Low-cost method for remotely reconnaissance and attack of moving target by bee colony unmanned aerial vehicle

Abstract

The invention provides a low-cost method for remotely reconnaissance and attack of a moving target by a swarm unmanned aerial vehicle, which comprises the following structures: an intelligent brain configured with a plurality of mother machines, the plurality of mother machines can establish communication connection and form series communication, and a single mother machine carries a plurality of attack machines; the master aircraft is controlled to carry the aggressor to fly to a suspicious range of a planned reconnaissance azimuth, the master aircraft can be controlled to collect video image information of the suspicious range, and the aggressor can be released and controlled to attack an attack target in the suspicious range; the master aircraft is controlled to carry the aggressor to fly to a delimited range of a planned reconnaissance orientation, remote transmission with an aggressor control signal can be realized, an AI guidance module or an individual soldier indicator can approach an attack target in a short distance, the safety of an intelligent brain and an unmanned aerial vehicle operator is improved, and the attack cost is remarkably reduced.

Description

Technical Field

[0001] The present invention mainly relates to the field of unmanned aerial vehicles (UAVs), and in particular to a low-cost method for remotely detecting and attacking mobile targets by using a swarm of UAVs. Background Art

[0002] AI guidance is a high-cost, high-precision guidance and control method, which specifically includes: setting up a guidance module on the aircraft, and realizing automatic detection, locking, tracking and precise strikes of static / dynamic targets through a camera module during the launch and flight of the aircraft. During the flight, the AI ​​guidance system evaluates and adjusts the flight attitude of the drone in real time to ensure the accuracy of target tracking and the effective execution of the strike mission.

[0003] However, the AI ​​guidance method has the following defects: High cost. The AI ​​guidance module usually needs to work with the camera module. Therefore, each successful attack means the destruction of a set of AI guidance modules and camera modules, and the attack cost is high. It is easy to lose track of flexibly moving attack targets. When the aircraft approaches the attack target, the camera module's field of view is easily interfered by obstacles near the attack target, thus losing the target, causing the attack mission to fail, and it is easy to be destroyed by defensive weapons. The trajectory of an aircraft equipped with an AI guidance module approaching the attack target is usually a straight line, which can easily be shot down by the enemy's passive defense weapons. Summary of the invention

[0004] 1. Problems to be solved by the invention: The present invention provides a low-cost method for remotely detecting and attacking mobile targets by a swarm of drones, which is used to solve the technical problems of existing drones mentioned in the above background technology, such as high attack costs, easy loss of tracking and easy shooting down.

[0005] 2. Technical solution: To achieve the above object, the technical solution provided by the present invention is: a low-cost method for remotely detecting and attacking mobile targets by a swarm of drones, comprising the following structure: The intelligent brain is configured with multiple mother machines, and the multiple mother machines can establish communication connections and form series communication. A single mother machine is equipped with multiple attack aircraft.

[0006] The operation method of the mother machine is as follows: The intelligent brain controls the mother aircraft carrying the attack aircraft to fly to the planned reconnaissance position and / or designated range, and the attack aircraft can be deployed in advance when the mother aircraft arrives at the target location.

[0007] Adjacent master machines among the multiple master machines establish communication connections to form serial communication, wherein the actual distance between two adjacent master machines needs to be smaller than the effective communication distance between the two master machines.

[0008] The intelligent brain sends reconnaissance instructions to the mother machine and receives video image information of suspicious areas collected by the mother machine.

[0009] The intelligent brain determines the attack target based on the video image information and sends attack instructions to the mother machine.

[0010] Based on the real-time relative coordinates of the attack aircraft and the target, the mother aircraft deploys a swarm of attack aircraft and sends flight control instructions to the attack aircraft in real time. The maximum actual flight distance of the deployed attack aircraft is less than the effective communication distance between it and the mother aircraft, and the attack aircraft is controlled to continuously approach and collide with the target.

[0011] Among them, the principle of the AI ​​guidance module to plan the attack aircraft's flight path in real time is as follows: When the mother aircraft launches the attack aircraft to attack, the three-dimensional coordinates of the attack aircraft, the three-dimensional coordinates of the attack target, and the obstacle coordinates are obtained from the camera module. Based on the above coordinates, a spatial line is connected between the three-dimensional coordinates of the attack aircraft k1 and the three-dimensional coordinates of the attack target to generate a spatial arc as the diameter, which is defined as a feasible arc. The part that overlaps with the obstacle coordinates is removed from the feasible arc, and the best route is selected from the remaining part of the feasible arc. At the same time, the optimal route is recommended to be the one with the maximum altitude coordinate of the flight path point. Furthermore, the mother machine includes a communication router, a camera module, an AI guidance module and a three-axis gimbal. The communication router is used to transmit interactive information between the intelligent brain and the attack aircraft. The camera module is used to collect video image information of the suspicious range. The AI ​​guidance module is used to control the attack aircraft to approach and hit the attack target within the suspicious range.

[0012] The three-axis gimbal is assembled with the camera module, and the base part of the three-axis gimbal is assembled with the body of the mother machine.

[0013] Furthermore, the mother aircraft is a vertical take-off and landing fixed-wing UAV.

[0014] The vertical take-off and landing fixed-wing UAV comprises two parts: a fixed-wing UAV and a three-rotor (Y-type) UAV.

[0015] The wings of the fixed-wing UAV are vertically connected to its longitudinal main axis.

[0016] The three-rotor Y-type UAV has a symmetrical structure, in which the two rotors close to the flight direction are equipped with tilt mechanisms and tilt servos, in which the tilt axis is parallel to the plane where the three rotors are located and perpendicular to the symmetry plane of the three rotors. When it switches to fixed-wing mode, the tail rotor stops working and the front tilt servo rotates 90° clockwise, so that the two front rotor surfaces work perpendicular to the ground, providing forward power for the fixed wing.

[0017] The center of gravity of the three-rotor Y-type UAV is fixed above the longitudinal main axis of the fixed-wing UAV, coincides with the center of gravity of the fixed-wing UAV, and the spatial angle between the two longitudinal main axes is 0°.

[0018] Furthermore, the attack aircraft includes a remote control receiver and a warhead, the remote control receiver receives a flight control signal from a mother aircraft, and the warhead is used to attack the attack target.

[0019] Furthermore, the attack aircraft is a foldable quad-rotor drone.

[0020] The foldable quad-rotor drone is mainly composed of two rectangular arms, which are coaxially fixed at the geometric center of the arms. In the unfolded state, the two rectangular arms form a 90° angle, and two torsion springs are coaxially installed at the axis position. The torsion spring arms are fixed on the arms. In the unfolded state, the torsion springs are in a naturally straightened state. The two rectangular arms of the foldable quad-rotor drone are folded and overlapped and placed inside the delivery tube. The rectangular arms are rotated 90° around the fixed axis to the overlapping position. At this time, the two torsion springs are compressed and stored. The delivery tube is a cylindrical cavity. When the coil spring at the bottom is in a compressed state, the foldable quad-rotor drone enters a ready-to-fire state. The release of the coil spring is controlled by the servo mechanism of the mother machine. The delivery tube is symmetrically assembled under the wing of the mother machine, and the axis of the delivery tube is parallel to the symmetry axis of the mother machine.

[0021] 3. Beneficial effects: Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The present invention provides a low-cost method for remotely detecting and attacking mobile targets by a swarm of UAVs. The method controls a mother aircraft carrying an attack aircraft to fly within a suspicious range of a planned reconnaissance position, controls the mother aircraft to collect video image information of the suspicious range, and launches and controls the attack aircraft to attack targets within the suspicious range. The method controls the mother aircraft carrying the attack aircraft to fly within a designated range of the planned reconnaissance position, realizes remote transmission of control signals with the attack aircraft, allows an AI guidance module or a single-soldier instruction personnel to approach the attack target at close range, and improves the safety of the intelligent brain and the UAV operator, thereby significantly reducing the cost of attack.

[0022] The parts not involved in the device are the same as those in the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of the present invention; Figure 2 It is a schematic diagram of a mother aircraft and an attack aircraft of the present invention; Figure 3 A schematic diagram of the communication between the intelligent brain and the mother machine of the present invention; Figure 4A schematic diagram of the communication between the intelligent brain and the mother machine of the present invention; Figure 5 It is a schematic diagram of the attack aircraft deployment of the present invention. DETAILED DESCRIPTION

[0024] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items. Example

[0026] Reference Figure 1-5 , a low-cost method for swarm drones to remotely detect and attack mobile targets, combined with the current AI guidance method, which is easy to lose track, close-range mobile attack targets are easy to be shot down and the attack cost is high. In order to overcome the technical defects of the above-mentioned AI guidance method, the characteristics of drones flying long distances and stable load carrying are used to achieve remote saturation reconnaissance and remote saturation attacks on target objects.

[0027] The following is a description of the implementation process of the low-cost method for remotely detecting and attacking mobile targets by a swarm of drones provided by the present invention in conjunction with the accompanying drawings, which specifically includes: Step 1: Control the mother aircraft to carry the attack aircraft to fly within the designated range of the planned reconnaissance position. The designated range refers to the area where the mother aircraft stays at the planned reconnaissance position. The mother aircraft can be used to transmit information exchange between the intelligent brain and the attack aircraft, and collect video image information within the reconnaissance area. Among them, the intelligent brain can be the control center of the mother aircraft and the attack aircraft.

[0028] By controlling the mother aircraft to stay within the designated range of the planned reconnaissance position, information interaction between the intelligent brain and the attack aircraft can be achieved, thereby enabling remote control of the attack aircraft.

[0029] Step 2: Send reconnaissance instructions to the mother machine and receive video image information of the suspicious range collected by the mother machine. From the above step 1, it can be seen that the mother machine can be used to transmit information between the intelligent brain and the attack machine.

[0030] Interactive information transmission, so the smart brain can send attack targets and attack instructions to the mother machine, and the mother machine will transmit the collected video image information back to the smart brain.

[0031] After receiving the reconnaissance command, the mother machine can collect video images of the suspicious range and finally send the video image information to the intelligent brain.

[0032] The attack target is determined based on the video image information, and the attack target information and attack instructions are sent to the mother machine.

[0033] After determining the attack target based on the video image information collected by the mother aircraft, the mother aircraft can deploy a swarm of attack aircraft and send flight control instructions to the attack aircraft in real time based on the real-time relative coordinates of the attack aircraft and the attack target captured by the camera module, so as to control the attack aircraft to continuously approach and collide with the attack target.

[0034] After controlling the mother aircraft carrying the attack aircraft to fly to the suspicious range of the planned reconnaissance position, the mother aircraft can be controlled to collect video image information of the suspicious range, and the attack aircraft can be controlled to attack the attack target within the suspicious range: controlling the mother aircraft carrying the attack aircraft to fly to the designated range of the planned reconnaissance position can realize the remote transmission of the control signals of the mother aircraft and the attack aircraft, so that the AI ​​guidance module or individual instruction personnel can approach the attack target at close range, and improve the safety of the UAV control platform and UAV operators.

[0035] Wherein step 1 may also include the following steps: The mother machine may include one or more mother machines. When multiple mother machines are used, the search distance of the suspicious range in the planned reconnaissance direction can be expanded.

[0036] You can control multiple mother aircraft to fly to the planned reconnaissance area according to the following steps, including: Determine the ranges of multiple mother aircraft at the planned reconnaissance position. In this embodiment, the number of mother aircraft and the range of each mother aircraft wandering at the preset reconnaissance position can be determined based on the position of the suspicious range of the planned reconnaissance position.

[0037] Control multiple mother aircraft to fly to their respective designated ranges, and control adjacent mother aircraft among the multiple mother aircraft to establish communication connections to form series communication, control the mother aircraft closest to the suspicious range to release attack aircraft, and establish communication connections with the attack aircraft.

[0038] The actual distance between two adjacent mother aircraft should be less than the maximum communication distance between the two mother aircraft: the maximum flight distance of the attack aircraft in the planned reconnaissance position should be less than the effective communication distance of the aircraft in the same range; when each aircraft includes multiple mother aircraft, the maximum flight distance of the attack aircraft in the planned reconnaissance position should be less than the maximum effective communication distance of the series communication formed by multiple mother aircraft.

[0039] The position of the attack aircraft can also be deployed and adjusted according to the position of the mother aircraft in the planned reconnaissance direction, that is, it is necessary to ensure stable communication between the mother aircraft and the attack aircraft.

[0040] Through collaborative control of the mother machine, all-round, multi-angle saturation reconnaissance of the suspicious range can be achieved, and when relying on AI guidance technology to carry out target strikes, long-range saturation attacks can be carried out on the attack target, allowing the AI ​​guidance module or individual soldier designation personnel to approach the attack target at close range and improve the safety of the AI ​​guidance module or individual soldier designation personnel.

[0041] Although the various steps are described in the above-mentioned chronological order, those skilled in the art will appreciate that, in order to achieve the effect of this embodiment, different steps do not have to be performed in such an order, and they may be performed simultaneously and / or in parallel or in reverse order, and these simple changes are within the scope of protection of the present invention.

[0042] The mother machine may include the following structures, specifically: The mother machine may include a communication router, which can be used to transmit interactive information between the intelligent brain and the attack aircraft, wherein the interactive information may include attack instructions and flight control instructions issued by the intelligent brain to the attack aircraft.

[0043] The attack aircraft may include the following structures, specifically: The attack aircraft may include a remote control receiver and a warhead; wherein the remote control receiver is used to receive flight control instructions sent by the mother aircraft; the warhead is used to attack the attack target. In this embodiment, the warhead refers to the final damage unit of various types of ammunition and missiles to damage the target, and is mainly composed of a shell, combat charges, a detonator and a safety device.

[0044] The mother aircraft can use a vertical take-off and landing fixed-wing UAV, and the attack aircraft can use a foldable quad-rotor UAV. The vertical take-off and landing fixed-wing UAV has the advantages of vertical take-off and landing, high-speed flight and stable hovering.

[0045] The structure of a vertical take-off and landing fixed-wing UAV, which can include a fixed-wing UAV and a three-rotor Y-type UAV. Among them, the wing of the fixed-wing UAV is vertically connected to the longitudinal main axis of the fixed-wing UAV, and the center of gravity is on the main axis. The geometric center of the rotor of the three-rotor Y-type UAV 2 intersects at point G2, which is also the center of gravity of the three-rotor (Y-type) UAV. The two front rotors are respectively equipped with a tilt mechanism and a tilt servo, in which the tilt axis coincides with the plane where the three rotors are located and is perpendicular to the symmetry axis of the three rotors. When switching to the fixed-wing mode, the tail rotor stops working, and the front lead servo rotates 90° clockwise at the same time, so that the rotor rotation plane is perpendicular to the ground and the longitudinal main axis respectively, so that the two front rotors provide forward power for the fixed wing.

[0046] The center of gravity of the Sanxuanxian Y-type drone is fixed to the center of gravity of the fixed-wing drone through the fuselage structure to avoid interference with flight due to unstable center of gravity.

[0047] The foldable quad-rotor drone is mainly composed of two rectangular fuselages, which are coaxially symmetrically installed at the geometric center. In the unfolded state, the two rectangular fuselages form a 90° angle. In the unfolded state, the two torsion springs coaxially installed at the axis position are in a natural extension state, and the torsion spring hips are fixed on the fuselage. The two rectangular fuselages of the foldable quad-rotor drone are rotated 45° around the axis. At this time, the two torsion springs are compressed and force is stored. The folded quad-rotor drone enters a ready-to-fire state and is placed in a delivery tube. The coil spring at the bottom of the delivery tube is in a compressed state. The delivery tube is symmetrically installed under the wing of the mother aircraft, and the axis of the delivery tube is parallel to the symmetry axis of the mother aircraft.

[0048] The UAV remote coordinated reconnaissance and attack system can include an intelligent brain, a mother aircraft, and an attack aircraft.

[0049] Among them, the intelligent brain can be used to control the mother aircraft carrying the attack aircraft to fly within the designated range of the planned reconnaissance position, and to launch and control the attack aircraft to fly within the suspicious range of the planned reconnaissance position.

[0050] The mother machine is provided with a communication router. In this embodiment, the communication router can be used to transmit the interactive information between the intelligent brain and the attacking machine.

[0051] The mother machine is equipped with a camera module and an AI guidance module. In this embodiment, the camera module can be used to collect video image information of the suspicious range based on the reconnaissance instructions issued by the intelligent brain, and transmit the video image information to the intelligent brain; the AI ​​guidance module can be used to launch the attack aircraft based on the attack target information and attack instructions issued by the intelligent brain, and control the attack aircraft to attack the attack target within the suspicious range.

[0052] The attack aircraft is equipped with a remote control receiver and a warhead. The remote control receiver RX-1 can be used to receive flight control instructions; the warhead can be used to attack the attack target. At the same time, the attack aircraft executes flight actions according to the attack instructions and flight control instructions issued by the mother aircraft to attack the attack target.

[0053] The mother machine may include one or more mother machines, multiple mother machines establish communication with the intelligent brain, and multiple attack machines establish communication with the mother machine, wherein adjacent mother machines form a serial communication link, and all mother machines are distributed in the planned reconnaissance position in turn and form a serial communication link.

[0054] The intelligent digital brain can be used to control multiple mother aircraft to fly to their respective designated ranges on the planned reconnaissance positions. At the same time, the intelligent hidden brain establishes a communication connection with the mother aircraft closest to it, and controls adjacent mother aircraft among multiple mother aircraft to establish communication connections to form series communication, and controls the mother aircraft closest to the suspicious range to deploy attack aircraft groups and establish communication connections with the attack aircraft.

[0055] In order to ensure the stability of the serial communication link formed by the mother machine and the stability of the communication between the mother machine and the attack machine, it is necessary to control the actual distance between two adjacent mother machines to be smaller than the effective communication distance between the mother machines, and it is also necessary to control the actual maximum flight distance of the attack machine at the suspected reconnaissance position to be smaller than the effective communication distance of the mother machine.

[0056] Attack aircraft can include one or more attack aircraft, and the attack targets can include one or more active targets. All attack aircraft are carried by the mother aircraft. When the intelligent brain determines the attack target within the suspicious range, it can issue an attack command to one or more mother aircraft, control the mother aircraft to launch a swarm of attack aircraft and attack the attack target.

[0057] The implementation process of the UAV remote reconnaissance and attack system for mobile targets includes: Step 1: The intelligent brain controls multiple mother aircraft to carry multiple attack aircraft to take off, and controls multiple mother aircraft to fly in sequence to their respective designated ranges on the planned reconnaissance positions.

[0058] Step 2: The intelligent brain sends a reconnaissance command to the mother machine, and the mother machine forwards the reconnaissance command to the mother machine.

[0059] Step 3: The mother machine controls the camera module to collect video image information of the suspicious range according to the reconnaissance command, and sends the collected video image information to the mother machine, and finally the mother machine sends the video image information to the intelligent brain.

[0060] Step 4: The intelligent brain determines the attack target based on the received video image information Step 5: The intelligent brain sends the confirmation command and attack command containing the attack target information to the mother machine, which forwards the above command to another mother machine. The mother machine that receives the command launches the attack aircraft. The camera module of the mother machine tracks and locks the attack target and the position of the attack aircraft. The AI ​​guidance module of the mother machine plans the flight route of the attack aircraft in real time, and then sends the generated flight remote control command and attack command to the attack aircraft.

[0061] Step 6: After receiving the attack command and control command, the attack aircraft executes flight actions according to the attack command and flight control command to carry out precise strikes on the attack target.

[0062] During the collaborative work of the mother aircraft and the attack aircraft, the camera module of the mother aircraft locks the target, the AI ​​guidance module issues flight control instructions in real time, the attack aircraft receives and executes the flight instructions, flies towards the target in a suicide attack, and finally destroys the target through the warhead.

[0063] The specific intelligent brain will send the confirmation instructions and attack instructions of the attack target to the mother machine, and the mother machine will forward the above instructions to other mother machines within its communication distance. The designated mother machine will launch the attack aircraft it carries. The camera module of the mother machine will track and lock the attack target and the position of the attack aircraft. The guidance module of the mother machine will plan the flight route of one or more attack aircraft in real time, and then send the generated flight remote control instructions and attack instructions to the corresponding attack aircraft.

[0064] Among them, the principle of the AI ​​guidance module to plan the attack aircraft's flight path in real time is as follows: When the mother aircraft launches an attack aircraft to attack, the three-dimensional coordinates of the attack aircraft, the three-dimensional coordinates of the attack target, and the obstacle coordinates are obtained from the camera module. Based on the above coordinates, a spatial line is connected between the three-dimensional coordinates of the attack aircraft k1 and the three-dimensional coordinates of the attack target to generate a spatial arc with a diameter, which is defined as a feasible arc. The part overlapping with the obstacle coordinates is removed from the feasible arc, and the best route is selected by calibration from the remaining part of the feasible arc. At the same time, the optimal route is recommended to be the one with the maximum altitude coordinate of the flight path point.

[0065] The mother aircraft uses a vertical take-off and landing fixed-wing UAV, and the attack aircraft uses a foldable quad-rotor UAV. Through the intelligent brain, the mother aircraft and the attack aircraft can be quickly deployed at the planned reconnaissance position, and can realize long-range reconnaissance and long-range attack on the attack target.

[0066] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A low-cost method for remotely detecting and attacking mobile targets by using a swarm of drones, characterized in that: Includes the following structure: Smart brain, the smart brain is equipped with multiple mother machines, multiple mother machines can establish communication connections and form serial communication, and a single mother machine is equipped with multiple attack machines; The operation method of the mother machine is as follows: The intelligent brain controls the mother aircraft to carry the attack aircraft to fly to the planned reconnaissance position and / or designated range. When the mother aircraft arrives at the target location, the attack aircraft can be deployed in advance; Adjacent master machines among multiple master machines establish communication connections to form serial communication, wherein the actual distance between two adjacent master machines must be smaller than the effective communication distance between the two master machines; The intelligent brain sends reconnaissance instructions to the mother machine and receives video image information of suspicious areas collected by the mother machine; The intelligent brain determines the attack target based on the video image information and sends attack instructions to the mother machine; Based on the real-time relative coordinates between the attack aircraft and the target, the mother aircraft deploys a swarm of attack aircraft and sends flight control instructions to the attack aircraft in real time. The maximum actual flight distance of the deployed attack aircraft is less than the effective communication distance between it and the mother aircraft, and the attack aircraft is controlled to continuously approach and hit the target. Among them, the principle of the AI ​​guidance module to plan the attack aircraft's flight path in real time is as follows: When the mother aircraft launches an attack aircraft to attack, the three-dimensional coordinates of the attack aircraft, the three-dimensional coordinates of the attack target, and the obstacle coordinates are obtained from the camera module. Based on the above coordinates, a spatial line is connected between the three-dimensional coordinates of the attack aircraft k1 and the three-dimensional coordinates of the attack target to generate a spatial arc with a diameter, which is defined as a feasible arc. The part overlapping with the obstacle coordinates is removed from the feasible arc, and the best route is selected by calibration from the remaining part of the feasible arc. At the same time, the optimal route is recommended to be the one with the maximum altitude coordinate of the flight path point.

2. The low-cost method for remotely detecting and attacking mobile targets by swarm drones according to claim 1 is characterized by: The mother machine includes a communication router, a camera module, an AI guidance module and a three-axis gimbal. The communication router is used to transmit interactive information between the intelligent brain and the attack aircraft. The camera module is used to collect video image information of the suspicious range. The AI ​​guidance module is used to control the attack aircraft to approach and hit the attack target within the suspicious range. The three-axis gimbal is assembled with the camera module, and the base part of the three-axis gimbal is assembled with the body of the mother machine.

3. The low-cost method for remotely detecting and attacking mobile targets by swarm drones according to claim 1 is characterized by: The mother aircraft is a vertical take-off and landing fixed-wing UAV; The vertical take-off and landing fixed-wing UAV comprises two parts: a fixed-wing UAV and a three-rotor (Y-type) UAV; The wings of the fixed-wing UAV are connected perpendicularly to its longitudinal main axis; The three-rotor Y-type drone has a symmetrical structure, wherein the two rotors close to the flight direction are equipped with a tilt mechanism and a tilt servo, wherein the tilt axis is parallel to the plane where the three rotors are located and perpendicular to the symmetry plane of the three rotors. When it is switched to the fixed-wing mode, the tail rotor stops working, and the front tilt servo rotates 90° clockwise, so that the front two rotor surfaces work perpendicular to the ground, providing the fixed wing with forward power; The center of gravity of the three-rotor Y-type UAV is fixed above the longitudinal main axis of the fixed-wing UAV, coincides with the center of gravity of the fixed-wing UAV, and the spatial angle between the two longitudinal main axes is 0°.

4. The low-cost method for remotely detecting and attacking mobile targets by using a swarm of unmanned aerial vehicles according to claim 1 is characterized in that: The attack aircraft comprises a remote control receiver and a warhead, wherein the remote control receiver receives a flight control signal from a mother aircraft, and the warhead is used to attack the attack target.

5. The low-cost method for remotely detecting and attacking mobile targets by using a swarm of unmanned aerial vehicles according to claim 1 is characterized in that: The attack aircraft is a folding quad-rotor drone; The foldable quad-rotor drone is mainly composed of two rectangular arms, which are coaxially fixed at the geometric center of the arms. In the unfolded state, the two rectangular arms form a 90° angle, and two torsion springs are coaxially installed at the axis position. The torsion spring arms are fixed on the arms. In the unfolded state, the torsion springs are in a naturally straightened state. The two rectangular arms of the foldable quad-rotor drone are folded and overlapped and placed inside the delivery tube. The rectangular arms are rotated 90° around the fixed axis to the overlapping position. At this time, the two torsion springs are compressed and stored. The delivery tube is a cylindrical cavity. When the coil spring at the bottom is in a compressed state, the foldable quad-rotor drone enters a ready-to-fire state. The release of the coil spring is controlled by the servo mechanism of the mother machine. The delivery tube is symmetrically assembled under the wing of the mother machine, and the axis of the delivery tube is parallel to the symmetry axis of the mother machine.

Images