Unmanned aerial vehicle control method and system for paraglider traction and unmanned aerial vehicle

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and system for paraglider traction and an unmanned aerial vehicle. According to the control method and system and the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to horizontally fly in front of the paraglider; acquiring relative positions of the unmanned aerial vehicle and the paraglider in the air; the height direction offset of the unmanned aerial vehicle and the paraglider is obtained through the relative positions of the unmanned aerial vehicle and the paraglider in the air; setting an offset threshold value, comparing the offset in the height direction with the offset threshold value in real time, and obtaining a comparison result; according to the comparison result, when the offset of the unmanned aerial vehicle and the paraglider in the height direction is larger than the offset threshold value, the unmanned aerial vehicle is controlled to ascend and descend so as to adjust the height. By controlling the relative height of the unmanned aerial vehicle and the paraglider, the paraglider can obtain the maximum horizontal traction force provided by the unmanned aerial vehicle, the traction efficiency of the unmanned aerial vehicle is improved, and the load of the unmanned aerial vehicle is minimum under the condition that the same traction force is provided.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a control method, system and unmanned aerial vehicle for paraglider towing. Background Art

[0002] With the development of unmanned aerial vehicle technology, the application fields and application methods of unmanned aerial vehicles have also been greatly expanded. The applicant disclosed an unmanned aerial vehicle that can be used to tow a paraglider in a patent application with the publication number of 118701323A. In actual applications, the paraglider-towing unmanned aerial vehicle provides a horizontal traction force to the unmanned aerial vehicle through a tow rope. Under the action of the forward horizontal traction force, the paraglider combines its own aerodynamic force to generate an upward force and enters the flight state, so as to replace the existing human running or ground traction vehicle towing. At the same time, towing the paraglider by the unmanned aerial vehicle can also provide continuous and stable power for the paraglider during the flight process, avoiding the influence of insufficient wind force or wind force change on the paraglider flight, reducing the strict requirements of paragliding on the climate, and thus improving the safety.

[0003] When using an unmanned aerial vehicle to tow a paraglider, the unmanned aerial vehicle mainly provides a horizontal traction force. When providing the horizontal traction force, the maximum traction force can only be provided when the unmanned aerial vehicle and the paraglider are at the same height. Correspondingly, when providing the same horizontal traction force to the unmanned aerial vehicle, when the unmanned aerial vehicle and the paraglider are at the same height, the load of the unmanned aerial vehicle is the smallest. Existing unmanned aerial vehicle operators often cannot accurately observe the accurate relative height between the unmanned aerial vehicle and the paraglider during ground operation, resulting in problems such as low towing efficiency of the unmanned aerial vehicle and large load of the unmanned aerial vehicle. Summary of the Invention

[0004] In a first aspect, an embodiment of the present application provides a control method for an unmanned aerial vehicle that can effectively improve the towing efficiency of a paraglider and reduce the load of the unmanned aerial vehicle.

[0005] The method includes the steps of: Connect the unmanned aerial vehicle and the paraglider through a tow rope, and control the unmanned aerial vehicle to fly horizontally in front of the paraglider to lift the paraglider into the air; Obtain the relative position in the air between the unmanned aerial vehicle and the paraglider; Obtain the height direction offset between the unmanned aerial vehicle and the paraglider through the relative position in the air between the unmanned aerial vehicle and the paraglider; Set an offset threshold, compare the height direction offset with the offset threshold in real time, and obtain a comparison result; According to the comparison result, when the height direction offset between the unmanned aerial vehicle and the paraglider is greater than the offset threshold, control the unmanned aerial vehicle to lift or descend to adjust the height, so that the height direction offset between the unmanned aerial vehicle and the paraglider is within the offset threshold.

[0006] Due to the adoption of the above method, when the drone provides horizontal traction to the paraglider and the paraglider flies with the help of the horizontal traction and the aerodynamic lift, by controlling the relative height of the drone and the paraglider, the drone and the paraglider can be in a horizontal state or close to a horizontal state. At this time, the paraglider can obtain the maximum horizontal traction provided by the drone, improving the traction efficiency of the drone. Under the condition of providing the same traction, the load of the drone is minimized.

[0007] In a possible implementation manner, the obtaining of the relative position of the drone and the paraglider in the air includes: Monitoring the relative height of the drone and the paraglider; The relative height includes the difference between the absolute heights of the drone end and the paraglider end, or the height of the paraglider measured with the drone end as the horizontal reference.

[0008] In a possible implementation manner, the obtaining of the relative position of the drone and the paraglider in the air includes: Monitoring the deflection angle of the tow rope in the vertical plane; Obtaining the relative position of the drone and the paraglider in the air through the deflection angle.

[0009] In a possible implementation manner, the monitoring of the disposal deflection angle of the tow rope further includes: Setting a deflection reference object that deflects synchronously with the tow rope in the vertical plane; Obtaining the deflection angle of the deflection reference object in the vertical plane.

[0010] In a possible implementation manner, the obtaining of the relative position of the drone and the paraglider in the air includes: Setting a visual recognition center; Obtaining the visual imaging of the paraglider; Monitoring the offset in the height direction between the visual imaging of the paraglider and the visual recognition center.

[0011] In a second aspect, an embodiment of the present application further provides a drone control system for paraglider towing, and the system includes: A drone flight control module for controlling the flight of the drone; A relative position monitoring module for obtaining the relative position of the drone and the paraglider in the air, and obtaining the offset in the height direction between the drone and the paraglider through the relative position of the drone and the paraglider in the air; An offset comparison module, configured to store a relative offset threshold, communicate with the relative position monitoring module, obtain the height-direction offset between the drone and the paraglider, and output a comparison result between the height-direction offset and the offset threshold; A height execution module, which obtains the comparison result of the offset comparison module. When the height-direction offset is greater than the offset threshold, it sends a flight altitude adjustment instruction to the drone flight control module to control the ascent and descent of the drone to adjust the altitude, so that the height-direction offset between the drone and the paraglider is within the offset threshold.

[0012] In a possible implementation, the relative position monitoring module includes an angle sensing unit for the tow rope between the drone and the paraglider in the vertical direction; The offset comparison module includes an offset angle threshold storage unit and an offset angle threshold comparison unit.

[0013] In a possible implementation, the relative position monitoring module includes a visual imaging unit, a center marking unit, a paraglider marking unit, and a marking offset calculation unit. The visual imaging unit obtains a visual image of the paraglider from the drone side; The center marking unit marks the imaging center on the visual image to obtain a center mark; The paraglider marking unit marks the paraglider on the visual image to obtain a paraglider mark; The marking offset calculation unit calculates the offset of the paraglider mark relative to the center mark in the vertical direction on the visual image to generate a marking offset; The offset comparison module includes a marking offset threshold storage unit and a marking offset comparison unit.

[0014] In a possible implementation, the relative position monitoring module includes a first altimeter, a second altimeter, and a height difference calculation unit; The first altimeter is arranged at the drone end and is used to measure the height of the drone; The second altimeter is arranged at the paraglider end and is used to measure the height of the paraglider; The height difference calculation unit obtains the height of the drone and the height of the paraglider, and calculates the difference between the height of the drone and the height of the paraglider to obtain a height offset; The offset comparison module includes a height offset threshold storage unit and a height offset comparison unit.

[0015] In a third aspect, an embodiment of the present application further provides a drone for paraglider towing. The drone includes a fuselage and rotors installed on the fuselage. The fuselage is provided with a towing rope connection mechanism. A towing rope is installed through the towing rope connection mechanism to connect the unmanned aerial vehicle and the paraglider, and the unmanned aerial vehicle is controlled to fly horizontally in front of the paraglider to lift the paraglider into the air. The towing rope connection mechanism includes a towing seat. A towing rope guiding tube is connected to the towing seat through a rotating shaft. The towing rope guiding tube rotates in the vertical direction with the rotating shaft as the central axis and drives the rotating shaft to rotate. An angle sensor is installed on the steering shaft. The angle sensor collects the deflection angle of the towing rope guiding tube relative to the horizontal direction, and this deflection angle is used to obtain the relative position of the unmanned aerial vehicle and the paraglider in the air. The height direction offset amount between the unmanned aerial vehicle and the paraglider is obtained through the relative position of the unmanned aerial vehicle and the paraglider in the air. An offset threshold is set, and the height direction offset amount is compared with the offset threshold in real time. When the height direction offset amount between the unmanned aerial vehicle and the paraglider is greater than the offset threshold, the unmanned aerial vehicle is controlled to ascend or descend to adjust the height so that the height direction offset amount between the unmanned aerial vehicle and the paraglider is within the offset threshold. Description of the Drawings

[0016] Figure 1 It is the overall flowchart of the first embodiment; Figure 2 It is a schematic diagram of the states of the unmanned aerial vehicle and the paraglider when providing horizontal traction during takeoff in the first embodiment; Figure 3 It is a schematic diagram of the state when the paraglider ascends in the first embodiment; Figure 4 It is a schematic diagram of the state after the paraglider ascends in the first embodiment; Figure 5 It is a schematic flowchart of obtaining the relative position of the unmanned aerial vehicle and the paraglider in the air in the second embodiment; Figure 6 It is a schematic flowchart of obtaining the relative position of the unmanned aerial vehicle and the paraglider in the air in the third embodiment; Figure 7 It is a schematic flowchart of obtaining the relative position of the unmanned aerial vehicle and the paraglider in the air in the fourth embodiment; Figure 8 It is a schematic diagram of the module structure of the fifth embodiment; Figure 9 It is a schematic diagram of the module structure of the sixth embodiment; Figure 10 It is a schematic diagram of the module structure of the seventh embodiment; Figure 11 It is a schematic diagram of the module structure of the eighth embodiment; Figure 12Schematic structural diagram of the ninth embodiment; Figure 13 is Figure 12 an enlarged view of part A in Figure 14 Schematic structural diagram of the connection structure between the ninth embodiment and a paraglider. Specific implementation manners

[0017] The following further elaborates in detail in conjunction with specific embodiments and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments. Based on the following embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts also fall within the scope of protection of the present invention.

[0018] It should be understood that the controllers and control circuits involved in the embodiments are conventional control technologies or units in the art. For example, the control circuit of the controller can be implemented by those of ordinary skill in the art using existing technologies.

[0019] The disclosure of the embodiments provides many different implementation manners or examples for implementing different solutions of the present invention. To simplify the disclosure of the present invention, the components and settings of specific examples are described in the embodiments. Of course, they are only examples and are not intended to limit the present invention. In addition, reference numerals and / or reference letters may be repeated in different examples in the embodiments. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various implementation manners and / or settings discussed. In addition, if various specific processes and material examples are provided in the embodiments, those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0020] To clearly illustrate the detailed working principle of the embodiments of the present application, the working mode of a general paraglider is first described. The flight principle of a paraglider is mainly based on the balance of lift and drag provided by the air. During flight, the main wing of the paraglider contacts the air and generates lift. By utilizing the atmospheric flow, the flyer can obtain a continuous flight time and distance.

[0021] Existing hang gliders generally take off on the ground with a downward slope and face the windward direction. By running, the hang glider generates a certain speed. The paraglider generates lift with the help of the wind, enabling the paraglider and the passenger to leave the ground. With the help of the downward slope, the paraglider can fly forward. Along with the flyer's operation of the paraglider, actions such as ascending, descending, and turning of the paraglider are realized. This operation mode has relatively high requirements for geographical and climatic conditions and requires a terrain and weather condition with a downward slope on the windward side to perform well. Therefore, there are many limitations.

[0022] To expand the feasible scenarios of paragliding, there has emerged on the market a method of using power to tow a paraglider to provide forward power for the paraglider, enabling it to have a relatively large initial speed. Even when the wind is relatively small, it can also have a relatively large lift force to make the paraglider take off. At the same time, it also reduces the requirements for the terrain, and paragliding can be carried out on flat terrain. However, when providing traction to the paraglider on the ground through, for example, a vehicle, the traction provided to the paraglider can only be maximally applied to the paraglider when the tow rope is close to the horizontal state. As the paraglider takes off, the angle between the tow rope and the ground gradually increases, and the traction force obtained by the paraglider gradually decreases. At this time, the lift force and height of the paraglider may not be sufficient to support the continuous flight of the paraglider, so the paraglider will quickly descend to the ground, affecting the experience of paragliding and also posing certain safety risks.

[0023] To solve the above problems, as Figure 1 shown, the first embodiment of the present application provides a drone control method that can effectively improve the towing efficiency of a paraglider and reduce the load of the drone. The method includes the steps: S1. Connect the drone and the paraglider through a tow rope, and control the drone to fly horizontally in front of the paraglider to make the paraglider take off; S2. Obtain the relative position of the drone and the paraglider in the air; S3. Obtain the height direction offset between the drone and the paraglider through the relative position of the drone and the paraglider in the air; S4. Set an offset threshold, and compare the height direction offset with the offset threshold in real time to obtain a comparison result; S5. According to the comparison result, when the height direction offset between the drone and the paraglider is greater than the offset threshold, control the drone to ascend or descend to adjust the height so that the height direction offset between the drone and the paraglider is within the offset threshold.

[0024] In the above step S1, as Figure 2 shown, connect the drone and the paraglider through a tow rope to establish a connection between the drone and the paraglider, and control the drone to fly horizontally in front of the paraglider so that regardless of whether it is a flat terrain or a downward slope, the drone can apply the maximum horizontal traction force to the paraglider. This maximum horizontal traction force means that the traction force provided by the drone can maximally provide horizontal traction force for the paraglider. In the case of a downward slope terrain, when providing traction to the paraglider through a vehicle, it actually applies a horizontal traction force to the paraglider while also applying a downward traction force, reducing the efficiency of the traction force. As Figure 3As shown, in this embodiment, the horizontal traction provided by the drone to the paraglider causes the paraglider to interact with the air at a certain speed, which is converted into lift by the paraglider, and the paraglider gradually ascends into the air.

[0025] As Figure 4 shown, during the process of the paraglider gradually ascending into the air, if the altitude of the drone remains unchanged and the angle between the line connecting the drone and the paraglider and the horizontal plane increases, the traction provided by the drone to the paraglider gradually transforms into a resultant force that is forward and downward. At this time, the efficiency of the traction decreases.

[0026] Therefore, in this embodiment, by step S2. Obtain the relative position of the drone and the paraglider in the air to monitor the altitude change of the paraglider, and then through step S3. Obtain the altitude direction offset between the drone and the paraglider based on the relative position of the drone and the paraglider in the air to obtain the altitude direction offset. The obtained altitude direction offset can provide a reference for adjusting the altitude of the drone in subsequent steps.

[0027] Since in actual operation, it is difficult for the altitudes of the drone and the paraglider to reach absolute horizontal, or rather, the state where the drone and the paraglider are in absolute horizontal is often an instantaneous state. Most of the time, controlling the drone and the paraglider to a nearly horizontal state can be regarded as providing the maximum horizontal traction. Therefore, a threshold needs to be set and processed when determining whether it is close to horizontal. In this embodiment, step S4. Set an offset threshold, and compare the altitude direction offset with the offset threshold in real time to obtain a comparison result. The comparison result here is generally two states: the altitude direction offset is greater than the offset threshold, and the altitude direction offset is less than or equal to the offset threshold. Then through step S5. According to the comparison result, when the altitude direction offset between the drone and the paraglider is greater than the offset threshold, control the drone to ascend or descend to adjust the altitude so that the altitude direction offset between the drone and the paraglider is within the offset threshold.

[0028] Due to the adoption of the above method, when the drone provides horizontal traction to the paraglider and the paraglider flies with the help of horizontal traction and air lift, by controlling the relative altitude of the drone and the paraglider, the drone and the paraglider can be in a horizontal state or a nearly horizontal state. At this time, the paraglider can obtain the maximum horizontal traction provided by the drone, improving the traction efficiency of the drone. Under the condition of providing the same traction, the load of the drone is minimized.

[0029] The above-mentioned execution steps are abstract expressions of the processing logic of program execution. The execution process of this program can be carried out in various software and hardware environments with program execution capabilities. For example, in the software system of the drone itself, in the software system of the remote control operation terminal of the drone, and can be the execution programs in mobile phone software, mini-programs that communicate with the drone terminal, as well as computers, servers, and various cloud computing platforms.

[0030] It should be noted that during the above process, as the paraglider ascends, the drone ascends accordingly to adjust the horizontal traction force. Then, as the paraglider ascends further, the drone ascends again. At this time, the paraglider and the drone will keep ascending. Therefore, after the paraglider reaches the predetermined height, the connection between the drone and the paraglider is disengaged, and the paraglider controls its flight state by itself, while the drone returns to the designated position to wait for the next traction operation.

[0031] In the above step S2, when obtaining the relative position of the drone and the paraglider in the air, there can be various data setting and processing methods. The following provides the second to fourth embodiments to implement the method for the relative position of the drone and the paraglider in the air.

[0032] As Figure 5 shown, in the second embodiment, it is achieved by using height as the target parameter. When using height as the target parameter, the obtaining of the relative position of the drone and the paraglider in the air in the above step S2 includes: S21. Monitoring the relative height of the drone and the paraglider; S22. The relative height includes the difference in the absolute heights of the drone end and the paraglider end, or S23. The height of the paraglider measured with the drone end as the horizontal reference.

[0033] As Figure 6 shown, in the third embodiment, it is achieved by using angle as the target parameter. When using angle as the target parameter, the obtaining of the relative position of the drone and the paraglider in the air in the above step S2 includes: S24. Monitoring the deflection angle of the towing rope in the vertical plane; S25. Obtaining the relative position of the drone and the paraglider in the air through the deflection angle.

[0034] Among them, when monitoring the towing rope, since the length of the towing rope is relatively large and not convenient for monitoring, the further monitoring of the disposal deflection angle of the towing rope includes: S241. Setting a deflection reference object that deflects synchronously with the towing rope in the vertical plane; S242. Obtaining the deflection angle of the deflection reference object in the vertical plane.

[0035] Preferably, the deflection reference is a section of the tow rope or a setting member that deflects synchronously with a section of the tow rope. The specific form of this setting member will be further described in the embodiments of the design structure below.

[0036] As Figure 7 shown, in the third embodiment, it is achieved by visual recognition. When implementing by visual recognition, the obtaining of the relative position between the drone and the paraglider in the air in step S2 above includes: S26. Set the visual recognition center; S27. Obtain the visual imaging of the paraglider; S28. Monitor the offset in the height direction between the visual imaging of the paraglider and the visual recognition center.

[0037] After obtaining the relative position between the drone and the paraglider in the air through the above three methods, the subsequent steps S3 - S5 can be carried out to achieve the control of the drone.

[0038] Based on the above method, as Figure 8 shown, the fifth embodiment of the present application provides a drone control system for paraglider towing, and this system includes: A drone flight control module 1, used to control the flight of the drone; A relative position monitoring module 2, used to obtain the relative position between the drone and the paraglider in the air, and obtain the offset in the height direction between the drone and the paraglider through the relative position between the drone and the paraglider in the air; An offset comparison module 3, used to store a relative offset threshold, communicate with the relative position monitoring module, obtain the offset in the height direction between the drone and the paraglider, and output the comparison result of the offset in the height direction and the offset threshold; A height execution module 4, obtains the comparison result of the offset comparison module. When the offset in the height direction is greater than the offset threshold, it issues a flight height adjustment instruction to the drone flight control module, controls the drone to ascend or descend to adjust the height, so that the offset in the height direction between the drone and the paraglider is within the offset threshold.

[0039] Referring to the methods in the second to fourth embodiments, the following provides the composition and working principle of three specific relative position monitoring modules 2 through the sixth to eighth embodiments.

[0040] As Figure 9 shown, in the sixth embodiment, the relative position monitoring module 2 includes an angle sensing unit 21 for the tow rope between the drone and the paraglider in the vertical direction; The offset comparison module 3 includes an offset angle threshold storage unit 31 and an offset angle threshold comparison unit 32.

[0041] As Figure 10 shown, in the seventh embodiment, the relative position monitoring module 2 includes a visual imaging unit 22, a center marking unit 23, a paraglider marking unit 24, and a marking offset measurement unit 25; The visual imaging unit 22 obtains a visual image of the paraglider from the UAV side; The center marking unit 23 marks the imaging center on the visual image to obtain a center mark; The paraglider marking unit 24 marks the paraglider on the visual image to obtain a paraglider mark; The marking offset measurement unit 25 measures the offset amount of the paraglider mark relative to the center mark on the visual image in the vertical direction to generate a marking offset amount; The offset comparison module 3 includes a marking offset threshold storage unit 33 and a marking offset amount comparison unit 34.

[0042] As Figure 11 shown, in the eighth embodiment, the relative position monitoring module 2 includes a first altimeter unit 26, a second altimeter unit 27, and a height difference calculation unit 28; The first altimeter unit 26 is arranged at the UAV side and is used for measuring the UAV height; The second altimeter unit 27 is arranged at the paraglider side and is used for measuring the paraglider height; The height difference calculation unit 28 obtains the UAV height and the paraglider height, and calculates the difference between the UAV height and the paraglider height to obtain a height offset amount; The offset comparison module 3 includes a height offset threshold storage unit 35 and a height offset amount comparison unit 36.

[0043] As Figures 12 to 14 shown, the ninth embodiment of the present application provides a UAV for paraglider towing, the UAV includes a fuselage 100 and a rotor 200 installed on the fuselage, A towing rope connection mechanism 300 is arranged on the fuselage 100, and a towing rope is installed through the towing rope connection mechanism 300 to connect the UAV and the paraglider, and the UAV is controlled to fly horizontally in front of the paraglider to lift the paraglider into the air; The towing rope connection mechanism 300 includes a towing seat 310, a towing rope guide tube 330 is connected to the towing seat 310 through a rotating shaft 320, the towing rope guide tube 330 rotates in the vertical direction with the rotating shaft 320 as the central axis and drives the rotating shaft 320, and an angle sensor 340 is installed on the rotating shaft 320; The angle sensor 340 collects the deflection angle of the tow rope guide tube 330 relative to the horizontal direction, and this deflection angle is used to obtain the relative position of the drone and the paraglider in the air; The height direction offset between the drone and the paraglider is obtained based on the relative position of the drone and the paraglider in the air; An offset threshold is set, and the height direction offset is compared with the offset threshold in real time; When the height direction offset between the drone and the paraglider is greater than the offset threshold, the drone is controlled to ascend or descend to adjust the height so that the height direction offset between the drone and the paraglider is within the offset threshold.

[0044] Wherein, the angle sensor 340 can be a Hall sensor. A magnetic pole is set on the rotating shaft 320, and the Hall sensor can sense the magnetic force change generated by the magnetic pole when the rotating shaft rotates, so that the Hall sensor generates a signal to reflect the rotation angle of the rotating shaft.

[0045] In addition to the Hall sensor, the rotation angle of the rotating shaft can also be obtained through devices such as an angle meter and a gyroscope, so as to obtain the rotation angle of the tow rope guide tube 330.

[0046] Setting the tow rope guide tube 330 also has an important function. That is, after the paraglider flies to a predetermined height, the user on the paraglider needs to release the tow rope to release the traction force of the drone, so as to avoid the paraglider continuing to rise to an unsafe height. Since during the process of the drone towing, under the mutual influence of the traction force of the drone and the reaction force of the paraglider, the tow rope is taut. When the user releases the tow rope at the paraglider end, the tow rope will rebound towards the drone under the action of its own tension. This rebound is disorderly and uncontrollable, and it is easy to hit the propeller, damage the propeller, and affect the power and stability-keeping ability of the drone. Therefore, after setting the tow rope guide tube 330, the contraction force generated after the free release of the tow rope acts on the tow rope away from the drone. Even if the tow rope guide tube is affected and moves, it will only swing in the vertical direction and will not hit the drone propeller.

[0047] The above are only the preferred embodiments of the embodiments of the present application, and do not limit the disclosure scope of the embodiments of the present application. Any equivalent structural or equivalent process transformation made by using the embodiment specification and the drawings of the present application, or directly or indirectly applied to other related technical fields, are similarly included in the patent protection scope supported by the embodiments of the present application.

Claims

1. A method for controlling a drone for paraglider traction, characterized in that: The method comprises the steps of: Connecting the drone and the paraglider via a towing rope, controlling the drone to fly horizontally in front of the paraglider, and making the paraglider take off; Obtaining the relative positions of the drone and the paraglider in the air; Obtaining a height direction offset of the UAV and the paraglider according to the relative positions of the UAV and the paraglider in the air; Setting an offset threshold, comparing the height direction offset with the offset threshold in real time, and obtaining a comparison result; According to the comparison result, when the height direction offset between the drone and the paraglider is greater than the offset threshold, the drone is controlled to rise and fall to adjust the height so that the height direction offset between the drone and the paraglider is within the offset threshold.

2. The method for controlling a drone for paraglider traction according to claim 1, characterized in that: The obtaining of the relative positions of the drone and the paraglider in the air comprises: monitoring the relative height of the drone and the paraglider; The relative height includes the difference between the absolute heights of the drone end and the paraglider end, or the height of the paraglider measured with the drone end as the horizontal reference.

3. The method for controlling a drone for paraglider traction according to claim 1, characterized in that: The obtaining of the relative positions of the drone and the paraglider in the air comprises: Monitoring the deflection angle of the traction rope in the vertical plane; The relative positions of the UAV and the paraglider in the air are obtained through the deflection angle.

4. The method for controlling a drone for paraglider traction according to claim 3, characterized in that: The monitoring of the deflection angle of the traction rope further comprises: A deflection reference object is provided which is deflected in a vertical plane synchronously with the traction rope; The deflection angle of the deflection reference object in the vertical plane is obtained.

5. The method for controlling a drone for paraglider traction according to claim 1, characterized in that: The obtaining of the relative positions of the drone and the paraglider in the air comprises: Set the center of visual identity; Acquiring a visual image of the paraglider; The displacement in the height direction between the visual imaging of the paraglider and the visual recognition center is monitored.

6. A UAV control system for paraglider traction, characterized in that: The system includes: UAV flight control module, used to control the flight of the UAV; A relative position monitoring module is used to obtain the relative position of the UAV and the paraglider in the air, and obtain the height direction offset of the UAV and the paraglider through the relative position of the UAV and the paraglider in the air; An offset comparison module is used to store a relative offset threshold, communicate with the relative position monitoring module, obtain the height offset between the UAV and the paraglider, and output a comparison result between the height offset and the offset threshold; The height execution module obtains the comparison result of the offset comparison module, and when the height direction offset is greater than the offset threshold, sends a flight height adjustment instruction to the UAV flight control module to control the UAV to rise and fall to adjust the height so that the height direction offset between the UAV and the paraglider is within the offset threshold.

7. The UAV control system for paraglider traction according to claim 6, characterized in that: The relative position monitoring module includes an angle sensing unit for the traction rope of the drone and the paraglider in the vertical direction; The offset comparison module includes an offset angle threshold storage unit and an offset angle threshold comparison unit.

8. The UAV control system for paraglider traction according to claim 6, characterized in that: The relative position monitoring module includes a visual imaging unit, a center marking unit, a paraglider marking unit and a marking offset calculation unit. The visual imaging unit obtains the visual imaging of the paraglider from the drone end; The center marking unit marks the imaging center on the visual imaging to obtain a center mark; The paraglider marking unit marks the paraglider on the visual image to obtain a paraglider mark; The mark offset calculation unit calculates the vertical offset of the paraglider mark relative to the center mark on the visual imaging to generate a mark offset; The offset comparison module includes a mark offset threshold storage unit and a mark offset comparison unit.

9. The UAV control system for paraglider traction according to claim 6, characterized in that: The relative position monitoring module includes a first height measuring unit, a second height measuring unit and a height difference calculation unit; The first height measuring unit is provided at the drone end and is used to measure the height of the drone; The second height measuring unit is arranged at the end of the paraglider and is used to measure the height of the paraglider; The height difference calculation unit obtains the height of the drone and the height of the paraglider, and calculates the difference between the height of the drone and the height of the paraglider to obtain a height offset; The offset comparison module includes a height offset threshold storage unit and a height offset comparison unit.

10. An unmanned aerial vehicle for paragliding towing, the unmanned aerial vehicle comprising a fuselage and a rotor mounted on the fuselage, characterized in that: The fuselage is provided with a traction rope connection mechanism, through which a traction rope is installed to connect the UAV and the paraglider, and the UAV is controlled to fly horizontally in front of the paraglider to make the paraglider take off; The traction rope connection mechanism includes a traction seat, a traction rope guide tube is connected to the traction seat through a rotating shaft, the traction rope guide tube takes the rotating shaft as the central axis and drives the rotating shaft to rotate in a vertical direction, and an angle sensor is installed on the steering shaft; The angle sensor collects the deflection angle of the traction rope guide tube relative to the horizontal direction, and the deflection angle is used to obtain the relative position of the UAV and the paraglider in the air; Obtaining a height direction offset of the UAV and the paraglider according to the relative positions of the UAV and the paraglider in the air; Setting an offset threshold, and comparing the height direction offset with the offset threshold in real time; When the height offset between the UAV and the paraglider is greater than the offset threshold, the UAV is controlled to rise and fall to adjust the height so that the height offset between the UAV and the paraglider is within the offset threshold.

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