A tethered unmanned aerial vehicle based high-altitude operation charging transfer system and method

Abstract

The application discloses a high-altitude operation charging transfer system and method based on a tethered unmanned aerial vehicle, which comprises at least one tethered unmanned aerial vehicle, a ground power supply unit and a ground control center, the tethered unmanned aerial vehicle is provided with an aerial charging interface device, a charging cable winding and unwinding device, a visual identification unit and a flight control module; the ground power supply unit is connected with a power storage device of the tethered unmanned aerial vehicle through a tethering cable, the ground control center is in communication connection with the tethered unmanned aerial vehicle, the charging cable winding and unwinding device is provided with a winding drum, a driving motor and a slip ring, the winding drum is wound with a charging cable connected between the tethered unmanned aerial vehicle and a device to be charged, the end of the charging cable is connected with the aerial charging interface device, and the visual identification unit and the driving motor are electrically connected with the flight control module. The tethered unmanned aerial vehicle can quickly respond to charging requirements at different positions and different altitudes, greatly reduces the downtime of the device waiting for charging, and avoids the safety hazards such as electric leakage, short circuit and tripping caused by long-distance and multi-joint temporary cables.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a high-altitude operation charging and transfer system and method based on tethered UAVs. Background Technology

[0002] In existing high-altitude operations, such as the construction of super high-rise buildings, the construction of bridge towers for cross-sea bridges, and the maintenance of wind turbines, powering power tools, lighting equipment, and monitoring instruments is a major challenge. Currently, the main methods relied on are temporary vertical cable laying and high-capacity mobile power supplies. Temporary vertical cable laying requires long-distance cable installation along building facades or structures, which presents problems such as cable weight, easy wear and tear, high risk of leakage, extreme inconvenience in movement, and interference with other operations. High-capacity mobile power supplies require hoisting heavy battery packs to high altitudes, which are heavy, costly to install, have limited capacity, and require frequent replacements, resulting in low efficiency. Tethered drone technology is mature, but its applications are mostly limited to communication relay and lighting. Currently, there is no mature solution to innovatively apply the continuous power supply capability of tethered drones to solve the power shortage problem in high-altitude operations. Summary of the Invention

[0003] The present invention aims to address the shortcomings of the prior art by providing a high-altitude charging and transfer system and method based on tethered unmanned aerial vehicles (UAVs).

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A high-altitude charging and transfer system based on tethered unmanned aerial vehicles (UAVs) includes:

[0006] The system includes at least one tethered drone, a ground power supply unit, and a ground control center. The tethered drone is equipped with an in-flight charging interface device, a charging cable winding device, a visual recognition unit, and a flight control module. The ground power supply unit is connected to the tethered drone's battery storage device via a tether cable. The ground control center is communicatively connected to the tethered drone. The charging cable winding device contains a cable reel, a drive motor, and a slip ring. The drive motor is fixed to the bottom frame of the tethered drone, and its output shaft is connected to one end of the cable reel's side plate. The slip ring is fitted onto the drive motor's output shaft. The cable connecting the tethered drone and the device to be charged is wound on the cable reel. The charging cable is connected to the tethered drone's battery storage device, and its end is connected to the in-flight charging interface device. The visual recognition unit and the drive motor are electrically connected to the flight control module.

[0007] The aforementioned aerial charging interface device is a magnetic charging head male terminal, which integrates a permanent magnet and power supply contacts. The aerial work platform is equipped with a magnetic charging base female terminal corresponding to the magnetic charging head male terminal. The surface of the magnetic charging base female terminal is a magnetic metal sheet and is equipped with power receiving contacts.

[0008] The flight control module is configured to execute an adaptive follow control algorithm, which dynamically adjusts the hovering position of the tethered UAV based on continuous positioning data provided by the visual recognition unit or positioning beacon.

[0009] The aerial work platform is an aerial work basket, a bridge tower construction platform, a wind turbine generator set, or a high-voltage tower maintenance equipment; the female end of the magnetic charging base is connected to the battery of the aerial work platform via a cable and is configured to be fixed to the edge of the aerial work platform or an adjacent building structure.

[0010] The ground power supply unit is an industrial battery pack, a diesel generator set, or a mains power interface with voltage stabilization.

[0011] A method for charging and transferring equipment for high-altitude operations based on tethered drones, comprising the following steps:

[0012] S1. Control the tethered drone to fly and hover in a safe airspace near the target aerial work equipment;

[0013] S2. Establish an electrical connection with the charging interface of the high-altitude work equipment by means of the aerial charging interface device mounted on the tethered drone;

[0014] S3. During the charging process, the tethered drone is controlled to adaptively follow and hover according to the movement of the aerial work equipment;

[0015] S4. Obtain electrical energy from the ground power supply unit via the mooring cable and charge the aerial work equipment through the established electrical connection.

[0016] Step S2 specifically includes:

[0017] S21: Guide tethered drones to a pre-selected airspace above or to the side of the aerial work equipment by setting up positioning beacons on the aerial work equipment;

[0018] S22: Identify the charging port or preset visual markings on aerial work equipment using the visual recognition unit installed on the tethered drone;

[0019] S23: Based on the recognition results, control the tethered drone to make fine adjustments to its position and attitude, and at the same time control the charging cable retraction device to release the charging cable so that the aerial charging interface device and the equipment charging interface reach the docking position.

[0020] S24: Control the over-the-air charging interface device to complete the docking with the equipment charging interface.

[0021] The specific steps of adaptive following hovering in step S3 are as follows:

[0022] The tethered drone continuously tracks visual markers on the aerial work equipment through its onboard visual recognition unit, and / or calculates its relative position in real time by receiving wireless signals from the positioning beacon on the aerial work equipment, and dynamically adjusts its hovering coordinates to maintain a stable relative position with the equipment's charging interface.

[0023] A high-altitude charging and transfer method based on tethered drones also includes safety protection steps: during the charging process, the hovering status of the tethered drone, the tension of the tether cable and charging cable, and the charging link parameters are monitored in real time; when abnormal attitude, cable being dragged, or charging failure is detected, the aerial charging interface device is controlled to disconnect from the equipment charging interface, and the charging cable is retrieved.

[0024] The beneficial effects of this invention are: the tethered drone of this invention can quickly respond to charging needs at different locations and altitudes, greatly reducing downtime for equipment waiting to charge, improving overall construction efficiency, and avoiding safety hazards such as leakage, short circuit, and tripping caused by long-distance, multi-connector temporary cables; while undertaking the charging task, the same tethered drone system can integrate functions such as lighting, video surveillance, and environmental monitoring, achieving multiple uses and reducing costs. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the high-altitude operation charging and transfer system based on a tethered UAV according to the present invention;

[0026] Figure 2 This is a schematic diagram of the charging cable winding and unwinding device of the present invention;

[0027] Figure 3 This is a schematic diagram showing the installation position of the charging cable winding and unwinding device of the present invention;

[0028] Figure 4 This is a schematic diagram of the air charging interface device and the female end of the magnetic charging base of the present invention.

[0029] In the diagram: 1-Tethered drone; 11-Airborne charging interface device; 111-Magnetic charging head male end; 112-Magnetic charging base female end; 12-Charging cable winding device; 121-Cable reel; 122-Drive motor; 123-Slip ring; 124-Charging cable; 13-Visual recognition unit; 2-Ground power supply unit; 3-Tethered cable;

[0030] The following will describe in detail, with reference to the accompanying drawings, embodiments of the invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0032] A high-altitude charging and transfer system based on tethered unmanned aerial vehicles (UAVs) includes:

[0033] The system includes at least one tethered drone 1, a ground power supply unit 2, and a ground control center. The tethered drone 1 is equipped with an in-flight charging interface device 11, a charging cable retraction device 12, a visual recognition unit 13, and a flight control module. The ground power supply unit 2 is connected to the power storage device of the tethered drone 1 via a tether cable 3. The ground control center is communicatively connected to the tethered drone 1. The charging cable retraction device 12 contains a cable reel 121, a drive motor 122, and a slip ring 123. The drive motor 122 is fixed to the bottom frame of the tethered drone 1, and the output shaft of the drive motor 122 is connected to the cable reel 121. One end of the cable is connected to the side plate and controlled by the flight control module to achieve constant tension cable winding and unwinding. The slip ring 123 is sleeved on the output shaft of the drive motor 122 to ensure that the electrical connection of the charging cable remains conductive when the reel 121 rotates to wind and unwind the cable, and the cable will not burn out. The charging cable 124 connecting the tethered drone 1 and the device to be charged is wound on the reel 121. The charging cable 124 is connected to the power storage device of the tethered drone 1. The end of the charging cable 124 is connected to the air charging interface device 11. The visual recognition unit 13 and the drive motor 122 are electrically connected to the flight control module.

[0034] The aforementioned aerial charging interface device 11 is a magnetic charging head male terminal 111. The magnetic charging head male terminal 111 integrates a permanent magnet and power supply contacts, such as copper alloy spring pins. The aerial work platform is equipped with a magnetic charging base female terminal 112 corresponding to the magnetic charging head male terminal 111. The surface of the magnetic charging base female terminal 112 is a magnetic metal sheet and is provided with power receiving contacts.

[0035] The flight control module is configured to execute an adaptive follow control algorithm, which dynamically adjusts the hovering position of the tethered UAV 1 based on the continuous positioning data provided by the visual recognition unit 13 or the positioning beacon.

[0036] The aforementioned aerial work platform is an aerial work basket, bridge tower construction platform, wind turbine generator set, or high-voltage tower maintenance equipment, and is equipped with a magnetic charging base female terminal 112. The surface of the magnetic charging base female terminal 112 is a magnetic metal sheet, such as low carbon steel. The magnetic charging base female terminal 112 is connected to the battery of the aerial work platform through a cable and is configured to be fixed to the edge of the aerial work platform or an adjacent building structure.

[0037] The ground power supply unit 2 is an industrial battery pack, a diesel generator set, or a mains power interface with voltage stabilization. The ground power supply unit 2 is connected to the tethered UAV 1 through a thick tether cable 3, and undertakes the dual tasks of power supply and signal transmission.

[0038] A method for charging and transferring equipment for high-altitude operations based on tethered drones, comprising the following steps:

[0039] S1. Control the tethered drone 1 to fly and hover in a safe airspace near the target high-altitude work equipment;

[0040] S2. Establish an electrical connection with the equipment charging interface on the high-altitude work equipment through the aerial charging interface device 11 mounted on the tethered drone 1;

[0041] S21: Guide the tethered drone 1 to a pre-selected airspace above or to the side of the aerial work equipment by setting up a positioning beacon;

[0042] S22: Identify the charging port or preset visual mark on the aerial work equipment through the visual recognition unit 13 set on the tethered drone 1;

[0043] S23: Based on the recognition results, control the tethered drone 1 to make fine adjustments to its position and attitude, and at the same time control the charging cable retraction device 12 to release the charging cable 124 so that the aerial charging interface device 11 and the equipment charging interface reach the docking position.

[0044] S24: Control the over-the-air charging interface device 11 to complete the docking with the equipment charging interface.

[0045] S3. During the charging process, the tethered drone 1 is controlled to adaptively follow and hover according to the movement of the aerial work equipment; the tethered drone 1 continuously tracks the visual markers on the aerial work equipment through its onboard visual recognition unit 13, and / or calculates the relative position in real time by receiving wireless signals from the positioning beacon on the aerial work equipment, and dynamically adjusts its own hovering coordinates to maintain a stable relative position with the equipment charging interface.

[0046] S4. Obtain electrical energy from the ground power supply unit 2 via the mooring cable 3, and charge the aerial work equipment through the established electrical connection.

[0047] The specific steps for charging high-altitude equipment using a tethered drone high-altitude operation charging transfer system are as follows:

[0048] S1. Takeoff and Initial Positioning:

[0049] The operator issued a command from the ground control center, and the tethered drone 1 took off from the ground.

[0050] The tethered drone 1 first ascends to the target high-altitude work equipment, such as a suspended platform under construction, in the nearby safe airspace and remains basically hovering.

[0051] Preliminary positioning can be achieved in two ways:

[0052] A) Beacon guidance: The tethered UAV 1 receives the wireless signal emitted by the positioning beacon on the basket, the flight control module calculates the signal strength and direction, and guides the tethered UAV 1 to the preparatory position above the basket.

[0053] B) Coordinate guidance: The operator manually sets or the system automatically plans the approximate GPS / RTK coordinates of the basket, and the tethered drone 1 autonomously flies to the airspace above the coordinates.

[0054] S2. Visual Recognition and Connection Establishment:

[0055] S21: Preparatory hovering: After the tethered UAV 1 arrives at the preparatory airspace, it hovers stably.

[0056] S22: Visual recognition: The visual recognition unit 13 at the bottom of the tethered drone 1 starts to work, scans the outside of the basket, and identifies the visual mark on or next to the magnetic charging base female end 112 pre-installed on the basket.

[0057] S23: Attitude Fine-tuning and Cable Descending: Based on the visual recognition results, the flight control module calculates the precise relative position between the female end 112 of the magnetic charging base and the male end 111 of the magnetic charging head at the bottom of the drone, including horizontal deviation and vertical distance. Subsequently, it controls the tethered drone 1 to perform fine-tuning of its position and attitude (pitch, roll) to align the male end 111 of the magnetic charging head at its bottom with the female end 112 of the magnetic charging base. At the same time, the flight control module controls the drive motor 122 of the charging cable retraction device 12 to release the charging cable 124 with constant and gentle tension. The male end 111 of the magnetic charging head at the end of the charging cable 124 hangs down naturally under the action of gravity.

[0058] S24: Magnetic Docking: When the male end 111 of the magnetic charging head falls close to the surface of the female end 112 of the magnetic charging base (usually a few centimeters away), the strong permanent magnet inside generates a powerful magnetic force, automatically and quickly attracting the male end 111 of the magnetic charging head to the female end 112 of the magnetic charging base. During this process, the power supply contacts of the male end 111 of the magnetic charging head and the power receiving contacts of the female end 112 of the magnetic charging base make close contact, completing the electrical connection and mechanical locking. A signal indicating successful docking, such as normal circuit impedance and voltage establishment, will be fed back to the flight control module and the ground control center.

[0059] S3. Charging and Adaptive Following:

[0060] After successful docking, power immediately originates from ground power supply unit 2, is transmitted via tether cable 3 to the UAV's battery storage device, and then through the power distribution unit inside tethered UAV 1, charging cable 124, and the docked aerial charging interface device 11 to charge the battery of the equipment on the high-altitude scaffold. During charging, the scaffold may move horizontally along the building facade for operation. At this time, the system activates the adaptive following hovering function: the visual recognition unit 13 of tethered UAV 1 continuously tracks the visual markers on the scaffold. The flight control module continuously receives signals from the positioning beacon on the scaffold. Based on this continuous positioning data, the flight control module calculates the relative position change between tethered UAV 1 and the actual magnetic charging base 112 on the scaffold in real time, and dynamically adjusts its own hovering coordinates to keep tethered UAV 1 and the scaffold moving horizontally in sync, thereby maintaining a moderate slack in the charging cable 124 and ensuring that the magnetic interface does not detach due to excessive relative displacement.

[0061] S4. Charging Completion and Safe Recovery: When the high-altitude equipment battery is fully charged or needs to stop charging, the ground control center sends a command. The flight control module first controls the charging interface to disconnect the power supply, which can be achieved through an internal relay. Subsequently, it controls the drive motor 122 to reverse, retrieving the charging cable 124 with a small pulling force. Due to the magnetic docking design, under the action of the recovery force, the male end 111 of the magnetic charging head can overcome the magnetic force and safely disengage from the female end 112 of the magnetic charging base. After the tethered drone 1 retrieves the charging cable 124 to the reel 121, it returns to the ground base.

[0062] To ensure safety throughout the entire process, the system has multiple built-in protections:

[0063] The system continuously monitors multiple parameters during the charging process: attitude angle of the tethered drone 1, tension of the tethered cable 3 and charging cable 124 monitored by motor current or dedicated sensors, charging voltage / current, and interface temperature;

[0064] When an abnormal attitude of the tethered drone 1 is detected, such as a sudden gust of wind causing violent shaking, the charging cable 124 being accidentally dragged and causing a sudden increase in tension, charging faults such as overcurrent or short circuit, or when an emergency command is received, the safety protocol is immediately activated.

[0065] The flight control module will instantly cut off the charging power and command the drive motor 122 to quickly retract the charging cable 124, forcing the male end 111 of the magnetic charging head to detach from the female end 112 of the magnetic charging base, ensuring the safety of the tethered drone 1 and ground equipment, and avoiding the risk of cable entanglement or falling.

[0066] Example 1

[0067] Take a bridge tower construction platform as an example.

[0068] System Deployment: In a safe area near the bottom of the tower bridge, a ground power supply unit 2 will be installed by stabilizing the existing mains power supply on the construction site, or a large-capacity industrial battery pack will be provided as the ground power supply unit 2. A ground control center will be established, which can be integrated with the project department's smart construction site system. A magnetic charging female terminal 112 will be pre-installed on the outside or top of the bridge tower construction platform in a safe location, and connected to the distribution box on the platform via waterproof and shockproof cables to power all electrical equipment on the tower bridge construction platform. A clear area will be designated at the bottom of the bridge tower as the take-off, landing, and standby point for the tethered drone 1.

[0069] Workflow: When the bridge tower construction platform moves to a new working elevation or the existing cable cannot meet the moving requirements, the person in charge of the bridge tower construction platform sends a charging request command to the ground control center via radio or smart terminal, and reports the real-time coordinates or identification number of the magnetic charging base female terminal 112 on the bridge tower construction platform.

[0070] S1. UAV Takeoff and Initial Positioning:

[0071] The ground control center plans a safe vertical ascent path. The tethered UAV 1 takes off and climbs along the planned path, and obtains continuous power from the ground power supply unit 2 through the tether cable 3. The tethered UAV 1 automatically flies to the safe preparation airspace about 3-5m above the side of the bridge tower construction platform and hovers by using the signal of the UWB ultra-wideband positioning beacon on the bridge tower construction platform or by identifying the structural features of the platform.

[0072] S2. Visual Recognition and Connection Establishment:

[0073] The visual recognition unit 13 on the bottom of the tethered drone 1 locks onto the female end 112 of the magnetic charging base installed on the bridge tower construction platform. The flight control module controls the tethered drone 1 to perform centimeter-level precision position and attitude fine-tuning to ensure that the belly of the tethered drone 1 is aligned with the female end 112 of the magnetic charging base. At the same time, the charging cable retraction device 12 on the bottom of the tethered drone 1 is activated, and the drive motor 122 slowly releases the charging cable 124 with constant tension. The male end 111 of the magnetic charging head at the end of the charging cable 124 gradually droops. Under magnetic guidance, the male end 111 of the magnetic charging head automatically attracts to the female end 112 of the magnetic charging base on the bridge tower construction platform. After magnetic contact, mechanical locking and electrical connection are completed simultaneously. The power supply unit 2 then transmits the power to the distribution box of the bridge tower construction platform through the tethered cable 3, the tethered drone 1, the charging cable 124, and the magnetic interface formed by the male end 111 of the magnetic charging head and the female end 112 of the magnetic charging base.

[0074] S3. Charging and Adaptive Following:

[0075] In the following hours of operation, the tethered drone 1 started the adaptive following hovering mode, the visual recognition unit 13 continuously tracked the markings on the bridge tower construction platform, the flight control module ran the following control algorithm based on real-time image data, dynamically adjusted the hovering position of the tethered drone 1, and the charging cable winding and unwinding device 12 automatically wound and unwound the charging cable 124 based on the cable tension feedback, always keeping the charging cable 124 at a suitable tension.

[0076] S4. Charging complete and safe recycling:

[0077] When the bridge tower construction platform finishes its work for the day, or needs to be moved to an area beyond the tracking range of the tethered drone 1, a disconnect command is issued. The tethered drone 1 controls the drive motor 122 to gently retract the charging cable 124, and the male end 111 of the magnetic charging head of the magnetic connector smoothly disengages from the female end 112 of the magnetic charging base under controllable tension. The charging cable 124 is quickly and neatly retracted into the reel 121. The tethered drone 1 returns to its ground standby point along a safe path, ready to perform its next mission.

[0078] Throughout the process, the tethered drone 1 acts like an "aerial power bank," remaining relatively stationary with the bridge tower construction platform to achieve uninterrupted dynamic power supply.

[0079] This system and method can also be applied to wind turbine generator sets and high-voltage tower maintenance equipment. When maintaining wind turbine generator sets at the top of the turbine, it provides power to hydraulic tools, lighting, and testing equipment. When maintaining high-voltage towers, it provides power to insulated bucket trucks or small maintenance robot platforms.

[0080] In the description of the invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0083] The invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution, or direct application to other situations without modification, are all within the scope of protection of the invention.

Claims

1. A high-altitude charging and transfer system based on tethered unmanned aerial vehicles (UAVs), characterized in that: include: At least one tethered drone (1), a ground power supply unit (2), and a ground control center are provided. The tethered drone (1) is equipped with an in-flight charging interface device (11), a charging cable retraction device (12), a visual recognition unit (13), and a flight control module. The ground power supply unit (2) is connected to the power storage device of the tethered drone (1) via a tether cable (3). The ground control center is connected to the tethered drone (1) via communication. The charging cable retraction device (12) is equipped with a cable reel (121), a drive motor (122), and a slip ring (123). The drive motor (122) is fixed to the ground power supply unit (2). On the bottom frame of the tethered drone (1), the output shaft of the drive motor (122) is connected to one end of the side plate of the reel (121), the slip ring (123) is sleeved on the output shaft of the drive motor (122), the reel (121) is wound with a charging cable (124) connecting the tethered drone (1) and the device to be charged, the charging cable (124) is connected to the power storage device of the tethered drone (1), the end of the charging cable (124) is connected to the air charging interface device (11), and the visual recognition unit (13) and the drive motor (122) are electrically connected to the flight control module; The aerial charging interface device (11) is a magnetic charging head male terminal (111). The magnetic charging head male terminal (111) integrates a permanent magnet and power supply contacts. The high-altitude work equipment is provided with a magnetic charging base female terminal (112) corresponding to the magnetic charging head male terminal (111). The surface of the magnetic charging base female terminal (112) is a magnetic metal sheet and is provided with power receiving contacts. After the aerial charging interface device (11) is connected to the equipment charging interface set on the high-altitude work equipment, it maintains an electrical connection with the female end (112) of the magnetic charging base and the male end (111) of the magnetic charging head by magnetic attraction. The aerial work equipment is equipped with a positioning beacon, and the flight control module is configured to: dynamically adjust the hovering position of the tethered drone (1) based on the continuous positioning data provided by the visual recognition unit (13) and / or the positioning beacon, and control the charging cable retraction device (12) to release or retract the charging cable (124) so ​​as to achieve adaptive following of the aerial work equipment during the charging process.

2. The high-altitude operation charging and transfer system based on a tethered UAV according to claim 1, characterized in that, The high-altitude work equipment is a high-altitude work basket, a bridge tower construction platform, a wind turbine generator set, or a high-voltage tower maintenance equipment; the magnetic charging base female end (112) is connected to the battery of the high-altitude work equipment via a cable and is configured to be fixed to the edge of the high-altitude work equipment or an adjacent building structure.

3. The high-altitude operation charging and transfer system based on a tethered UAV according to claim 1, characterized in that, The ground power supply unit (2) is an industrial battery pack, a diesel generator set, or a mains power interface with voltage stabilization.

4. A method for charging and transferring equipment for high-altitude operations based on tethered unmanned aerial vehicles (UAVs), utilizing a high-altitude charging and transferring system for high-altitude operations based on tethered UAVs as described in any one of claims 1-3, characterized in that... The steps are as follows: S1. Control the tethered drone (1) to fly and hover in a safe airspace near the target high-altitude work equipment; S2. Establish an electrical connection with the equipment charging interface on the high-altitude work equipment through the aerial charging interface device (11) mounted on the tethered drone (1); S3. During the charging process, the tethered drone (1) is controlled to adaptively follow and hover according to the movement of the aerial work equipment by means of the visual recognition unit (13) and / or the positioning beacon; S4. Obtain electrical energy from the ground power supply unit (2) via the mooring cable (3) and charge the aerial work equipment through the established electrical connection.

5. A high-altitude operation charging and transfer method based on a tethered UAV according to claim 4, characterized in that, Step S2 specifically includes: S21: Guide the tethered drone (1) to a pre-selected airspace above or to the side of the aerial work equipment by setting a positioning beacon; S22: Identify the charging interface or preset visual mark on the high-altitude work equipment through the visual recognition unit (13) set on the tethered drone (1); S23: Based on the recognition results, control the tethered drone (1) to make fine adjustments to its position and attitude, and at the same time control the charging cable retraction device (12) to release the charging cable (124) so ​​that the air charging interface device (11) and the equipment charging interface reach the docking position. S24: Control the air charging interface device (11) to complete the docking with the equipment charging interface.

6. A high-altitude operation charging and transfer method based on a tethered UAV according to claim 5, characterized in that, The specific steps for adaptive following hovering in step S3 are as follows: The tethered drone (1) continuously tracks visual markers on the aerial work equipment through its onboard visual recognition unit (13), and / or calculates its relative position in real time by receiving wireless signals from the positioning beacon on the aerial work equipment, and dynamically adjusts its hovering coordinates to maintain a stable relative position with the equipment's charging interface.

7. A high-altitude operation charging and transfer method based on a tethered UAV according to claim 6, characterized in that, It also includes safety protection steps: during the charging process, the hovering status of the tethered drone (1), the tension of the tether cable (3) and the charging cable (124) and the charging link parameters are monitored in real time; when abnormal attitude, cable being dragged or charging failure is detected, the aerial charging interface device is controlled to disconnect from the equipment charging interface and the charging cable is retrieved.

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