Unexploded ammunition unmanned elimination system based on child-mother type unmanned aerial vehicle platform

Abstract

The invention provides an unexploded ammunition unmanned elimination system based on a child-mother type unmanned aerial vehicle platform. The unexploded ammunition unmanned elimination system comprises an inspection mother unmanned aerial vehicle, an explosive ordnance disposal child unmanned aerial vehicle and a connecting device used for connecting the inspection mother unmanned aerial vehicle and the explosive ordnance disposal child unmanned aerial vehicle. The connecting device comprises an upper connecting module and a lower connecting module, the upper connecting module comprises a telescopic rod and a magnetic attraction male head, the lower connecting module comprises a magnetic attraction female head, one end of the telescopic rod is connected with the inspection female unmanned aerial vehicle, the other end of the telescopic rod is connected with the magnetic attraction male head, and the magnetic attraction female head is detachably connected with the explosive ordnance disposal sub unmanned aerial vehicle. The magnetic attraction female head and the magnetic attraction male head are connected in an attraction mode. The system consists of an inspection mother unmanned aerial vehicle and an explosive ordnance disposal son unmanned aerial vehicle. The inspection mother unmanned aerial vehicle is mainly responsible for inspection and carrying functions and can be recycled; the explosive ordnance disposal sub-unmanned aerial vehicle is simple in function, only responsible for hovering and carrying the explosive ordnance disposal system, low in cost, easy to operate and capable of being produced in batches.

Description

Technical Field

[0001] The present invention relates to the technical field of mother-and-child UAVs, and in particular to an unmanned unexploded ordnance removal system based on a mother-and-child UAV platform. Background Art

[0002] Unexploded ordnance mainly originates from wars or military conflicts. During conflicts, in order to achieve strategic goals, the military will use a large number of various explosive ordnance. However, due to the complexity of the battlefield environment, the limitations of technical equipment, and human factors, not all dropped ordnance can be successfully detonated, leaving unexploded ordnance. These unexploded ordnance may be distributed in every corner of the battlefield, including cities, villages, forests, rivers and other areas, posing a long-term threat to the life safety and economic development of local people. Although the traditional manual bomb disposal method is effective, it requires bomb disposal personnel to directly approach the explosives to operate, which is extremely dangerous and relatively inefficient. At the same time, due to the limitations of natural conditions such as terrain and weather, manual bomb disposal often fails to achieve the desired effect.

[0003] With the development of unmanned systems, a number of unmanned bomb disposal solutions have emerged. A bomb disposal robot (CN117656097A) uses a ground unmanned vehicle equipped with a manipulator to transport unexploded ammunition; a mine sweeping and bomb disposal quadruped robot and mine positioning method (CN117901134A) uses a quadruped robot equipped with a manipulator to transport unexploded ammunition; an explosive disposal device and an explosive disposal robot based on shaped jet detonation (CN212458155U) rely on the tracked robot structure and use a shaped warhead to carry out unmanned destruction of unexploded ammunition. The above solutions have promoted the development of the unmanned bomb disposal field to a certain extent, using ground unmanned units to transport or destroy unexploded ammunition. Compared with traditional methods, it effectively avoids close contact between bomb disposal personnel and explosives, thereby significantly reducing the risk of casualties; at the same time, since the whole process is unmanned, the operation efficiency is improved, but the above solutions have low manufacturing and detection efficiency, poor terrain adaptability, and high maintenance costs. In order to solve these problems, a drone-mounted bomb disposal manipulator (CN217494280U) is disclosed, which uses a drone-mounted manipulator to transport unexploded ammunition; a drone-based bomb disposal and transfer system (CN207985202U) is disclosed, which uses a drone-mounted manipulator with a drill to transport unexploded ammunition; a system and method for coordinated disposal of unexploded bombs by air-to-ground unmanned platforms (CN117109387A) is disclosed, which uses a drone-mounted quadruped robot to transport unexploded ammunition; and a drone-based suspended bomb disposal device (CN219904724U) is disclosed, which uses a drone-mounted suspended bomb disposal device to pick up and destroy unexploded ammunition.

[0004] In summary, in the prior art, the bomb disposal devices or systems usually use drones equipped with mechanical arms or ground units to operate independently according to ground conditions, resulting in high costs, strong technology dependence, and complex operations. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an unmanned unexploded ordnance removal system based on a mother-and-child UAV platform to solve the technical problems in the prior art that the explosive disposal devices or systems are high in cost, highly technically dependent, and complex to operate.

[0006] The present invention provides an unmanned unexploded ordnance removal system based on a mother-and-child UAV platform, comprising:

[0007] A patrol mother drone, an EOD sub-drone, and a connecting device for connecting the patrol mother drone and the EOD sub-drone;

[0008] The connecting device includes an upper connecting module and a lower connecting module, the upper connecting module includes a telescopic rod and a magnetic male head, the lower connecting module includes a magnetic female head, one end of the telescopic rod is connected to the inspection mother drone, and the other end is connected to the magnetic male head, the magnetic female head is detachably connected to the bomb disposal sub-drone, and the magnetic female head and the magnetic male head are adsorbed and connected.

[0009] Optionally, the inspection mother drone includes:

[0010] A first drone fuselage and a first flight control system, wherein the first drone fuselage comprises a first drone central disk, a first machine arm and a landing gear, wherein the landing gear is detachably arranged at the bottom of the first drone central disk, at least four first machine arms are arranged around the circumference of the first drone central disk, one end of the telescopic rod is connected to the bottom of the first drone central disk, and a first flight system is arranged in the middle of the drone central disk, wherein the first flight system comprises a first flight master controller, a flight slave control module, a first communication module, a first internal perception module, an external perception module, an external communication module and a first power module;

[0011] The first flight master controller is respectively connected to the external sensing module, the first internal sensing module, the first communication module and the flight slave control module, and is used to implement information and command interaction with the external sensing module, the first internal sensing module, the first communication module and the flight slave control module respectively;

[0012] The flight slave control module is connected to the first power module, and is used to receive the flight instructions of the first flight master controller and send them to the first power module to perform flight missions and flight attitude adjustments;

[0013] The first power module is used to provide flight power for the inspection mother UAV;

[0014] The first communication module is used to implement information interaction with the external communication module and the second communication module respectively;

[0015] The first internal sensing module is used to sense the internal state of the inspection mother drone and transmit it to the first flight main controller;

[0016] The external communication module is used to realize information interaction with the ground workstation.

[0017] Optionally, the bomb disposal sub-UAV includes:

[0018] A second drone fuselage, a second flight control system and a destruction system, wherein the second drone fuselage includes a second drone central disk and a second machine arm, at least four second machine arms are arranged around the circumference of the second drone central disk, the magnetic female head is detachably connected to the top of the second drone central disk, the destruction system is connected to the bottom of the second drone central disk, and the second flight control system includes a second flight main controller, a second communication module, a second power module and a second internal sensing module;

[0019] The second flight main controller is respectively connected to the second communication module, the second power module, the second internal sensing module and the destruction system, and is used to realize information and command interaction with the second communication module, the second power module, the second internal sensing module and the destruction system respectively;

[0020] The second communication module is used to exchange information with the first communication module;

[0021] The second power module is used to provide flight power for the EOD sub-UAV;

[0022] The second internal sensing module is used to sense the internal state of the EOD sub-UAV and transmit it to the second flight main controller;

[0023] The destruction system is used to lock and destroy the target object.

[0024] Optionally, the external perception module includes:

[0025] Optical flow sensors, radar sensors, positioning sensors, and vision sensors;

[0026] The optical flow sensor is used to analyze the movement of pixels or feature points in the image to sense the relative displacement and speed of the inspection mother drone;

[0027] The radar sensor is used to provide distance information of the target object;

[0028] The positioning sensor is used to provide basic data for the navigation and track planning of the inspection mother UAV;

[0029] The visual sensor is used to capture images or videos to perceive the surrounding environment, and transmit the captured information to the first flight main controller for processing.

[0030] Optionally, the first power module and the second power module both include:

[0031] A rotor motor, a propeller and an electronic speed regulator, wherein the rotor motor is connected to the first arm or the second arm, the output end of the rotor motor is connected to the propeller, and the electronic speed regulator is connected to the rotor motor and is used to adjust the speed of the rotor motor according to the instructions of the first flight main controller or the second flight main controller.

[0032] Optionally, the first internal perception module and the second internal perception module both include:

[0033] Inertial measurement unit, speed sensor unit and air pressure measurement unit;

[0034] The inertial measurement unit is used to measure the acceleration, angular velocity and magnetic field strength of the inspection mother UAV or the bomb disposal daughter UAV;

[0035] The rotation speed measurement unit is used to measure the rotation speed of the rotor motor of the inspection mother UAV or the bomb disposal daughter UAV;

[0036] The air pressure measurement unit is used to measure the height information of the inspection mother UAV or the bomb disposal daughter UAV in real time.

[0037] Optionally, the external communication module includes:

[0038] air-to-ground communications units and receivers;

[0039] The air-to-ground communication unit is used to realize two-way data transmission and communication between the inspection mother UAV and the ground control station;

[0040] The receiver is used to receive the radio wave signal sent by the ground control station.

[0041] Optionally, the destruction system comprises:

[0042] The posture adjustment platform and the shaped jet warhead are used to destroy the target object; the posture adjustment platform is used to adjust the posture of the shaped jet warhead.

[0043] Compared with the existing detection technology, the present invention has the following beneficial effects:

[0044] 1. It consists of a patrol mother drone and an EOD sub-drone. The patrol mother drone is mainly responsible for patrol and transportation functions and can be recycled; the EOD sub-drone has simple functions and is only responsible for hovering and carrying the EOD system. It is low-cost, easy to operate and can be mass-produced.

[0045] 2. The inspection mother drone and the bomb disposal sub-drone integrate the identification and destruction functions to achieve multi-task parallel processing, improve work efficiency, and significantly reduce the risk of bomb disposal operations and ensure personnel safety.

[0046] 3. Both the inspection mother drone and the bomb disposal daughter drone can work regardless of the terrain, have strong environmental adaptability and a wide range of applications.

[0047] 4. The inspection mother drone and the bomb disposal sub-drone are connected by magnetic suction and telescopic rods. The connection is stable and the separation is convenient and quick. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 It is a schematic diagram of the overall structure of the system in the present invention;

[0051] Figure 2 It is a schematic diagram of the overall principle of the system in the present invention;

[0052] Figure 3 This is a schematic diagram of the structure of the explosive ordnance disposal sub-UAV in the present invention;

[0053] Figure 4 It is a schematic diagram of the structure of the telescopic rod and the magnetic male head in the present invention;

[0054] Figure 5 It is an enlarged schematic diagram of the magnetic male head and the magnetic female head in the present invention;

[0055] Figure 6 It is an enlarged schematic diagram of the destruction system in the present invention;

[0056] Figure 7 It is a schematic diagram of the overall operation of the system in the present invention;

[0057] Figure 8 Schematic diagram of the separation operation of the system in the present invention.

[0058] Explanation of the reference numerals: 1. Inspection mother UAV; 2. Explosion-disposal daughter UAV; 3. Telescopic rod; 4. Magnetic male head; 5. Magnetic female head; 101. Center plate of the first UAV; 102. First machine arm; 103. Landing gear; 201. Center plate of the second UAV; 202. Second machine arm; 203. No. 1 servo; 204. No. 2 servo; 205. Attitude adjustment gimbal; 206. Shaped jet warhead. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The functional units with the same labels in the examples of the present invention have the same and similar structures and functions.

[0060] See also Figure 1 The present invention provides an unmanned unexploded ordnance removal system based on a mother-and-child UAV platform, comprising:

[0061] A patrol mother drone 1, an EOD sub-drone 2, and a connecting device for connecting the patrol mother drone 1 and the EOD sub-drone 2;

[0062] The connecting device includes an upper connecting module and a lower connecting module, the upper connecting module includes a telescopic rod 3 and a magnetic male head 4, and the lower connecting module includes a magnetic female head 5. One end of the telescopic rod 3 is connected to the inspection mother drone 1, and the other end is connected to the magnetic male head 4. The magnetic female head 5 is detachably connected to the bomb disposal sub-drone 2, and the magnetic female head 5 and the magnetic male head 4 are adsorbed and connected.

[0063] The inspection mother drone 1 has three tasks: the first is to detect and identify unexploded bomb targets; the second is to carry the bomb disposal daughter drone 2; and the third is to serve as a communication intermediary between the destruction system and the ground workstation.

[0064] The bomb disposal sub-UAV 2 mainly hovers and performs bomb disposal according to the recognition results and instructions of the inspection mother UAV 1, and separates the inspection mother UAV 1 and the bomb disposal sub-UAV 2 by controlling the connection device.

[0065] Inspection mother drone 1 The inspection mother drone 1 includes a first drone body and a first flight control system. The first drone body includes a first drone center disk 101, a first arm 102 and a landing gear 103. The landing gear 103 is detachably arranged at the bottom of the first drone center disk 101. At least four first arms 102 are arranged around the circumference of the first drone center disk 101. One end of the telescopic rod 3 is connected to the bottom of the first drone center disk 101. A first flight system is arranged in the middle of the drone center disk. The first flight system includes a first flight master controller, a flight slave control module, a first communication module, a first internal perception module, an external perception module, an external communication module and a first power module.

[0066] See also Figure 2 The first flight master controller serves as the core of the inspection mother UAV 1 and undertakes control, communication and information processing functions; processes information from the external perception module and the first internal perception module; exchanges information with the flight slave control module to control the power supply of the first power module; exchanges information with the first communication module to communicate with the ground workstation and the bomb disposal sub-UAV 2.

[0067] See also Figure 2 The inspection mother UAV 1 relies on the external perception module to perceive the external environment and detect and identify targets, including optical flow sensors, radar sensors, positioning sensors and visual sensors. The optical flow sensor calculates the movement route and position information of the inspection mother UAV 1 in the air by sensing the changes in light; the radar sensor is a millimeter-wave radar, which can obtain environmental information in real time, perform instant positioning and map construction, and perform obstacle detection and avoidance; the positioning sensor receives satellite signals and provides the inspection mother UAV 1 with accurate position, speed and time information to achieve accurate navigation and assisted obstacle avoidance; the visual sensor is used to obtain image and video information of the surrounding environment, and is used in conjunction with recognition algorithms to detect and identify targets.

[0068] See also Figure 2 The inspection mother UAV 1 relies on the first internal perception module to monitor and control the UAV's own state in real time, including an inertial measurement unit, a speed sensing unit and an air pressure measurement unit. The inertial measurement unit measures the acceleration and angular velocity of the UAV in real time through an integrated three-axis accelerometer, a three-axis gyroscope and a magnetometer, thereby inferring the attitude of the UAV; the speed measurement unit is used to monitor the speed of the UAV motor in real time to maintain the stable flight attitude and balance state of the UAV; the air pressure measurement unit is used to monitor the air pressure state around the UAV, thereby obtaining the altitude information of the UAV.

[0069] See also Figure 2The external communication module includes a receiver and an air-to-ground communication unit. The receiver is installed on the inspection mother UAV 1 and is used to receive the radio signal of the remote control from the ground workstation; the air-to-ground communication unit is used for information exchange between the inspection mother UAV 1 and the ground workstation.

[0070] See also Figure 2 The inspection mother UAV 1 relies on the first power module for power supply, wherein the rotor motor is a brushless DC motor, which converts electrical energy into mechanical energy, thereby driving the propeller to rotate, and the propeller converts the rotational power into thrust and lift; the electronic speed regulator converts the control signal of the flight control module into current to control the speed of the motor, and at the same time can power the servos of other channels on the remote control receiver to realize battery protection, start protection, and braking functions.

[0071] See also Figure 2 , Figure 3 and Figure 4 The bomb disposal sub-UAV 2 includes a second UAV fuselage, a second flight control system and a destruction system. The second UAV fuselage includes a second UAV center disk 201 and a second arm 202. The second UAV center disk 201 is surrounded by at least four second arms 202. The magnetic female head 5 is detachably connected to the top of the second UAV center disk 201. The destruction system is connected to the bottom of the second UAV center disk 201. The second flight control system includes a second flight main controller, a second communication module, a second power module and a second internal sensing module.

[0072] The bomb disposal sub-drone 2 has a single function, a simple structure, and low cost, and is only responsible for the bomb disposal self-destruction task. The bomb disposal sub-drone 2 is centered on the second flight main controller, and exchanges information with the inspection mother drone 1 through the second communication module; the second flight main controller controls the destruction system to destroy the unexploded bomb target according to the command conveyed by the inspection mother drone 1, and the destruction system adjusts its attitude through the attitude adjustment gimbal 205, aims at the unexploded bomb target, and the shaped jet warhead 206 destroys the unexploded bomb target; the second flight main controller controls the second power system to provide flight hovering power, and the rotor motor is a brushless DC motor that converts electrical energy into mechanical energy, thereby driving the propeller to rotate, and the propeller converts the rotational power into propulsion and lift; the electronic speed regulator converts the control signal of the second flight main controller into current to control the speed of the motor, and can also realize the battery protection function. The second internal perception system monitors and controls the drone's own status in real time. The inertial measurement unit measures the drone's acceleration and angular velocity in real time through an integrated three-axis accelerometer, three-axis gyroscope and magnetometer, thereby inferring the drone's attitude; the speed measurement unit is used to monitor the speed of the drone's motor in real time to maintain the drone's stable flight attitude and balance state.

[0073] See also Figure 3 and Figure 4 The mother-child drone connection device includes a telescopic rod 3, a magnetic male head 4 and a magnetic female head 5. The telescopic rod 3 can be composed of a multi-section pull rod with a guide groove, which can be completely located in the landing gear 103 of the inspection mother drone 1 when retracted, and can be placed outside the landing gear 103 when unfolded. The magnetic male head 4 and the magnetic female head 5 use the principle of electromagnets to connect and separate the inspection mother drone 1 and the bomb disposal child drone 2.

[0074] In one embodiment, the detection and destruction of unexploded bomb targets includes the following steps:

[0075] The initial schematic diagram is as follows Figure 1 First, the inspection mother UAV 1 and the bomb disposal sub-UAV 2 are connected by the mother-mother UAV connecting device, and the mother UAV connecting device is in a retracted state.

[0076] Secondly, the ground station issues a bomb disposal mission, and at the same time controls the inspection mother UAV 1 to take off and cruise through the remote control. The receiver mounted on the inspection mother UAV 1 receives the radio signal, and then the inspection mother UAV 1 performs the flight mission.

[0077] The inspection mother drone 1 detects and identifies unexploded bomb targets through an external sensing module, and after detecting the unexploded bomb targets, it hovers in the airspace above them; then it descends according to the distance between it and the unexploded bomb targets, and reaches the range of the shaped charge jet warhead 206.

[0078] Again, the telescopic rod 3 in the mother-child drone is extended and unfolded, as shown in FIG. Figure 7 As shown; then the bomb disposal sub-UAV 2 starts to hover by paddling.

[0079] Then, the inspection mother UAV 1 further obtains the precise position of the unexploded bomb target through the external sensing module, and transmits it to the second communication module of the bomb disposal sub-UAV 2 through the first communication module; the second flight main controller of the bomb disposal sub-UAV 2 receives and processes the precise position information of the unexploded bomb target from the second communication module, adjusts the attitude of the attitude adjustment gimbal 205 through the No. 1 steering gear 203 and the No. 2 steering gear 204, so that the shaped jet warhead 206 is aimed at the unexploded bomb target, and the bomb disposal sub-UAV 2 and the inspection mother UAV 1 perform detonation parameter setting, coding, and release operations. After successful docking, the inspection mother UAV 1 returns an ignition request to the ground workstation.

[0080] Next, the ground workstation issues an ignition command to the inspection mother UAV 1 when observing that the surrounding environment is safe, and the inspection mother UAV 1 transmits the command to the bomb disposal daughter UAV 2; then the shaped jet warhead 206 prepares for ignition and launches after 30 seconds.

[0081] Finally, the mother-child drone connection device is disconnected; by cutting off the power, the magnetic male head 4 and the magnetic female head 5 are separated. Figure 8 As shown; the inspection mother drone 1 then evacuates to a safe airspace to monitor the bomb disposal scene.

[0082] At this time, the bomb disposal sub-UAV 2 self-destructs; after the bomb disposal mission is completed, the inspection mother UAV 1 returns to continue the next bomb disposal mission.

[0083] The present invention is composed of a patrol mother drone and a bomb disposal sub-drone. The patrol mother drone is mainly responsible for patrol and transportation functions, and can be recycled; the bomb disposal sub-drone has simple functions and is only responsible for hovering and carrying the bomb disposal system. It has low cost, is easy to operate, and can be mass-produced. Among them, the inspection mother drone and the bomb disposal sub-drone integrate the identification and destruction functions, realize multi-task parallel processing, improve the operation efficiency, and significantly reduce the risk of bomb disposal operations and ensure the safety of personnel. In addition, the patrol mother drone and the bomb disposal sub-drone can work regardless of the terrain, have strong environmental adaptability, and a wide range of applications. At the same time, the patrol mother drone and the bomb disposal sub-drone are connected by magnetic suction and telescopic rods, and the connection is stable, and the separation is convenient and quick.

[0084] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0085] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An unmanned unexploded ordnance removal system based on a mother-and-child UAV platform, characterized in that: include: A patrol mother drone, an EOD sub-drone, and a connecting device for connecting the patrol mother drone and the EOD sub-drone; The connecting device includes an upper connecting module and a lower connecting module, the upper connecting module includes a telescopic rod and a magnetic male head, the lower connecting module includes a magnetic female head, one end of the telescopic rod is connected to the inspection mother drone, and the other end is connected to the magnetic male head, the magnetic female head is detachably connected to the bomb disposal sub-drone, and the magnetic female head and the magnetic male head are adsorbed and connected.

2. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 1, characterized in that: The inspection mother drone comprises: A first drone fuselage and a first flight control system, wherein the first drone fuselage comprises a first drone central disk, a first machine arm and a landing gear, wherein the landing gear is detachably arranged at the bottom of the first drone central disk, at least four first machine arms are arranged around the circumference of the first drone central disk, one end of the telescopic rod is connected to the bottom of the first drone central disk, and a first flight system is arranged in the middle of the drone central disk, wherein the first flight system comprises a first flight master controller, a flight slave control module, a first communication module, a first internal perception module, an external perception module, an external communication module and a first power module; The first flight master controller is respectively connected to the external sensing module, the first internal sensing module, the first communication module and the flight slave control module, and is used to implement information and command interaction with the external sensing module, the first internal sensing module, the first communication module and the flight slave control module respectively; The flight slave control module is connected to the first power module, and is used to receive the flight instructions of the first flight master controller and send them to the first power module to perform flight missions and flight attitude adjustments; The first power module is used to provide flight power for the inspection mother UAV; The first communication module is used to implement information interaction with the external communication module and the second communication module respectively; The first internal sensing module is used to sense the internal state of the inspection mother drone and transmit it to the first flight main controller; The external communication module is used to realize information interaction with the ground workstation.

3. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 2 is characterized in that: The bomb disposal sub-drone comprises: A second drone fuselage, a second flight control system and a destruction system, wherein the second drone fuselage includes a second drone central disk and a second machine arm, at least four second machine arms are arranged around the circumference of the second drone central disk, the magnetic female head is detachably connected to the top of the second drone central disk, the destruction system is connected to the bottom of the second drone central disk, and the second flight control system includes a second flight main controller, a second communication module, a second power module and a second internal sensing module; The second flight main controller is respectively connected to the second communication module, the second power module, the second internal sensing module and the destruction system, and is used to realize information and command interaction with the second communication module, the second power module, the second internal sensing module and the destruction system respectively; The second communication module is used to exchange information with the first communication module; The second power module is used to provide flight power for the EOD sub-UAV; The second internal sensing module is used to sense the internal state of the EOD sub-UAV and transmit it to the second flight main controller; The destruction system is used to lock and destroy the target object.

4. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 2 or 3, characterized in that: The external perception module comprises: Optical flow sensors, radar sensors, positioning sensors, and vision sensors; The optical flow sensor is used to analyze the movement of pixels or feature points in the image to sense the relative displacement and speed of the inspection mother drone; The radar sensor is used to provide distance information of the target object; The positioning sensor is used to provide basic data for the navigation and track planning of the inspection mother UAV; The visual sensor is used to capture images or videos to perceive the surrounding environment, and transmit the captured information to the first flight main controller for processing.

5. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 2 or 3, characterized in that: The first power module and the second power module both include: A rotor motor, a propeller and an electronic speed regulator, wherein the rotor motor is connected to the first arm or the second arm, the output end of the rotor motor is connected to the propeller, and the electronic speed regulator is connected to the rotor motor and is used to adjust the speed of the rotor motor according to the instructions of the first flight main controller or the second flight main controller.

6. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 2 or 3, characterized in that: The first internal perception module and the second internal perception module both include: Inertial measurement unit, speed sensor unit and air pressure measurement unit; The inertial measurement unit is used to measure the acceleration, angular velocity and magnetic field strength of the inspection mother UAV or the bomb disposal daughter UAV; The rotation speed measurement unit is used to measure the rotation speed of the rotor motor of the inspection mother UAV or the bomb disposal daughter UAV; The air pressure measurement unit is used to measure the height information of the inspection mother UAV or the bomb disposal daughter UAV in real time.

7. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 2, characterized in that: The external communication module comprises: air-to-ground communications units and receivers; The air-to-ground communication unit is used to realize two-way data transmission and communication between the inspection mother UAV and the ground control station; The receiver is used to receive the radio wave signal sent by the ground control station.

8. The unmanned unexploded ordnance removal system based on a mother-and-child UAV platform as claimed in claim 3, characterized in that: The destruction system comprises: The posture adjustment platform and the shaped jet warhead are used to destroy the target object; the posture adjustment platform is used to adjust the posture of the shaped jet warhead.

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