Unmanned aerial vehicle group cleaning operation cooperation method and system

The invention relates to an unmanned aerial vehicle group cleaning operation cooperation method and system, and the method comprises the steps: obtaining and recognizing the coordinates of a to-be-cleaned position, dividing a cleaning operation space into a plurality of sub-regions, and carrying out the matching of unmanned aerial vehicles in the sub-regions and the coordinates of the to-be-cleaned position, and according to a matching result, a relatively excellent initial flight path set is initially generated, and then the initial flight path set in each sub-region is optimized to obtain an optimal target flight path set. Compared with the prior art, the method has the advantages that the excellent initial path can be preliminarily generated and then optimized, the excellent degree of the final optimization result can be effectively improved, the obstacle avoidance difficulty in the path planning process is greatly reduced, and the optimization efficiency is improved. 本发明涉及一种无人机群清洗作业协同方法及系统，其中方法通过获取并识别出待清洁