Aiming at the task allocation problem when multiple heterogeneous UAVs perform multiple tasks such as reconnaissance and attack, a Windows Consensus-Based Bundle Algorithm (WCBBA) is proposed.The algorithm solves the problem of multi-UAV task allocation based on the constraints of task time window and UAV loading limit.Firstly, the task allocation model of multiple heterogeneous UAVs is established based on the constraints, and the task revenue function and the discount function due to flight distance are designed.Secondly, the algorithm is used to solve the allocation model of reconnaissance and attack tasks of multiple UAVs.The simulation results show that the algorithm can successfully and efficiently resolve the conflict in the process of task allocation and realize the optimal task allocation.It has certain theoretical and practical value for multi-task decomposition in the cooperative operation of multiple heterogeneous UAVs.