The invention discloses a cooperative
flight system based on spherical unmanned aerial vehicle magnetic attraction grabbing and collision docking, and belongs to the technical field of unmanned aerial vehicles, the
system comprises an unmanned aerial vehicle and connecting arms arranged on the unmanned aerial vehicle, a control module of the unmanned aerial vehicle, and external force is sensed through
collision detection so as to adjust the attitude of the unmanned aerial vehicle for docking of the connecting arms; a threaded connecting piece matched with the other unmanned aerial vehicle is arranged on the connecting arm, and the control module controls the unmanned aerial vehicle to axially rotate with the connecting arm as the axis so as to complete fixed connection between the unmanned aerial vehicles; the unmanned aerial vehicle is provided with a spherical shell, a through hole is formed in the shell, a magnetic attraction
assembly is arranged on the portion, on the outer side of the through hole, of the spherical shell, preliminary
butt joint of the unmanned aerial vehicle is completed through magnetic attraction, the connecting arm is a telescopic bent L-shaped
cantilever, and after threaded connection is conducted through the
cantilever in the vertical state, the
cantilever continues to stretch so that preliminary
butt joint stripping of the magnetic attraction
assembly can be achieved; and the other unmanned aerial vehicle rolls horizontally, so that the two unmanned aerial vehicles are parallel, and the bottoms of the two unmanned aerial vehicles are connected through a cantilever bent into an L shape.