Medical unmanned aerial vehicle scheduling model for considering sample timeliness and solving algorithm

The invention provides a medical unmanned aerial vehicle scheduling model for considering sample timeliness and a solving algorithm. Model establishment comprises the following steps: 1) defining state parameters and variables of an unmanned aerial vehicle; 2) determining a target function of the model, wherein the target function of the model represents the time for minimizing the completion of all inspection orders by the unmanned aerial vehicle; and 3) determining constraint conditions. According to the invention, medical unmanned aerial vehicle distribution considering the sample timeliness is introduced in the battery replacement scene, the optimal battery replacement position of the unmanned aerial vehicle is decided according to the sample inspection information, the load, the remaining electric quantity of the unmanned aerial vehicle and other information, sample collection and battery replacement are carried out synchronously, and the efficiency is improved. And under the constraint of the sample tim