. Positioning hole; 24. Locking bolt; 25. Mounting hole. Detailed Implementation

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0040] Example 1: Installation method mounted on the angle steel of the transmission tower

[0041] Reference Figure 1-7 This embodiment provides an integrated BeiDou positioning and mapping device for complex environments, used for monitoring the tilt and displacement of power transmission towers.

[0042] The mounting support frame 1 is an integrally formed H-shaped metal frame structure with two symmetrical mounting slots 4 inside. The opening directions of the two mounting slots 4 are opposite, and the two mounting slots 4 are separated by a crossbeam. The width of the mounting slot 4 is slightly larger than the flange thickness of the transmission tower steel frame 5, i.e., the tower angle steel, so that the angle steel can be inserted smoothly.

[0043] On the outer wall of the mounting groove 4, a plurality of first screw holes 11 are equidistantly arranged along its length. Each first screw hole 11 penetrates the outer wall of the mounting groove 4 and communicates with the internal space of the mounting groove 4. A double-ended locking screw 12 is fitted into each first screw hole 11. The two ends of the double-ended locking screw 12 extend out from the inner and outer sides of the outer wall of the mounting groove 4, respectively, and a locking nut is threaded onto each end of the double-ended locking screw 12.

[0044] Reference Figure 1 The double-ended locking screw 12 is connected to the first screw hole 11 via threads, and the locking nut is tightened at both ends of the double-ended locking screw 12. After the transmission tower steel frame 5 is inserted into the mounting groove 4, the inner locking nut is rotated to make the inner end face of the double-ended locking screw 12 press against the inner flange of the angle steel, while the outer locking nut is rotated to tighten the outer wall of the mounting groove 4, thereby clamping the angle steel from both the inside and outside.

[0045] This connection enables non-destructive installation without drilling—providing reliable clamping force without needing to drill holes in the tower, fully complying with power industry safety regulations, and without compromising the structural strength of the tower. Meanwhile, the double-ended locking screw 12 can accommodate angle steel of varying thicknesses, offering excellent dimensional compatibility. The threaded joint of the locking nut has self-locking properties, preventing loosening under long-term vibration, thus ensuring the stability of long-term fixed monitoring.

[0046] Reference Figure 1-3 The solar photovoltaic panel 2 is fixedly installed on the front side of the mounting support frame 1, and the control box 3 is fixedly installed on the rear side of the mounting support frame 1. The solar photovoltaic panel 2 and the control box 3 are arranged back-to-back and directly fixed to the mounting support frame using mounting hardware such as bolts. The electrical connection cables between the two can be pre-embedded in the cable tray along the back of the mounting support frame 1. This back-to-back arrangement ensures that the solar photovoltaic panel 2 and the control box 3 do not obstruct each other; the solar photovoltaic panel 2 can face the sunlight, while the control box 3 is located on the shaded side, which is beneficial for heat dissipation and protection.

[0047] Reference Figure 2 On the front side of the mounting support frame 1 and on one side of the solar photovoltaic panel 2, a vertically extending strip groove 6 is provided. The hinged end of the telescopic support rod 7 is rotatably connected to the two side walls of the strip groove 6 through a hinge shaft, so that the telescopic support rod 7 can rotate in and out of the strip groove 6 around the hinge shaft.

[0048] The hinge shaft passes through the shaft hole at the hinge end of the telescopic support rod 7, and its two ends are respectively inserted into the shaft holes on both sides of the strip groove 6, forming a rotating pair. The telescopic support rod 7 is a multi-section sleeve-type telescopic structure, and adjacent sleeves are fixedly connected by locking sleeves. The inner sleeve can slide axially inside the outer sleeve, and the position of the inner sleeve is locked by radial pressure after the locking sleeve is tightened.

[0049] The rotating joint allows the telescopic support rod 7 to flip outward from within the slot 6, thereby moving the Beidou positioning module 9 from a position close to the mounting support frame 1 to an open area outside the tower. The telescopic structure allows the extension length of the Beidou positioning module 9 to be continuously adjusted within a certain range to adapt to different tower crossarm widths and obstruction conditions.

[0050] On the hinged end of the telescopic support rod 7, which is hinged to the strip groove 6, multiple positioning holes 15 are spaced apart along its length. A sliding groove 16 is provided on the side of the mounting support frame 1, extending vertically and parallel to the strip groove 6. Multiple positioning holes are spaced apart vertically on the bottom wall of the sliding groove 16, penetrating the bottom wall and communicating with the interior of the strip groove 6. A positioning bolt 17 is inserted into the interior of the sliding groove 16, the end of which can extend into the interior of the strip groove 6 through a positioning hole.

[0051] The outer diameter of the positioning bolt 17 matches the inner diameter of the positioning hole and the inner diameter of the positioning insertion hole 15. When the telescopic support rod 7 is rotated to the required angle, the positioning bolt 17 is slid to the corresponding positioning hole and inserted inward, so that its end passes through the positioning hole and the positioning insertion hole 15 in sequence to achieve insertion and fixation.

[0052] Meanwhile, the locking sleeve at the telescopic end of the telescopic support rod 7 ensures the rigidity after the telescopic length is locked. At the same time, it works in conjunction with multiple positioning holes 15 to connect with the holes in the sleeve of the telescopic support rod 7 and is locked with bolts, which can further enhance the fixing effect and prevent automatic retraction caused by wind vibration.

[0053] The aforementioned locking method completely restricts the rotational freedom of the telescopic support rod 7, preventing it from rotating further. The engagement of the positioning socket 15 and the positioning hole provides angle locking. The plug-in connection method is simple to operate, requires no tools, and is suitable for high-altitude operations.

[0054] Reference Figure 4-6 An angle adjustment and positioning component 8 is installed at the distal end of the telescopic support rod 7, i.e., the end furthest from the hinge end. This component includes a horizontally positioned mounting plate 18, on which the Beidou positioning module 9 is fixedly mounted. A ball socket 19 is fixedly connected to the lower surface of the mounting plate 18, and a ball head 20 is fitted inside the ball socket 19, forming a spherical joint connection with the inner wall of the ball socket 19. A connecting rod is fixedly connected to the distal end of the ball head 20, and the end of this connecting rod is fixedly connected to the distal end of the telescopic support rod 7.

[0055] The outer spherical surface of the ball head 20 fits against the inner spherical surface of the ball socket 19, forming a spherical pair, allowing the ball head 20 to rotate omnidirectionally within the ball socket 19. One end of the connecting rod is fixedly connected to the ball head 20, such as by welding or integral molding, and the other end is fixedly connected to the distal end of the telescopic support rod 7 by thread or flange. The mounting plate 18 is fixedly connected to the ball socket 19, such as by welding or integral casting.

[0056] The spherical joint enables the BeiDou positioning module 9 to be adjusted in all directions relative to the telescopic support rod 7—it can rotate 360° horizontally around the vertical axis, adjust pitch ±90° around the horizontal axis, and roll around its own axis. This three-degree-of-freedom adjustment capability allows the antenna of the BeiDou positioning module 9 to point in any direction in three-dimensional space.

[0057] For example, when installed on a power transmission tower, it can avoid structures such as crossarms and angle steel, and be aligned with the direction of satellite signal reception; when installed on a mountain road, when the sky is open on the side of the tower facing the road and blocked on the side facing the hillside, the Beidou positioning module 9 can be aligned with the open direction by horizontal rotation.

[0058] The lower surface of the mounting plate 18 has a second mounting groove 21 on each of the left and right sides of the ball socket 19. A plug-in positioning block 22 is movably embedded inside each second mounting groove 21. The plug-in positioning block 22 is rotatably connected to the second mounting groove 21 via a pin, allowing the plug-in positioning block 22 to rotate within the second mounting groove 21. A through positioning hole 23 is formed on the surface of the plug-in positioning block 22.

[0059] The insertion positioning block 22 and the second mounting groove 21 form a rotating pair, which can be flipped around the pin in the vertical plane. When the insertion positioning block 22 is flipped down to the bottom of the second mounting groove 21, the positioning hole 23 on it is coaxially aligned with the first screw hole 11 on the lower mounting support frame 1 or the second screw hole 14 on the flip positioning plate 13.

[0060] When the mounting support frame 1 is in a vertical double-headed position, screwing the bolts or locating pins through the locating holes 23 and into the first screw hole 11 will completely lock the relative position of the mounting plate 18 and the mounting support frame 1, preventing the ball head 20 from rotating unexpectedly in the ball socket 19. This ensures that the attitude of the Beidou positioning module 9 remains stable over a long period of time.

[0061] Symmetrical locking holes are provided at the connection between the distal end of the telescopic support rod 7 and the mounting plate 18, and locking bolts 24 are inserted into the locking holes.

[0062] The locking bolt 24 passes through the locking holes opened on the far end of the telescopic support rod 7 and the mounting plate 18 in sequence, fixing the two radially to prevent relative rotation, so that the attitude locking of the Beidou positioning module 9 on the telescopic support rod 7 is more reliable in the horizontal state.

[0063] Example 2: Ground-based independent use mode

[0064] Reference Figure 3 and Figure 7 Based on Embodiment 1, this embodiment adds a flip-up positioning plate 13 hinged to the bottom outer side of the mounting support frame 1. The flip-up positioning plate 13 can rotate 90 degrees around the hinge, having a horizontally unfolded state and a vertically flush state. A second screw hole 14 corresponding to the position of the first screw hole 11 is provided on the flip-up positioning plate 13. When the flip-up positioning plate 13 is in the vertically flush state, its second screw hole 14 is coaxially aligned with the first screw hole 11 on the outer wall of the mounting groove 4, and the flip-up positioning plate 13 is on the same horizontal line as the support frame 1, allowing it to be mounted on the tower in conjunction with the equipment.

[0065] In the unfolded state, when the flip positioning plate 13 is rotated 90°, the equipment can be fixed to the ground by bolts passing through the second screw hole 14, enabling independent ground use. This dual-mode design allows the same equipment to be quickly switched between tower mounting and ground deployment without any adapters.

[0066] When the temporary monitoring points on the towers are detachable, the device can also be installed at observation points such as landslides, foundation pits, and bridges, and can be used independently on the ground.

[0067] This mode allows the equipment to operate independently of the pole, expanding its application range. The hole alignment design between the flip positioning plate 13 and the mounting slot 4 enables the reuse of the pole clamping interface and the ground support interface, eliminating the need for additional dedicated connectors. Furthermore, all adjustment mechanisms are identical to those in the pole mounting mode, ensuring consistency of operation in both modes.

[0068] Example 3: Configuration of Dual Beidou Positioning Modules

[0069] refer to Figure 7 Based on Embodiment 1, this embodiment provides a mounting hole 25 at the top of the end of the mounting support frame 1 away from the flip positioning plate 13. The mounting hole 25 is a threaded hole or a smooth hole.

[0070] When a dual-antenna configuration is required, the second BeiDou positioning module 9 is installed using the mounting holes 25 on the top of the mounting support 1. The specific connection method is as follows: the dedicated antenna bracket base is fixed to the mounting holes 25 with bolts, and then the second BeiDou positioning module 9 is fixed to the top of the bracket.

[0071] Compared to a single-antenna solution, dual-antenna baseline measurement provides richer and more accurate monitoring data. Furthermore, the mounting hole 25 design allows for flexible switching between single and dual-antenna configurations on the same equipment, enabling users to choose the configuration based on their actual needs and budget without replacing the main equipment.

[0072] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A Beidou positioning and mapping integrated device for complex environments, comprising a mounting support frame (1), wherein a solar photovoltaic panel (2) is mounted on the front side of the mounting support frame (1), and a control box (3) is mounted on the rear side of the mounting support frame (1), characterized in that: The mounting support frame (1) has two symmetrical mounting slots (4) inside, and the two mounting slots (4) are separated by a crossbeam. The mounting slots (4) are used to accommodate and clamp the steel frame (5) of the transmission tower. The front side of the mounting support frame (1) is also provided with a vertically extending strip groove (6). The strip groove (6) is located on one side of the solar photovoltaic panel (2). A telescopic support rod (7) is movably connected inside the strip groove (6). An angle adjustment positioning component (8) is provided at the telescopic end of the telescopic support rod (7). The lower end of the angle adjustment positioning component (8) is rotatably connected to the telescopic end of the telescopic support rod (7). A Beidou positioning module (9) is fixedly installed at the upper end of the angle adjustment positioning component (8). An adjustable locking mechanism (10) is also provided on the mounting support frame (1). The adjustable locking mechanism (10) is used to lock the mounting support frame (1) to the transmission tower steel frame (5) or external support.

2. The integrated BeiDou positioning and mapping equipment based on complex environments according to claim 1, characterized in that, The adjustable locking mechanism (10) includes a plurality of first screw holes (11) spaced apart on the outer wall of the mounting groove (4). The first screw holes (11) are equidistant along the length of the mounting groove (4), and each first screw hole (11) penetrates the outer wall of the mounting groove (4) and communicates with the internal space of the mounting groove (4). A double-headed locking screw (12) is fitted inside the first screw hole (11). The two ends of the double-headed locking screw (12) extend out from the inner and outer sides of the outer wall of the mounting groove (4), and the two ends of the double-headed locking screw (12) are threaded with locking nuts, which are used to clamp the transmission tower steel frame (5) from the inner and outer sides.

3. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, A flip positioning plate (13) is hinged to the bottom outer side of the mounting support frame (1). The flip positioning plate (13) can rotate around the hinge in a vertical plane and has a horizontally unfolded state and a vertically retracted state. A second screw hole (14) corresponding to the position of the first screw hole (11) is opened on the flip positioning plate (13). When the flip positioning plate (13) is in the horizontally unfolded state, the second screw hole (14) is coaxially aligned with the first screw hole (11).

4. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, The hinge end of the telescopic support rod (7) is rotatably connected to the two side walls of the strip groove (6) through the hinge shaft, so that the telescopic support rod (7) can rotate in and out of the strip groove (6). The telescopic support rod (7) is a multi-sleeve telescopic structure. Adjacent sleeves are fixedly connected by locking sleeves to achieve length adjustment. On the side of the telescopic support rod (7) that is hinged to the strip groove (6), a plurality of positioning holes (15) are spaced apart along its length direction.

5. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, The mounting support frame (1) has a sliding groove (16) on its side. The sliding groove (16) extends vertically and is parallel to the strip groove (6). Multiple positioning holes are spaced vertically on the bottom wall of the sliding groove (16). The positioning holes penetrate the bottom wall of the sliding groove (16) and are connected to the inside of the strip groove (6). A positioning bolt (17) is inserted into the inside of the sliding groove (16). The end of the positioning bolt (17) can pass through the positioning hole and extend into the inside of the strip groove (6).

6. The integrated BeiDou positioning and mapping equipment based on complex environments according to claims 4 and 5, characterized in that, After the positioning bolt (17) passes through the positioning hole, it is inserted and fixed into the positioning socket (15) to lock the angle of the telescopic support rod (7) in the strip groove (6).

7. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, The angle adjustment positioning component (8) includes a horizontally set mounting plate (18). The Beidou positioning module (9) is fixedly installed on the upper surface of the mounting plate (18). A ball socket (19) is fixedly connected to the lower surface of the mounting plate (18). A ball head (20) is sleeved inside the ball socket (19). The ball head (20) and the inner wall of the ball socket (19) form a spherical pair connection, so that the ball head (20) can rotate in all directions inside the ball socket (19). A connecting rod is fixedly connected to the far end of the ball head (20). The end of the connecting rod is fixedly connected to the far end of the telescopic support rod (7).

8. The integrated BeiDou positioning and mapping equipment based on complex environments according to claim 7, characterized in that, The lower surface of the mounting plate (18) is provided with a second mounting groove (21) on the left and right sides of the ball socket (19). Each second mounting groove (21) is movably fitted with a plug-in positioning block (22). The plug-in positioning block (22) is rotatably connected to the second mounting groove (21) so that the plug-in positioning block (22) can be flipped in the second mounting groove (21). The surface of the plug-in positioning block (22) is provided with a through positioning hole (23). When one end of the plug-in positioning block (22) is flipped to the bottom of the second mounting groove (21), the positioning hole (23) is coaxially aligned with the first screw hole (11) below so that a bolt or positioning pin can be inserted for fixing.

9. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, Symmetrical locking holes are provided at the connection between the far end of the telescopic support rod (7) and the mounting plate (18), and locking bolts (24) are inserted into the locking holes.

10. The integrated BeiDou positioning and mapping equipment for complex environments according to claim 1, characterized in that, The mounting support frame (1) has a mounting hole (25) at the top of one end away from the flip positioning plate (13). The mounting hole (25) is a threaded hole or a smooth hole, which is used for the simultaneous installation of multiple Beidou positioning modules (9) under different circumstances.

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