A distributed gas detection system that can be deployed and recovered autonomously

Abstract

The present invention belongs to the technical field of distributed gas detection payload systems for unmanned aerial vehicles, and specifically, is a distributed gas detection system that can be deployed and recovered autonomously. It includes an unmanned aerial vehicle, an airborne rappelling system, and a distributed gas detection terminal, wherein the unmanned aerial vehicle is used to carry equipment and autonomously fly to a target detection area; the airborne rappelling system is arranged on the unmanned aerial vehicle, and the airborne rappelling system is used to realize autonomous deployment and recovery of the distributed gas detection terminal; the distributed gas detection terminal is used to realize gas detection and data feedback in the target detection area, and can automatically dock and separate with the airborne rappelling system. The present invention is compact and lightweight, can be easily integrated with the unmanned aerial vehicle platform, and can be deployed and recovered autonomously. It can adapt to many terrains and realize gas detection and data feedback in the target area.

Description

Technical Field

[0001] The present invention belongs to the technical field of distributed gas detection payload systems for unmanned aerial vehicles, and in particular is a distributed gas detection system that can be deployed and recovered autonomously. Background Art

[0002] With the development of drone technology, various payload systems with complete functions and unique features have emerged. While these unmanned payload systems have many advantages, they also have some shortcomings. For example, some measurement work requires long-term measurement, so many payload systems connected to drones cannot be measured for a long time due to the impact of drone endurance. In addition, most payloads are powered and operated by being connected to the drone body, and cannot be autonomously deployed and recovered in a specific area. Another use of drone detection is chemical environment gas and liquid detection. Most gas detection methods also adopt manual deployment or installation at a fixed height for detection. However, many gas detection tasks are dangerous and cannot be manually deployed or approached to the target area, so there is an urgent need for a gas detection payload system that can be autonomously deployed in the air. Summary of the invention

[0003] In response to the above problems, the purpose of the present invention is to provide a distributed gas detection system that can be autonomously deployed and recovered. The system is small and light, can be easily integrated with a drone platform, and can be autonomously deployed and recovered. It can adapt to many terrains and realize gas detection and data feedback in the target area.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A distributed gas detection system that can be deployed and recovered autonomously includes an unmanned aerial vehicle, an airborne rappelling system and a distributed gas detection terminal, wherein the unmanned aerial vehicle is used to carry equipment and autonomously fly to a target detection area; the airborne rappelling system is arranged on the unmanned aerial vehicle, and the airborne rappelling system is used to realize autonomous deployment and recovery of the distributed gas detection terminal; the distributed gas detection terminal is used to realize gas detection and data feedback in the target detection area, and can automatically dock and detach with the airborne rappelling system.

[0006] The airborne rappelling system includes a winding motor, a winding motor controller and a rappelling rope, wherein the winding motor is arranged on the UAV, one end of the rappelling rope is connected to the winding motor, and the other end is connected to the end ball of the rappelling rope, and the end ball of the rappelling rope is used to dock with the distributed gas detection terminal; the winding motor controller is used to control the winding motor to complete the release or recovery of the rappelling rope.

[0007] The distributed gas detection terminal includes a conical funnel, an electrical sensor control box, an attitude adjustment support frame, an antenna assembly, a hook lock switch state limit switch, a limit switch triggered by a ball at the end of a rappelling rope, a hook lock mechanism and a landing detection mechanism, wherein the conical funnel is arranged on the attitude adjustment support frame and has pitch and roll degrees of freedom, and the conical funnel is used to receive the ball at the end of the rappelling rope; the antenna assembly is arranged on the top of the attitude adjustment support frame, the electrical sensor control box, the hook lock switch state limit switch, the limit switch triggered by a ball at the end of a rappelling rope, the hook lock mechanism and the landing detection mechanism The structures are all arranged at the bottom of the posture adjustment support frame, the descent rope end ball trigger limit switch is located at the bottom of the conical funnel, and is used to detect whether the descent rope end ball falls into the conical funnel; the hook lock mechanism is used to lock or release the descent rope end ball that falls into the conical funnel; the hook lock switch state limit switch is used to detect the switch state of the hook lock mechanism; the landing detection mechanism is used to detect whether the distributed gas detection terminal is grounded and supported on the ground; the hook lock switch state limit switch, the descent rope end ball trigger limit switch, and the hook lock mechanism are all connected to the electrical sensor control box.

[0008] The attitude adjustment support frame includes a distributed terminal support rod, a distributed terminal support frame, a base plate and a rolling frame, wherein the base plate is arranged on the top of the electrical sensor control box, the distributed terminal support frame is connected to the base plate through a plurality of distributed terminal support rods, the opposite sides of the rolling frame are rotatably connected to the distributed terminal support frame through a rolling axis, and the conical funnel is rotatably connected to the rolling frame through a pitch axis, and the axis of the pitch axis is perpendicular to the axis of the roll axis.

[0009] The conical funnel comprises a conical guide surface and a ball lock slideway arranged at a bottom port of the conical guide surface;

[0010] The ball at the end of the rappelling rope is guided into the ball lock slideway by the conical guide surface, and slides down to the bottom of the ball lock slideway to trigger the ball at the end of the rappelling rope to trigger the limit switch.

[0011] The hook lock mechanism includes a driving servo, a locking pin and a crank connecting rod, wherein the driving servo is arranged on the base plate, and the output end is hinged to the locking pin through the crank connecting rod, and the locking pin is inserted into a socket provided on the side wall of the ball lock slide. The driving servo drives the locking pin to extend and retract in the socket through the crank connecting rod, thereby realizing the limiting or release of the ball at the end of the descent rope falling into the ball lock slide.

[0012] The hook lock switch state limit switch is divided into two groups, which are respectively used to detect the unlocking position and the locking position of the lock pin.

[0013] The landing detection mechanism includes a landing detection limit switch and a landing detection trigger foot, wherein the landing detection trigger foot is slidably connected to the bottom plate, and the landing detection limit switch is arranged on the bottom plate and corresponds to the upper end of the landing detection trigger foot; when the landing detection trigger foot contacts the ground, it will slide relative to the bottom plate, thereby triggering the landing detection limit switch.

[0014] The distributed terminal support frame is provided with a system operation status light strip.

[0015] The antenna assembly includes a differential GPS antenna I and a differential GPS antenna II symmetrically arranged on the top of the attitude adjustment support frame.

[0016] The advantages and beneficial effects of the present invention are:

[0017] 1. The present invention realizes a distributed gas detection terminal that can be deployed and recovered autonomously. The most significant advantage is that the distributed gas detection terminal is connected to the drone through an airborne rappelling system, can be deployed autonomously in any area, can monitor and transmit data for a long time, and can be recovered after completing the task.

[0018] 2. The distributed gas detection terminal in the present invention is small and light, can carry various sensors, is portable and easy to use, is not limited by space, is simple and practical to operate; and can carry different gas detection sensors for multi-point deployment.

[0019] 3. The terminal electrical controller of the distributed gas detection system of the present invention has a rich set of interfaces and communication protocols embedded, can communicate with various controllers, and can communicate and interact with the customer's master control display terminal through networking and wireless methods, which is convenient for secondary development and function expansion.

[0020] 4. The terminal electrical controller of the distributed gas detection system of the present invention is provided with a self-balancing funnel guide surface, which can greatly increase the docking probability between the rope end ball and the distributed gas detection terminal during the rope lowering and recovery process, and can adapt to deployment and recovery on uneven terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a distributed gas detection system that can be deployed and recovered autonomously according to the present invention;

[0022] Figure 2 It is an axonometric diagram of the distributed gas detection terminal in the present invention;

[0023] Figure 3 It is a longitudinal cross-sectional view of the distributed gas detection terminal in the present invention;

[0024] Figure 4 A schematic diagram of the working process of a distributed gas detection system capable of autonomous deployment and recovery according to the present invention;

[0025] In the figure: 1 is the airborne rappelling system, 2 is the distributed gas detection terminal, 3 is the conical funnel, 4 is the electrical sensor control box, 5 is the differential GPS antenna I, 6 is the differential GPS antenna II, 7 is the hook lock switch state limit switch, 8 is the rappelling rope end ball trigger limit switch, 9 is the landing detection limit switch, 10 is the system operation status light strip, 11 is the pitch axis, 12 is the roll axis, 13 is the distributed terminal support rod, 14 is the landing detection trigger foot, 15 is the rappelling rope end ball, 16 is the rappelling rope, 17 is the ball lock slide, 18 is the driving servo, 19 is the distributed terminal support frame, 20 is the bottom plate, 21 is the rolling frame, 22 is the locking pin, 23 is the crank connecting rod, 24 is the conical guide surface, and 30 is the unmanned aerial vehicle. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] like Figure 1 As shown, the present invention provides a distributed gas detection system that can be deployed and recovered autonomously, including an unmanned aerial vehicle 30, an airborne rappelling system 1 and a distributed gas detection terminal 2, wherein the unmanned aerial vehicle 30 is used to carry equipment and autonomously fly to a target detection area; the airborne rappelling system 1 is arranged on the unmanned aerial vehicle 30, and the airborne rappelling system 1 is used to realize autonomous deployment and recovery of the distributed gas detection terminal 2; the distributed gas detection terminal 2 is used to realize gas detection and data feedback of the target area, and can automatically dock and detach with the airborne rappelling system 1.

[0028] In an embodiment of the present invention, the airborne rappelling system 1 includes a winding motor, a winding motor controller and a rappelling rope 16, wherein the winding motor is arranged on the drone 30, one end of the rappelling rope 16 is connected to the winding motor, and the other end is connected to the terminal sphere 15 of the rappelling rope, and the terminal sphere 15 of the rappelling rope is used to dock with the distributed gas detection terminal 2; the winding motor controller is used to control the winding motor to complete the release or recovery of the rappelling rope 16.

[0029] Furthermore, the airborne rappelling system 1 also includes a coil number measurement sensor and a limit sensor, wherein the coil number measurement sensor is used to detect the release length of the rappelling rope 16 and the limit sensor is used to detect the limit release length of the rappelling rope 16.

[0030] like Figure 2As shown, in the embodiment of the present invention, the distributed gas detection terminal 2 includes a conical funnel 3, an electrical sensor control box 4, a posture adjustment support frame, an antenna assembly, a hook lock switch state limit switch 7, a descent rope end ball trigger limit switch 8, a hook lock mechanism and a landing detection mechanism, wherein the conical funnel 3 is arranged on the posture adjustment support frame and has pitch and roll degrees of freedom, and the conical funnel 3 is used to receive the descent rope end ball 15; the antenna assembly is arranged on the top of the posture adjustment support frame, the electrical sensor control box 4, the hook lock switch state limit switch 7, the descent rope end ball trigger limit switch 8, the hook lock mechanism and the landing detection mechanism are arranged at the bottom of the posture adjustment support frame, the rappelling rope end ball trigger limit switch 8 is located at the bottom of the conical funnel 3, and is used to detect whether the rappelling rope end ball 15 falls into the conical funnel 3; the hook lock mechanism is used to lock or release the rappelling rope end ball 15 that falls into the conical funnel 3; the hook lock switch state limit switch 7 is used to detect the switch state of the hook lock mechanism; the landing detection mechanism is used to detect whether the distributed gas detection terminal 2 is grounded and supported on the ground; the hook lock switch state limit switch 7, the rappelling rope end ball trigger limit switch 8, and the hook lock mechanism are all connected to the electrical sensor control box 4.

[0031] In an embodiment of the present invention, the attitude adjustment support frame includes a distributed terminal support rod 13, a distributed terminal support frame 19, a base plate 20 and a rolling frame 21, wherein the base plate 20 is arranged on the top of the electrical sensor control box 4, the distributed terminal support frame 19 is connected to the base plate 20 through a plurality of distributed terminal support rods 13, the opposite sides of the rolling frame 21 are rotatably connected to the distributed terminal support frame 19 through a rolling axis 12, and the conical funnel 3 is rotatably connected to the rolling frame 21 through a pitch axis 11, and the axis of the pitch axis 11 is perpendicular to the axis of the roll axis 12.

[0032] Preferably, the bottom plate 20 is a square structure, and is hollowed out to reduce weight, and the distributed terminal support frame 19 is a circular frame structure, and the bottom is connected to the four corners of the bottom plate 20 through four distributed terminal support rods 13. Vertical poles are provided on opposite sides of the top of the distributed terminal support frame 19, and the rolling shaft 12 is radially installed on the top of the vertical pole, and the two rolling shafts 12 are coaxial, and the rolling frame 21 is connected to the rolling shaft 12 through a bearing.

[0033] like Figure 3 As shown, in the embodiment of the present invention, the conical funnel 3 includes a conical guide surface 24 and a ball lock slide 17 arranged at the bottom port of the conical guide surface 24; the ball 15 at the end of the rappelling rope is introduced into the ball lock slide 17 by the conical guide surface 24, and slides down to the bottom of the ball lock slide 17 to trigger the ball at the end of the rappelling rope to trigger the limit switch 8.

[0034] In an embodiment of the present invention, the hook lock mechanism includes a driving servo 18, a locking pin 22 and a crank connecting rod 23, wherein the driving servo 18 is arranged on the base plate 20, and the output end is hinged to the locking pin 22 through the crank connecting rod 23, and the locking pin 22 is inserted into a socket provided on the side wall of the ball lock slide 17. The driving servo 18 drives the locking pin 22 to retract and retract in the socket through the crank connecting rod 23, thereby realizing the limiting or release of the end ball 15 of the rappelling rope falling into the ball lock slide 17.

[0035] Furthermore, the hook lock switch state limit switch 7 is divided into two groups, which are used to detect the unlocking position and the locking position of the lock pin 22 respectively.

[0036] In the embodiment of the present invention, there are four sets of landing detection mechanisms, which are evenly distributed on the edge of the bottom plate 20. The landing detection mechanism includes a landing detection limit switch 9 and a landing detection trigger foot 14, wherein the landing detection trigger foot 14 is slidably connected to the bottom plate 20, and the landing detection limit switch 9 is arranged on the top of the bottom plate 20 and corresponds to the upper end of the landing detection trigger foot 14; when the landing detection trigger foot 14 contacts the ground, it will slide relative to the bottom plate 20, thereby triggering the landing detection limit switch 9.

[0037] Furthermore, a system operation status light strip 10 is provided on the distributed terminal support frame 19 to facilitate aerial search and identification.

[0038] In the embodiment of the present invention, the antenna assembly includes a differential GPS antenna I5 and a differential GPS antenna II6 symmetrically arranged on the top of the attitude adjustment support frame. When the distributed gas detection terminal 2 is deployed at any position, the dual antennas can return accurate location information, which is convenient for the subsequent high-precision positioning requirements of continued deployment and recovery. The electrical sensor control box 4 includes a gas detection sensor and a distributed terminal electrical controller.

[0039] In the embodiment of the present invention, the winding motor in the airborne rappelling system 1 can retract and release a weight of not less than 10 kg, and the length of the rappelling rope 16 is not less than 60 meters, which is not subject to height restrictions in urban and forest environments; the winding motor controller can communicate with the outside world through the TTL serial port and PWM signal, and can easily exchange status data (number of retracted and released coils, switch status) and control instructions, which is convenient for human-computer interaction and secondary development control; the winding motor controller also integrates multiple limit switches to ensure the safety of the retracted and released ropes and prevent unlimited reeling, which may cause the rope to break.

[0040] In the embodiment of the present invention, the radius of the conical funnel 3 in the distributed gas detection terminal 2 is 0.5 meters. The conical funnel 3 is connected to the attitude adjustment support frame through a pitch bearing and a roll bearing. The two-degree-of-freedom bearing can achieve self-balancing, which can better adapt to the uneven terrain to maintain the horizontal plane, greatly increasing the probability of the spherical body 15 at the end of the rope falling into the conical funnel 3. The attitude adjustment support frame is also equipped with a hook lock switch state limit switch 7 and a rope rope end ball trigger limit switch 8, so that the connection state of the rope rope end ball 15 and the conical funnel 3 can be judged by the state of the switch, and the state of the hook lock switch state limit switch 7 and the rope rope end ball trigger limit switch 8 can be further locked or unlocked.

[0041] Furthermore, the electrical sensor control box 4 includes a gas detection sensor and a distributed terminal electrical controller. Different gases can be measured by carrying different gas sensors. The distributed terminal electrical controller has a variety of serial port and network port expansion interfaces, and can transmit the data collected by the distributed terminal to the data monitoring terminal (optional) via wireless or networking. In addition, the operating status of the distributed terminal system is monitored at all times during the gas detection process, and the collected data and system status data are stored and transmitted back in real time. The hook locking mechanism is accurately controlled during the autonomous deployment and recovery process to complete safe deployment and recovery.

[0042] Furthermore, the distributed terminal electrical controller can communicate with the gas collection sensor through the serial port to collect data, judge the locked or unlocked state of the hook lock mechanism through the two-way hook lock switch state limit switch 7, judge whether the rope of the rappelling system enters the hook lock mechanism channel and is fully in place through the ball at the end of the rappelling rope trigger limit switch 8, and judge whether the distributed terminal has landed through the four-way landing detection limit switch 9, thereby performing a series of logical control operations to ensure the safe deployment and recovery of the distributed gas detection terminal 2. In addition, the distributed terminal electrical controller expands the network port and other interfaces, and transmits the collected gas data and system status data back to the main console (any customer monitoring terminal) through the wireless networking link.

[0043] like Figure 4As shown, the present invention provides a distributed gas detection system that can be deployed and recovered autonomously, and its working process is: the distributed gas detection terminal 2 is connected to the drone 30 through the airborne end cable system 1. After receiving the target area delivery command, the drone 30 equipped with the distributed gas detection terminal 2 autonomously flies to the target detection area. After arriving, the drone 30 controls the cable rope 16 to descend through the airborne end cable system 1, and deploys the distributed gas detection terminal 2 to the designated area. Under the precise control of the distributed terminal electrical controller, the distributed gas detection terminal 2 begins to detach from the airborne end cable system 1 after judging the landing detection. The gas detection sensor starts to work, and the indicator light and the return indication state are normal. After the drone 30 returns to the starting point. When the distributed gas detection terminal 2 completes the task, it sends a task completion instruction to the main control console. The main control console commands the drone 30 to search for the distributed gas detection terminal 2 at the target point according to the display position of the distributed gas detection terminal 2, and accurately locks the distributed gas detection terminal 2 through the airborne end cable system 1 for autonomous recovery.

[0044] Specifically, during the autonomous recovery process, when the ball 15 at the end of the rappelling rope falls into the ball lock slide 17, the ball trigger limit switch 8 at the end of the rappelling rope is triggered. After the controller makes a judgment, it controls the driving servo 18 to perform a locking operation, inserts the locking pin 22 into the ball lock slide 17, and restricts the ball 15 at the end of the rappelling rope, thereby achieving locking; during the autonomous deployment process, when the controller detects that the landing detection trigger foot 14 of the distributed gas detection terminal 2 is triggered, it controls the driving servo 18 to perform an unlocking operation, and pulls the locking pin 22 out of the ball lock slide 17, thereby achieving the separation of the airborne rappelling system 1 and the distributed gas detection terminal 2.

[0045] The present invention provides a distributed gas detection system that can be deployed and recovered autonomously. The distributed gas detection terminal 2 is connected to the drone 30 through the airborne end rope system 1, and can be deployed autonomously in any area. At the same time, it can monitor and transmit data for a long time, and can be recovered after completing the task. Moreover, the present invention is compact, lightweight and practical, can carry various sensors, is portable and easy to use, is not limited by space, is simple to operate, and can carry different gas detection sensors for multi-point deployment. In addition, the electrical controller of the distributed gas detection system terminal of the present invention has a rich interface and communication protocol embedded, can communicate with various controllers, and can communicate and interact with the customer's master control display terminal through networking and wireless methods, which is convenient for secondary development and function expansion. Finally, the distributed gas detection system terminal of the present invention has a self-balancing funnel guide surface, which can greatly increase the docking probability of the rope end ball and the distributed gas detection terminal during the rope descent and recovery process, and can adapt to deployment and recovery on uneven terrain.

[0046] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A distributed gas detection system that can be deployed and recovered autonomously, characterized in that: The invention comprises an unmanned aerial vehicle (30), an airborne rappelling system (1) and a distributed gas detection terminal (2), wherein the unmanned aerial vehicle (30) is used to carry equipment and autonomously fly to a target detection area; the airborne rappelling system (1) is arranged on the unmanned aerial vehicle (30), and the airborne rappelling system (1) is used to realize autonomous deployment and recovery of the distributed gas detection terminal (2); the distributed gas detection terminal (2) is used to realize gas detection and data feedback in the target detection area, and can automatically dock with and detach from the airborne rappelling system (1); The onboard rappelling system (1) comprises a winding motor, a winding motor controller and a rappelling rope (16), wherein the winding motor is arranged on the drone (30), one end of the rappelling rope (16) is connected to the winding motor, and the other end is connected to a sphere (15) at the end of the rappelling rope, and the sphere (15) at the end of the rappelling rope is used to dock with the distributed gas detection terminal (2); The winding motor controller is used to control the winding motor to complete the release or recovery of the rappelling rope (16); The distributed gas detection terminal (2) comprises a conical funnel (3), an electrical sensor control box (4), a posture adjustment support frame, an antenna assembly, a hook lock switch state limit switch (7), a rope end ball trigger limit switch (8), a hook lock mechanism and a landing detection mechanism, wherein the conical funnel (3) is arranged on the posture adjustment support frame and has pitch and roll degrees of freedom, and the conical funnel (3) is used to receive the rope end ball (15); the antenna assembly is arranged on the top of the posture adjustment support frame, the electrical sensor control box (4), the hook lock switch state limit switch (7), the rope end ball trigger limit switch (8), the hook lock mechanism and the landing detection mechanism are all arranged on the bottom of the posture adjustment support frame; the hook lock switch state limit switch (7) is used to detect the switch state of the hook lock mechanism; the landing detection mechanism is used to detect whether the distributed gas detection terminal (2) is grounded and supported on the ground; the hook lock switch state limit switch (7), the rope end ball trigger limit switch (8) and the hook lock mechanism are all connected to the electrical sensor control box (4); The attitude adjustment support frame comprises a distributed terminal support rod (13), a distributed terminal support frame (19), a bottom plate (20) and a rolling frame (21), wherein the bottom plate (20) is arranged on the top of the electrical sensor control box (4), the distributed terminal support frame (19) is connected to the bottom plate (20) via a plurality of distributed terminal support rods (13), the opposite sides of the rolling frame (21) are rotatably connected to the distributed terminal support frame (19) via a rolling axis (12), the conical funnel (3) is rotatably connected to the rolling frame (21) via a pitch axis (11), and the axis of the pitch axis (11) is perpendicular to the axis of the rolling axis (12); The antenna assembly comprises a differential GPS antenna I (5) and a differential GPS antenna II (6) symmetrically arranged on the top of the attitude adjustment support frame; The conical funnel (3) comprises a conical guide surface (24) and a ball lock slideway (17) arranged at a bottom port of the conical guide surface (24); The ball (15) at the end of the rappelling rope is guided into the ball lock slideway (17) by the conical guide surface (24), and slides down to the bottom of the ball lock slideway (17) to trigger the ball trigger limit switch (8) at the end of the rappelling rope; The rappelling rope end ball trigger limit switch (8) is located at the bottom of the ball lock slideway (17) of the conical funnel (3), and the rappelling rope end ball trigger limit switch (8) is used to detect whether the rappelling rope end ball (15) falls into the ball lock slideway (17); the hook lock mechanism is used to lock or release the rappelling rope end ball (15) that falls into the ball lock slideway (17).

2. The distributed gas detection system capable of autonomous deployment and recovery according to claim 1 is characterized in that: The hook lock mechanism comprises a driving steering gear (18), a locking pin (22) and a crank connecting rod (23), wherein the driving steering gear (18) is arranged on the bottom plate (20), and the output end is hinged to the locking pin (22) through the crank connecting rod (23), and the locking pin (22) is inserted into a socket provided on the side wall of the ball lock slideway (17), and the driving steering gear (18) drives the locking pin (22) to extend and retract in the socket through the crank connecting rod (23), thereby realizing the limiting or release of the ball (15) at the end of the rappelling rope falling into the ball lock slideway (17).

3. The distributed gas detection system capable of autonomous deployment and recovery according to claim 2 is characterized in that: The hook lock switch state limit switches (7) are in two groups, which are used to detect the unlocking position and locking position of the lock pin (22) respectively.

4. The distributed gas detection system capable of autonomous deployment and recovery according to claim 1 is characterized in that: The landing detection mechanism comprises a landing detection limit switch (9) and a landing detection trigger foot (14), wherein the landing detection trigger foot (14) is slidably connected to the bottom plate (20), and the landing detection limit switch (9) is arranged on the bottom plate (20) and corresponds to the upper end of the landing detection trigger foot (14); when the landing detection trigger foot (14) contacts the ground, it slides relative to the bottom plate (20), thereby triggering the landing detection limit switch (9).

5. The distributed gas detection system capable of autonomous deployment and recovery according to claim 1 is characterized in that: The distributed terminal support frame (19) is provided with a system operation status light strip (10).

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