A drone swarm system

Abstract

The present invention discloses a drone cluster system, including a leader and at least one wingman, and also including a ground station. The leader and the wingman are both connected to the ground station for communication, and are used to transmit the situation on site to the ground station for real-time monitoring and receive execution commands from the ground station. The leader includes a first visual detection mechanism and a fire-extinguishing bomb delivery mechanism, and the wingman includes a second binocular depth camera for monitoring the surrounding environment of the leader to generate danger warning information; the fire-extinguishing bomb delivery mechanism includes a first controller, a fire-extinguishing bomb launcher and a first angle adjustment mechanism, and the first visual detection mechanism is used to generate fire-extinguishing bomb delivery area information. The drone cluster system of the present invention is suitable for military disaster relief. The leader can accurately deliver fire-extinguishing bombs to the target fire source, and the wingman is responsible for monitoring the surrounding environment of the leader and providing safety protection for the leader.

Description

Technical Field

[0001] The present invention relates to the technical field of drone group control, and in particular to a drone cluster system. Background Art

[0002] UAV is the abbreviation of unmanned aircraft. It is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices. It has the advantages of small size, low cost, easy use, and low requirements for combat environment. Compared with ordinary piloted aircraft, UAV is more suitable for dangerous tasks. UAVs are frequently used in reconnaissance, intelligence collection, tracking and communication. Since the 21st century, UAVs have been widely used in the field of rescue in addition to their military applications. Due to the outstanding performance of UAVs in search and rescue and their unique advantages, UAVs have been hailed as "robots in the sky" in the execution of inspections, detection, on-site rescue command and other tasks at various emergency and safety hazard sites. However, few existing UAVs use UAV centralized control technology in the field of military disaster relief, and lack the function of locating the target fire source for accurate delivery of fire extinguishing bombs. Summary of the invention

[0003] The purpose of the present invention is to provide a drone swarm system, which is suitable for military disaster relief. The leader can accurately drop fire extinguishing bombs on the target fire source, and the wingman is responsible for monitoring the surrounding environment of the leader and providing safety protection for the leader.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a drone cluster system, comprising a leader and at least one wingman, and also comprising a ground station, wherein the leader and the wingman are both connected to the ground station in communication, and are used to transmit the situation on site to the ground station for real-time monitoring, wherein the leader comprises a first visual detection mechanism and a fire extinguishing bomb delivery mechanism, and the wingman comprises a second binocular depth camera, which is used to monitor the surrounding environment of the leader to generate danger warning information and transmit the danger warning information to the leader in real time, and the leader is used to set a flight path according to the received danger warning information; the fire extinguishing bomb delivery mechanism comprises a first controller, a fire extinguishing bomb launcher and a first angle adjustment mechanism, wherein the first visual detection mechanism is used to generate fire extinguishing bomb delivery area information and transmit the fire extinguishing bomb delivery area information to the first controller, and the first controller is used to adjust the first angle adjustment mechanism according to the received fire extinguishing bomb delivery area information so that the launch angle of the launch port of the fire extinguishing bomb launcher matches the fire extinguishing bomb delivery area;

[0005] The first visual detection mechanism includes a third controller, a flame detection module and a first binocular depth camera. The flame detection module includes a second controller, an infrared thermal imager and a color camera. The infrared thermal imager and the color camera are respectively used to transmit the infrared image and the color image collected by them to the second controller for processing. The flame detection module includes a flame detection strategy. The second controller includes a first comparison unit. The first comparison unit includes a flame database. The flame database stores a variety of flame data. The flame data includes flame color data of different combustion objects and flame color data of the same combustion object at different flame temperatures. The flame detection strategy is configured so that the second controller transmits the infrared image and the color image it receives to the first comparison unit. The first comparison unit performs feature comparison in combination with the flame database to generate first image comparison information and transmits it to the second controller. The second controller is configured with a second deviation threshold. The flame detection strategy also includes defining an area in the first image comparison information that is less than the second deviation threshold as a flame area. The flame detection module transmits the flame area information to the third controller.

[0006] The first binocular depth camera is used to detect whether there is a fuel barrel target in the flame area, the third controller includes a fuel barrel database and a first target recognition strategy, the fuel barrel database stores a variety of fuel barrel shape features and color features, the first binocular depth camera is used to obtain the feature image of the flame area to generate first image information and transmit it to the third controller, the third controller includes a second comparison unit, the second comparison unit combines the fuel barrel database to perform feature comparison to generate second image comparison information and transmit it to the third controller, the third controller is configured with a third deviation threshold, and the first target recognition strategy also includes defining the area in the second image comparison information that is less than the third deviation threshold as a fuel barrel area;

[0007] The first visual detection mechanism is equipped with a fire extinguishing bomb delivery strategy, which includes defining a portion inside the flame area and outside the fuel barrel area as a fire extinguishing bomb delivery area.

[0008] Preferably, the first controller is used to receive the fire extinguishing bomb delivery area information, the first controller includes a bomb delivery strategy, the bomb delivery strategy is configured with a first deviation threshold, the bomb delivery strategy includes the first controller controlling the first angle adjustment mechanism to adjust the launch angle of the fire extinguishing bomb launcher launch port according to the fire extinguishing bomb delivery area information, when the deviation value between the launch angle of the fire extinguishing bomb launcher launch port and the fire extinguishing bomb delivery area information is less than the first deviation threshold, the first controller starts the fire extinguishing bomb launcher to launch the fire extinguishing bomb along the launch angle of its launch port.

[0009] Preferably, the first visual detection mechanism also includes a fire extinguishing bomb delivery optimization strategy, the fire extinguishing bomb delivery optimization strategy includes a first threshold, and the area within the first threshold range outside the fuel barrel area is defined as an edge area. The fire extinguishing bomb delivery optimization strategy includes defining the part where the delivery area and the edge area intersect as the optimal fire extinguishing bomb delivery area.

[0010] Preferably, the second binocular depth camera further includes a fourth controller and an enemy aircraft database, wherein the enemy aircraft database stores shape features and structural features of various enemy aircraft, the second binocular depth camera is used to obtain target features and target distance of the target object, the controller compares the target features with the shape features and structural features of the enemy aircraft stored in the enemy aircraft database to generate first comparison information, the fourth controller is configured with a danger level judgment strategy, the danger level judgment strategy includes a first distance threshold, a second distance threshold, a first feature threshold and a second feature threshold; the danger prompt information includes zero danger level, fourth danger level, third danger level, second danger level and first danger level;

[0011] The danger level judgment strategy includes setting a zero danger level when the target distance is greater than a first distance threshold and the target feature is less than a first feature threshold;

[0012] When the target distance is between the first distance threshold and the second distance threshold and the target feature is less than the first feature threshold, the fourth danger level is set;

[0013] When the target distance is greater than the first distance threshold and the target feature is between the first feature threshold and the second feature threshold, it is set to the fourth level of danger;

[0014] When the target distance is between the first distance threshold and the second distance threshold and the target feature is between the first feature threshold and the second feature threshold, the third danger level is set;

[0015] When the target distance is between the first distance threshold and the second distance threshold and the target feature is greater than the second feature threshold, it is set to the second danger level;

[0016] When the target feature is between the first feature threshold and the second feature threshold and the target distance is less than the second distance threshold, it is set to the second danger level;

[0017] When the target feature is greater than the second feature threshold and the target distance is less than the second distance threshold, it is set as the first danger level.

[0018] Preferably, the fourth controller also includes a protection strategy, and the wingman also includes a protection device. The protection strategy includes activating the protection device to provide safety protection for the lead aircraft when it is determined that the danger level is at the second danger level or the third danger level according to the danger level judgment strategy.

[0019] Preferably, the protective device includes a smoke bomb launcher and a second angle adjustment mechanism, the second angle adjustment mechanism is used to adjust the launch angle of the smoke bomb launcher, and the smoke bomb generator is used to provide smoke cover for the lead aircraft.

[0020] Preferably, the second angle adjustment mechanism is configured with an adjustment strategy, the adjustment strategy includes the wingman sending a start-up protection message to the lead aircraft, the lead aircraft sending the lead aircraft's coordinate position to the wingman after receiving the start-up protection message, using the fourth controller to obtain the target feature coordinate position, and setting the line connecting the lead aircraft's coordinate position and the target feature coordinate position as the optimal interference route, the adjustment strategy is configured with a first deflection angle threshold, the second angle adjustment mechanism dynamically adjusts the launch angle of the smoke grenade launcher according to the optimal interference route, and the adjustment strategy includes starting the smoke grenade launcher when the difference between the launch angle of the smoke grenade launcher and the optimal interference route is less than the first deflection angle threshold.

[0021] Preferably, the second angle adjustment mechanism is also configured with an anti-interference strategy, which includes a second threshold, and defines an area within the second threshold range around the coordinate position of the lead aircraft as an anti-interference area. The smoke grenade launcher includes an influence range threshold, and the anti-interference strategy is set so that the influence range threshold of the smoke grenade launcher does not intersect with the anti-interference area.

[0022] Preferably, the fourth controller further includes an attack strategy, and the wingman further includes an attack device, and the attack strategy includes activating the attack device to provide safety protection to the lead aircraft when the danger level is determined to be at the first danger level according to the danger level judgment strategy.

[0023] Preferably, the attack device comprises a grenade launcher and a third angle adjustment mechanism, wherein the third angle adjustment mechanism is used to adjust a launch angle of the grenade launcher, and the grenade launcher is used to attack a target object.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The drone cluster system of the present invention includes a leader and at least one wingman, wherein the leader includes a first visual detection mechanism and a fire extinguishing bomb delivery mechanism, the fire extinguishing bomb delivery mechanism includes a first controller, a fire extinguishing bomb launcher and a first angle adjustment mechanism, the first visual detection mechanism is used to generate fire extinguishing bomb delivery area information and transmit the fire extinguishing bomb delivery area information to the first controller, the first controller is used to adjust the first angle adjustment mechanism according to the received fire extinguishing bomb delivery area information so that the launch angle of the launch port of the fire extinguishing bomb launcher matches the fire extinguishing bomb delivery area, thereby achieving accurate delivery of fire extinguishing bombs to the target fire source, and the wingman is responsible for monitoring the surrounding environment of the leader and providing safety protection for the leader.

[0026] The first controller of the present invention includes a bomb delivery strategy, which includes when the deviation value between the launch angle of the launch port of the fire extinguishing bomb launcher and the fire extinguishing bomb delivery area information is less than the first deviation threshold, the first controller starts the fire extinguishing bomb launcher to launch the fire extinguishing bomb along the launch angle of its launch port, thereby ensuring that the fire extinguishing bomb is delivered to the flame area and will not touch the fuel barrel to avoid collision and position deviation.

[0027] The second binocular depth camera of the present invention includes a fourth controller and an enemy aircraft database, which stores shape features and structural features of various enemy aircraft. The second binocular depth camera is used to obtain target features and target distances of target objects. The fourth controller is configured with a danger level judgment strategy, which triggers different safety protection measures for different danger levels. The wingman includes an attack device and a protection device. The protection device includes a smoke bomb launcher for providing smoke cover for the lead aircraft; the attack device includes a grenade launcher for attacking the target object under the first-level danger level. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the connection structure of a drone cluster system of the present invention;

[0029] Figure 2 This is a structural schematic diagram of a leader aircraft in a UAV cluster system of the present invention;

[0030] Figure 3 It is a front view structural schematic diagram of a leader aircraft in a UAV cluster system of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of a wingman in a UAV cluster system of the present invention;

[0032] Figure 5 A schematic diagram of circuit connections inside a leader in a UAV cluster system of the present invention;

[0033] Figure 6 The present invention is a schematic diagram of the circuit connections inside a wingman in a UAV cluster system.

[0034] In the figure: 1. leader; 101. first visual detection mechanism; 102. fire extinguishing bomb delivery mechanism; 1021. first angle adjustment mechanism; 1022. fire extinguishing bomb launcher; 1011. flame detection module; 1012. first binocular depth camera; 2. wingman; 201. second binocular depth camera; 202. protective device; 2021. smoke bomb launcher; 2022. second angle adjustment mechanism; 203. attack device; 2031. grenade launcher; 2032. third angle adjustment mechanism; 3. ground station; 4. first rotor; 5. second rotor. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the first embodiment provided by the present invention is a drone cluster system, a drone cluster system, including a leader 1 and at least one wingman 2, the leader 1 is provided with four first rotors 4 for driving the leader 1 to take off and hover, and also includes a ground station 3, the leader 1 and the wingman 2 are both communicatively connected to the ground station 3, for transmitting the situation on site to the ground station 3 for real-time monitoring and receiving execution commands from the ground station 3, and the ground station 3 determines whether the leader 1 and the wingman 2 need to send backup aircraft for support in the current situation.

[0037] In this embodiment, the lead aircraft 1 includes a first visual detection mechanism 101 and a fire extinguishing bomb delivery mechanism 102, and the wingman 2 includes a second binocular depth camera 201, which is used to monitor the surrounding environment of the lead aircraft 1 to generate danger warning information 1 and transmit the danger warning information to the lead aircraft 1 in real time, and the lead aircraft 1 is used to set the flight path according to the received danger warning information; the fire extinguishing bomb delivery mechanism 102 includes a first controller, a fire extinguishing bomb launcher 1022 and a first angle adjustment mechanism 1021, the first visual detection mechanism 101 is used to generate fire extinguishing bomb delivery area information and transmit the fire extinguishing bomb delivery area information to the first controller, and the first controller is used to adjust the first angle adjustment mechanism 1021 according to the received fire extinguishing bomb delivery area information so that the launch angle of the launch port of the fire extinguishing bomb launcher 1022 matches the fire extinguishing bomb delivery area; the launch port of the fire extinguishing bomb launcher 1022 is aligned with the area where fire extinguishing is required to achieve precise fire extinguishing.

[0038] The first visual detection mechanism 101 includes a third controller, a flame detection module 1011 and a first binocular depth camera 1012. The flame detection module 1011 includes a second controller, an infrared thermal imager and a color camera. The infrared thermal imager and the color camera are respectively used to transmit the infrared image and the color image collected by them to the second controller for processing. The flame detection module 1011 includes a flame detection strategy. The second controller includes a first comparison unit. The first comparison unit includes a flame database. The flame database stores a variety of flame data. The flame data includes flame color data of different combustion objects and flame color data of the same combustion object at different flame temperatures. The flame detection strategy is configured so that the second controller transmits the infrared image and the color image it receives to the first comparison unit. The first comparison unit performs feature comparison in combination with the flame database to generate first image comparison information and transmits it to the second controller. The second controller is configured with a second deviation threshold. The flame detection strategy also includes defining an area in the first image comparison information that is less than the second deviation threshold as a flame area. The flame detection module 1011 transmits the flame area information to the third controller. By setting the flame detection strategy, the flame area can be accurately identified.

[0039] The first binocular depth camera 1012 is used to detect whether there is a fuel barrel target in the flame area, the third controller includes a fuel barrel database and a first target recognition strategy, the fuel barrel database stores a variety of fuel barrel shape features and color features, the first binocular depth camera 1012 is used to obtain the feature image of the flame area to generate first image information and transmit it to the third controller, the third controller includes a second comparison unit, the second comparison unit combines the fuel barrel database to perform feature comparison to generate second image comparison information and transmit it to the third controller, the third controller is configured with a third deviation threshold, and the first target recognition strategy also includes defining the area in the second image comparison information that is less than the third deviation threshold as a fuel barrel area;

[0040] The first visual detection mechanism 101 is configured with a fire bomb delivery strategy, and the fire bomb delivery strategy includes defining the part inside the flame area and outside the fuel barrel area as the fire bomb delivery area, thereby ensuring that the fire bomb can be accurately delivered to the flame area and will not touch the fuel barrel to avoid collision and position deviation. The first controller is used to receive the fire bomb delivery area information, and the first controller includes a bomb delivery strategy, and the bomb delivery strategy is configured with a first deviation threshold. The bomb delivery strategy includes the first controller controlling the first angle adjustment mechanism 1021 to adjust the launch angle of the launch port of the fire bomb launcher 1022 according to the fire bomb delivery area information. When the deviation value between the launch angle of the launch port of the fire bomb launcher 1022 and the fire bomb delivery area information is less than the first deviation threshold, the first controller starts the fire bomb launcher 1022 to launch the fire bomb along the launch angle of its launch port.

[0041] The second embodiment of the long machine 1 provided by the present invention is different from the first embodiment in that the first visual detection mechanism 101 also includes a fire extinguishing bomb delivery optimization strategy, the fire extinguishing bomb delivery optimization strategy includes a first threshold value, and the area within the first threshold range outside the fuel barrel area is defined as the edge area. The fire extinguishing bomb delivery optimization strategy includes defining the part where the delivery area and the edge area intersect as the best fire extinguishing bomb delivery area. Since the position of the fuel barrel in the flame area is unpredictable and may be at the edge of the flame area, the area within the first threshold range outside the fuel barrel area is defined as the edge area. According to the threshold set by the entire system, the fire extinguishing bomb is delivered to the edge area to ensure that the fire extinguishing bomb will not touch the fuel barrel, so the fire extinguishing bomb will not touch the fuel barrel and cause position deviation. When the fuel barrel is at the edge of the flame area, it is more reasonable to deliver the fire extinguishing bomb to the side with a larger fire.

[0042] like Figure 4As shown, in a first embodiment of the wingman 2 provided by the present invention, the second binocular depth camera 201 further includes a fourth controller and an enemy aircraft database, wherein the enemy aircraft database stores shape features and structural features of a plurality of enemy aircraft, the second binocular depth camera 201 is used to obtain target features and target distances of the target object, the controller compares the target features with the shape features and structural features of the enemy aircraft stored in the enemy aircraft database to generate first comparison information, the fourth controller is configured with a danger level judgment strategy, and the danger level judgment strategy includes a first distance threshold, a second distance threshold, a first feature threshold, and a second feature threshold;

[0043] The danger level judgment strategy includes setting a zero danger level when the target distance is greater than a first distance threshold and the target feature is less than a first feature threshold;

[0044] When the target distance is between the first distance threshold and the second distance threshold and the target feature is less than the first feature threshold, the fourth danger level is set;

[0045] When the target distance is greater than the first distance threshold and the target feature is between the first feature threshold and the second feature threshold, it is set to the fourth level of danger;

[0046] When the target distance is between the first distance threshold and the second distance threshold and the target feature is between the first feature threshold and the second feature threshold, the third danger level is set;

[0047] When the target distance is between the first distance threshold and the second distance threshold and the target feature is greater than the second feature threshold, it is set to the second danger level;

[0048] When the target feature is between the first feature threshold and the second feature threshold and the target distance is less than the second distance threshold, it is set to the second danger level;

[0049] When the target feature is greater than the second feature threshold and the target distance is less than the second distance threshold, it is set as the first danger level.

[0050] The wingman 2 in the present invention uses laser radar technology to measure target features and target distance. Laser radar is a positioning technology that integrates laser, global positioning system (GPS) and inertial navigation system (INS). It is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. It can be used to obtain data and generate accurate DEM (digital elevation model). The combination of these three technologies can highly accurately locate the spot of the laser beam hitting the object, and the ranging accuracy can reach centimeter level. Using laser radar technology to measure the distance of the target has the characteristics of fast and accurate positioning.

[0051] The lead aircraft 1 of the present invention also includes a GPS positioning module, which is used to perform automatic cruising according to a preset route. After completing the cruise according to the preset route, it can also automatically return. Under the leadership of the lead aircraft 1, the wingman 2 can also realize the functions of automatic cruising and automatic return.

[0052] Since the lead aircraft 1 needs to hover at a fixed point after identifying the fire-extinguishing area in order to accurately project the fire-extinguishing bomb, a barometer and an ultrasonic sensor are also provided in the lead aircraft 1. Since the altitude will affect the change of air pressure, the barometer is used to determine the distance between the lead aircraft and the ground by measuring the air pressure, and the ultrasonic sensor is used to measure the distance between the lead aircraft 1 and the wingman 2. By setting the barometer and the ultrasonic sensor, the function of hovering at a fixed point can be realized.

[0053] like Figure 6As shown, the fourth controller also includes a protection strategy, and the wingman 2 also includes a protection device 202. The protection strategy includes starting the protection device 202 to provide safety protection for the lead aircraft 1 when the danger level is judged to be at the second danger level or the third danger level according to the danger level judgment strategy; the protection device 202 includes a smoke bomb launcher 2021 and a second angle adjustment mechanism 2022, the second angle adjustment mechanism 2022 is used to adjust the launch angle of the smoke bomb launcher 2021, and the smoke bomb generator is used to provide smoke cover for the lead aircraft 1; the attack device 203 includes a grenade launcher 2031 and a third angle adjustment mechanism 2032, the third angle adjustment mechanism 2032 is used to adjust the launch angle of the grenade launcher 2031, and the grenade launcher 2031 is used to attack the target. The second angle adjustment mechanism 2022 is configured with an adjustment strategy, which includes the wingman 2 sending a start-up protection message to the leader 1, the leader 1 sending the leader 1 coordinate position to the wingman 2 after receiving the start-up protection message, using the fourth controller to obtain the target feature coordinate position, and setting the line connecting the leader 1 coordinate position and the target feature coordinate position as the optimal interference route. The adjustment strategy is configured with a first deflection threshold, and the second angle adjustment mechanism 2022 dynamically adjusts the launch angle of the smoke grenade launcher 2021 according to the optimal interference route. The adjustment strategy includes starting the smoke grenade launcher 2021 when the difference between the launch angle of the smoke grenade launcher 2021 and the optimal interference route is less than the first deflection threshold. The second angle adjustment mechanism 2022 is also configured with an anti-interference strategy, which includes a second threshold, and defines the area within the second threshold range around the leader 1 coordinate position as the anti-interference area. The smoke grenade launcher 2021 includes an influence range threshold, and the anti-interference strategy is set to make the influence range threshold of the smoke grenade launcher 2021 not intersect with the anti-interference area. The fourth controller also includes an attack strategy, and the wingman 2 also includes an attack device 203. The attack strategy includes starting the attack device 203 to perform safety protection on the leader 1 when the danger level is determined to be at the first danger level according to the danger level judgment strategy.

[0054] Working principle: The drone cluster system of the present invention includes a leader 1 and a wingman 2. The leader 1 includes a first visual detection mechanism 101, which is used to generate fire extinguishing bomb delivery area information and transmit the fire extinguishing bomb delivery area information to a first controller. The first controller is used to adjust the first angle adjustment mechanism 1021 according to the received fire extinguishing bomb delivery area information so that the launch angle of the launch port of the fire extinguishing bomb launcher 1022 matches the fire extinguishing bomb delivery area, thereby achieving accurate delivery of fire extinguishing bombs to the target fire source. The wingman 2 is responsible for monitoring the surrounding environment of the leader 1 and providing safety protection for the leader 1. The second binocular depth camera 201 includes a fourth controller and an enemy aircraft database, which stores shape features and structural features of various enemy aircraft. The second binocular depth camera 201 is used to obtain target features and target distances of the target object. The fourth controller is configured with a danger level judgment strategy, which triggers different safety protection measures for different danger levels. The wingman 2 includes an attack device 203 and a protection device 202. The protection device 202 includes a smoke bomb launcher 2021 for providing smoke cover for the lead aircraft 1; the attack device 203 includes a grenade launcher 2031 for attacking the target object in the case of a first-level danger level.

[0055] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A drone swarm system, comprising a leader (1) and at least one wingman (2), characterized in that: The system also includes a ground station (3), wherein the leader aircraft (1) and the wingman aircraft (2) are both connected to the ground station (3) in communication, and are used to transmit the situation on site to the ground station (3) for real-time monitoring. The leader aircraft (1) includes a first visual detection mechanism (101) and a fire extinguishing bomb delivery mechanism (102), and the wingman aircraft (2) includes a second binocular depth camera (201) for monitoring the surrounding environment of the leader aircraft (1) to generate danger warning information and transmit the danger warning information to the leader aircraft (1) in real time. The leader aircraft (1) is used to detect the danger warning information received. The fire extinguishing bomb delivery mechanism (102) comprises a first controller, a fire extinguishing bomb launcher (1022) and a first angle adjustment mechanism (1021), wherein the first visual detection mechanism (101) is used to generate fire extinguishing bomb delivery area information and transmit the fire extinguishing bomb delivery area information to the first controller, and the first controller is used to adjust the first angle adjustment mechanism (1021) according to the received fire extinguishing bomb delivery area information so that the launch angle of the launch port of the fire extinguishing bomb launcher (1022) matches the fire extinguishing bomb delivery area; The first visual detection mechanism (101) comprises a third controller, a flame detection module (1011) and a first binocular depth camera (1012); the flame detection module (1011) comprises a second controller, an infrared thermal imager and a color camera; the infrared thermal imager and the color camera are respectively used to transmit the infrared image and the color image collected by them to the second controller for processing; the flame detection module (1011) comprises a flame detection strategy; the second controller comprises a first comparison unit; the first comparison unit comprises a flame database; the flame database stores a plurality of flame data; the flame data comprises flame color data of different combustion objects and flame color data of the same combustion object at different flame temperatures; the flame detection strategy is configured such that the second controller transmits the infrared image and the color image received by it to the first comparison unit; the first comparison unit performs feature comparison in combination with the flame database to generate first image comparison information and transmits the first image comparison information to the second controller; the second controller is configured with a second deviation threshold; the flame detection strategy further comprises defining an area in the first image comparison information that is less than the second deviation threshold as a flame area; the flame detection module (1011) transmits the flame area information to the third controller; The first binocular depth camera (1012) is used to detect whether there is a fuel barrel target in the flame area, the third controller includes a fuel barrel database and a first target recognition strategy, the fuel barrel database stores shape features and color features of multiple fuel barrels, the first binocular depth camera (1012) is used to obtain a feature image of the flame area to generate first image information and transmit it to the third controller, the third controller includes a second comparison unit, the second comparison unit performs feature comparison in combination with the fuel barrel database to generate second image comparison information and transmit it to the third controller, the third controller is configured with a third deviation threshold, and the first target recognition strategy also includes defining an area in the second image comparison information that is less than the third deviation threshold as a fuel barrel area; The first visual detection mechanism (101) is equipped with a fire extinguishing bomb delivery strategy, which includes defining a portion inside the flame area and outside the fuel barrel area as a fire extinguishing bomb delivery area.

2. The drone swarm system according to claim 1, characterized in that: The first controller is used to receive the fire extinguishing bomb delivery area information, the first controller includes a bomb delivery strategy, the bomb delivery strategy is configured with a first deviation threshold, the bomb delivery strategy includes the first controller controlling the first angle adjustment mechanism (1021) to adjust the firing angle of the launching port of the fire extinguishing bomb launcher (1022) according to the fire extinguishing bomb delivery area information, when the deviation value between the firing angle of the launching port of the fire extinguishing bomb launcher (1022) and the fire extinguishing bomb delivery area information is less than the first deviation threshold, the first controller starts the fire extinguishing bomb launcher (1022) to launch the fire extinguishing bomb along the firing angle of its launching port.

3. The drone swarm system according to claim 1, characterized in that: The first visual detection mechanism (101) also includes a fire extinguishing bomb delivery optimization strategy, the fire extinguishing bomb delivery optimization strategy includes a first threshold value, and the area within the first threshold range outside the fuel barrel area is defined as an edge area. The fire extinguishing bomb delivery optimization strategy includes defining the part where the delivery area and the edge area intersect as the best fire extinguishing bomb delivery area.

4. A drone swarm system according to any one of claims 1 to 3, characterized in that: The second binocular depth camera (201) further comprises a fourth controller and an enemy aircraft database, wherein the enemy aircraft database stores shape features and structural features of a plurality of enemy aircraft, the second binocular depth camera (201) is used to obtain target features and target distances of a target object, the controller compares the target features with the shape features and structural features of enemy aircraft stored in the enemy aircraft database to generate first comparison information, the fourth controller is configured with a danger level judgment strategy, the danger level judgment strategy comprises a first distance threshold, a second distance threshold, a first feature threshold and a second feature threshold; the danger prompt information comprises a zero danger level, a fourth danger level, a third danger level, a second danger level and a first danger level; The danger level judgment strategy includes setting a zero danger level when the target distance is greater than a first distance threshold and the target feature is less than a first feature threshold; When the target distance is between the first distance threshold and the second distance threshold and the target feature is less than the first feature threshold, the fourth danger level is set; When the target distance is greater than the first distance threshold and the target feature is between the first feature threshold and the second feature threshold, it is set to the fourth level of danger; When the target distance is between the first distance threshold and the second distance threshold and the target feature is between the first feature threshold and the second feature threshold, the third danger level is set; When the target distance is between the first distance threshold and the second distance threshold and the target feature is greater than the second feature threshold, it is set to the second danger level; When the target feature is between the first feature threshold and the second feature threshold and the target distance is less than the second distance threshold, it is set to the second danger level; When the target feature is greater than the second feature threshold and the target distance is less than the second distance threshold, it is set as the first danger level.

5. The drone swarm system according to claim 4, characterized in that: The fourth controller also includes a protection strategy, and the wingman (2) also includes a protection device (202). The protection strategy includes starting the protection device (202) to provide safety protection for the leader (1) when the danger level is judged to be at the second danger level or the third danger level according to the danger level judgment strategy.

6. The drone swarm system according to claim 5, characterized in that: The protective device (202) comprises a smoke bomb launcher (2021) and a second angle adjustment mechanism (2022), wherein the second angle adjustment mechanism (2022) is used to adjust the launch angle of the smoke bomb launcher (2021), and the smoke bomb launcher is used to provide smoke cover for the leading aircraft (1).

7. The drone swarm system according to claim 6, characterized in that: The second angle adjustment mechanism (2022) is configured with an adjustment strategy, wherein the adjustment strategy includes the wingman (2) sending a start-up protection message to the leader (1), the leader (1) sending the leader's (1) coordinate position to the wingman (2) after receiving the start-up protection message, using the fourth controller to obtain the target feature coordinate position, and setting the line connecting the leader's (1) coordinate position and the target feature coordinate position as the optimal interference route, the adjustment strategy is configured with a first deflection angle threshold, the second angle adjustment mechanism (2022) dynamically adjusts the launch angle of the smoke grenade launcher (221) according to the optimal interference route, and the adjustment strategy includes starting the smoke grenade launcher (2021) when the difference between the launch angle of the smoke grenade launcher (2021) and the optimal interference route is less than the first deflection angle threshold.

8. The drone swarm system according to claim 7, characterized in that: The second angle adjustment mechanism (222) is also configured with an anti-interference strategy, which includes a second threshold value, and defines an area within the second threshold value around the coordinate position of the lead aircraft (1) as an anti-interference area. The smoke grenade launcher (2021) includes an influence range threshold value, and the anti-interference strategy is configured so that the influence range threshold value of the smoke grenade launcher (2021) does not intersect with the anti-interference area.

9. The drone swarm system according to claim 4, characterized in that: The fourth controller also includes an attack strategy, and the wingman (2) also includes an attack device (203). The attack strategy includes starting the attack device (203) to provide safety protection for the leader (1) when the danger level is determined to be at the first danger level according to the danger level determination strategy.

10. The drone swarm system according to claim 9, characterized in that: The attack device (203) comprises a grenade launcher (2031) and a third angle adjustment mechanism (2032), wherein the third angle adjustment mechanism (2032) is used to adjust the launch angle of the grenade launcher (2031), and the grenade launcher (2031) is used to attack a target object.

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