compount collider or other solution

Hello, my scene contains one empty GameObject with a Rigidbody and a couple of child Objects with Rigidbody and Collider (box and capsule). I now want a script on the parent object that detects the collision (by trigger) when one of the children hit another object.

The answer could be compound collider but as far as a have read and tested it does not work with ridigbodys on the child objects.

Is there an easier way to achieve what a want without putting scripts on all my child objects?

Thanks for the answers.