A moving and flying multi-robot system used for gallery detection and search-and-rescue comprises an out-of-gallery commanding terminal (1), a controlling terminal (2), a moving carrier robot (4) and flying robots (5). The moving carrier robot and the controlling terminal are in communication through an optical fiber (2), the flying robots are carried to enter a gallery in a control mode of remote-control guiding and automatic obstacle avoiding, flying of a takeoff flying robot can be guided by generating a laser beam (9) through a laser generating module (8), a wireless communication network is automatically established among the robots through a wireless communication module, and the flying robots fly under combined control of laser guiding, remote control and automatic obstacle avoidance modules, transmit detection information back to the moving carrier robot and further transmit on-site detection information to the controlling terminal and the out-of-gallery commanding terminal through the moving carrier robot. Long-distance detection and search-and-rescue in the gallery are realized by adopting a mode combining moving with flying and combining the optical fiber with wireless communication.