A tethered unmanned aerial vehicle delivery line form cooperative control method and system

Abstract

This invention relates to the field of tethered unmanned aerial vehicle (UAV) control, specifically disclosing a method and system for coordinated control of tethered UAV transport route morphology. The method includes: acquiring the positions of the UAV, a mobile ground base station, and an aerial pipeline guide, as well as transport route status information and obstacle boundary information; generating target guidance position parameters based on these parameters, and constructing transport route status parameters characterizing the lowest point height, tension status, and horizontal span deviation of the transport route; further generating base station following correction, guidance position correction, and route deployment / retraction correction, and controlling the coordinated action of the base station, pipeline guide, and deployment / retraction device to form and maintain a target transport route morphology where the lowest point is higher than the obstacles. This invention can improve continuous operation capability and safety in complex operating areas.

Description

Technical Field

[0001] This invention relates to the field of tethered unmanned aerial vehicle (UAV) control technology, and in particular to a method and system for coordinated control of the morphology of a tethered UAV transport route. Background Technology

[0002] While existing tethered drones offer advantages in long endurance and continuous operation, in practical applications, the conveyor line's spatial form constantly changes with the drone's movement, the ground base's following, and the deployment and retrieval actions. This can easily lead to problems such as increased span, deeper sag, and a lowering of the lowest point, resulting in risks of scraping, snagging, or entanglement in scenarios with obstacles such as trees and buildings. Current control technologies mostly adjust individual aspects such as tension control, ground following, or guide lifting, lacking a unified representation and coordinated control of the overall spatial form of the conveyor line. It is difficult to consider the relationship between line tension, lowest point height, horizontal span, and obstacle distribution. Therefore, it is still difficult to ensure that the conveyor line maintains a safe and stable operating form in complex operating environments. Summary of the Invention

[0003] To overcome the aforementioned problems in existing tethered UAV control technologies, this invention provides a method and system for coordinated control of tethered UAV transport route morphology. This method acquires relevant status information of the operating UAV, mobile ground base station, aerial pipeline guide, and transport route, and combines this information with obstacle boundary information within the operating area to generate target guidance position parameters for the aerial pipeline guide. Based on this, transport route status parameters are further constructed to characterize the lowest point height, tension status, and horizontal span deviation of the transport route. Then, based on these transport route status parameters, base station following correction, guidance position correction, and route deployment / retraction correction are generated respectively. This controls the coordinated operation of the mobile ground base station, aerial pipeline guide, and transport route deployment / retraction device, enabling the transport route to form and maintain a target transport route morphology where the lowest point is higher than the obstacles.

[0004] Furthermore, the present invention can determine the target guidance height and target guidance horizontal position based on the height boundary information of the obstacle, and combine the length of the conveying line, tension, and the relative positional relationship between the base station and the operating drone to construct and update the predicted height of the lowest point of the conveying line, the tension state, and the horizontal span deviation; at the same time, it can also perform correction control for base station following, guidance position adjustment, and line retraction and extension, and implement work-condition collaborative control according to the operating status of the operating drone.

[0005] In addition, the present invention can continuously monitor the tension of the transmission line, the predicted height of the lowest point, the communication status and the line voltage status during operation, and perform corresponding protection control in abnormal situations, so as to improve the operational safety and continuous operation capability of tethered UAVs in complex operation areas.

[0006] Compared with existing tethered drone wire control technology, this invention has the following advantages:

[0007] This invention focuses on the coordinated control of the tethered UAV transport route morphology. By introducing obstacle boundary information and transport route status parameters, it links ground base station following, guidance position adjustment and route extension and retraction control to keep the lowest point of the transport route above a safe height and improve the operational stability, safety and continuous operation capability in complex working environments. Attached Figure Description

[0008] Figure 1 This is a flowchart of the tethered UAV delivery line morphology collaborative control method in an embodiment of the present invention;

[0009] Figure 2 This is a basic framework diagram of the tethered UAV delivery line morphology collaborative control system in an embodiment of the present invention;

[0010] Figure 3 This is a schematic diagram of the system operation status when using a tethered relay UAV as an aerial pipeline guide.

[0011] Figure 4 This is a schematic diagram of the system operation status when a vehicle-mounted lifting boom is used as an aerial pipeline guide. Detailed Implementation

[0012] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. For those skilled in the art, various substitutions, modifications, and improvements can be made to the described embodiments without departing from the concept and essence of the present invention, and all such substitutions, modifications, and improvements should fall within the scope of protection of the present invention.

[0013] While existing tethered drones can achieve long-term aloft operation with continuous ground power, in actual operation, the delivery line usually extends from a low position on the ground. As the horizontal distance of the drone increases, the delivery line is prone to sagging, which limits the horizontal operating range and makes it easy to snag on ground obstacles such as trees, buildings, and crop canopies. Furthermore, relying solely on a single deployment / retrieval or a single following method often fails to adequately address the interplay between the lowest point height, tension, and horizontal span of the line, making it difficult to maintain a safe and stable line configuration during dynamic operations. Therefore, this invention proposes a control method that coordinates the adjustment of the spatial configuration of the delivery line. By jointly analyzing the positional and state relationships between the drone, mobile ground base station, aerial pipeline guide, and delivery line, the method adjusts the guidance, following, and deployment / retrieval processes of the line in real time, ensuring that the delivery line maintains a target configuration conducive to obstacle avoidance and continuous operation.

[0014] In one implementation, such as Figure 1 As shown, the tethered UAV transport route morphology collaborative control method of the present invention includes: acquiring the position of the operating UAV, the position of the mobile ground base station, the position of the aerial pipeline guide, the transport route status information, and obstacle boundary information; generating target guidance position parameters for the aerial pipeline guide based on the obstacle boundary information and the position of the operating UAV; constructing transport route status parameters characterizing the lowest point height, tension state, and horizontal span deviation of the transport route based on the target guidance position parameters, the position of the operating UAV, the position of the mobile ground base station, and the transport route status information; generating base station following correction, guidance position correction, and route retraction correction based on the transport route status parameters, and controlling the mobile ground base station, the aerial pipeline guide, and the transport route retraction device to coordinate their actions so that the transport route forms and maintains a target transport route morphology where the lowest point is higher than the obstacle.

[0015] In this embodiment, the mobile ground base station can be installed on a vehicle as a basic platform for the deployment and retraction of ground supply and transmission lines. An aerial pipeline guide is used to elevate the exit point of the transmission line to a higher position, thereby altering the transition path of the transmission line from the ground to the air. The transmission line is used to transmit electrical energy and / or the working medium between the ground and the operating UAV. Thus, the transmission line no longer transitions directly to the operating UAV from a fixed low point, but instead introduces an adjustable high-level guide point between the mobile ground base station and the operating UAV, providing a basis for subsequent line configuration control. The aerial pipeline guide can be implemented as a lifting boom installed on a vehicle or as a relay flight platform that flies in conjunction with the operating UAV. Regardless of the specific structure used, its function in this embodiment is to provide an adjustable guide position, allowing the exit point of the transmission line to be dynamically adjusted according to the distribution of obstacles in the operating area and changes in the UAV's position.

[0016] The system includes the following information: the location of the drone, the location of the mobile ground base station, and the location of the aerial pipeline guide. The drone's position indicates its current spatial location within the work area; the mobile ground base station's location indicates the location of the ground end of the transport line; and the location of the aerial pipeline guide indicates the current location of the high-level guide point of the transport line. The transport line status information indicates the current length, stress, and extension / retraction status of the transport line, and should at least reflect whether the line is currently in a relaxed, tensioned, or near-limit extension / retraction state. Obstacle boundary information indicates the range of obstacles within the work area that may affect the passage of the transport line, especially the obstacle height boundaries and spatial distribution boundaries related to the safety height of the lowest point of the transport line. By simultaneously acquiring the above information, the previously dispersed ground end, aerial end, and line body status can be unified into a single control process, providing an input basis for subsequent guide position generation and line status analysis.

[0017] After obtaining the above information, the target guidance position parameters for the aerial pipeline guide are first generated based on the obstacle boundary information and the position of the drone. These target guidance position parameters are not simply given a fixed height, but rather a target guidance position determined based on the obstacle distribution in the current work area and the location of the drone, which is more conducive to the safe passage of the transport line. In other words, when the drone approaches a higher obstacle area, the guidance point position corresponding to the target guidance position parameters should be raised accordingly or adjusted in a direction that facilitates obstacle crossing; when the drone moves away from a high obstacle area, the target guidance position parameters can be restored to a position suitable for the current work status. By generating the target guidance position parameters first, and then performing subsequent morphological analysis and control based on them, the problem of insufficient adaptability caused by keeping the guidance point constantly fixed can be avoided.

[0018] After obtaining the target guidance position parameters, the transport line status parameters are further constructed based on the target guidance position parameters, the position of the operational UAV, the position of the mobile ground base station, and the transport line status information. The transport line status parameters are a concentrated representation of the current spatial morphology of the transport line. Their core is not simply describing the line length or tension, but rather comprehensively reflecting the lowest point height, tension state, and horizontal span deviation of the transport line. Specifically, the ground exit position at the mobile ground base station, the guidance position corresponding to the aerial pipeline guide, and the end position where the operational UAV connects to the transport line can be used as three key position points for analyzing the line morphology. Combined with the actual length of the transport line and its current stress state, the spatial transition of the line between these three key position points is judged. If the actual length of the transport line is larger than the geometric distance between the aforementioned key positions, it indicates a more pronounced sag trend in the line; if the actual length of the line is smaller than the geometric distance or the tension is higher, it indicates a tighter stress state in the line. Based on this, it is possible to further determine the approximate height range of the lowest point of the transport line, whether the current tension state meets the requirements for continuous operation, and whether the actual horizontal span between the mobile ground base station and the operational UAV deviates from the reasonable range required for the current operation. In this way, the flexible transmission line is transformed into a set of state parameters that can be analyzed and invoked, facilitating the subsequent issuance of coordinated control commands to each actuator.

[0019] After obtaining the transmission line status parameters, base station following correction, guide position correction, and line retraction / expansion correction are generated accordingly. The base station following correction is primarily used to adjust the following status of the mobile ground base station relative to the operational drone. When analysis results indicate a large horizontal span deviation, the base station following correction drives the mobile ground base station to move, shortening or correcting the horizontal distance between the mobile ground base station and the operational drone, thereby reducing the line span and raising the lowest point of the line. The guide position correction is primarily used to adjust the position of the aerial pipeline guide, gradually bringing its current position closer to the position corresponding to the target guide position parameters. When the obstacle boundary rises or the lowest point of the line shows a downward trend, the guide position correction is primarily used to raise the guide point position or adjust the spatial orientation of the guide point to change the high-level guide conditions of the line. The line retraction / expansion correction is primarily used to adjust the action of the transmission line retraction / expansion device, matching the transmission line length with the current spatial geometry and stress state. When line slack leads to increased sag, line retraction correction reduces the line length; when the line is too tight and detrimental to stable operation, line expansion correction releases some tension. In this way, the base station follow-up correction, the guide position correction, and the line extension / retraction correction adjust the transmission line configuration from three aspects: horizontal span, guide position, and line length, respectively. However, the three do not act independently, but rather are generated collaboratively around the same set of transmission line state parameters.

[0020] During actual operation, the mobile ground base station, the aerial pipeline guide, and the conveyor line deployment / retraction device work in concert according to the three types of corrections mentioned above. For example, when the operating drone moves away from the mobile ground base station and there are tall obstacles ahead, on the one hand, the mobile ground base station is driven to follow the operating drone according to the base station following correction to reduce the horizontal span; on the other hand, the position of the aerial pipeline guide is raised or adjusted according to the guide position correction to move the high guide point of the conveyor line upward; at the same time, the length of the conveyor line is adjusted according to the line deployment / retraction correction to maintain a suitable tension during the above positional changes. As a result, the conveyor line no longer sags uncontrollably due to relying solely on fixed guidance or constant tension control, but instead, under the combined action of ground following, guide adjustment, and deployment / retraction adjustment, forms a continuous transition line shape from the higher exit position of the mobile ground base station to the operating drone, ensuring that the lowest point of the line is always higher than the obstacle.

[0021] Furthermore, in this embodiment, the transport line status parameters are not fixed after a single construction, but are continuously updated as the positions of the operating UAV, mobile ground base station, aerial pipeline guide, and transport line status information change. That is, in the control loop, the current position and status information are first acquired, then target guidance position parameters are generated, followed by the construction of the transport line status parameters, then the generation of three types of correction quantities and the implementation of actions. After the actions are implemented, new position and status information is acquired again, and the next update cycle begins. This cyclical update method allows the transport line morphology control to adapt to the continuous movement of the operating UAV during operation, the dynamic following of the ground base station, and changes in obstacle boundaries, rather than relying on a pre-set fixed trajectory. This ensures that the transport line dynamically corrects itself throughout the entire operation, maintaining the goal of its lowest point being higher than the obstacle.

[0022] In a specific application scenario, if the work area is a low-altitude work area with crop canopies, field trees, or structure boundaries, a mobile ground base station can be mounted on a vehicle and moved with the work drone; an aerial pipeline guide can be placed above the vehicle, allowing the delivery line to first emerge at a high position before transitioning to the work drone. During operation, the system continuously acquires the positions of the work drone, the mobile ground base station, the aerial pipeline guide, and the delivery line status information, and calculates the current target guidance position parameters based on the obstacle boundary information ahead. If the system detects that the lowest point of the delivery line is approaching an obstacle, it prioritizes raising the position of the high-level guide point through guidance position correction, and simultaneously shortens the excessive horizontal span through base station follow-up correction, while coordinating with line extension and retraction correction to restore the delivery line to a suitable tension state. Through the above coordinated action, the delivery line can smoothly transition from a higher guide point to the work drone, and the lowest point is raised to a safe height above the obstacle, thereby reducing the risk of snagging and enabling tethered operations to continue over a large horizontal range.

[0023] The above embodiments illustrate that the present invention does not isolate and control the mobile ground base station, the aerial pipeline guide, and the delivery line deployment and retrieval device. Instead, it takes the spatial morphology of the delivery line as the control object, drives the generation of the guiding position through obstacle boundary information, and then uniformly represents the current line morphology through delivery line state parameters. This generates three types of correction quantities and drives the coordinated action of the three execution links. Therefore, while ensuring that the lowest point of the delivery line is higher than the obstacle, it improves the continuous operation capability, horizontal operating distance, and operational safety of tethered UAVs in complex operating areas.

[0024] In a specific application scenario, a mobile ground base station is installed on a vehicle. The operational drone maintains a connection with the ground via a transport line and moves within a low-altitude operational area. This area may contain trees, buildings, crop canopies, or other three-dimensional obstacles. To ensure a reliable data foundation for subsequent guidance position generation and transport line morphology control, it is necessary to first detect and uniformly represent obstacle boundaries, the positions of key objects, and the status of the transport line itself. This guarantees that the system can accurately reflect the current operational area and line status during continuous operation.

[0025] In one embodiment of the present invention, the obstacle boundary information includes the height boundary information of obstacles within the work area; the positions of the operation drone, the mobile ground base station, and the aerial pipeline guide are respectively obtained by the corresponding position detection devices; the conveying line status information includes at least the conveying line length information and tension information, which are determined by the outgoing line length detection result of the take-up and release device and the conveying line tension detection result, respectively.

[0026] In this embodiment, obstacle boundary information is preferably expressed in a data format corresponding to the terrain of the work area and the top contour of the obstacle, which includes at least the height boundary information of the obstacle. Height boundary information refers to a data set that reflects the change in the top edge height of the obstacle in the current work direction. In engineering implementation, obstacle information in front of the work area can be collected by an environmental detection device positioned above a mobile ground base station, in front of a vehicle, near an aerial pipeline guide, or on a work drone. The environmental detection device can be one or more of a laser rangefinder, lidar, millimeter-wave radar, binocular vision module, or depth camera. The raw data output by the detection device can be a point cloud frame, a range array, a depth map, or a height sampling sequence with timestamps. After receiving the raw data, the controller first removes outliers and noise points, then projects the obstacle point set onto the current work area according to the ground coordinate system, extracts the maximum height value from each sampling unit, and forms an obstacle height boundary curve, boundary point set, or boundary grid table along the work direction. The obstacle height boundary information obtained in this way can directly characterize which locations in the current working area have tall obstacles, as well as the approximate height range of the top of the obstacles, providing a basis for subsequent judgment on whether there is a risk of collision in the area through which the conveyor line passes.

[0027] The positions of the operational UAV, mobile ground base station, and aerial pipeline guide are obtained by their respective position detection devices. These corresponding position detection devices refer to pose acquisition devices that are set up separately for different objects or correspond to different detection channels within the same detection system. In one embodiment, the operational UAV's position can be obtained by a positioning module installed on the UAV, which can output the UAV's three-dimensional coordinate data in a unified coordinate system. When the operational scenario allows for satellite positioning, an RTK module can be used; when in indoor or obstructed environments, a positioning method combining UWB, inertial measurement units, and local environmental perception can be used. The mobile ground base station's position can be obtained by a vehicle-mounted positioning device installed on the vehicle, and the obtained data should at least include the vehicle's current position and heading information. The aerial pipeline guide's position is obtained according to its specific form: when the aerial pipeline guide is a boom, its current position can be obtained through the boom's travel detector, angle encoder, or top position sensor; when the aerial pipeline guide is a flight platform cooperating with the operational UAV, the position data can be output by the flight platform's own positioning module. To facilitate unified processing, the data output by each location detection device is preferably in the form of time-stamped location tuples, such as [x, y, z, t], or in the form of structured data packets containing coordinate values, heading angles, and sampling times. Subsequently, the controller performs time synchronization and coordinate transformation on the location data from different detection devices according to a unified time reference, so that the locations of the operational UAV, mobile ground base station, and aerial pipeline guide can participate in subsequent calculations under the same coordinate reference.

[0028] The conveyor line status information includes at least conveyor line length information and tension information. The conveyor line length information reflects the effective length of the conveyor line currently released from the take-up / delivery device, while the tension information reflects the current stress state of the conveyor line. The conveyor line length information is determined by the lead-out length detection result of the take-up / delivery device. In engineering implementation, length detection components can be installed on the reel shaft, guide wheel, or meter counter wheel of the take-up / delivery device. These components can be rotary encoders, Hall effect counters, meter counter wheel sensors, or reel angular displacement detectors. The controller calculates the current output line length based on the reel rotation angle and reel diameter parameters, or based on the meter counter wheel linear speed and cumulative running time, to obtain the lead-out length detection result. To improve the effectiveness of the length information, an initial reel zero position can be preset during system initialization. The lead-out length increment is accumulated in each control cycle and subtracted in the opposite direction during return, thereby continuously obtaining the current effective conveyor line length. This conveyor line length information is preferably output in the form of a real value, a length sequence, or a length data packet with a timestamp, such as [L, t].

[0029] Tension information is determined by the tension detection results of the conveyor line. Tension detection devices can be installed near the outlet end of the conveyor line close to the take-up / deployment device, near the guide mechanism, or at a fixed connection point on the conveyor line. These devices can employ tension sensors, tension wheel sensors, strain gauge force measuring elements, or force measuring structures based on the force conversion of the guide wheel. The tension detection device converts the current force on the conveyor line into a voltage signal, current signal, or digital signal, which is processed by the acquisition circuit and then sent to the controller. The controller filters, zero-point corrects, and performs range conversion on the signal to obtain the current tension value of the conveyor line. Tension information is preferably output in the form of timestamped tension data, such as [T, t]. Alternatively, a short-time tension sequence composed of multiple sampling points can be used to determine whether the tension is stable and whether there are significant fluctuations or abrupt changes in subsequent processing. Since the tethered system is affected by UAV movement, external disturbances, and take-up / deployment actions during operation, the tension information is usually not a constant value. Therefore, real-time detection of the current tension state can provide a direct basis for subsequent morphological judgment.

[0030] During execution, the controller cyclically receives obstacle boundary information, the position of the operating drone, the position of the mobile ground base station, the position of the aerial pipeline guide, the length of the conveyor line, and tension information at a fixed sampling period. The sampling period can be set from 10ms to 100ms depending on the system's real-time requirements. Within each period, the obstacle height boundary information is first updated to obtain the obstacle height boundary results for the current operating area; then, the position data output by each position detection device is time-aligned and coordinate-unified to obtain the current position of the operating drone, the mobile ground base station, and the aerial pipeline guide; subsequently, the output length detection results of the take-up and release device and the tension detection results of the conveyor line are read to generate the current effective conveyor line length information and the current tension information, respectively. The controller encapsulates the above information into a basic state dataset for the current control period and uses it as direct input for subsequently generating target guidance position parameters and constructing conveyor line state parameters. In other words, the main function of this implementation method is to transform the scattered detection quantities of obstacle boundaries, key object locations, and line body status into unified, callable, and continuously updated basic input data, so that subsequent analysis of the minimum point height, tension status, and horizontal span deviation of the transmission line is based on clear and reliable data sources.

[0031] In one specific deployment method, a mobile ground base station is installed on a vehicle, which is equipped with an onboard positioning module and a deployment / retrieval device. The deployment / retrieval device includes a cable length detection component. A flight positioning module is installed on the operational drone. When the aerial pipeline guide is a lifting structure installed on the vehicle, its position is obtained by the lifting stroke detection device; when it is a collaborative flight platform, its position is obtained by its own positioning module. An obstacle boundary detection device is positioned at either the vehicle end or the air end to scan the work area ahead. The controller can be deployed in an industrial control computer within the mobile ground base station, an onboard controller, or an edge computing unit communicating with the flight controller, for unified analysis and transfer of the above detection results. In this way, without changing the basic structure of the conveyor line, the mobile ground base station, and the aerial pipeline guide, synchronous perception of obstacle height boundaries, key positional relationships, and line length and tension status in the current work scenario can be achieved, providing a directly implementable data foundation for the entire conveyor line morphology collaborative control process.

[0032] The obstacle boundary information can be stored in the form of height boundary point sets, grid height tables, or contour line segment sets; the location data can be stored in the form of three-dimensional coordinate tuples under a unified coordinate system; the conveyor line length information and tension information can be stored in the form of scalar data with timestamps or short-time sliding window sequences. After the data output by each detection device is acquired, filtered, synchronized in time, and unified in coordinates, it can form the standard input data structure called by the subsequent control process.

[0033] In a specific operational scenario, the drone is continuously powered from the ground and operates at low altitude in areas with unevenly distributed obstacles. If the aerial pipeline guide remains in a fixed position or is set only based on empirical height, it is often difficult to meet the requirements for route passage under different obstacle heights and operational orientations. This can easily lead to situations where the guide position is too low, deviates, or fails to cover local high obstacles. Therefore, it is necessary to generate target guide position parameters in real time, based on the height distribution of obstacles in the current operational area and the positional relationship between the drone and the mobile ground base station, so that the transport route has a clear high-level passage target in subsequent control.

[0034] In one embodiment of the present invention, the target guidance position parameter includes at least a target guidance height parameter and a target guidance horizontal position parameter. Within the operating area between the operating UAV and the mobile ground base station, the highest boundary height value corresponding to the obstacle height boundary information is extracted, and the highest boundary height value is superimposed with a preset obstacle clearance height to obtain the target guidance height parameter. The direction of the line connecting the current position of the operating UAV and the position of the mobile ground base station is used as the reference direction, and the obstacle boundary information is projected along the reference direction to determine the obstacle boundary segment corresponding to the highest boundary height value. The corresponding position of the obstacle boundary segment in the reference direction is used as the target guidance horizontal position parameter.

[0035] In this embodiment, the input data for the current step is based on the data acquired in the previous embodiment, mainly including obstacle height boundary information, the current position of the UAV, and the position of the mobile ground base station. The obstacle height boundary information can be stored in the form of a height boundary point set, a grid height table, or a set of obstacle contour segments. For example, the detected obstacle boundaries can be discretized into several boundary sampling points, each sampling point containing at least a horizontal coordinate, a vertical coordinate, a height value, and a sampling time, forming structured data similar to [(x1, y1, h1, t1), (x2, y2, h2, t2), ...]. Alternatively, the work area can be divided into a regular grid, and the corresponding highest boundary height value can be recorded in each grid cell, forming a two-dimensional height grid table. The current position of the UAV and the position of the mobile ground base station are preferably represented using three-dimensional coordinate data in a unified coordinate system, for example, represented as Pu=[xu, yu, zu] and Pb=[xb, yb, zb], respectively. After time alignment in the controller, these data are used as input to the target guidance position parameter generation module.

[0036] The generation of target guidance position parameters can be divided into two parts: guidance height generation and guidance horizontal position generation. First, the generation process of the target guidance height parameter is explained. Within the current control cycle, the controller first filters valid obstacle boundary data located within the operational area between the UAV and the mobile ground base station from the obstacle height boundary information. The operational area between the UAV and the mobile ground base station can be defined by spatial enclosing range. For example, the current operational corridor area can be constructed with the current position of the UAV and the position of the mobile ground base station as the two ends, retaining only obstacle boundary sampling points or obstacle grid cells falling within this area. A maximum value extraction operation is performed on the filtered height data to obtain the highest boundary height value hmax within the current control cycle. This operation can be implemented using a traversal comparison method, or by using a maximum value stack or grouping to find the extreme value; in engineering practice, traversal comparison is the most direct. After obtaining hmax, the pre-stored obstacle departure height value hsafe is read and superimposed to obtain the target guidance height parameter Hg, i.e., Hg = hmax + hsafe. This ensures that the guidance target height is always higher than the boundary height of the most unfavorable obstacle within the current operational area. The preset obstacle clearance height value can be preset according to the minimum safety margin of the conveying line, the dynamic fluctuation margin of the line, and the specific type of work object. For example, different value ranges can be used in plant protection, inspection or hoisting scenarios.

[0037] After generating the target guidance height parameters, the target guidance horizontal position parameters are further generated. This process does not simply take the current position of the UAV or the mobile ground base station, but rather determines which obstacle area corresponds to the position most in need of high-level guidance coverage. To this end, a line connecting the current UAV position Pu and the mobile ground base station position Pb is constructed, and this line is defined as the reference direction u for the current control cycle. u can be obtained through vector normalization, i.e., u = (Pu − Pb) / ||Pu − Pb||. Then, the controller projects each valid boundary point pi = [xi, yi, hi] from the obstacle boundary information along the reference direction to obtain the corresponding projection scalar si. The projection scalar can be calculated using the dot product operation si = (pi − Pb)·u. Through this projection process, the obstacle boundary points, originally distributed in two-dimensional or three-dimensional space, are transformed into a one-dimensional sequence of positions along the current operating direction, thus enabling the determination of the sequential distribution of each obstacle boundary along the operating direction. Boundary points with height values ​​equal to or close to the highest boundary height value hmax are clustered or merged to determine their respective obstacle boundary segments. An obstacle boundary segment corresponding to the highest boundary height value can be understood as a boundary range containing the highest boundary point and continuously distributed along the reference direction. In engineering implementation, adjacent boundary points can be merged into the same segment using the adjacent projection distance threshold method or the grid adjacency method. If several boundary points satisfy |hi−hmax|≤Δh, and the difference in scalar values ​​between adjacent projections |si+1−si| is not greater than a preset continuity threshold Δs, then these boundary points are merged into the same boundary segment. The resulting segment can be represented by the starting projection position sstart and the ending projection position send.

[0038] After determining the obstacle boundary segment, the corresponding position of the obstacle boundary segment in the reference direction is used as the target guidance horizontal position parameter. Specifically, the midpoint projection position of the boundary segment, sc = (sstart + send) / 2, can be used as the target guidance horizontal position parameter; alternatively, the projection position corresponding to the highest boundary point can be used. To improve guidance coverage stability, this embodiment preferably uses the segment midpoint method because, compared to the single-point method, the segment midpoint can better cover the high-level area of ​​an obstacle with a certain length. After obtaining sc, it can be retained as a scalar parameter along the reference direction, or it can be further converted into a spatial position parameter Ph = Pb + sc·u, where Ph represents the corresponding position of the target guidance horizontal position in a unified coordinate system.

[0039] Under a specific set of data, we can assume the location of the mobile ground base station is Pb=[0, 0, 0], and the current location of the operating UAV is Pu=[80, 20, 4], thus obtaining the reference direction u. Obstacle height boundary information is filtered within the operating corridor to form several boundary points. A certain set of boundary points reaches the current maximum height of 12m, and the projection positions of these points in the reference direction fall within the range of 35m to 42m. Therefore, hmax can be determined as 12m, and the preset obstacle clearance height hsafe is set to 3m, resulting in the target guidance height parameter Hg=15m. Simultaneously, the projection position sc of the midpoint of the highest obstacle boundary segment is set to 38.5m, serving as the target guidance horizontal position parameter. The controller then encapsulates [Hg, sc] or [Hg, Ph] into the target guidance position parameter for the current control cycle and passes it to the next processing stage for invocation. After this processing, the guidance target clearly defines both the required elevation and the primary segment within the operating direction to be covered.

[0040] In system implementation, the aforementioned target guidance position parameter generation process can be executed by an edge controller, vehicle-mounted industrial control computer, or flight control collaborative processing unit deployed within a mobile ground base station. Within a control cycle, this processing unit first reads the currently aligned obstacle height boundary information and position data, then performs steps such as work area filtering, maximum boundary height value extraction, reference direction calculation, boundary projection, segment identification, and parameter encapsulation, ultimately outputting the target guidance position parameters. Throughout the process, the intermediate results of the current step sequentially include: effective obstacle boundary dataset, maximum boundary height value hmax, target guidance height parameter Hg, reference direction u, projection scalar si of each boundary point, the segment [sstart, send] corresponding to the maximum boundary, and the target guidance horizontal position parameter sc or Ph. These intermediate results flow sequentially, with the previous result serving as the input for the next, and can be completed without introducing additional execution units.

[0041] When the drone is constantly moving and the height of obstacles changes significantly, simply knowing the target position is insufficient to directly determine whether the current transport line is in a safe and stable state. Especially when the length of the transport line, tension, and the span between the base station and the drone change simultaneously, the lowest point of the line often dynamically changes, making it difficult to accurately reflect the current line configuration based solely on experience. Therefore, after obtaining the target guidance position parameters, it is necessary to further integrate information such as the guidance position, ground exit position, end connection position, and line length and tension into calculable state parameters to facilitate coordinated control of base station following, guidance adjustment, and line deployment and retraction.

[0042] Specifically, in one embodiment of the present invention, the construction of the transport line state parameters includes: projecting the target guidance position parameters, the position of the operating UAV, and the position of the mobile ground base station onto the same vertical plane determined by the direction of the line connecting the position of the operating UAV and the position of the mobile ground base station and the vertical direction, respectively obtaining the guidance position, the end connection position, and the ground exit position; determining the line connecting the ground exit position and the guidance position as the first reference line segment, and determining the line connecting the guidance position and the end connection position as the second reference line segment, and calculating the sum of the lengths of the first reference line segment and the second reference line segment; comparing the transport line length information with the sum of the lengths of the first reference line segment and the second reference line segment, and determining the sag correction amount of the transport line based on the comparison result; determining the predicted height of the lowest point of the transport line based on the lowest height value among the guidance position, the end connection position, and the ground exit position, and the sag correction amount; comparing the tension information with the preset tension range to determine the tension state of the transport line; and determining the horizontal span deviation based on the actual horizontal distance between the position of the operating UAV and the position of the mobile ground base station and the preset target span.

[0043] In this embodiment, the input for this step is based on the data already established in the aforementioned embodiments, and mainly includes: target guidance position parameters, the position of the operational UAV, the position of the mobile ground base station, the length information of the transport line, and tension information. The target guidance position parameters include at least the target guidance height parameter and the target guidance horizontal position parameter; the position of the operational UAV and the position of the mobile ground base station are typically represented by three-dimensional coordinate vectors in a unified coordinate system, for example, denoted as Pu=[xu, yu, zu] and Pb=[xb, yb, zb] respectively; the length information of the transport line can be represented by the current effective outgoing line length Lline; and the tension information can be represented by the current tension value Tline. The controller reads the above data in each control cycle and enters the transport line status parameter construction process.

[0044] First, the target guidance position parameters, the position of the operational UAV, and the position of the mobile ground base station are projected onto the same vertical plane. This "same vertical plane" is determined by two directions: the direction of the line connecting the operational UAV position and the mobile ground base station position, and the vertical direction. Specifically, the controller first calculates the current operational direction vector u=(Pu−Pb) / ||Pu−Pb|| based on Pu and Pb, then selects the vertical unit vector ez=[0,0,1]. u and ez together constitute the vertical analysis plane for the current control cycle. Subsequently, the target guidance position parameters are converted into a spatial guidance position Pg, and then Pg, Pu, and the spatial position Pb_out corresponding to the ground base station's outgoing line are projected onto this vertical plane. Projection can be accomplished using vector dot product and coordinate reconstruction, where the component of each spatial point in the u direction is used as the horizontal coordinate in the plane, and its height value is used as the vertical coordinate in the plane, thus converting the original three-dimensional spatial relationship into a two-dimensional geometric relationship in the plane. After this processing, the guidance position, the end-connection position, and the ground outgoing line position are obtained. The guiding position corresponds to the projection point of the target guiding position parameters in the vertical plane; the end connection position corresponds to the position of the connection point between the operating UAV and the transmission line in the vertical plane; and the ground exit position corresponds to the position of the actual exit point of the transmission line on the mobile ground base station in the vertical plane. The purpose of this processing is to compress the complex spatial line shape into a vertical profile consistent with the current operating direction, so as to facilitate subsequent sag and lowest point analysis.

[0045] After obtaining the three planar position points mentioned above, the controller further constructs two baseline segments. Specifically, the line connecting the ground exit position and the guide position is determined as the first baseline segment, and the line connecting the guide position and the end connection position is determined as the second baseline segment. Then, the lengths of the two baseline segments are calculated separately, denoted as d1 and d2, and their sum D = d1 + d2 is obtained. Here, D reflects the minimum geometric length required if the conveyor line connects the ground exit position, guide position, and end connection position in the form of two straight lines under the current geometric positional relationship. This value is not the actual length of the conveyor line, but a geometric reference for subsequent judgment of whether the line has a significant sag trend. For length calculation, the distance formula between two points in the plane can be directly used, which is a commonly used geometric calculation method in engineering.

[0046] Next, the controller compares the conveyor line length information Lline with the aforementioned geometric reference value D, and determines the sag correction amount based on the comparison result. If Lline is greater than D, it indicates that the actual length of the conveyor line currently being deployed exceeds the minimum length required for the two reference straight sections; this excess length will manifest as a sag trend in the plane. If Lline is close to D, it indicates that the line is in a tighter state with less sag. In engineering implementation, the length difference ΔL = Lline − D can be calculated first, and then the sag correction amount Hc can be generated based on the length difference. The sag correction amount can be obtained by looking up a table, using a piecewise function, or by proportional conversion. For example, in one embodiment, the controller pre-establishes a correspondence table between the length difference and the sag height correction amount; when ΔL falls into different intervals, the corresponding sag correction amount is output. In another embodiment, a linear proportional conversion method can also be used, converting ΔL into a sag correction amount based on the current line type, typical tension level, and empirical calibration coefficient. The advantage of using a lookup table is that it is easy to correct based on actual measurement results; the proportional conversion method is simple to implement and suitable for real-time calculation. After this step, the sag correction amount Hc of the conveyor line for the current control cycle is output.

[0047] After obtaining the sag correction, the controller determines the predicted height of the lowest point of the conveyor line based on the lowest height values ​​among the guide position, end connection position, and ground exit position, as well as the sag correction. Specifically, the height values ​​in the vertical plane of the guide position, end connection position, and ground exit position are read separately, and the minimum value hmin is taken as the lowest reference height under the geometric connection state of the three key points. Since the actual conveyor line is not a rigid broken line but has sag, hmin alone cannot directly reflect the true lowest point position; further correction using the sag correction Hc is required. In one embodiment, the predicted height of the lowest point of the conveyor line can be expressed as Hlow = hmin − Hc, where Hc represents the sag height correction value caused by the excess length of the line. If Hc is obtained by looking up a table, Hlow is directly obtained by subtracting the looked-up correction value from hmin; if a proportional conversion method is used, Hc is calculated first, and then Hlow is obtained. The predicted height of the lowest point of the conveyor line obtained in this way can reflect the approximate height position of the lowest point of the line under actual operating conditions.

[0048] After completing the construction of the predicted lowest point height, the controller continues to use the tension information to determine the tension state of the conveying line. Specifically, the tension information Tline is compared with the preset tension range [Tmin, Tmax]. When Tline is within the preset tension range, it is determined that the current conveying line is in a normal tension state; when Tline is lower than the lower limit of the preset tension range, it is determined that the current conveying line is in a loose state; when Tline is higher than the upper limit of the preset tension range, it is determined that the current conveying line is in a tight state. To avoid frequent state switching caused by short-term disturbances, short-term sliding window average values, continuous sampling confirmation, or hysteresis comparison rules can be adopted in engineering implementation. For example, when Tline < Tmin is satisfied in n consecutive sampling periods, the loose state is output; when Tline > Tmax is satisfied in n consecutive sampling periods, the tight state is output. After this step, a discrete state parameter of the conveying line tension state is obtained, which can be represented by state identifiers such as <loose>, <normal tension>, <tight>, etc.

[0049] In addition, the controller determines the horizontal span deviation based on the actual horizontal distance between the position of the operating UAV and the position of the mobile ground base station and the preset target span. Here, the actual horizontal distance refers to the projected distance on the horizontal plane between the position of the operating UAV and the position of the mobile ground base station in a unified coordinate system, which can be calculated using the two-dimensional distance formula after ignoring their height components, denoted as Dxy; the preset target span is the preset target horizontal span value according to the current operation scenario, line type, and typical safety form, denoted as Dref. The controller calculates ΔD = Dxy - Dref to obtain the current horizontal span deviation. If ΔD is positive, it means the current horizontal span is偏大; if ΔD is negative, it means the current horizontal span is偏小; if ΔD is close to zero, it means the current horizontal span basically conforms to the preset target. This horizontal span deviation can be directly used as the basis for subsequent following adjustment of the ground base station.

[0050] Thus, the conveying line state parameters finally formed in this step at least include three items: the predicted lowest point height Hlow of the conveying line, the tension state St of the conveying line, and the horizontal span deviation ΔD. In the control process, these three parameters are not formed in isolation, but are generated step by step in sequence: the target-oriented position parameters output by the foregoing embodiment, together with each position, line length, and tension information, are first used for vertical plane projection; the projection result is then used to construct two reference line segments and the sum of their lengths; the length comparison result further generates a sag correction amount for the conveying line; the sag correction amount and the lowest geometric height together determine the predicted lowest point height; the tension comparison generates the tension state; the horizontal distance comparison generates the horizontal span deviation. After that, the controller encapsulates the above state parameters into a line state data packet for the current control period, such as {Hlow, St, ΔD, timestamp}, and passes it to the subsequent correction amount generation link for invocation.

[0051] Under a specific set of application data, if the heights of the ground exit position, guide position, and end connection position projected onto the same vertical plane within the current control cycle are 2m, 15m, and 4m respectively, then the minimum geometric height hmin is 2m; if the length of the first baseline segment is 18m and the length of the second baseline segment is 52m, then D=70m; if the current effective transmission line length Lline is 74m, then the length difference ΔL is 4m; the controller converts this length difference into a sag correction Hc according to a preset conversion rule, for example, taking 0.8m, then the predicted height of the lowest point Hlow=2−0.8=1.2m. Combining the tension information Tline with the preset tension range, it can be determined whether the current line is slightly loose, normally tensioned, or slightly tight; simultaneously, if the actual horizontal distance between the operating UAV and the mobile ground base station is 78m, and the preset target span is 65m, then the horizontal span deviation ΔD is 13m. After the above calculations, the controller can obtain a complete set of transmission line state parameters and proceed to the next control step accordingly.

[0052] In one embodiment of the present invention, generating the base station following correction amount based on the transmission line state parameters includes: determining the target following displacement of the mobile ground base station along the reference direction based on the horizontal span deviation; when the predicted height of the lowest point of the transmission line is lower than the preset minimum safe height, compensating the target following displacement amount in the direction that reduces the actual horizontal distance between the position of the operating UAV and the position of the mobile ground base station to obtain a height compensation displacement amount; combining the target following displacement amount and the height compensation displacement amount into the base station following correction amount; and controlling the mobile ground base station to move along the reference direction according to the base station following correction amount.

[0053] In this embodiment, the input data for this step comes from the transport line status parameters and aligned position data already constructed in the previous step, including at least: horizontal span deviation ΔD, predicted height of the lowest point of the transport line Hlow, preset minimum safety height Hsafe, current position of the operating UAV Pu, position of the mobile ground base station Pb, and reference direction u. The horizontal span deviation ΔD characterizes the degree of deviation of the current actual horizontal span from the target span; the predicted height of the lowest point of the transport line Hlow characterizes the approximate height of the current lowest point of the line; the preset minimum safety height Hsafe is a safety threshold pre-stored by the system; and the reference direction u is the direction vector determined in the aforementioned step based on the direction of the line connecting the current position of the operating UAV and the position of the mobile ground base station. The above data can be stored in the controller in the form of a timestamped structured data packet, for example, {ΔD, Hlow, Hsafe, Pu, Pb, u, t}, and retrieved in each control cycle.

[0054] The generation of the base station following correction amount starts from the target following displacement amount. The controller determines the target following displacement amount of the mobile ground base station along the reference direction according to the horizontal span deviation ΔD. In specific implementation, if ΔD is positive, it indicates that the current actual horizontal span is greater than the preset target span, which means the distance between the base station and the operation UAV is too large, and the mobile ground base station needs to be driven to follow in the direction close to the operation UAV; if ΔD is negative, it means that the current actual horizontal span is less than the preset target span, and the mobile ground base station can reduce the following amount or maintain the current position; if ΔD is close to zero, it is considered that the current span basically meets the requirements, and the target following displacement amount can be set to zero or a minimum value. In engineering implementation, the target following displacement amount can be determined by proportional mapping, piecewise linear mapping or look-up table method. Preferably, the controller adopts a piecewise proportional rule: when |ΔD| is less than the first threshold, a smaller displacement amount is output to avoid frequent adjustment; when |ΔD| is in the middle interval, it is converted according to the proportional coefficient K1 to obtain the target following displacement amount Sbase = K1·ΔD proportional to the deviation; when |ΔD| exceeds the second threshold, the output value is limited to prevent the displacement instruction from being too large within a single cycle. Through this process, the target following displacement amount Sbase along the reference direction can be obtained. This displacement amount reflects the basic following adjustment amount that the mobile ground base station should execute in the current control cycle from the perspective of correcting the horizontal span.

[0055] After obtaining the target following displacement amount, the controller further determines whether the predicted height of the lowest point of the conveying line is lower than the preset minimum safety height. If Hlow≥Hsafe, it means that the lowest point of the current line is still within the safe range, and there is no need to increase the base station following displacement amount to raise the lowest point of the line, and at this time the height compensation displacement amount Sc can take a zero value. If Hlow<Hsafe, it means that there is a risk that the lowest point of the current line is lower than the safety threshold, and compensation needs to be added on the basis of the original target following displacement amount to further reduce the actual horizontal distance between the position of the operation UAV and the position of the mobile ground base station. The controller can first calculate the height difference ΔH = Hsafe−Hlow, and then generate the height compensation displacement amount Sc according to the preset height compensation rule. This compensation rule can adopt proportional conversion or piecewise compensation method. For example, in an implementation manner, a compensation coefficient K2 is set. Then, when ΔH is greater than zero, the height compensation displacement amount is calculated according to Sc = K2·ΔH; when ΔH is too large, in order to prevent the vehicle from moving too violently within a single cycle, a compensation upper limit Sc_max can also be set to limit Sc. The direction of this height compensation displacement amount is fixed to the direction that reduces the actual horizontal distance between the position of the operation UAV and the position of the mobile ground base station, that is, along the reference direction towards the operation UAV side. In this way, in addition to span correction, the position of the lowest point of the line can be increased by shortening the horizontal distance.

[0056] Subsequently, the controller combines the target following displacement and the height compensation displacement into a base station following correction. Specifically, when the two are in the same direction, they can be directly added together to obtain the base station following correction Sfollow = Sbase + Sc; when the target following displacement is zero but the height compensation displacement is not zero, Sc is directly used as the base station following correction; if the horizontal span deviation itself indicates that the mobile ground base station is moving towards the direction of the operating UAV, and the predicted lowest point height is lower than the preset minimum safe height, the height compensation displacement will be further increased by the following amount on the original basis. Through this synthesis process, the base station following correction no longer reflects only the span deviation, but also takes into account the safety requirements of the lowest point height of the line, and belongs to a comprehensive displacement command formed around the current transmission line morphology.

[0057] During the control execution phase, the controller controls the mobile ground base station to move along the reference direction according to the base station following correction amount. In engineering implementation, the mobile ground base station can be mounted on a vehicle, tracked platform, or other mobile chassis. The onboard controller receives the base station following correction amount and converts it into chassis motion control commands. If a wheeled vehicle is used, the base station following correction amount can be decomposed into the target travel distance along the reference direction and combined with the current vehicle heading to convert it into steering angle and drive speed commands. If a tracked or differential chassis is used, it can be converted into left and right side drive speed or differential speed commands. In one embodiment, the onboard controller first converts the base station following correction amount Sfollow into the target displacement endpoint Pb_target = Pb + Sfollow·u for the current cycle, and then generates a chassis closed-loop tracking command based on the difference between the current position Pb and Pb_target, driving the mobile ground base station to complete the following action for the current cycle. After the vehicle completes the execution, the position information is updated and the next control cycle begins.

[0058] Under a specific set of data, if the horizontal span deviation ΔD = 12m in the current control cycle, it indicates that the actual horizontal span is larger than the preset target span. The controller, based on the segmentation ratio rule, sets K1 = 0.4, resulting in a target following displacement Sbase = 4.8m. If the predicted height of the lowest point of the transmission line, Hlow = 1.5m, and the preset minimum safe height, Hsafe = 2.5m, then the height difference ΔH = 1.0m. Assuming a compensation coefficient K2 = 1.2, the height compensation displacement Sc = 1.2m. Because the current predicted height of the lowest point is lower than the safe threshold, and the compensation direction should reduce the actual horizontal distance, the two are combined to obtain a base station following correction Sfollow = 6.0m. Based on this, the controller drives the vehicle to move 6.0m along the reference direction towards the operating drone. After the movement is completed, the horizontal distance between the base station and the operating drone decreases, the transmission line span shortens accordingly, and the lowest point position rises accordingly. Thus, within the same control cycle, the mobile ground base station completes both span correction and synchronous compensation for insufficient lowest point height.

[0059] During continuous operation, the calculation and execution of the base station following correction amount preferably adopts a cyclic update method. The controller repeatedly executes the following process in each sampling cycle: reads the current transmission line status parameters and position data; generates the target following displacement amount based on the horizontal span deviation; generates a height compensation displacement amount based on the comparison between the predicted height of the lowest point and the preset minimum safe height; combines the two into the base station following correction amount; outputs it to the vehicle-mounted controller for execution; and after execution, rereads the new position information and line status information. In this way, the mobile ground base station does not move at a fixed following distance throughout the entire operation, but continuously adjusts its following behavior according to changes in the current line span and the height of the lowest point, thus ensuring that the lowest point of the transmission line is always closer to a safe configuration.

[0060] In one embodiment of the present invention, generating the guide position correction amount based on the conveying line status parameters includes: determining a guide height correction amount based on the height difference between the target guide height parameter and the current position of the aerial pipeline guide; determining a guide horizontal correction amount based on the position difference between the target guide horizontal position parameter and the current position of the aerial pipeline guide in the reference direction; compensating for the guide height correction amount by increasing the direction of the predicted height of the lowest point of the conveying line when the predicted height of the lowest point of the conveying line is lower than the preset minimum safety height; combining the guide height correction amount and the guide horizontal correction amount into a guide position correction amount; performing the guide position correction amount by adjusting the extension height of the lifting rod when the aerial pipeline guide is a lifting boom; and performing the guide position correction amount by adjusting the position of the tethered relay UAV relative to the operating UAV when the aerial pipeline guide is a tethered relay UAV.

[0061] In this embodiment, this step calls upon data already generated in the aforementioned embodiments, including target guidance position parameters, the current position of the elevated pipeline guide, the predicted height of the lowest point of the transport line, the preset minimum safe height, and the reference direction. The target guidance position parameters include at least the target guidance height parameter Hg and the target guidance horizontal position parameter Pg; the current position of the elevated pipeline guide can be represented as a current position data packet Gcur, which includes at least the current height value Hcur and the projected position Scur of the current position in the reference direction; the predicted height of the lowest point of the transport line is denoted as Hlow, and the preset minimum safe height is denoted as Hsafe. The above data can be read uniformly by the controller within the same control cycle and entered into the guidance correction calculation process in a structured format of {Hg, Pg, Hcur, Scur, Hlow, Hsafe, u, t}.

[0062] The generation of the guide position correction begins with the guide height correction. The controller reads the target guide height parameter Hg and the current position height Hcur of the lifting pipeline guide, and calculates the height difference ΔHg = Hg − Hcur. This height difference reflects how far the current guide point is from the target guide height in the vertical direction. If ΔHg is positive, it means that the current guide point height is lower than the target height and needs to be corrected upwards; if ΔHg is negative, it means that the current guide point height is higher than the target height and can be reduced or kept still; if ΔHg is close to zero, it means that the current guide point height has basically reached the target height. In engineering implementation, a segmented proportional rule can be used to generate the guide height correction Sh. Specifically, a proportional coefficient Kh can be set, and a small dead zone δh can be set: when |ΔHg|≤δh, the guide height correction is set to zero; when |ΔHg|>δh, the basic height correction is calculated according to Sh = Kh·ΔHg; if |Sh| exceeds the single-cycle adjustment limit allowed by the current guide actuator, Sh is limited. After this processing, the guide height correction amount Sh corresponding to the current height deviation is obtained. This amount is essentially a vertical correction command used to drive the guide point to gradually approach the target guide height.

[0063] After obtaining the guiding height correction amount, the controller further generates a guiding horizontal correction amount. The target guiding horizontal position parameter is the position parameter obtained in the previous step corresponding to the boundary section of the highest obstacle, which can be represented by the projection scalar in the reference direction or the form of corresponding spatial points. In this embodiment, it is preferably to use the projection position scalar Pg in the reference direction as the target guiding horizontal position parameter, and the projection position scalar of the current position of the airborne pipeline guide in the reference direction is denoted as Scur. The controller calculates the position difference between the two, ΔSg = Pg - Scur. If ΔSg is positive, it means that the current guiding point lags behind the target position along the reference direction and needs to move forward in the operation direction; if ΔSg is negative, it means that the current guiding point is ahead of the target position and needs to be retracted; if ΔSg is close to zero, it can be considered that the horizontal position of the current guiding point basically meets the requirements. In engineering implementation, a segmented proportional rule similar to the height correction can be adopted to generate the guiding horizontal correction amount Ss according to ΔSg. Specifically, when |ΔSg| is less than the horizontal position dead zone δs, Ss is taken as zero; when |ΔSg| is greater than the dead zone, the basic horizontal correction amount is generated according to Ss = Ks·ΔSg; when necessary, Ss is limited to prevent excessive horizontal correction within a single cycle. In this way, the guiding horizontal correction amount Ss along the reference direction can be obtained.

[0064] After the guiding height correction amount and the guiding horizontal correction amount are determined respectively, it is also necessary to combine the predicted height of the lowest point of the conveying line to judge the guiding height compensation. The controller compares the predicted height Hlow of the lowest point of the conveying line with the preset minimum safety height Hsafe. If Hlow ≥ Hsafe, it means that the current lowest point of the line is still within the safe range, and at this time, there is no need to raise the guiding point additionally, and the guiding height correction amount Sh can be directly used as the subsequent synthesis input. If Hlow < Hsafe, it means that there is a risk that the lowest point of the line is lower than the safety threshold, and the controller needs to increase the compensation amount on the basis of the original guiding height correction amount to further adjust the guiding point in the direction that is beneficial to increasing the predicted height of the lowest point of the line. In this embodiment, this direction is preferably taken as the compensation direction vertically upward. The controller first calculates the safety height gap ΔH = Hsafe - Hlow, and then generates the height compensation amount Sc according to the compensation coefficient Kc, that is, Sc = Kc·ΔH; the maximum compensation upper limit Sc_max can also be set to limit the compensation amount. Subsequently, this compensation amount is added to the guiding height correction amount to obtain the compensated guiding height correction amount Sh'. That is to say, when the lowest point of the line is low, the height adjustment of the guiding point no longer only obeys the target guiding height parameter itself, but also has to additionally bear the task of raising the lowest point of the line.

[0065] After completing the above compensation, the controller combines the guide height correction and the guide horizontal correction into a guide position correction. Specifically, the guide position correction can be represented as a two-dimensional correction vector Gfix=[Sh', Ss], where Sh' is the vertical correction component and Ss is the horizontal correction component along the reference direction; alternatively, based on the control interface of the executing object, this correction can be converted into a target guide position Gtarget_new. If the target position method is used, the controller can calculate the new guide target position: in the vertical direction, Hcur+Sh' is used as the new target height; in the reference direction, Scur+Ss is used as the new target horizontal position. The resulting guide position correction can then be directly provided to subsequent executing objects. Through this synthesis method, the guide execution command simultaneously includes correction requirements for both the guide point's elevation and its movement along the working direction.

[0066] After the guide position correction is generated, it is executed by different types of elevated pipeline guides. Firstly, when the elevated pipeline guide is a lifting rod, the guiding execution object is the lifting mechanism installed on the vehicle. In this case, the controller sends a lifting command to the lifting drive mechanism based on the vertical correction component Sh' in the guide position correction or the new target guide height, executing the guide position correction by adjusting the extension and retraction height of the lifting rod. A guide pulley system can be installed at the top of the lifting rod, and the conveyor line is led out from the top high position; when the lifting rod extends, the guide point is raised as a whole; when the lifting rod retracts, the guide point is lowered as a whole. If the lifting rod structure allows the guide head to move longitudinally along the vehicle within a certain range, the position of the top guide head can be further adjusted according to the horizontal correction component Ss; if the lifting rod only has vertical adjustment capability, the horizontal correction component in the guide position correction can be recorded only or indirectly absorbed by other cooperating components. As an elevated pipeline guide on the vehicle, the lifting rod can extend and retract vertically and is equipped with a guide pulley system at the top, making it suitable as a high-position guiding execution component when the vehicle can approach the work area.

[0067] Secondly, when the aerial pipeline guide is a tethered relay UAV, the guiding execution target is the relay flight platform flying in coordination with the operational UAV. In this case, the guiding position correction is performed by adjusting the position of the tethered relay UAV relative to the operational UAV. In engineering implementation, the operational UAV can be used as a reference object, maintaining a preset relative horizontal distance and relative altitude between the relay flight platform and the operational UAV, and exchanging position and speed information in real time via wireless communication. When the controller receives the guiding position correction, it can convert this correction into an updated target position of the relay flight platform relative to the operational UAV, such as a new relative altitude and a new relative forward / backward position. After receiving this target, the flight controller of the relay flight platform adjusts its flight attitude and thrust output based on a position closed-loop control algorithm, correcting it upward, downward, forward, or backward relative to the operational UAV, thereby causing the guide pulley assembly mounted below to change position as a whole. Thus, when the conveyor line passes through the guide pulley assembly of the relay flight platform, its high-level guiding position also changes accordingly. Because the relay flight platform itself has more flexible spatial maneuverability, both the altitude and horizontal components of the guiding position correction can be directly executed. The relay flight platform can exchange location information in real time with the operation drone through the communication link, maintain the preset relative horizontal distance and relative altitude, and automatically adjust its position when the operation drone changes its flight direction to ensure that the delivery line is always supported at a high position.

[0068] Under a specific set of data, assuming the target guidance height parameter Hg is 15m in the current control cycle and the current position height Hcur of the aerial pipeline guide is 12m, then the height difference ΔHg = 3m; using the proportional coefficient Kh = 0.6, the basic guidance height correction Sh = 1.8m can be obtained. If the projection position of the target guidance horizontal position parameter Pg in the reference direction is 40m, and the corresponding projection position Scur of the current position of the aerial pipeline guide is 36m, then the position difference ΔSg = 4m; using the proportional coefficient Ks = 0.5, the guidance horizontal correction Ss = 2m can be obtained. If the predicted height of the lowest point of the transmission line Hlow is 1.6m, and the preset minimum safety height Hsafe is 2.5m, then the safety height gap ΔH = 0.9m; using the compensation coefficient Kc = 0.8, the height compensation Sc = 0.72m is calculated. Therefore, the compensated guidance height correction Sh' = 2.52m, and the final guidance position correction can be expressed as Gfix = [2.52m, 2m]. When the target is a boom lift, it can be driven to rise further by 2.52m; when the target is a tethered relay drone, its relay flight platform can be driven to adjust to a higher and more forward position relative to the operating drone. After this correction, the high-level guide point is raised and aligned with the target obstacle section, which helps to raise the lowest point of the line and improve the overall line shape.

[0069] During system operation, the guide position correction is preferably generated and executed using a periodic update method. The controller repeats the following process in each control cycle: reads the target guide position parameters and the current position of the elevated pipeline guide; generates guide height correction and guide horizontal correction respectively; performs height compensation based on the predicted height of the lowest point of the line; synthesizes the guide position correction; and sends it to the corresponding guide execution object. After execution, the position detection device updates the current position of the elevated pipeline guide, and the next round of calculation begins. This ensures that the guide point dynamically adjusts throughout the operation, following the distribution of obstacle boundaries, changes in the work direction, and safety requirements of the lowest point of the line, rather than remaining fixed.

[0070] In one embodiment of the present invention, generating the line take-up and release correction amount based on the conveyor line state parameters includes: comparing tension information with a preset tension range; when the tension information is less than the lower limit of the preset tension range, determining a basic take-up amount that reduces the length of the conveyor line; when the tension information is greater than the upper limit of the preset tension range, determining a basic release amount that increases the length of the conveyor line; when the tension information is within the preset tension range, determining the basic take-up and release amount as zero; when the predicted height of the lowest point of the conveyor line is lower than the preset minimum safety height, performing take-up compensation on the basic take-up and release amount in the direction of reducing the sag correction amount of the conveyor line to obtain the line take-up and release correction amount; and controlling the conveyor line take-up and release device to perform take-up or release actions according to the line take-up and release correction amount.

[0071] In this embodiment, the input data for this step includes: tension information Tline, preset tension range [Tmin, Tmax], predicted minimum height of the conveyor line Hlow, preset minimum safe height Hsafe, conveyor line sag correction Hc, and current reel status parameters of the take-up / unwind device. The tension information can be in a timestamped tension scalar data format, such as {Tline, t}; the preset tension range can be stored in a parameter table format; the predicted minimum height of the conveyor line and the sag correction can be input to the controller using the status parameter data package generated in the previous step. The current reel status parameters of the take-up / unwind device include at least the current effective radius Rr of the reel, the current rotation angle θr, or the current position encoding value Nr, used to convert the subsequently obtained length correction into reel action commands. The controller reads the above data uniformly within the current control cycle and enters the line take-up / unwind correction generation process.

[0072] The generation of the wire retraction and extension correction amount first focuses on the comparison between the tension information and the preset tension range. The controller compares the tension information Tline with the preset tension range [Tmin, Tmax]. When Tline < Tmin, it indicates that the current conveying line is in a loose state and the length of the conveying line needs to be shortened, so the basic wire retraction amount is determined. When Tline > Tmax, it indicates that the current conveying line is in a tight state and the length of the conveying line needs to be increased, so the basic wire extension amount is determined. When Tline is within the preset tension range, it indicates that the current tension state is within the allowable range, and the basic retraction and extension amount is determined to be zero. For the convenience of subsequent unified processing, in this embodiment, a unified symbol convention can be adopted: a positive value represents the length correction amount in the wire retraction direction, a negative value represents the length correction amount in the wire extension direction, and zero represents that no retraction and extension action is performed separately due to the tension deviation in this cycle.

[0073] In the specific calculation process of the basic retraction and extension amount, a segmented ratio rule or a look-up table rule can be adopted. If Tline < Tmin, first calculate the tension lower deviation ΔT1 = Tmin - Tline, and then generate a length reduction amount according to the basic wire retraction amount S1 = K1·ΔT1, where K1 is the wire retraction conversion coefficient; if Tline > Tmax, first calculate the tension upper deviation ΔT2 = Tline - Tmax, and then generate a length increase amount according to the basic wire extension amount S2 = K2·ΔT2, and record it as a negative value in the unified dimension, that is, the basic retraction and extension amount Sb = -S2; if Tmin ≤ Tline ≤ Tmax, then let Sb = 0. To prevent the retraction and extension length from being too large in a single cycle, an upper limit |Sb|max of the basic retraction and extension amount can also be set to limit Sb. If it is necessary to reduce the frequent switching caused by tension fluctuations, a hysteresis zone or a short-term moving average rule can also be introduced in the comparison stage. For example, the basic wire retraction amount is output only when the tension is lower than the lower limit value for n consecutive sampling periods, and the basic wire extension amount is output only when the tension is higher than the upper limit value for n consecutive sampling periods. The Sb obtained in this way is the basic retraction and extension amount generated only based on the tension state.

[0074] After obtaining the basic take-up and pay-out volume, the controller further determines whether the predicted height of the lowest point of the conveying line is lower than the preset minimum safety height. If Hlow≥Hsafe, it means that the lowest point of the current line is still within the safe range, and there is no need to additionally raise the lowest point of the line by taking up the line. At this time, the basic take-up and pay-out volume is directly used as the subsequent synthesis input. If Hlow<Hsafe, it means that there is a safety risk at the lowest point of the current line, and it is necessary to additionally shorten the length of the conveying line to reduce the sagging trend of the line. Since the sag correction amount Hc of the conveying line already reflects the sagging degree of the current line relative to the geometric reference state, in this step, the basic take-up and pay-out volume is compensated for taking up the line in the direction of reducing the sag correction amount of the conveying line. During engineering implementation, the controller first calculates the safety height gap ΔH = Hsafe−Hlow at the lowest point, and then combines it with the sag correction amount Hc to generate the take-up compensation amount Sc in a proportional or piecewise function manner. For example, the compensation coefficient Kc can be set, and the basic compensation length can be calculated according to Sc = Kc·ΔH; if the influence of the current sagging degree needs to be further reflected, the method of Sc = Kc1·ΔH + Kc2·Hc can be adopted, so that the compensation is not only affected by the safety height gap at the lowest point, but also affected by the sag state. Since this compensation is always used to reduce the sag of the line, Sc is counted as a positive value.

[0075] Subsequently, the controller synthesizes the basic take-up and pay-out volume Sb and the take-up compensation amount Sc to obtain the line take-up and pay-out correction amount Sfix. If the current basic take-up and pay-out volume is the basic take-up amount, that is, Sb>0, then Sfix = Sb + Sc can be directly calculated to further enhance the original take-up action; if the current basic take-up and pay-out volume is the basic pay-out amount, that is, Sb<0, and Hlow is lower than the preset minimum safety height, the take-up compensation amount Sc will first offset part of the basic pay-out amount. If Sc is greater than |Sb|, the final line take-up and pay-out correction amount will change from pay-out to take-up; if the current basic take-up and pay-out volume is zero, then Sfix = Sc. Through this synthesis rule, the line take-up and pay-out correction amount no longer only obeys the tension closed-loop alone, but also takes into account the safety requirements of the lowest point of the line. The intermediate results of this process include: the tension lower deviation ΔT1 or the tension upper deviation ΔT2, the basic take-up amount S1 or the basic pay-out amount S2, the basic take-up and pay-out volume Sb, the safety height gap ΔH at the lowest point, the take-up compensation amount Sc, and the final line take-up and pay-out correction amount Sfix. The previous intermediate results are used as the input of the subsequent calculation link in turn and are continuously generated within one control cycle.

[0076] During the execution phase, the controller converts the wire take-up / undo correction Sfix into the actual action command for the wire take-up / undo device. If Sfix > 0, the current cycle is determined to execute the take-up action; if Sfix < 0, the undo action is determined to execute; if Sfix = 0, the current position of the reel is maintained. Specifically, the controller converts the length correction into a reel rotation angle correction Δθ = Sfix / Rr based on the current effective radius Rr of the reel, or further into the encoder pulse count ΔN. If the take-up / undo device uses a torque motor direct-drive reel structure, the controller can, after determining the direction of the length correction, send target speed and target torque constraints in the corresponding direction to the driver, causing the reel to rotate to the corresponding correction length in the take-up or undo direction. If a servo motor, stepper motor, or reel drive structure with a reduction mechanism is used, the position control module can execute the corresponding displacement control based on Δθ or ΔN. During operation, the take-up / undo device can simultaneously read tension feedback and reel position feedback. If the corresponding correction amount or limit position is detected, the current cycle ends. As the hub connecting the base station and the drone, one of the core tasks of the take-up and take-down device is to ensure that the transmission line can follow the movement of the drone and suppress tension fluctuations within a small range.

[0077] Under a specific set of data, assuming the preset tension range within the current control cycle is [160N, 220N], and the current tension information Tline is 140N, then the tension is below the lower limit. The controller first calculates the tension deviation ΔT1 = 20N. If the take-up conversion factor K1 = 0.02m / N, then the basic take-up amount S1 = 0.4m, and the basic take-up / undo amount Sb = +0.4m. Further, if the predicted height of the lowest point of the current conveying line Hlow is 1.8m, and the preset minimum safety height Hsafe is 2.5m, then the minimum safety height gap ΔH = 0.7m; if the current sag correction amount of the conveying line Hc = 0.5m, and the compensation coefficients Kc1 = 0.4 and Kc2 = 0.2 are taken, then the take-up compensation amount Sc = 0.4 × 0.7 + 0.2 × 0.5 = 0.38m. The final line reel-in / reel-out correction Sfix = 0.4 + 0.38 = 0.78m. Based on this, the controller drives the reel-in / reel-out device to perform a 0.78m reel-in action. If Tline = 250N in another control cycle, the tension is higher than the upper limit. Assuming a line release conversion factor K2 = 0.015m / N, the basic line release amount S2 = 0.45m, and the basic reel-in / reel-out amount Sb = −0.45m. If Hlow is still lower than Hsafe at this time, the calculated reel-in compensation Sc = 0.30m. Therefore, the final line reel-in / reel-out correction Sfix = −0.15m, indicating that the line release action is still performed in this cycle, but the line release amount is reduced compared to when simply controlling by tension. If Sc further increases to more than 0.45m, the final action will switch from line release to line reel-in, thus prioritizing the safety height of the lowest point of the line.

[0078] In terms of operation, the line take-up and release correction amount is preferably generated continuously using a cyclic update method. The controller repeats the following process in each sampling cycle: reads the current tension information, predicted minimum height, sag correction amount, and reel status parameters; compares the tension information with the preset tension range to obtain the basic take-up and release amount; compares the predicted minimum height with the preset minimum safety height to obtain the take-up compensation amount; synthesizes the line take-up and release correction amount; converts it into a take-up or release action command and sends it to the take-up and release device; after the action is executed, new length and tension information are collected again, and the next control cycle begins.

[0079] When operational drones continuously perform tasks across different phases, such as takeoff, cruise, obstacle crossing, and recovery, if the mobile ground base station, the aerial pipeline guide, and the conveyor line deployment / retraction device always operate with the same priority, problems such as lag in response or mismatch in adjustment direction can easily occur in certain execution links. This can lead to localized sagging, span imbalance, or unsmooth recovery of the conveyor line at certain stages. To ensure that control actions at different stages better meet operational requirements, it is necessary to schedule the three types of corrections according to the operational drone's operating status, ensuring that each execution object has a clear primary and secondary relationship and linkage at different stages. The mobile ground base station, the aerial pipeline guide, and the conveyor line deployment / retraction device together constitute the conveyor line morphology adjustment link, and the coordinated action of lifting, following, and tension control to keep the lowest point of the line above the obstacle is the basic operating mode of this type of system.

[0080] Furthermore, in one embodiment of the present invention, the coordinated operation of the mobile ground base station, the airborne pipeline guide, and the transmission line deployment and retraction device includes: dividing the coordinated operation into takeoff and lift mode, level flight operation mode, obstacle crossing mode, and recovery mode according to the operating status of the UAV; in the takeoff and lift mode, prioritizing the execution of the guidance position correction and the transmission line deployment and retraction correction; in the level flight operation mode, prioritizing the execution of the base station follow correction; in the obstacle crossing mode, prioritizing the execution of the guidance position correction and simultaneously executing the transmission line deployment and retraction correction; in the recovery mode, prioritizing the execution of the transmission line deployment and retraction correction, and ensuring that the base station follow correction and the guidance position correction change in the same direction as the transmission line deployment and retraction correction.

[0081] In this embodiment, this step calls upon the three types of correction quantities already generated: the base station follow correction quantity Sfollow, the guidance position correction quantity Gfix, and the line deployment / retraction correction quantity Sreel. Simultaneously, it calls upon data representing the current motion state of the operational UAV. This operational state data includes at least the UAV's current position, current flight altitude, vertical speed, horizontal speed, task path point status, relative positional relationship with obstacle boundary sections, and recovery trigger flag. In engineering implementation, this data can be represented using a timestamped structured state packet, such as {xu, yu, zu, vz, vxy, obs_flag, recover_flag, t}. The controller reads the aforementioned state packet and the three types of correction quantity data in each scheduling cycle and then proceeds to the operational condition identification and priority allocation process.

[0082] The division of operational conditions is preferably implemented using a finite state machine (FSM). The FSM sets four state nodes: takeoff and lift, level flight, obstacle crossing, and recovery, with corresponding state transition conditions. This is because the FSM can divide the continuously changing flight process into several discrete stages with clear control objectives, maintaining control logic stability during stage transitions. The controller first determines the state based on the current flight altitude, speed changes, and mission indicators: when the UAV has just taken off, its flight altitude is continuously rising, and it has not yet entered a stable operational altitude range, it is determined to be in the takeoff and lift condition; when the UAV is near the predetermined operational altitude, moving continuously along the operational path, and the predicted lowest point of the current route is above the safety threshold and has not entered a key obstacle crossing area, it is determined to be in the level flight condition; when there is a high obstacle section ahead of the UAV along the current path, or the predicted lowest point of the transport route is close to the preset minimum safe altitude, it is determined to be in the obstacle crossing condition; when the system receives a recovery command, the UAV turns towards returning to the base station, or enters the descent and recovery phase, it is determined to be in the recovery condition. Through this working condition identification process, a unique working condition identifier, State_id, can be obtained within the current scheduling cycle, which serves as the direct basis for subsequent collaborative action allocation.

[0083] During takeoff and lift-up, the controller prioritizes executing the guidance position correction and cable retraction / extension correction. Specifically, when State_id is determined to be in takeoff and lift-up condition, the controller first retrieves the guidance position correction Gfix to quickly bring the ascending cable guide closer to the current target guidance position, prioritizing the establishment of a high-level guidance channel. Simultaneously, it calls the cable retraction / extension correction Sreel to control the retraction / extension device to synchronously adjust the length of the delivery cable, ensuring that the delivery cable does not exhibit significant slack or excessive pulling when the UAV begins its climb. During this phase, the base station follow-up correction Sfollow can have its priority reduced, executing only when the follow-up deviation reaches a significant threshold, or postponed until after the guidance and retraction / extension actions are completed. This arrangement aims to address the fact that, in the initial takeoff phase, the most direct impact on the lowest point of the cable is whether the guidance point is raised in time and whether the cable length is synchronized with the climb process, while significant follow-up by the ground base station is not the primary task at this stage. After execution, the intermediate results output for this cycle include: takeoff guidance execution command, takeoff retraction / extension execution command, and base station delayed follow-up flag.

[0084] During level flight operations, the controller prioritizes the base station follow-up correction. At this point, the UAV has entered a stable operating altitude range, and the high-level guidance of the transport line is usually established. The main factor affecting the line shape shifts to the continuous change in horizontal span. Therefore, the controller prioritizes calling Sfollow to drive the mobile ground base station to move along the reference direction, thereby reducing or correcting the deviation between the current actual horizontal span and the target span. The guidance position correction (Gfix) and the line retraction / deployment correction (Sreel) are not ignored during this stage, but are relegated to secondary execution, only intervening when their corresponding deviations exceed set thresholds. For example, if the guidance position deviation is still within the allowable range, the guidance point is not immediately adjusted; if the tension information is still within the preset tension range, retraction / deployment actions are not immediately executed. This priority allocation allows the stable span relationship of the transport line to be maintained during the level flight phase with base station follow-up as the priority and guidance and retraction / deployment supplemented as needed. This scheduling method is consistent with the control approach in the retraction / deployment system that prioritizes reducing tension fluctuations caused by relative motion during the level flight phase.

[0085] In obstacle-crossing scenarios, the controller prioritizes executing the guidance position correction and simultaneously executes the line retraction / deployment correction. Synchronous execution means that guidance execution commands and retraction / deployment commands are generated and issued simultaneously within the same control cycle, rather than sequentially waiting. This is because, upon entering obstacle-crossing conditions, the rapid raising of the lowest point of the transmission line depends on both adjusting the guidance point to a higher, more advantageous position for crossing the obstacle and appropriately reducing the line sag through the retraction action. If only guidance adjustment is executed without timely retraction / deployment correction, the line may still sag significantly due to its excessive length; if only retraction / deployment correction is executed without raising the guidance point, the conditions for high-level passage are insufficient. Therefore, after identifying an obstacle-crossing scenario, the controller first writes Gfix to the guidance execution queue and then writes Sreel to the retraction / deployment execution queue, sending both to the corresponding execution objects in the current cycle. Simultaneously, Sfollow can be downgraded to a low priority, only being executed as an auxiliary command when the distance deviation between the mobile ground base station and the operating UAV is too large. The intermediate output at this time includes: obstacle-crossing guidance execution command, obstacle-crossing retraction / deployment execution command, and delayed base station follow command.

[0086] During retrieval, the controller prioritizes executing the line retrieval correction, ensuring that the base station follow correction and guide position correction change in the same direction. This "same direction" means that all three change in an overall direction favorable to line retrieval and spatial convergence, rather than using identical physical actions. Specifically, when the line retrieval correction Sreel indicates a retrieval action, the mobile ground base station's following direction preferably changes towards a direction that shortens the horizontal distance between the base station and the operating UAV, and the position of the aerial pipeline guide also changes towards a direction that facilitates guide path convergence and smoother line retrieval. For example, during retrieval, if the retrieval device performs continuous retrieval, the mobile ground base station prioritizes moving closer to the operating UAV along the retrieval path, while the guide point gradually transitions to a safe retrieval position, ensuring the overall direction of the transport line aligns with the reel's retrieval direction and preventing lateral dragging or bends during retrieval. In engineering implementation, after identifying the retrieval condition, the controller can use Sreel as the primary scheduling variable and then constrain the direction of Sfollow and Gfix according to the sign and magnitude of Sreel. For example, when Sreel is positive and reaches the recovery threshold, only the component that reduces the horizontal distance is allowed to output Sfollow, while the correction component that helps the guide point converge towards the recovery position is retained for Gfix. This forms a recovery scheduling mode that prioritizes launch and recovery and coordinates between the base station and the guide.

[0087] In a specific operational process, when the UAV takes off, the finite state machine first enters the takeoff lifting mode. The controller prioritizes issuing guidance lifting commands and line reel / release synchronization adjustment commands for several consecutive cycles, establishing high-level guidance and synchronizing the line with the climb. Once the flight altitude enters the set operational range and the horizontal operating speed stabilizes, the state switches to level flight mode. At this time, the vehicle is prioritized to follow along the reference direction, continuously controlling the horizontal distance between the base station and the UAV within a preset range. When the system detects an increase in the height of the obstacle boundary section ahead, or when the predicted height of the lowest point of the line approaches the safety threshold, the state switches to obstacle crossing mode. The controller simultaneously raises the guidance point and drives the line reel / release device to quickly lift the lowest point of the delivery line. After passing through the obstacle area, the system returns to level flight mode. Upon receiving a recovery command, the state switches to recovery mode. The line reel / release device prioritizes reeling, and the vehicle and guidance point synchronously change in a direction favorable to line retrieval until recovery is complete. Therefore, the three types of corrections are not always executed in parallel with equal weight, but rather prioritized according to different operational conditions.

[0088] During continuous operation, the conveyor line must not only maintain a suitable shape but also promptly initiate protection procedures in case of excessive tension, excessively low line minimum points, communication anomalies, or voltage abnormalities. Otherwise, problems such as forced pulling of the line, localized collisions, power supply anomalies, or loss of control of the drone may occur. Therefore, while coordinating the control of the conveyor line's shape, it is also necessary to continuously monitor key operating states and immediately trigger protection actions when abnormal judgment conditions are met, switching the system from normal operation to controlled exit. The mobile ground base station can output power to the conveyor line, and the drone itself can be equipped with a backup battery. After the ground station stops outputting power, the drone can switch to its own battery and leave the current operation.

[0089] Specifically, the control method of the present invention further includes: continuously monitoring tension information, the predicted height of the lowest point of the conveying line, the communication status between the operating drone and the mobile ground base station, and the voltage status of the conveying line; when any of the following occurs: the tension information is continuously higher than the upper limit of the preset tension range, the predicted height of the lowest point of the conveying line is continuously lower than the preset minimum safe height, the communication status is interrupted for more than a preset duration, or the voltage status of the conveying line exceeds the preset safe range, an abnormal state is determined; after an abnormal state is determined, the conveying line take-up and take-up device is controlled to stop the line release and perform the line take-up action, the mobile ground base station is controlled to stop outputting power to the conveying line, and the operating drone is controlled to exit the current operating state.

[0090] In one embodiment, a derailment protection device can be installed at the end of the conveyor line near the drone. The derailment protection device includes a first connector, a second connector, and a force-limiting locking component. The first connector is connected to the conveyor line, and the second connector is connected to the drone interface. The force-limiting locking component is composed of a spring clip, a shear pin, or an electromagnetic lock. The derailment threshold is greater than the normal recovery tension but less than the allowable tension of the drone interface and body. During recovery, if the controller detects that the lead-out length decreases after the take-up action while the drone position remains essentially unchanged, and the tension continuously exceeds the derailment trigger threshold, it first controls the take-up and release device to stop take-up and release the lead-out briefly. If the tension still exceeds the limit, it drives the electromagnetic lock to unlock, or the shear pin or spring clip is passively released under the excessive tension, separating the conveyor line from the drone. Upon separation, the power is automatically cut off, the liquid passage is self-sealed, and the drone switches to its own battery to perform hovering, returning, or landing, thereby avoiding damage to the drone from continued take-up in obstructed recovery scenarios such as getting caught on trees or tangled.

[0091] In this embodiment, the input data for this step mainly includes four types of real-time monitoring data: tension information Tline, predicted minimum height of the conveyor line Hlow, communication status Cstate between the operating UAV and the mobile ground base station, and voltage status Vline of the conveyor line. Tension information and predicted minimum height of the conveyor line can directly call the real-time calculation results from the preceding control flow; the communication status is output by the bidirectional communication link between the ground end and the operating UAV; the voltage status of the conveyor line is collected by voltage detection units located on the output side of the ground end, at detection points in the middle of the line, or near the power supply end of the UAV. In engineering implementation, these data can be uniformly encapsulated into a monitoring status data packet, such as {Tline, Hlow, Cstate, Vline, t}, where t is the sampling time. The controller continuously receives this data packet within a fixed sampling period and sends it to the anomaly monitoring task.

[0092] Continuous monitoring can be accomplished through a periodic task scheduling mechanism. The controller cyclically reads the above four types of data according to a preset sampling period, which can be set from 10ms to 100ms depending on the system's real-time requirements. Tension information and line voltage status are typically stored in scalar real number form; the predicted minimum point height is stored in real height value form; communication status is preferably stored in discrete status identifier form, such as normal, timeout, interruption, etc., but can also be represented by heartbeat count, consecutive packet loss count, or the time of the most recent response. After completing each round of data acquisition, the controller writes the sampling results of that round into a sliding window buffer for subsequent continuity determination.

[0093] The monitoring of the tension information is mainly used to detect whether the line is in an overloaded stress state for a long time. The controller compares the current tension information Tline with the upper limit Tmax of the preset tension range. If Tline > Tmax, this cycle is recorded as a tension exceeding the upper limit event; if Tline ≤ Tmax, the corresponding continuous overlimit counter is cleared. To meet the determination requirements for continuously exceeding the upper limit of the preset tension range, the controller can adopt a continuous counting rule: when Tline > Tmax is satisfied for n consecutive sampling cycles, the tension abnormality flag Flag_T = 1 is output, otherwise Flag_T = 0. The value of n here can be preset according to the sampling cycle and the allowed duration. For example, when the sampling cycle is 50 ms, n can be set to 5, corresponding to a continuous overlimit determination lasting 250 ms. This processing method can avoid false triggering caused by instantaneous tensile fluctuations.

[0094] [[ID=⑶]]The monitoring of the predicted height of the lowest point of the conveying line is used to judge whether the lowest point of the line is continuously approaching the dangerous area. The controller compares Hlow with the preset lowest safety height Hsafe. If Hlow < Hsafe, this cycle is recorded as a lowest point too low event; if Hlow ≥ Hsafe, the continuous low height counter is cleared. Similarly, a continuous counting rule is adopted: when Hlow < Hsafe is satisfied for m consecutive sampling cycles, the lowest point abnormality flag Flag_H = 1 is output, otherwise Flag_H = 0. The value of m can be the same as the value of n or can be set separately according to the change speed of the lowest point height. Through this rule, the instantaneous lowest point drop caused by line vibration, short-term swing, etc. can be distinguished from the real continuous dangerous state.

[0095] The monitoring of the communication status is used to judge whether the control link between the working UAV and the mobile ground base station remains effective. In engineering implementation, the ground end and the working UAV can exchange heartbeat frames periodically. Each heartbeat frame contains at least a sequence number and a sending time. The communication status monitoring module counts the response situation of the heartbeat frames. If no valid response from the working UAV is received within the preset duration τcomm, it is determined that the communication status is interrupted for more than the preset duration. For the convenience of engineering implementation, the controller can adopt a heartbeat timeout rule: let the time of receiving the last valid heartbeat be trecv, and the current time be tnow. When tnow - trecv > τcomm, the communication abnormality flag Flag_C = 1 is output, otherwise Flag_C = 0. The preset duration τcomm can be set according to the link refresh frequency. For example, when the air-ground communication exchanges data at a frequency of 10 Hz, τcomm can be set to 1 second.

[0096] Monitoring the voltage status of transmission lines is used to detect whether the power supply to the line is in a dangerous range. The controller compares the line voltage status Vline collected by the voltage detection unit with the preset safety range [Vmin, Vmax]. If Vline falls outside the preset safety range, it is recorded as a "voltage over-limit event"; if Vline is within the safety range, the voltage anomaly counter is kept at zero. For voltage status, in engineering implementation, an over-limit immediate judgment method can be used, or a short-time confirmation rule can be used. For example, when Vline exceeds the safety range for p consecutive sampling periods, the voltage anomaly flag Flag_V=1 is output; otherwise, Flag_V=0. If the system emphasizes rapid response to voltage anomalies, p can also be set to 1, that is, as long as the voltage status exceeds the preset safety range, it is immediately established. In the original technical solution, voltage anomaly was listed as one of the conditions for triggering ground power disconnection, and it could also monitor and protect against abnormal voltage rises in the line.

[0097] After completing the above four monitoring steps, the controller enters the abnormal state determination phase. Abnormal state determination can be implemented using rule-based logic, preferably "OR" logic. That is, when any one of the flags Flag_T, Flag_H, Flag_C, and Flag_V is 1, the current system is determined to be in an abnormal state. The controller can represent the determination result as a unified abnormal state flag Flag_ERR. When Flag_ERR=1, it indicates that at least one abnormal condition exists. At this time, the controller simultaneously writes the abnormal category into the abnormal event record area to distinguish whether the current abnormality is caused by tension, minimum point, communication, or voltage. For example, an abnormal state data packet {Flag_ERR, Flag_T, Flag_H, Flag_C, Flag_V, t} can be generated as input to the protection execution flow.

[0098] Once an abnormal state is detected, the controller immediately enters the protection execution phase. First, it controls the conveyor line take-up / reeling device to stop feeding and execute the take-up action. Stopping feeding means immediately prohibiting the current or subsequent feeding commands from continuing, preventing the line from lengthening further under abnormal conditions; executing the take-up action means sending a take-up direction command to the reel driver, reducing the conveyor line length. In engineering implementation, the controller can first output the feeding prohibition flag Lock_out=1, and then write the take-up protection value Ssafe into the take-up / reeling device execution queue, causing the reel to execute the take-up action at a preset safe speed or preset safe length. If the abnormality is caused by excessive tension, the take-up speed can be set lower to avoid further pulling; if the abnormality is caused by an excessively low minimum point, faster take-up can be executed with higher priority. In this way, the take-up / reeling device uniformly behaves in abnormal states by first prohibiting further feeding, and then acting in the direction of reducing the line length.

[0099] Subsequently, the mobile ground base station is controlled to stop supplying power to the transmission line. This step is executed by the ground-side power control unit, which can be achieved by disconnecting the DC contactor, shutting down the high-voltage output module, or turning off the power relay. In engineering implementation, after Flag_ERR=1, the controller immediately sends a shutdown command Power_off=1 to the power control unit, which then cuts off the power supply output to the transmission line.

[0100] After the ground-based power supply ceases, the drone is controlled to exit its current operational state. Exiting the current operational state means stopping the current spraying, inspection, hovering lighting, or hoisting tasks and switching to a safe flight mode. The drone can be equipped with a standard operating battery as a backup power source. When the main power supply is interrupted or the delivery line is disconnected, the power management module can automatically switch to its own battery for power. When exiting the current operational state, the drone can perform preset safety actions, such as leaving the current mission route, switching to safe hovering, entering a return path, or descending to a safe altitude. If the system is currently configured with autonomous return logic, the drone will rely on its own battery to perform the return process after the ground power supply is interrupted.

[0101] Under a specific set of operating data, if the preset upper limit of the tension range is 220N, and the tension information for the current five consecutive sampling cycles is 228N, 231N, 235N, 233N, and 229N respectively, the controller will accumulate the continuous over-limit counter to the set threshold and output Flag_T=1. If the predicted altitude and voltage status at the lowest point are normal at this time, and the communication link has not timed out, then Flag_H=0, Flag_C=0, and Flag_V=0. Due to the use of "OR" logic, Flag_ERR will ultimately still be 1. The controller then generates an abnormal status data packet and sends a stop-release and take-up protection action to the release and take-up device, sends a stop-output power command to the ground power unit, and sends an exit-from-current-operation command to the drone flight controller. For example, if the current communication link does not receive the drone's heartbeat within 1 second, then Flag_C=1. Even if the tension, predicted altitude at the lowest point, and voltage status are not abnormal, the system still determines it as an abnormal state and executes the same protection process.

[0102] During continuous operation, abnormal state monitoring and protection actions are preferably executed continuously as background tasks. The controller runs the abnormal monitoring task in parallel outside of the normal coordinated control process, completing data acquisition, continuity comparison, abnormal flag update, and abnormal state determination once per monitoring cycle. If Flag_ERR remains at 0, the system continues to execute normal base station following, guidance adjustment, and line take-off and release control; if Flag_ERR switches from 0 to 1, the normal scheduling process is immediately interrupted, and the protection execution process begins. After protection execution, the system can continue to maintain the monitoring task to determine whether the abnormal state has been resolved, and to provide a state basis for subsequent manual confirmation or re-entry into the work process.

[0103] In scenarios where vehicles carry ground supply equipment and drones perform low-altitude continuous operations, a coordinated control system can be constructed from various detection devices, execution devices, and controllers to ensure the delivery line maintains a target shape above obstacles throughout the operation. Therefore, this invention also provides a coordinated control system for the shape of a tethered drone delivery line, such as... Figure 2 As shown, the system includes a drone for operation, and further includes: a mobile ground base station equipped with a conveyor line deployment and retraction device; an aerial pipeline guide for guiding the conveyor line; a conveyor line connecting the mobile ground base station and the drone for operation; a position detection device for acquiring the position of the drone for operation, the position of the mobile ground base station, and the position of the aerial pipeline guide; an obstacle boundary detection device for acquiring obstacle boundary information; a line status detection device for acquiring the status information of the conveyor line; and a controller connected to the mobile ground base station, the aerial pipeline guide, the position detection device, the obstacle boundary detection device, and the line status detection device. The system is configured to generate target guidance position parameters for the aerial pipeline guide based on obstacle boundary information and the position of the operating drone. Based on the target guidance position parameters, the position of the operating drone, the position of the mobile ground base station, and the status information of the transport line, it constructs transport line status parameters characterizing the lowest point height, tension status, and horizontal span deviation of the transport line. Based on the transport line status parameters, it generates base station following correction, guidance position correction, and line retraction correction, respectively, to control the coordinated operation of the mobile ground base station, the aerial pipeline guide, and the transport line retraction device, so that the transport line forms and maintains the target transport line shape with its lowest point higher than the obstacle.

[0104] The system comprises several components: a position detection device outputs position data packets in a unified coordinate system; an obstacle boundary detection device outputs obstacle boundary point sets, grid height tables, or contour line segment sets; and a line status detection device outputs line length and tension values. The controller, deployed within a mobile ground base station, can be implemented using an industrial computer, vehicle-mounted controller, or edge computing unit. The controller first synchronizes the position, obstacle boundary, and line status data with time and coordinates. Then, it extracts the highest boundary height of the obstacle and the corresponding section position to generate target guidance position parameters. Subsequently, it inputs the guidance target, the position of the operating drone, the ground base station position, and the line length and tension into the line status parameter construction module. Through vertical plane projection, baseline segment calculation, length comparison, and threshold judgment, it obtains the lowest point height, tension status, and horizontal span deviation of the line. The correction quantity generation module then outputs base station following correction quantities, guidance position correction quantities, and line deployment / retraction correction quantities, which are sent to the vehicle chassis, lifting mast or tethered relay drone, and reel drive mechanism for execution. The aerial pipeline guide can use a lifting mast or tethered relay drone, and the line deployment / retraction device can use a reel plus drive motor structure. After each component performs a coordinated action according to the controller's output, it feeds back new detection data to enter the next control cycle.

[0105] like Figure 3 As shown, in one implementation, a mobile ground-based integrated base station is mounted on a vehicle, and the base station contains a reel for winding and unwinding the conveyor line. An aerial pipeline guide utilizes a tethered relay drone, which hovers at approximately 13 meters to provide high-level support and guidance for the conveyor line. A work drone performs spraying, inspection, or hoisting operations at a height of approximately 6 meters above the ground. During operation, the vehicle follows the work drone, and the reel maintains constant tension control over the conveyor line, creating a smooth, suspended curve between the relay drone and the work drone. The lowest point remains above ground obstacles, thus enabling continuous and safe operation over a relatively large horizontal working distance.

[0106] like Figure 4 As shown, in another implementation, a mobile ground-based integrated base station is mounted on a vehicle. The vehicle is equipped with a retractable boom, with a guide component at the top. The boom's height is approximately 13 meters. The conveyor line, after being unloaded from a reel, extends through the top of the boom and connects to a drone operating at a flight altitude of approximately 6 meters. During operation, the vehicle moves with the drone, and the drive motor rotates the reel with constant tension, keeping the conveyor line taut and creating a suspended shape where the lowest point is above the crops or ground obstacles. This extends the flight time and expands the drone's horizontal operating range.

[0107] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. It should be noted that those skilled in the art can make various improvements, substitutions, and modifications without departing from the principles and essence of the present invention, and these improvements, substitutions, and modifications should also be considered to fall within the scope of protection of the present invention.

Claims

1. A tethered unmanned aerial vehicle delivery line formation cooperative control method, characterized in that, include: Acquire the location of the operational drone, the location of the mobile ground base station, the location of the aerial pipeline guide, the status information of the delivery line, and the boundary information of obstacles; Based on obstacle boundary information and the position of the operating drone, target guidance position parameters for the aerial pipeline guide are generated. Based on the target guidance position parameters, the position of the operating drone, the position of the mobile ground base station, and the status information of the transport line, transport line status parameters characterizing the lowest point height, tension status, and horizontal span deviation of the transport line are constructed. Based on the transport line status parameters, base station following correction, guidance position correction, and line retraction correction are generated respectively. The mobile ground base station, aerial pipeline guide, and transport line retraction device are controlled to coordinate their actions so that the transport line forms and maintains a target transport line shape with its lowest point higher than the obstacle.

2. The method according to claim 1, wherein, The obstacle boundary information includes the height boundary information of obstacles within the work area; the positions of the operation drone, the mobile ground base station, and the aerial pipeline guide are obtained by the corresponding position detection devices; the conveyor line status information includes at least the conveyor line length information and tension information, which are determined by the outgoing line length detection result of the take-up and release device and the conveyor line tension detection result, respectively.

3. The method of claim 2, wherein, The target guidance position parameters include at least the target guidance height parameter and the target guidance horizontal position parameter; Within the operational area between the drone and the mobile ground base station, the highest boundary height value corresponding to the obstacle height boundary information is extracted, and the highest boundary height value is superimposed with the preset obstacle clearance height to obtain the target guidance height parameter. The direction of the line connecting the current position of the drone and the position of the mobile ground base station is used as the reference direction, and the obstacle boundary information is projected along the reference direction to determine the obstacle boundary segment corresponding to the highest boundary height value. The corresponding position of the obstacle boundary segment in the reference direction is used as the target guidance horizontal position parameter.

4. The method according to claim 3, wherein, The construction of the transmission line state parameters includes: projecting the target guidance position parameters, the position of the operating UAV, and the position of the mobile ground base station onto the same vertical plane determined by the direction of the line connecting the position of the operating UAV and the position of the mobile ground base station and the vertical direction, respectively obtaining the guidance position, the end connection position, and the ground exit position; determining the line connecting the ground exit position and the guidance position as the first reference line segment, and the line connecting the guidance position and the end connection position as the second reference line segment, and calculating the sum of the lengths of the first reference line segment and the second reference line segment; comparing the transmission line length information with the sum of the lengths of the first reference line segment and the second reference line segment, and determining the sag correction amount of the transmission line based on the comparison result; and determining the predicted height of the lowest point of the transmission line based on the lowest height value among the guidance position, the end connection position, and the ground exit position, and the sag correction amount. The tension information is compared with the preset tension range to determine the tension status of the conveyor line. The horizontal span deviation is determined based on the actual horizontal distance between the location of the drone and the location of the mobile ground base station and the preset target span.

5. The method according to claim 1 or 4, wherein, The process of generating base station following correction based on transmission line status parameters includes: determining the target following displacement of the mobile ground base station along the reference direction based on the horizontal span deviation; when the predicted height of the lowest point of the transmission line is lower than the preset minimum safe height, compensating the target following displacement in the direction that reduces the actual horizontal distance between the position of the operating UAV and the position of the mobile ground base station to obtain a height compensation displacement; combining the target following displacement and the height compensation displacement into a base station following correction; and controlling the mobile ground base station to move along the reference direction according to the base station following correction.

6. The method according to claim 3 or 4, wherein, The process of generating the guide position correction based on the conveyor line status parameters includes: determining the guide height correction based on the height difference between the target guide height parameter and the current position of the elevated pipeline guide; determining the guide horizontal correction based on the position difference between the target guide horizontal position parameter and the current position of the elevated pipeline guide in the reference direction; compensating for the guide height correction by increasing the predicted height of the lowest point of the conveyor line in the direction of increasing the predicted height of the lowest point of the conveyor line when the predicted height of the lowest point of the conveyor line is lower than the preset minimum safety height; and combining the guide height correction and the guide horizontal correction into the guide position correction. When the aerial pipeline guide is a boom, the guide position correction is performed by adjusting the boom's extension and retraction height; when the aerial pipeline guide is a tethered relay UAV, the guide position correction is performed by adjusting the position of the tethered relay UAV relative to the operating UAV.

7. The method of claim 4, wherein, The process of generating line take-up and release correction amounts based on the state parameters of the conveyor line includes: comparing tension information with a preset tension range; when the tension information is less than the lower limit of the preset tension range, determining a basic take-up amount that reduces the length of the conveyor line; when the tension information is greater than the upper limit of the preset tension range, determining a basic release amount that increases the length of the conveyor line; and when the tension information is within the preset tension range, determining the basic take-up and release amount as zero. When the predicted height of the lowest point of the conveyor line is lower than the preset minimum safe height, the basic take-up and release amount is compensated by taking up the line in the direction of reducing the sag correction amount of the conveyor line, so as to obtain the line take-up and release correction amount. The control conveyor line take-up or release device performs take-up or release actions according to the line take-up / release correction amount.

8. The tethered UAV transport route morphology coordinated control method according to claim 7, characterized in that, The coordinated operation of the mobile ground base station, the airborne pipeline guide, and the transmission line deployment and retrieval device includes: dividing the coordinated operation into takeoff and lift mode, level flight operation mode, obstacle crossing mode, and recovery mode according to the operating status of the UAV; in the takeoff and lift mode, priority is given to executing the guidance position correction and the transmission line deployment and retrieval correction; in the level flight operation mode, priority is given to executing the base station follow correction; in the obstacle crossing mode, priority is given to executing the guidance position correction and the transmission line deployment and retrieval correction simultaneously; in the recovery mode, priority is given to executing the transmission line deployment and retrieval correction, and the base station follow correction and the guidance position correction change in the same direction as the transmission line deployment and retrieval correction.

9. The tethered UAV transport route morphology coordinated control method according to claim 1 or 8, characterized in that, Also includes: Continuously monitor tension information, predicted height of the lowest point of the conveyor line, communication status between the operating drone and the mobile ground base station, and voltage status of the conveyor line; When any of the following occurs: tension information continuously exceeds the upper limit of the preset tension range, the predicted height of the lowest point of the conveying line continuously falls below the preset minimum safe height, communication interruption exceeds the preset duration, or the voltage status of the conveying line exceeds the preset safe range, it is determined to be an abnormal state. After determining that the abnormal state is detected, the control system stops the cable release and release device of the control line and performs the cable reeling action, controls the mobile ground base station to stop outputting power to the control line, and controls the operation drone to exit the current operation state.

10. A tethered unmanned aerial vehicle (UAV) transport route morphology collaborative control system, comprising an operational UAV, characterized in that, Also includes: Mobile ground base station, equipped with transmission line deployment and retraction device; Aerial pipeline guides are used to guide delivery lines; The transmission line connects the mobile ground base station and the operational drone; The location detection device is used to acquire the location of the operational drone, the location of the mobile ground base station, and the location of the airborne pipeline guide. An obstacle boundary detection device is used to acquire obstacle boundary information; Line status detection device, used to acquire transmission line status information; The controller is connected to a mobile ground base station, an aerial pipeline guide, a position detection device, an obstacle boundary detection device, and a line status detection device, respectively. It is used to generate target guidance position parameters for the aerial pipeline guide based on obstacle boundary information and the position of the operating UAV. Based on the target guidance position parameters, the position of the operating UAV, the position of the mobile ground base station, and the status information of the transport line, it constructs transport line status parameters characterizing the lowest point height, tension status, and horizontal span deviation of the transport line. Based on the transport line status parameters, it generates base station following correction, guidance position correction, and line retraction correction, respectively, to control the coordinated operation of the mobile ground base station, the aerial pipeline guide, and the transport line retraction device, so that the transport line forms and maintains the target transport line shape with the lowest point higher than the obstacle.

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