阅读说明：本技术 一种水域无人机救援系统及其救援方法 (Unmanned aerial vehicle rescue system and rescue method for water area ) 是由 栾飞 桓源 王勍 于恒哲 李颖 巨苗苗 刘国龙 王佳琦 李孝 于 2020-04-22 设计创作，主要内容包括：本发明公开了一种水域无人机救援系统,包括无人机,无人机下方连接有空投模块,空投模块连接有救生模块,本发明还公开了一种水域无人机救援方法,无人机巡航时从无人机控制室出发,对所有任务目标点进行巡航,其巡航结束后无需返回出发点,而是降落于最后一个任务地点。本发明所提供的无人机救援系统可以代替人们巡视水域,极大的节省了人力,提高了巡查效率,本发明可以应用在一些广阔的水域和人流较大的水域,较人工巡查提高了救援效率,极大的提高了水域游览的安全性,缩短了营救落水人员的时间。(The invention discloses a water area unmanned aerial vehicle rescue system which comprises an unmanned aerial vehicle, wherein an air drop module is connected below the unmanned aerial vehicle, and the air drop module is connected with a lifesaving module. The unmanned aerial vehicle rescue system provided by the invention can replace people to patrol a water area, greatly saves manpower, improves the patrol efficiency, can be applied to a plurality of wide water areas and water areas with larger stream of people, improves the rescue efficiency compared with manual patrol, greatly improves the safety of water area tour, and shortens the time for rescuing people falling into water.)

1. The utility model provides a waters unmanned aerial vehicle rescue system, its characterized in that, includes unmanned aerial vehicle (1), unmanned aerial vehicle (1) below is connected with air-drop module (2), air-drop module (2) are connected with lifesaving module (3).

2. A water area unmanned aerial vehicle rescue system as claimed in claim 1, wherein the unmanned aerial vehicle (1) is provided with an infrared distance measuring sensor (4), a camera (5) is arranged on one side of the infrared distance measuring sensor (4), and an air drop module (2) is arranged below the unmanned aerial vehicle (1) through a connecting frame.

3. A water area unmanned aerial vehicle rescue system as claimed in claim 2, wherein the airdrop module (2) comprises a transmitting plate (17) and a receiving plate (18), the transmitting plate (17) is provided with an HC-12 transmitting end (19), the HC-12 transmitting end (19) is connected with a single chip microcomputer A (20), the single chip microcomputer A (20) is connected with an LED indicating lamp (26), the receiving plate (18) is provided with an HC-12 receiving end (21), the HC-12 receiving end (21) is connected with a single chip microcomputer B (22), the single chip microcomputer B (22) is respectively connected with an electromagnet (23), a pyroelectric infrared sensor (24) and a buzzer (25), and the electromagnet is connected with the lifesaving module (3).

4. A water unmanned rescue system as claimed in claim 3, wherein the rescue module (3) comprises a housing (6), a life buoy (7) is arranged in the housing (6), a check valve (8) is arranged on the life buoy (7), the check valve (8) is connected with a plenum chamber (9), a gas cylinder (10) is connected to one side of the plenum chamber (9), an inflation housing (11) is fixedly connected to the other side of the plenum chamber (9), a spring (12) is fixedly connected in the inflation housing (11), the spring (12) is connected with a firing pin A (13), the plenum chamber (9) is provided with a hole, an instant tablet (14) is arranged in the hole, the firing pin A (13) is connected to one side of the instant tablet (14), the firing pin B (15) is connected to the other side of the instant tablet (14), and the firing pin B (15) is connected with the gas cylinder (, and an iron sheet (16) is fixedly connected to the outer wall of the shell (6), and the iron sheet (16) is connected with the electromagnet on the air-drop module.

5. An unmanned aerial vehicle rescue method for a water area is characterized by comprising the following steps:

step 1, surveying the actual terrain of a water area, setting a cruising path of an unmanned aerial vehicle, and determining a cruising target task place of the unmanned aerial vehicle;

step 2, starting all the unmanned aerial vehicles (1) from a ground control room, and cruising according to the unmanned aerial vehicle cruising path set in the step 1;

step 3, in the cruising process of the unmanned aerial vehicle (1), if the unmanned aerial vehicle (1) reaches a target task site, the unmanned aerial vehicle (1) uses a camera (5) to perform hovering shooting records in the air, the shooting records are transmitted back to a ground control room, and the unmanned aerial vehicle continues to go to the next task site after finishing shooting tasks;

step 4, in the cruising process of the unmanned aerial vehicle (1), if people falling into the water are not found, the unmanned aerial vehicle (1) returns to a ground control room for maintenance and charging, if people falling into the water are found, the unmanned aerial vehicle (1) stops a cruising task, goes to a place falling into the water, transmits the field condition to the ground control room through an air drop module, rescuers go to the field for rescue, and meanwhile, the unmanned aerial vehicle (1) releases the lifesaving module (3);

and 5, rescuing the person falling into the water, returning the unmanned aerial vehicle (1) to the ground control room for overhauling and charging, and finishing the cruising and rescuing tasks of the unmanned aerial vehicle (1).

6. The water area unmanned aerial vehicle rescue method according to claim 5, wherein the step 1 is specifically that a water area cruising area is made into a two-dimensional coordinate graph, a water area cruising target task place is converted into XY coordinates in the two-dimensional coordinate graph, the generated XY coordinates are input into a genetic algorithm, and an unmanned aerial vehicle cruising path is calculated.

7. The rescue method for unmanned aerial vehicles in water area according to claim 5, wherein the step 2 is to input the cruising path of the unmanned aerial vehicle into the ground station system of the unmanned aerial vehicle, the ground control room of the unmanned aerial vehicle dispatches all the unmanned aerial vehicles (1), the unmanned aerial vehicle (1) is controlled to take off by the ground station system, and the unmanned aerial vehicle (1) automatically cruises.

8. An unmanned rescue method for water area as claimed in claim 5, wherein in step 4, after the unmanned aerial vehicle (1) detects the human body signal through the pyroelectric infrared sensor in the air drop module (2), the unmanned aerial vehicle (1) automatically releases the rescue module (3), or the ground station worker operates the unmanned aerial vehicle (1) to release the rescue module (3).

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and relates to a rescue system of an unmanned aerial vehicle in a water area and a rescue method of the unmanned aerial vehicle in the water area.

Background

In recent years, with the national advocate the development strategy of harmonious and harmonious development of human and nature, public green lands and ecological protection areas are greatly built in various regions of China, wherein waterscape becomes a main viewpoint in ecological construction in various regions. However, in the construction process of some ecological parks, only the ecological construction of the water area is considered, but personal safety guarantee measures during personnel visit are ignored, so that the problem that personnel are unfortunately drowned in the water of the artificial lake is more serious. And in daily maintenance management of artificial lakes, traditional manual inspection and maintenance are adopted, so that the maintenance efficiency and level are difficult to improve. Therefore, the design of the reliable and rapid artificial lake water area cruise early warning and drowning rescue system can not only improve the water area patrol working level, but also improve the water area safety guarantee system

Disclosure of Invention

The invention aims to provide a rescue system of an unmanned aerial vehicle in a water area, and solves the problems of low rescue efficiency and backward rescue mode in the prior art.

The invention also provides a rescue method for the unmanned aerial vehicle in the water area.

The invention adopts the technical scheme that the unmanned aerial vehicle rescue system for the water area comprises an unmanned aerial vehicle, wherein an air-drop module is connected below the unmanned aerial vehicle, and the air-drop module is connected with a lifesaving module.

Install infrared distance measuring sensor on the unmanned aerial vehicle, the camera is installed to infrared distance measuring sensor one side, and the air-drop module is installed through the link in the unmanned aerial vehicle below.

The airdrop module comprises a transmitting plate and a receiving plate, an HC-transmitting end is installed on the transmitting plate and connected with a single chip microcomputer A, the single chip microcomputer A is connected with an LED indicating lamp, an HC-receiving end is installed on the receiving plate and connected with a single chip microcomputer B, the single chip microcomputer B is respectively connected with an electromagnet, a pyroelectric infrared sensor and a buzzer, and the electromagnet is connected with a lifesaving module.

The life-saving module includes the casing, be provided with the life buoy in the casing, be provided with the check valve on the life buoy, the plenum chamber is connected to the check valve, plenum chamber one side is connected with the gas cylinder, plenum chamber opposite side rigid coupling has inflatable shell, the rigid coupling has the spring in the inflatable shell, spring coupling has firing pin A, the plenum chamber is opened porosely, downthehole instant tablet that is provided with, firing pin A is connected to instant tablet one side, the instant tablet opposite side is connected with firing pin B, firing pin B is connected with the gas cylinder, casing outer wall rigid coupling has the iron sheet.

The invention also provides a rescue method of the unmanned aerial vehicle in the water area, which is specifically carried out according to the following steps:

step 1, surveying the actual terrain of a water area, setting a cruising path of an unmanned aerial vehicle, and determining a cruising target task place of the unmanned aerial vehicle;

step 2, starting all unmanned aerial vehicles from a ground control room, and cruising according to the unmanned aerial vehicle cruising path set in the step;

step 3, in the cruising process of the unmanned aerial vehicle, if the unmanned aerial vehicle reaches a target task place, the unmanned aerial vehicle uses a camera to perform hovering shooting records in the air, the shooting records are transmitted back to a ground control room, and the unmanned aerial vehicle continues to go to the next task place after finishing shooting tasks;

step 4, in the cruising process of the unmanned aerial vehicle, if people falling into the water are not found, the unmanned aerial vehicle returns to the ground control room to be overhauled and charged, if people falling into the water are found, the unmanned aerial vehicle stops the cruising task, goes to a place falling into the water, transmits the field condition to the ground control room through the air-drop module, rescuers go to the field to rescue, and meanwhile, releases the lifesaving module;

and 5, rescuing the person falling into the water, returning the unmanned aerial vehicle to the ground control room for overhauling and charging, and ending the unmanned aerial vehicle cruising and rescuing tasks.

The method specifically comprises the steps of manufacturing a water area cruising area into a two-dimensional coordinate graph, converting a water area cruising target task location into XY coordinates in the two-dimensional coordinate graph, inputting the generated XY coordinates into a genetic algorithm, and calculating the unmanned aerial vehicle cruising path.

Step 2, inputting the cruising path of the unmanned aerial vehicle into an unmanned aerial vehicle ground station system, scheduling all unmanned aerial vehicles by an unmanned aerial vehicle ground control room, controlling the unmanned aerial vehicle to take off through the ground station system, and enabling the unmanned aerial vehicle to cruise automatically;

in the step 4, after the unmanned aerial vehicle detects a human body signal through a pyroelectric infrared sensor in the air drop module, the unmanned aerial vehicle automatically releases the lifesaving module, or a ground station worker controls the unmanned aerial vehicle to release the lifesaving module.

The unmanned aerial vehicle rescue system has the advantages that the unmanned aerial vehicle rescue system can replace people to patrol water areas, so that manpower is greatly saved, and the patrol efficiency is improved. The invention adopts genetic algorithm and MATLAB code to calculate the optimal cruising path of the unmanned aerial vehicle, can save the number of the unmanned aerial vehicles working at the same time, and avoid repeated patrol of the same path or no patrol of all water areas. The invention also provides two releasing modes of the lifesaving device, thereby improving the rescue speed and saving the rescue time. The invention can be applied to a plurality of wide water areas and water areas with larger stream of people, improves the rescue efficiency compared with manual inspection, greatly improves the safety of water area visiting, and shortens the time for rescuing people falling into water.

Drawings

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle in the unmanned aerial vehicle rescue system for a water area of the invention;

FIG. 2 is a schematic diagram of an aerial delivery module in an unmanned rescue system for a water area of the invention;

FIG. 3 is a schematic diagram of a rescue module in an unmanned rescue system for a water area according to the present invention;

FIG. 4 is a flow chart of an unmanned rescue method for a water area according to the invention;

FIG. 5 is a schematic diagram of the unmanned rescue method for water areas according to the present invention;

fig. 6 is a schematic diagram of remote control launching of a lifesaving device in the unmanned aerial vehicle rescue method for the water area.

In the figure, 1, an unmanned aerial vehicle, 2, an air drop module, 3, a lifesaving module, 4, an infrared distance measuring sensor, 5, a camera, 6, a shell, 7, a life buoy, 8, a check valve, 9, a plenum chamber, 10, an air bottle, 11, an inflatable shell, 12, a spring, 13, a firing pin A, 14, a quick dissolving tablet, 15, a firing pin B, 16, an iron sheet, 17, a transmitting plate, 18, a receiving plate, 19, an HC-12 transmitting end, 20, a single chip microcomputer A, 21, an HC-12 receiving end, 22, a single chip microcomputer B, 23, an electromagnet, 24, a pyroelectric infrared sensor, 25, a buzzer and 26, an LED indicating lamp are arranged.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The utility model provides a waters unmanned aerial vehicle rescue system, includes unmanned aerial vehicle 1, and 1 below of unmanned aerial vehicle is connected with air-drop module 2, and air-drop module 2 is connected with lifesaving module 3.

As shown in fig. 1, an infrared distance measuring sensor 4 is installed on an unmanned aerial vehicle 1, a camera 5 is installed on one side of the infrared distance measuring sensor 4, and an air drop module 2 is installed below the unmanned aerial vehicle 1 through a connecting frame;

unmanned aerial vehicle 1 can be four rotor unmanned aerial vehicle, installs GPS on the unmanned aerial vehicle, and four rotor unmanned aerial vehicle starts soon, the action is sensitive, can hover the operation.

As shown in fig. 2, the airdrop module 2 comprises a transmitting plate 17 and a receiving plate 18, an HC-12 transmitting end 19 is installed on the transmitting plate 17, the HC-12 transmitting end 19 is connected with a single chip microcomputer a20, the single chip microcomputer a20 is connected with an LED indicator lamp 26, an HC-12 receiving end 21 is installed on the receiving plate 18, the HC-12 receiving end 21 is connected with a single chip microcomputer B22, the single chip microcomputer B22 is respectively connected with an electromagnet 23, a pyroelectric infrared sensor 24 and a buzzer 25, and the electromagnet is connected with the lifesaving module 3;

the single chip microcomputer A20 and the single chip microcomputer B22 in the air-drop module 2 are both STM32F 103; HC-12 is HC-12 serial port communication module; the electromagnet is an L298N electromagnet, the output end of the singlechip B22 is connected with an L298N electromagnet driving module, an electric signal is transmitted to the electromagnet driving module to control the electromagnet to be powered on or powered off, the lifesaving device is attracted with the powered electromagnet through an iron sheet carried by the lifesaving device, and the lifesaving device is released when the electromagnet is powered off; the on-off of the LED indicating lamp circuit is responsible for prompting the working state of the air-drop module; the buzzer makes a sound when the airdrop module works, and plays a role in warning and early warning;

the air drop module has two modes of automatic drop and remote control drop:

remote control releasing: unmanned aerial vehicle 1 shoots the image through camera 5, passes the image of cruising back the control room, and the staff carries out the analysis to the image of passing back in the control room, judges whether to send the input signal to unmanned aerial vehicle. And when the releasing signal is judged to be required to be sent, the releasing button of the transmitting plate is pressed, and the transmitting plate transmits the signal to the HC-12 on the receiving plate in a radio wave form through the HC-12 wireless serial port communication module. HC-12 output ends on the receiving plates are connected with the STM32F103, the STM32F103 sends transmitting signals to the L298N electromagnet driving module in the form of electric signals, the electromagnets are controlled to be powered off, and the lifesaving device is thrown in.

Automatic putting: the pyroelectric infrared sensor detects human body signals, and when the human body signals are detected, STM32F103 of high level transmitted to the receiving plate carries out data analysis processing. The STM32F103 sends the transmitting signal to the L298N electromagnet driving module in the form of an electric signal, the electromagnet is controlled to be powered off, and the lifesaving device is thrown.

In the remote control throwing of the air-drop module, the transmitting board adopts an HC-12 wireless serial port communication module for information interaction, and four control buttons provide four throwing signals to the receiving board HC-12 so as to control the on-off state of four electromagnets. The electromagnet is used as a release mechanism and is used for taking charge of throwing the lifesaving device. The adopted life-saving device is an automatic inflation life buoy, when the life buoy is not used, the life buoy is in a compressed state, the life buoy and the automatic inflation device are all arranged in a small box, an attached iron sheet is arranged on the outer side of the box, and rubber wrap angles are arranged at corners of the iron sheet, so that the life-saving device is prevented from hurting people when falling down from the high altitude. The life buoy is inflated by a disposable carbon dioxide gas cylinder.

As shown in fig. 3, the lifesaving module 3 comprises a housing 6, a lifebuoy 7 is arranged in the housing 6, a check valve 8 is arranged on the lifebuoy 7, the check valve 8 is connected with a plenum chamber 9, one side of the plenum chamber 9 is connected with an air bottle 10, the other side of the plenum chamber 9 is fixedly connected with an inflatable casing 11, a spring 12 is fixedly connected in the inflatable casing 11, the spring 12 is connected with a striker a13, the plenum chamber 9 is provided with a hole, an instant tablet 14 is arranged in the hole, one side of the instant tablet 14 is connected with a striker a13, the other side of the instant tablet 14 is connected with a striker B15, the striker B15 is connected with the air bottle 10, an iron sheet 16.

When the air drop module 2 is in the automatic state of puting in, unmanned aerial vehicle 1 cruises in the waters, and when the person of falling into the water is sensed to the pyroelectric infrared sensor in the air drop module who carries on, the electro-magnet is automatic to be released. When the life saving device falls into water, water flow enters the inflation device, the instant tablet 14 is rapidly dissolved, the spring 12 is released, the striker A13 is pushed to pierce a small hole of the inflation chamber, the striker B15 is pushed to pierce a bottle opening of the gas bottle, gas in the gas bottle 10 is released, the gas enters the life buoy through the check valve 8 of the inflation chamber, the life buoy 7 is inflated and expanded, and the inflation process is completed.

The invention discloses a rescue method of an unmanned aerial vehicle for a water area, which is shown in fig. 4, 5 and 6 and specifically comprises the following steps:

step 1, surveying the actual terrain of a water area on the spot, setting a cruising path of an unmanned aerial vehicle, and determining a cruising target task place of the unmanned aerial vehicle;

step 2, starting all the unmanned aerial vehicles 1 from a ground control room, and cruising according to the unmanned aerial vehicle cruising path set in the step 1;

step 3, in the cruising process of the unmanned aerial vehicle 1, if the unmanned aerial vehicle 1 reaches a target task site, the unmanned aerial vehicle 1 uses the camera 5 to perform hovering shooting records in the air, the shooting records are transmitted back to a ground control room, and the unmanned aerial vehicle continues to go to the next task site after completing shooting tasks;

step 4, in the cruising process of the unmanned aerial vehicle 1, if people falling into the water are not found, the unmanned aerial vehicle 1 returns to a ground control room for maintenance and charging, if people falling into the water are found, the unmanned aerial vehicle 1 stops the cruising task, goes to a place falling into the water, transmits the field condition to the ground control room through an air-drop module, rescuers go to the field for rescue, and meanwhile, the unmanned aerial vehicle 1 releases the lifesaving module 3;

and 5, rescuing the person falling into the water, returning the unmanned aerial vehicle 1 to the ground control room for overhauling and charging, and ending the cruising and rescuing tasks of the unmanned aerial vehicle 1.

The method specifically comprises the steps of 1, surveying the actual terrain of a water area on the spot, making a water area cruising area into a two-dimensional coordinate graph, converting a water area cruising target task location into XY coordinates in the two-dimensional coordinate graph, inputting the generated XY coordinates into a genetic algorithm, and calculating the optimal cruising path of the unmanned aerial vehicle.

Step 2, specifically, inputting the optimal cruise path of the unmanned aerial vehicle into an unmanned aerial vehicle ground station system, or making the optimal cruise path of the unmanned aerial vehicle into a KML file format through WOLFMAP software, directly importing the file into the unmanned aerial vehicle ground station system, dispatching all unmanned aerial vehicles 1 through algorithm operation results by an unmanned aerial vehicle ground control room, controlling the unmanned aerial vehicles 1 to take off through the ground station system, and enabling the unmanned aerial vehicles 1 to cruise automatically;

in the step 4, after the unmanned aerial vehicle 1 detects a human body signal through a pyroelectric infrared sensor in the air drop module 2, the unmanned aerial vehicle 1 automatically releases the lifesaving module 3, the camera 5 and the single chip microcomputer form a picture transmission module, pictures shot by the camera are transmitted back to a ground control room through the wireless communication module HC-12, ground station workers check the picture content, and the unmanned aerial vehicle 1 is controlled to release the lifesaving module 3 according to the field conditions.

The method establishes a multi-unmanned aerial vehicle water area cruise path planning problem model, solves example problems through a genetic algorithm, and then obtains optimal unmanned aerial vehicle task allocation and path planning results through unmanned aerial vehicle PC terminal ground station software to realize autonomous cruise management of the unmanned aerial vehicles through the unmanned aerial vehicle ground station software.

In the invention, the unmanned aerial vehicle starts from the unmanned aerial vehicle control room during cruising and cruises all task target points, and the unmanned aerial vehicle does not need to return to the starting point after the cruises are finished but lands at the last task place.

Because artificial lake waters are general in area widely, it is more that its required place of patrolling is, unmanned aerial vehicle once is under the constraint of its battery power for a time, generally need many unmanned aerial vehicles collaborative work, and increase an unmanned aerial vehicle at every more, its material maintenance cost and personnel administrative cost all improve to some extent, consequently in order to reduce unmanned aerial vehicle use quantity, it is shortest to require all unmanned aerial vehicles to cruise the overall distance, and balance every unmanned aerial vehicle's task quantity, make every unmanned aerial vehicle task quantity approximately equal.

The invention carries out mathematical modeling on the actual problem and abstracts the actual problem into a special form of traveler problem, namely a multi-target multi-traveler problem; the multiple targets mainly refer to the shortest total cruising path length of multiple unmanned aerial vehicles and the optimal uniformity of cruising task amount of each unmanned aerial vehicle. Solving the above problems by genetic algorithm and solving the problems by MATLAB code programming

Firstly, the method not only requires the optimal solution of the objective function, but also needs to build the unmanned aerial vehicle stop station through the optimal solution. To simplify the problem model, the following assumptions are made:

1) during the takeoff and landing stages of the unmanned aerial vehicles, the unmanned aerial vehicles are not included in the cruise task, and each unmanned aerial vehicle is supposed to fly at the same cruise height;

2) all cruise targets are in the same priority level, and no difference exists in task execution sequence;

3) the time when the unmanned aerial vehicle hovers and shoots at the target point is not counted into a problem calculation model, namely the unmanned aerial vehicle is regarded as the completion of the current task after reaching the target point and immediately carries out the task to the next target point;

4) the unmanned aerial vehicle cruise is assumed to adopt automatic cruise, a remote controller is not needed to be manually adopted to control the unmanned aerial vehicle, and the unmanned aerial vehicle is assumed not to be interfered by external factors such as weather in the cruise process.

Based on hypothesis 1) and hypothesis 3), the single task cruise time of a single unmanned aerial vehicle needs to remove the takeoff and landing time of the unmanned aerial vehicle, the hovering and shooting time of the unmanned aerial vehicle does not account for the cruise time, and through the hypothesis, an objective function is established:

(1) the cruising total distance of the unmanned aerial vehicle is shortest:

namely, the sum of the distances of the unmanned planes in one cruise task is minimum. The cruising total distance of the unmanned aerial vehicles is as follows:

wherein S is the total cruising distance of multiple unmanned planes, l_iThe cruising path distance of the ith unmanned aerial vehicle is represented, k represents the number of the unmanned aerial vehicles, and the optimized target is that the cruising total distance of the multiple unmanned aerial vehicles is minimum, namely: and (5) minS.

(2) Under the condition that the total cruising distance of the unmanned aerial vehicle is shortest, the workload balance of each unmanned aerial vehicle is required to be ensured. The work load of the unmanned aerial vehicle can be defined from two aspects, one of the work load is uniform in cruising distance of each unmanned aerial vehicle, the unmanned aerial vehicle starts to finish a task, the route length of each unmanned aerial vehicle is approximately the same, and the unmanned aerial vehicle can be regarded as balanced in work load.

Its two load condition for unmanned aerial vehicle is even, under the actual conditions, assumes that there are 10 places respectively to need 1 goods and materials at present, adopts two unmanned aerial vehicles to carry on goods and materials shipment, and every unmanned aerial vehicle all can carry on 5 goods and materials, lets these two unmanned aerial vehicles go to the destination and send the goods. The most ideal transportation distribution mode is that R1 equals to R2 equals to 5, and L1 equals to L2, where R1 and R2 are the number of materials transported by two drones, respectively, and L1 and L2 are the route lengths of two drones, respectively. In this case, the transport distance and the transport load of the two drones are the same, indicating that the task balance is high.

For the transportation distance balance and the transportation load balance when the unmanned aerial vehicle works, if the transportation distance is balanced, the unmanned aerial vehicle on a certain route needs to increase the load to complete the task target; if the transport load is balanced, the unmanned aerial vehicle on a certain route increases the battery capacity.

The unmanned aerial vehicle transportation load is taken as a main consideration factor, and the unmanned aerial vehicle transportation line distance balance is taken as a secondary factor.

The target quantity balance degree of the unmanned aerial vehicle cruise tasks is defined as follows:

J₁＝min{R₁，R₂...R_i} (2)

J₂＝min{L₁，L₂...L_i} (3)

wherein R is_iThe cruise target number of the ith unmanned aerial vehicle is represented, the unmanned aerial vehicle with the minimum cruise target number is maximized as far as possible, and L_iThe length of the cruising path of the ith unmanned aerial vehicle is represented, so that the unmanned aerial vehicle with the minimum cruising path distance can reach the maximum as much as possible, and the mode definition balance degree has the following characteristics:

i) the method is more in line with the actual requirements, as long as the minimum unmanned aerial vehicle cruise task number or cruise distance can be maximized, the balance degree difference of a plurality of unmanned aerial vehicles is smaller, and therefore the processing is in line with the balance degree definition;

ii) the definition is simple, and the operation difficulty and the operation amount are greatly reduced.

(3) The total constraint target is the shortest total distance of the cruise paths of the multiple unmanned aerial vehicles and the number of the cruise targets of each unmanned aerial vehicle is balanced, and the independent constraint target functions are combined into a total target function through constraint on a single target, wherein the total constraint target function is as follows:

S_R＝min{[max(R_i)-min(R_i)]S+S} (4)

thus, on the one hand, the overall objective function S_RProportional to the total stroke S, so the smaller the total stroke S is, the total objective function S_RThe smaller the size; on the other hand, the difference max (R) between the total objective function and the maximum and minimum task quantities of the drone_i)-min(R_i) In a monotonically increasing relationship, i.e. max (R)_i)-min(R_i) The larger the total objective function, the larger the value of the total objective function, and the smaller the total objective function. Therefore, the total objective function can not only minimize the total travel, but also achieve the purpose of distributing the task amount evenly.

(4) Other constraints and variables:

the unmanned aerial vehicle cruise task amount balance is realized by limiting the number of each unmanned aerial vehicle cruise task, and the method comprises the following steps:

where N represents the total number of cruise tasks, s represents the number of drones, R_iIndicates the ith shelfThe number of the unmanned aerial vehicle cruise tasks is regulated around the average number of the unmanned aerial vehicle cruise tasks in the above formula, and after the average number is rounded, the number is respectively expanded upwards and downwards by 2 on the basis of the average number, so that the number balance degree of the unmanned aerial vehicle cruise tasks is restrained.

Then, the invention solves the method for allocating the multi-unmanned aerial vehicle cooperative tasks through the genetic algorithm, establishes the multi-unmanned aerial vehicle artificial lake water area cruising problem example, adopts the method of traversing the city sequence to carry out coding, sets the fitness function as the reciprocal of the total distance of the multi-unmanned aerial vehicle cruising route, initializes the parent and adopts the completely random method, limits the number of the cruising target points of each unmanned aerial vehicle by using the method of controlling the number of the cruising target points of each unmanned aerial vehicle, and finally carries out selection operation, cross operation and mutation operation through the flow of the genetic algorithm until the optimal solution is generated within the iteration times specified by the algorithm, and the genetic operation process is terminated. In the invention, aiming at the multi-unmanned aerial vehicle cooperative task, a multi-traveler problem model is adopted, and a problem sequence is expressed as a chromosome in a coding mode of traversing city orders. The numerical string 0-1-2-3-4-5-6-7-8-9-10 indicates that the unmanned aerial vehicle starts from the starting point 0, sequentially passes through the task points 0-1-2-3-4-5-6-7-8-9-10, finally lands at the task point 10 to perform checking and charging work, and after the unmanned aerial vehicle is checked and charged, the unmanned aerial vehicle can take the task point 10 as the starting point, sequentially passes through the task points 10-9-8-7-6-5-4-3-2-1-0, and returns to the starting point 0 to perform checking and charging. For the task with the excessively long cruising route, the scheme better solves the problem of difficult inspection caused by wide regions.

The problem coding of the multi-unmanned aerial vehicle cooperative task is as follows:

in the multi-traveler problem, the reciprocal of the total distance of all traveler paths is generally adopted as a fitness function in the model to judge the quality of an individual. Namely:

in the formula, S is the total distance of all unmanned aerial vehicle cruising paths, f_iAs a fitness function.

Assuming that the population size is 80 and 3 drones participate in the cruise mission, the drone control room 0 is removed and the remaining 1-10 ten mission points are randomly ordered, for example, forming a numeric string 5-8-3-4-6-2-9-1-7-10, i.e. the drones fly in the order of the mission points of the numeric string 5-8-3-4-6-2-9-1-7-10, and 80 different ordering results are generated due to the population size of 80, represented by a 80 × 10 matrix, and represented as a drone path population.

The path breakpoint is generated through the unmanned aerial vehicle cruising task amount balance operation, for example, the breakpoint is 3, the task points 5-8-3, 4-6-2 and 9-1-7-10 are respectively cruising by an unmanned aerial vehicle, the cruising paths of the unmanned aerial vehicle are respectively 0-5-8-3, 0-4-6-2 and 0-9-1-7-10, 80 breakpoint structures can be generated and are represented by an 80 x 2 matrix, and each row in the matrix can be repeated to represent a path breakpoint population.

Through the combination of the unmanned aerial vehicle path population and the path breakpoint population, if one path population subset corresponds to one path breakpoint population subset, one multi-unmanned aerial vehicle cruise path total distance subset is generated, 80 cruise path total distances are generated, and each total distance corresponds to one individual. Fitness of individuals in 3.2.3 above is f_iProbability of individual being selectedThe cumulative probability of each chromosome isWhere n is the population number 80.

After the calculation of the total distance of the cruise paths is completed, 80 cruise path total distance results are generated, next, 80 different results are randomly scrambled and sorted, a1 x 80 matrix is generated, the 80 results are separated by taking 8 as a unit, 10 8 x 10 subsets are generated, in the 8 subsets, the result with the shortest total distance of the cruise paths is found out, and the corresponding path distribution and breakpoint distribution are found out.

After the operation is completed, combining the results of the original genetic operation, replacing the original parent matrix with 8 new filial generations in total, generating new unmanned aerial vehicle cruise path distribution and breakpoint distribution, performing a new round of genetic algorithm operation, and ending the flow of the genetic algorithm until a global optimal solution within the number of generations is found out to obtain the optimal cruise path of the unmanned aerial vehicle.