Goods taking and delivering method and system for multiple building units of high-rise building based on solar unmanned aerial vehicle

Abstract

The invention discloses a goods taking and delivering method and system for multiple building units of a high-rise building based on a solar unmanned aerial vehicle. The goods taking and delivering method comprises the steps that the number of a building unit located on the east side of a shadow and closest to the east side of the shadow is obtained and serves as the starting position of flying of the UAV; the flight speed of the unmanned aerial vehicle, the distance between adjacent floors and the hovering time of the target user at the floors are obtained, and the total time of horizontal flight between the mth unit UAV and the kth unit UAV in the set theta is calculated; obtaining an initial moment, the coordinate of the east side of the shadow and the moving speed of the shadow, and calculating the time ts, k of the east side of the shadow moving to the kth unit in the set theta along with the sun; and if the # imgabs0 # is greater than the total time for the UAV to fly each unit from the mth unit to the kth unit and the transverse flight between the units, the mth building unit is selected to start flying. By planning a route and adjusting the flight height, a shadow area is avoided, so that the flight time is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to a method and system for picking up and delivering goods to multiple units of a high-rise building using a solar-powered unmanned aerial vehicle. Background Art

[0002] Since traditional drones typically rely on batteries for power and have limited flight time, installing solar panels on drones allows them to absorb solar energy during flight and convert it into electricity to charge the drone's batteries, thereby extending the drone's flight time. However, with the acceleration of urbanization, high-rise buildings are becoming increasingly dense. Therefore, in dense urban environments, solar charging of drones is severely impacted by building shadows. Due to the varying heights and locations of high-rise buildings, they block sunlight at varying times and angles, significantly reducing the intensity and stability of the light received by the drone during solar charging. This shadowing can also reduce the drone's charging efficiency. Therefore, when designing and implementing a solar charging system for drones, it is important to fully consider the impact of shadows from high-rise buildings and implement appropriate technical measures to optimize charging efficiency and flight performance. For example, through appropriate route planning and flight altitude adjustment, drones can avoid shadowed areas as much as possible, ensuring that they can charge in well-lit environments. To address this issue, solar panels are installed on drones, using solar energy to power them. However, in obstructed environments, the key issue is how drones can find suitable areas of sunlight for charging, thereby extending their flight time. Summary of the Invention

[0003] The purpose of the present invention is to provide a method and system for picking up and delivering goods to multiple units in high-rise buildings using a solar-powered drone. In scenarios where there are high-rise buildings blocking the view, the method plans the route and adjusts the flight altitude to avoid shadow areas, ensuring that the drone can be charged in an environment with sufficient light, thereby extending the flight time.

[0004] The technical solutions for achieving the purpose of the present invention are:

[0005] A method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone comprises the following steps:

[0006] S01: In the set of building unit numbers Θ, find the building unit number that is located on the east side of the shadow and closest to the east side of the shadow, and use this building unit as the starting position for the UAV flight;

[0007] S02: Obtain the flight speed of the UAV, the distance between adjacent floors, and the hovering time at the target user floor, and calculate the total time for the UAVs from the mth to the kth unit in the set Θ to fly each unit and the total time for the lateral flight between units;

[0008] S03: Get the coordinate x of the easternmost side of the shadow at the initial moment of the drone delivery service s , and the shadow's moving speed v s , calculate the time t taken by the east side of the shadow to move with the sun to the kth unit in the set Θ s,k ;

[0009] S04: Comparison s,k The total time of each unit and the lateral flight between units performed by the UAV from the mth to the kth unit is If both are greater than the total time of the UAV flying each unit and the lateral flight between units from the mth to the kth unit, the UAV selects the mth building unit in the set Θ to start the pickup and delivery service.

[0010] In the preferred technical solution, step S01 also includes that in a certain pick-up and delivery task, the system defines the set of user building unit numbers assigned to the UAV by the system, which are arranged in ascending order, as Θ, where the number of building units contained in Θ is M, that is, Θ(1) and Θ(M) respectively represent the westernmost and easternmost unit numbers of the UAV that need to pick up and deliver the goods during this flight, and Θ(m) represents the mth unit number that needs to be picked up and delivered from west to east during this flight, and the user floor set that needs to be picked up and delivered in the mth building unit. Different users in the system are on different floors.

[0011] In the preferred technical solution, the method for obtaining the building unit number located on the east side of the shadow and closest to the east side of the shadow in step S02 includes:

[0012] Calculate the horizontal coordinate x of the building unit number Θ(m-1) and Θ(m) Θ(m-1) 、x Θ(m) ;

[0013] If x Θ(m-1) <x s <x Θ(m) , then the building unit number located on the east side of the shadow and closest to the east side of the shadow is m.

[0014] In the preferred technical solution, in step S02, when the drone is performing the ascending delivery phase, the drone selects the higher user floor height between the highest user floor of the current unit and the highest user floor of the next demand unit as the highest point of the current unit's flight; in the descending delivery phase, the drone selects the lower user floor height between the lowest user floor of the current unit and the lowest user floor of the next demand unit as the lowest point of the current unit's flight.

[0015] In the preferred technical solution, in step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[1,M-3], the method for calculating the time taken by the mth to Mth unit UAVs in the set Θ to fly each unit includes:

[0016] 1) At the mth unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0017]

[0018] in, is the highest floor number that the drone flies at the mth unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the UAV hovering time of all users who demand pickup and delivery services at the mth unit in the set Θ;

[0019] 2) At the m+1th unit in the set Θ, the flight time of the UAV is:

[0020]

[0021] in, is the lowest floor number that the drone flies at the m+1th unit in the set Θ;

[0022] 3) When Mm is an odd number, the drone takes a descending approach when performing the delivery service for the last unit in the set Θ.

[0023] The flight time of the UAV is:

[0024]

[0025] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0026]

[0027] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0028]

[0029] At the Mth cell in the set Θ, the flight time of the UAV is:

[0030]

[0031] 4) If Mm is an even number, the drone will take the delivery service to the last unit in the set Θ in an ascending manner, and at the kth unit in the set Θ

[0032] The flight time of the UAV is:

[0033]

[0034] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0035]

[0036] At the Mth cell in the set Θ, the flight time of the UAV is:

[0037]

[0038] In the preferred technical solution, in step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[M-2,M], the method for calculating the time taken by the mth to Mth unit UAVs in the set Θ to fly each unit includes:

[0039] If m = M-2, then:

[0040] At the M-2th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0041]

[0042] in, is the highest floor number that the drone flies at the M-2th unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the UAV hovering time of all users who demand pickup and delivery services at the M-2th unit in the set Θ;

[0043] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0044]

[0045] At the Mth cell in the set Θ, the flight time of the UAV is:

[0046]

[0047] If m = M-1, then:

[0048] At the M-1th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0049]

[0050] At the Mth cell in the set Θ, the flight time of the UAV is:

[0051]

[0052] If m = M, then:

[0053] At the Mth cell in the set Θ, the flight time of the UAV is:

[0054]

[0055] In the preferred technical solution, in step S04:

[0056] If All satisfied Then the drone selects the mth unit building in the set Θ to start the delivery service; otherwise, set m = m + 1 and recalculate until m = M;

[0057] Among them, t Θ(l) is the flight time of the UAV at the lth unit in the set Θ, x Θ(k) 、x Θ(m) are the horizontal coordinates of the building unit numbers Θ(k) and Θ(m), respectively, and v is the flight speed of the UAV.

[0058] The present invention also discloses a system for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone, comprising a processor having a built-in method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone.

[0059] The present invention further discloses a drone, including a system for picking up and delivering goods to multiple units of a high-rise building using the solar drone.

[0060] The present invention further discloses a computer storage medium on which a computer program is stored. When the computer program is executed, the above-mentioned method of picking up and delivering goods to multiple units of a high-rise building by a solar-powered drone is implemented.

[0061] Compared with the prior art, the present invention has the following significant advantages:

[0062] This invention avoids shadowed areas by high-rise buildings by planning routes and adjusting flight altitude, ensuring that drones can charge in well-lit environments and extending flight time. The planned routes ensure that drones remain within direct sunlight during delivery and pickup operations, promoting the acquisition of green energy for UAVs. Through in-depth theoretical analysis and application exploration, the invention aims to provide a unique and efficient solution that physically matches real-world application scenarios and can be effectively applied in real-world engineering scenarios.

[0063] During the ascending delivery phase, the drone selects the higher user height among the highest (vertical distance) demand user in the current unit and the highest (vertical distance) demand user in the next demand unit as the highest point of the current unit's flight; during the descending delivery phase, the drone selects the lower user height among the lowest demand user in the current unit and the lowest demand user in the next demand unit as the lowest point of the current unit's flight, so that the drone does not fly over the demand user repeatedly during the flight. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a front view of a scenario in which the solar-powered drone of this embodiment is used to pick up and deliver goods to multiple units of a high-rise building;

[0065] Figure 2 This is a top view of a scenario where the solar-powered drone of this embodiment is used to pick up and deliver goods to multiple units of a high-rise building;

[0066] Figure 3 This is a flow chart of the method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone according to this embodiment. DETAILED DESCRIPTION

[0067] Example 1:

[0068] A method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone comprises the following steps:

[0069] S01: In the set of building unit numbers Θ, find the building unit number that is located on the east side of the shadow and closest to the east side of the shadow, and use this building unit as the starting position for the UAV flight;

[0070] S02: Obtain the flight speed of the UAV, the distance between adjacent floors, and the hovering time at the target user floor, and calculate the total time for the UAVs from the mth to the kth unit in the set Θ to fly each unit and the total time for the lateral flight between units;

[0071] S03: Get the coordinate x of the easternmost side of the shadow at the initial moment of the drone delivery service s , and the shadow's moving speed v s, calculate the time t taken by the east side of the shadow to move with the sun to the kth unit in the set Θ s,k ;

[0072] S04: Comparison s,k The total time of each unit and the lateral flight between units performed by the UAV from the mth to the kth unit is If both are greater than the total time of the UAV flying each unit and the lateral flight between units from the mth to the kth unit, the UAV selects the mth building unit in the set Θ to start the pickup and delivery service.

[0073] In a preferred embodiment, step S01 further includes that, in a certain pick-up and delivery task, the system defines the set of user building unit numbers assigned to the UAV by the system, which are arranged in ascending order, as Θ, where the number of building units contained in Θ is M, that is, Θ(1) and Θ(M) respectively represent the westernmost and easternmost unit numbers of the UAV that need to pick up and deliver the goods during this flight, and Θ(m) represents the mth unit number that needs to be picked up and delivered from west to east during this flight, and the set of user floors that need to be picked up and delivered in the mth building unit. Different users in the system are on different floors.

[0074] In a preferred embodiment, the method for obtaining the building unit number located on the east side of the shadow and closest to the east side of the shadow in step S02 includes:

[0075] Calculate the horizontal coordinate x of the building unit number Θ(m-1) and Θ(m) Θ(m-1) 、x Θ(m) ;

[0076] If x Θ(m-1) <x s <x Θ(m) , then the building unit number located on the east side of the shadow and closest to the east side of the shadow is m.

[0077] In a preferred embodiment, in step S02, when the drone is performing the ascending delivery phase, the drone selects the higher user floor height between the highest user floor of the current unit and the highest user floor of the next demand unit as the highest point of the current unit's flight; when performing the descending delivery phase, the drone selects the lower user floor height between the lowest user floor of the current unit and the lowest user floor of the next demand unit as the lowest point of the current unit's flight.

[0078] In a preferred embodiment, in step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[1,M-3], the method for calculating the time taken by the mth to Mth unit UAVs in the set Θ to fly each unit includes:

[0079] 1) At the mth unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0080]

[0081] in, is the highest floor number that the drone flies at the mth unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the UAV hovering time of all users who demand pickup and delivery services at the mth unit in the set Θ;

[0082] 2) At the m+1th unit in the set Θ, the flight time of the UAV is:

[0083]

[0084] in, is the lowest floor number that the drone flies at the m+1th unit in the set Θ;

[0085] 3) When Mm is an odd number, the drone takes a descending approach when performing the delivery service for the last unit in the set Θ.

[0086] The flight time of the UAV is:

[0087]

[0088] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0089]

[0090] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0091]

[0092] At the Mth cell in the set Θ, the flight time of the UAV is:

[0093]

[0094] 4) If Mm is an even number, the drone will take the delivery service to the last unit in the set Θ in an ascending manner, and at the kth unit in the set Θ

[0095] The flight time of the UAV is:

[0096]

[0097] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0098]

[0099] At the Mth cell in the set Θ, the flight time of the UAV is:

[0100]

[0101] In a preferred embodiment, in step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[M-2,M], the method for calculating the time taken by the mth to Mth unit UAVs in the set Θ to fly each unit includes:

[0102] If m = M-2, then:

[0103] At the M-2th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0104]

[0105] in, is the highest floor number that the drone flies at the M-2th unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the UAV hovering time of all users who demand pickup and delivery services at the M-2th unit in the set Θ;

[0106] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0107]

[0108] At the Mth cell in the set Θ, the flight time of the UAV is:

[0109]

[0110] If m = M-1, then:

[0111] At the M-1th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0112]

[0113] At the Mth cell in the set Θ, the flight time of the UAV is:

[0114]

[0115] If m = M, then:

[0116] At the Mth cell in the set Θ, the flight time of the UAV is:

[0117]

[0118] In a preferred embodiment, in step S04:

[0119] like All satisfied Then the drone selects the mth unit building in the set Θ to start the delivery service; otherwise, set m = m + 1 and recalculate until m = M;

[0120] Among them, t Θ(l) is the flight time of the UAV at the lth unit in the set Θ, x Θ(k) 、x Θ(m) are the horizontal coordinates of the building unit numbers Θ(k) and Θ(m), respectively, and v is the flight speed of the UAV.

[0121] Combine Figure 1 and Figure 2 As shown, the design of the present invention is further analyzed and described in detail.

[0122] In the network described in the present invention, a drone provides delivery or pickup services to multiple users in multiple units. During a UAV mission (assuming the drone is not overloaded and the battery is sufficient), the system will pre-assign users on different floors of multiple units for delivery and pickup services. Assuming the total number of units in the system is N, its set is represented by Without loss of generality, assume that the unit numbers are arranged in ascending order from west to east. Let the horizontal coordinate of the delivery of the nth building unit in the system be x n In a certain delivery task, the system defines the set of user building unit numbers assigned to the UAV in ascending order as The number of floor units contained in Θ is M, that is, Θ(1) and Θ(M) represent the westernmost and easternmost unit numbers of the UAV that need to pick up the delivery service during this flight. For the convenience of description, Θ(m) represents the mth unit number that needs to pick up the delivery service from west to east during this flight, and the set of user floors that need to pick up the delivery service in the mth floor unit is expressed as Different users in the example are on different floors, and the distance between adjacent floors is defined as H. Since the UAV provides delivery service, it needs to hover at the target user's floor. Assume that the hovering time of the UAV at each user who requires delivery service is Δt, and there is no hovering time for users who do not require delivery service.

[0123] In the present invention, there is a high-rise building in front of the building unit where the drone picks up and delivers goods (in the direction of the sun). Under different angles of the sun, the building will block the sunlight for multiple building units where the drone picks up and delivers goods. And because the blocking building is high or the distance between the two is close, all floors of the building unit in the shadow cannot receive direct sunlight. Assume that at the initial moment of the drone picks up and delivers goods, the coordinate of the easternmost side of the shadow is marked as x s , and since the sun is moving to the west, the shadow moves to the east, and the shadow's moving speed is defined as v s .

[0124] At the same time, since traditional drones usually rely on batteries for power and have limited flight time, installing solar panels on drones can enable the UAV to absorb solar energy and convert it into electrical energy during flight, charging the drone's battery, thereby extending the drone's flight time.

[0125] Based on the above network scenario, it can be seen that the closer the unit selected by the drone is to the shadow or the more pick-up and delivery services a certain unit has, the more likely the drone will enter the shadow area at a certain stage when performing the pick-up and delivery service. Therefore, in order to solve the above problem, a method is provided for the drone to fly in direct sunlight when performing delivery and pick-up services, so as to promote the acquisition of green energy for the UAV. Since the lateral flight distance of a drone between different units is generally greater than the flight distance between adjacent floors of the same unit, in the present invention, the drone must complete the tasks of all users who need to pick up and deliver goods in the same unit before it can fly horizontally to the next unit to continue the flight mission. In addition, the take-off point of the drone is on the ground and the drone needs to return to the ground for charging and battery replacement services after completing the mission.

[0126] The present invention takes into account the impact of the movement of the sun's position on the position of shadows cast by high-rise buildings, and provides a flight method for a drone facing multiple building units, each of which has multiple users with delivery needs, so that all drones are within direct sunlight when performing delivery and pick-up operations. This method selects the building with the user with demand closest to the east side of the shadow as the starting position for the UAV flight as much as possible.

[0127] In particular, during the ascending delivery phase, the drone should select the higher user altitude among the highest (vertical distance) demand user in the current unit and the highest (vertical distance) demand user in the next demand unit as the highest point of the current unit's flight; at the same time, during the descending delivery phase, the drone should select the lower user altitude among the lowest demand user in the current unit and the lowest demand user in the next demand unit as the lowest point of the current unit's flight, so as to ensure that the drone does not fly over the demand user repeatedly during the flight.

[0128] The specific implementation is as follows Figure 3 As shown, the method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone includes the following steps:

[0129] Step 1: Parameter collection and initialization of m=1;

[0130] Step 2: If x Θ(m-1) <x s <x Θ(m) And m∈[1,M-3], execute step 3, where x Θ(0) =-∞; if x Θ(m-1) <x s <x Θ(m) And m∈[M-2,M], execute step 4; otherwise, m=m+1, continue to step 2;

[0131] Step 3: Calculate the time taken by the UAVs from the mth to the Mth unit in the set Θ to fly each unit:

[0132] 1) At the mth unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0133]

[0134] in, is the highest floor number that the drone flies at the mth unit in the set Θ, v is the flight speed of the drone, represents the UAV hovering time of all users who demand pickup and delivery services at the mth unit in the set Θ.

[0135] 2) At the m+1th unit in the set Θ, the flight time of the UAV is:

[0136]

[0137] in, is the lowest floor number that the drone flies at the m+1th unit in the set Θ.

[0138] 3) When Mm is an odd number, the drone takes a descending approach when performing the delivery service for the last unit in the set Θ. Therefore, at the kth unit in the set Θ The flight time of the UAV is:

[0139]

[0140] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0141]

[0142] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0143]

[0144] At the Mth cell in the set Θ, the flight time of the UAV is:

[0145]

[0146] 4) If Mm is an even number, the drone will take the last unit in the set Θ and deliver the goods in an ascending manner. Therefore, at the kth unit in the set Θ The flight time of the UAV is:

[0147]

[0148] At the k+1th cell in the set Θ, the flight time of the UAV is:

[0149]

[0150] At the Mth cell in the set Θ, the flight time of the UAV is:

[0151]

[0152] Step 4: If m = M-2, then:

[0153] At the M-2th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0154]

[0155] At the M-1th cell in the set Θ, the flight time of the UAV is:

[0156]

[0157] At the Mth cell in the set Θ, the flight time of the UAV is:

[0158]

[0159] If m = M-1, then:

[0160] At the M-1th unit in the set Θ, the time it takes for the UAV to take off from the ground to the highest point is:

[0161]

[0162] At the Mth cell in the set Θ, the flight time of the UAV is:

[0163]

[0164] If m = M, then:

[0165] At the Mth cell in the set Θ, the flight time of the UAV is:

[0166]

[0167] Step 5: Calculate the east side of the shadow as the sun moves to the kth unit in the set Θ The time taken for the unit is:

[0168]

[0169] Step 6, if All satisfy the following formula:

[0170]

[0171] This means that the drone selects the mth unit building in the set Θ to start the pick-up and delivery service until the user of the Mth unit building ends. During this flight period, the drone will not be covered by the moving shadows created by obstacles. Therefore, the drone selects the mth unit building in the set Θ to start the pick-up and delivery service.

[0172] Otherwise, it means that the drone selects the mth unit building in the set Θ to start the pick-up and delivery service until the user of the Mth unit building ends. During this flight, the drone will be covered by the moving shadows created by obstacles. At this time, if m=M, the algorithm ends, indicating that the drone selects any unit in the set Θ to start the flight mission and the requirement that all UAVs are in direct sunlight is not met. Otherwise, let m=m+1 and return to step 2.

[0173] It should be noted that for all k∈[m,M], there is one or more that do not satisfy When the algorithm ends, any unit in the drone selection set Θ does not meet the requirement that all UAVs are in direct sunlight. The building unit number with the smallest number is used as the starting position for the UAV to fly.

[0174] In another embodiment, a solar-powered drone system for picking up and delivering goods to multiple units in a high-rise building includes a processor having a built-in method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone as described above.

[0175] In another embodiment, a drone includes the above-mentioned solar drone for picking up and delivering goods to multiple units in a high-rise building.

[0176] In another embodiment, a computer storage medium stores a computer program, which, when executed, performs any of the above-described methods for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone.

[0177] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A method for picking up and delivering goods to multiple units in a high-rise building using a solar-powered drone, characterized in that: The following steps are involved: S01: In the set of building unit numbers Θ, find the building unit number that is located on the east side of the shadow and closest to the east side of the shadow, and use this building unit as the starting position for the drone to fly; S02: Obtain the flight speed of the drone, the distance between adjacent floors, and the hovering time at the target user floor, and calculate the total time for the drones from the mth to the kth unit in the set Θ to fly each unit and the total time for the drones to fly horizontally between units; S03: Get the coordinate x of the easternmost side of the shadow at the initial moment of the drone delivery service s , and the shadow's moving speed v s , calculate the time t taken by the east side of the shadow to move with the sun to the kth unit in the set Θ s,k ; S04: Comparison s,k The total time for the UAVs to fly each unit and the lateral flight between units is the size of the UAVs. If If both are greater than the total time for the drones from the mth to the kth unit to fly each unit and the horizontal flight between units, the drone selects the mth building unit in the set Θ to start the pick-up and delivery service.

2. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 1, characterized in that: Step S01 also includes that, in a certain delivery mission, the system defines the set of building unit numbers of users assigned to the drone in ascending order as Θ, where the number of building units contained in Θ is M, that is, Θ(1) and Θ(M) respectively represent the westernmost and easternmost unit numbers of the drone that need to pick up the delivery service during this flight, and Θ(m) represents the mth unit number that needs to be picked up from west to east during this flight, and the set of user floors that need to be picked up in the mth building unit. Different users in the system are on different floors.

3. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 2, characterized in that: The method for obtaining the building unit number located on the east side of the shadow and closest to the east side of the shadow in step S02 includes: Calculate the horizontal coordinate x of the building unit number Θ(m-1) and Θ(m) Θ(m-1) 、x Θ(m) ; If x Θ(m-1) <x s <x Θ(m) , then the building unit number located on the east side of the shadow and closest to the east side of the shadow is m.

4. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 2, characterized in that: In step S02, when the drone is in the ascending stage of flying to pick up and deliver goods, the drone selects the higher user floor height between the highest user floor of the current unit and the highest user floor of the next demand unit as the highest point of the current unit's flight; in the descending stage of flying to pick up and deliver goods, the drone selects the lower user floor height between the lowest user floor of the current unit and the lowest user floor of the next demand unit as the lowest point of the current unit's flight.

5. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 3, characterized in that: In step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[1,M-3], the method for calculating the time taken by the UAV from the mth to the Mth unit in the set Θ to fly each unit includes: 1) At the mth unit in the set Θ, the time it takes for the drone to take off from the ground to the highest point is: in, is the highest floor number that the drone flies at the mth unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the drone's hovering time at the mth unit in the set Θ for all users who require pickup and delivery services; 2) At the m+1th unit in the set Θ, the flight time of the drone is: in, is the lowest floor number that the drone flies at the m+1th unit in the set Θ; 3) When Mm is an odd number, the drone takes a descending approach when performing the delivery service for the last unit in the set Θ. The flight time of the drone is: At the k+1th unit in the set Θ, the flight time of the drone is: At the M-1th unit in the set Θ, the flight time of the drone is: At the Mth unit in the set Θ, the flight time of the drone is: 4) If Mm is an even number, the drone will take the delivery service to the last unit in the set Θ in an ascending manner, and at the kth unit in the set Θ The flight time of the drone is: At the k+1th unit in the set Θ, the flight time of the drone is: At the Mth unit in the set Θ, the flight time of the drone is:

6. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 3, characterized in that: In step S02, if x Θ(m-1) <x s <x Θ(m) And m∈[M-2,M], the method for calculating the time taken by the UAV from the mth to the Mth unit in the set Θ to fly each unit includes: If m = M-2, then: At the M-2th unit in the set Θ, the time it takes for the drone to take off from the ground to the highest point is: in, is the highest floor number that the drone flies at the M-2th unit in the set Θ, v is the flight speed of the drone, H is the distance between adjacent floors, represents the drone's hovering time at the M-2th unit in the set Θ for all users who require pickup and delivery services; At the M-1th unit in the set Θ, the flight time of the drone is: At the Mth unit in the set Θ, the flight time of the drone is: If m = M-1, then: At the M-1th unit in the set Θ, the time it takes for the drone to take off from the ground to the highest point is: At the Mth unit in the set Θ, the flight time of the drone is: If m = M, then: At the Mth unit in the set Θ, the flight time of the drone is:

7. The method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone according to claim 3, characterized in that: In step S04: like All satisfied Then the drone selects the mth unit building in the set Θ to start the pickup and delivery service; otherwise, set m = m + 1 and recalculate until m = M; Among them, t Θ(l) is the flight time of the UAV at the lth unit in the set Θ, x Θ(k) 、x Θ(m) are the horizontal coordinates of the building unit numbers Θ(k) and Θ(m), respectively, and v is the flight speed of the UAV.

8. A solar-powered drone delivery system for multiple units in a high-rise building, characterized by: The invention comprises a processor having a built-in method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone as described in any one of claims 1 to 7.

9. A drone, characterized in that: A system for picking up and delivering goods to multiple units in a high-rise building, including the solar-powered drone described in claim 8.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for picking up and delivering goods to multiple units of a high-rise building using a solar-powered drone as described in any one of claims 1 to 7 is implemented.

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