Unmanned aerial vehicle and building facility space integrated distribution system and distribution method

Abstract

According to the distribution system and the distribution method for the integrated unmanned aerial vehicle and the building facility space, the take-off, landing, passing, charging and cargo handover functions of the unmanned aerial vehicle are deeply integrated with the building structure, the unmanned aerial vehicle, the take-off and landing platform and the vertical channel complete collaborative operation through the central control system, the whole process is highly automatic, and the efficiency is high. The function of safe, efficient and automatic operation of the unmanned aerial vehicle inside and outside the building is achieved, and the operation efficiency and safety are greatly improved. The unmanned aerial vehicle infrastructure is used as an internal function module of the building to be integrally designed, seamless penetration of the unmanned aerial vehicle from the urban airspace to any floor in the building is achieved through the vertical transportation channel, the urban ground space is not additionally occupied, the space value and functional diversity of the building are improved, and the construction cost is reduced. Extreme convenience and privacy are provided for the user, and the logistics efficiency and the user experience are greatly improved. Through multifunctional expansion, the system can also be expanded to the fields of building fire fighting, security patrol and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent buildings and urban air traffic, and specifically relates to a delivery system and a delivery method integrating unmanned aerial vehicles and building facility space. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology in the fields of logistics, security, and emergency response, the demand for unmanned aerial vehicle applications in urban areas is growing. However, the operation of unmanned aerial vehicles in urban building environments faces many challenges: 1. Lack of landing sites: Urban space is densely populated, and there is a lack of dedicated, safe, and compliant unmanned aerial vehicle landing sites, especially in high-density building clusters.

[0003] 2. "Last mile" bottleneck: Existing models often deliver goods to centralized points at the bottom of buildings or in neighborhoods, requiring manual final delivery and failing to fully utilize the point-to-point direct advantages of unmanned aerial vehicles.

[0004] 3. Vertical transportation within buildings: Unmanned aerial vehicles currently cannot enter building interiors, making seamless transportation from outdoors to specific floors impossible.

[0005] 4. Disconnection from building functions: Existing unmanned aerial vehicle landing pads are often retrofitted with facilities and not considered in the design phase, leading to issues such as inefficient space utilization, impact on building aesthetics, and potential disturbance to residents.

[0006] Therefore, there is an urgent need for an innovative solution that can deeply integrate with buildings and systematically address the above issues. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a delivery system and a delivery method integrating unmanned aerial vehicles and building facility space, for automated operation of unmanned aerial vehicles within and outside buildings.

[0008] The technical solution adopted by the present application to solve the above technical problems is a delivery system integrating unmanned aerial vehicles and building facility space, including a building-integrated landing platform, a vertical transportation channel, and a central control system. The building-integrated landing platform is distributed on the roof of the building or at each external opening, serving as a node for takeoff, landing, parking, and charging of unmanned aerial vehicles. The vertical transportation channel is integrated into the building's shaft space, allowing unmanned aerial vehicles to travel vertically between different floors. The central control system connects to unmanned aerial vehicles through wireless means, assigning tasks, planning flight paths, monitoring the status of unmanned aerial vehicles and building facilities, and resolving airspace conflicts.

[0009] According to the above solution, the building-integrated landing platform includes a hub landing pad and a small landing pad. The hub landing pad is a regional unmanned aerial vehicle dispatch hub, and the small landing pad is a terminal node for unmanned aerial vehicle services.

[0010] Further, the hub apron is located on the roof of the building, with an area of no less than 4m 2 for accommodating multiple UAVs simultaneously; the hub apron includes weather condition acquisition devices, communication enhancement equipment, rapid charging devices, and temporary warehouses.

[0011] Further, the small apron is located outside the balcony or windowsill of each household, and is retracted against the building facade in a non-use state through a telescopic or flip structure; the structural load, power supply, and data interface of the small apron are designed and pre-buried as standard configurations of the building during the scheme design phase of the building; the small apron includes an identity authentication module, a micro charging interface, and a safety protection net. A physical isolation device and a safety sensor are also provided at each outward opening for preventing personnel from entering by mistake or preventing objects from falling.

[0012] According to the above scheme, the vertical transportation channel is a vertical channel pre- reserved in the shaft space of the building during the scheme design phase of the building, which penetrates from the roof to the bottom layer of the building, and is compatible with other functions of the shaft space of the building; The inner wall of the shaft is a smooth curve or a small wave; the entrance and exit of the shaft are trumpet-shaped for smooth transition to reduce entrance loss and exit vortex; a continuous curve is used to connect the inner wall of the shaft and the external space to ensure continuous slope; The shaft is an axisymmetric structure, with the vertical direction as the z-axis, a standard radius R0, and a radial offset Δr(z) for describing concave-convex or inclination, and the inner wall radius r(z) changing with height is expressed as: r(z)=R0+Δr(z); According to the direction of the airflow being expanded or contracted, the local slope ∣dr / dz∣ of the inner wall of the shaft is controlled to be no greater than a critical value; If the inner wall of the shaft adopts a periodic concave-convex structure, let A be the amplitude and λ be the wavelength, then: Δr(z)=Asin(2πz / λ); The maximum slope 2πA / λ satisfies: 2πA / λ≤0.05; The shaft cross-section adopts a circular cross-section for facilitating axisymmetric airflow; if the shaft cross-section adopts a rectangular cross-section, a rounded corner transition is used at the corner; Let Rd be the maximum radius of the UAV and δ be the safety gap, then the minimum radius r min of the inner wall of the shaft is greater than Rd+δ.

[0013] Further, the shaft cross-sectional radius of the airflow contraction section decreases with z, and the half-cone angle β of the airflow contraction section satisfies tanβ≤0.12, i.e.: ∣dr / dz∣≤0.125; The radius of the shaft section of the airflow expansion section increases with z, the half-cone angle of the airflow expansion section is smaller than that of the airflow contraction section, tan beta is less than or equal to 0.05, that is: |dr / dz| is less than or equal to 0.05. In the bidirectional airflow section, |dr / dz| is less than or equal to 0.05. |dr / dz| is less than or equal to 0.05. For ensuring that the airflow remains attached, reducing airflow separation and turbulence.

[0014] According to the above scheme, the inner wall of the vertical transportation channel is provided with a guiding device, a positioning beacon and an anti-collision sensor, and a ventilation system is arranged at the top or the bottom for controlling airflow stability; the vertical transportation channel is further provided with an emergency braking device, a backup power supply and fireproof materials; a channel door is arranged at the intersection of the vertical transportation channel and each floor for the unmanned aerial vehicle to enter and exit; and the channel door is an air-tight automatic door.

[0015] According to the above scheme, the central control system is deployed in the cloud or a local server of the building, and is used for: receiving a delivery order and scheduling a task of an unmanned aerial vehicle; planning a three-dimensional path of the unmanned aerial vehicle from a starting point to a terminal point, including an external flight of the building and a movement in the vertical transportation channel; monitoring a position, an electric quantity, a cargo carrying state of the unmanned aerial vehicle and a working state of each facility in real time; and controlling extension, charging and access control opening and closing of the building integrated take-off and landing platform, and operation of a guiding device in the vertical transportation channel.

[0016] An unmanned aerial vehicle delivery method, comprising the following steps: An unmanned aerial vehicle carrying goods flies to a hub apron of a target building from a delivery center and performs identity verification; The verified unmanned aerial vehicle enters a vertical transportation channel according to an instruction of a central control system; The unmanned aerial vehicle stably descends to a target floor according to a guiding device in the vertical transportation channel; A channel door of the target floor is automatically opened, the unmanned aerial vehicle flies to a small apron of a target house and performs identity verification again; After the verification, the small apron is opened, and the unmanned aerial vehicle lands; After a user takes out the goods, the small apron is retracted; The unmanned aerial vehicle charges on the building integrated take-off and landing platform according to needs and waits; The unmanned aerial vehicle automatically returns to the delivery center after losing connection with the central control system.

[0017] A computer memory, in which a computer program executable by a computer processor is stored, the computer program performing an unmanned aerial vehicle delivery method.

[0018] The present application has the following advantages: 1. The integrated unmanned aerial vehicle and building facility space delivery system and delivery method of the present application, by deeply integrating the unmanned aerial vehicle take-off and landing, passing, charging and cargo transfer functions with the building structure, through the central control system, the unmanned aerial vehicle, the take-off and landing platform and the vertical channel complete the collaborative work, the whole process is highly automated, realizes the safe, efficient and automated operation of the unmanned aerial vehicle in and out of the building, greatly improves the operation efficiency and safety.

[0019] 2. The present application solves the problems of unmanned aerial vehicle city operation difficulty, inability to realize indoor vertical transportation and disconnection with building functions in the prior art, realizes seamless penetration of unmanned aerial vehicles from urban airspace to any floor inside the building through the vertical transportation channel, and truly completes the direct service from the sky to the desktop.

[0020] 3. The present application integrates the unmanned aerial vehicle infrastructure as an internal functional module of the building, deeply integrates the unmanned aerial vehicle infrastructure with the building structure (roof, core tube, balcony), does not occupy additional urban ground space, improves the space value and functional diversity of the building; users can directly receive goods at their own balcony or designated window, providing extreme convenience and privacy, solving the bottleneck problems of unmanned aerial vehicle "last mile" delivery, emergency response and vertical transportation in the building in the urban environment, greatly improving the logistics efficiency and user experience.

[0021] 4. The present application can be used not only for logistics delivery, but also can be extended to building fire fighting (unmanned aerial vehicle quickly carries fire extinguishing agent to the fire point), security patrol, emergency medical material delivery and other fields.

[0022] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0024] Figure 1 is the principle block diagram of the embodiment of the present application.

[0025] Figure 2 is the overall architecture schematic diagram of the embodiment of the present application.

[0026] Figure 3 is the shaft inner wall section schematic diagram of the embodiment of the present application using periodic concave-convex design.

[0027] Figure 4 are schematic diagrams of two shaft sections and smooth transition profiles of embodiments of the present application. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0029] Embodiment 1 Referring to Figure 1 and Figure 2 , taking a high-rise building as an example, the integrated delivery system of unmanned aerial vehicles and building facility space includes building integrated take-off and landing platform, vertical transportation channel and central control system. The building integrated take-off and landing platform is distributed on the outside of the roof, balcony or window sill of the building, serving as the take-off, landing, parking and charging node of the unmanned aerial vehicle; the vertical transportation channel is integrated in the core tube or special shaft of the building, equipped with guiding and positioning devices, realizing the vertical travel of the unmanned aerial vehicle between different floors, and directly extending the service to the floor where the user is located. The central control system coordinates the interaction of all unmanned aerial vehicles and facilities through wireless communication, realizes task allocation, path planning and airspace conflict resolution.

[0030] 1. The building integrated take-off and landing platform includes a roof hub apron and a balcony / window sill small apron; The roof hub apron is located on the roof of the building, serving as a regional unmanned aerial vehicle dispatch hub; the minimum area can reach 4m 2 , which is used to accommodate multiple unmanned aerial vehicles for take-off and landing at the same time, and integrates a weather station, a communication enhancement device, a quick charging pile / battery replacement mechanical arm and a temporary storage warehouse for goods.

[0031] The balcony / window sill small apron is located on the outside of the balcony or window sill of each household, serving as the terminal node of the unmanned aerial vehicle service; it adopts a telescopic or flip design, which can be retracted in the non-use state to keep the building facade clean; it integrates an identity authentication module (such as a two-dimensional code, RFID identification), a miniature charging contact and a safety protection net.

[0032] 2. Vertical transportation channel 2.1 Location and structure: using or modifying the core tube, ventilation shaft or special shaft of the building to form a vertical channel from the roof to the bottom floor.

[0033] In the building shaft space, the flight of the unmanned aerial vehicle is affected by the aerodynamic effect, and its trajectory is not a simple straight line, but there is a concave-convex change of advance and retreat. In order to optimize the design of the inner wall of the shaft to improve the airflow environment, reduce resistance and improve the flight stability of the unmanned aerial vehicle, the design can be made according to the principles and formulas of aerodynamics.

[0034] Design criteria: the shape of the inner wall of the shaft should avoid airflow separation and excessive turbulence, ensuring that the airflow adheres to the wall as much as possible, so the following two design criteria are referred to: control the key parameter wall inclination (or local slope) within the critical value to maintain smooth flow; the inner wall of the shaft is designed to control the local slope as the core, using a smooth curve or a small wave, and meeting the condition that the local slope of the inner wall of the shaft ∣dr / dz∣≤0.05, to avoid sharp changes, effectively improve the aerodynamic environment, and improve the stability and energy efficiency of the unmanned aerial vehicle flight.

[0035] Mathematical description of the inner wall shape: assuming that the shaft is an axisymmetric structure, taking the vertical direction as the z-axis (positive upward), the inner wall radius r(z) changes with height, the standard radius is R0, and Δr(z) is the radial offset, which is used to describe the concave-convex or inclination; the inner wall radius r(z) is expressed as: r(z)=R0+Δr(z); Inclination limit: to avoid airflow separation, the local slope of the inner wall of the shaft ∣dr / dz∣ is controlled to be less than the critical value according to the airflow direction (expansion or contraction); The half-cone angle β of the contraction section (the radius decreases with z) satisfies tanβ≤0.12 (about 7 degrees), that is: ∣dr / dz∣≤0.125; The half-cone angle of the expansion section (the radius increases with z) is smaller than that of the contraction section, tanβ≤0.05 (about 3 degrees), that is: ∣dr / dz∣≤0.05; Since the unmanned aerial vehicle may fly up and down, for the bidirectional airflow flow section, a more stringent limit should be used, and the following condition is used uniformly: ∣dr / dz∣≤0.05; This condition can ensure that the airflow remains attached in most cases, reducing separation and turbulence.

[0036] Periodic concave-convex design: if the inner wall adopts a periodic concave-convex structure (such as a sine wave), see Figure 3 , let A be the amplitude and λ be the wavelength, then: Δr(z)=Asin(2πz / λ); The maximum slope 2πA / λ satisfies: 2πA / λ≤0.05; From which the design relationship between the amplitude and the wavelength can be obtained: A≤0.05λ / 2π≈0.00796λ; For example, if the wavelength λ=1m, then the amplitude A≤0.00796m≈8mm.

[0037] Inlet and outlet design: the inlet and outlet of the shaft are designed as smooth transition horn shapes, see Figure 4To reduce inlet loss and outlet vortex. Use a continuous curve (such as a polynomial or hyperbolic curve) to connect the inner wall of the shaft with the outer space, ensuring that the slope is continuous and meets the above restrictions.

[0038] Practical applications include: Shaft section: Preferably circular cross-section for axisymmetric flow; if rectangular, use rounded corners for transition; see Figure 4 .

[0039] Surface smoothness: The inner wall surface should be as smooth as possible to reduce turbulence caused by local roughness.

[0040] Drone size compatibility: Let Rd be the maximum radius of the drone, and δ be the safety gap (recommended δ ≥ 0.2m), to ensure that the minimum radius r min > Rd+δ, to avoid collision between the drone and the wall.

[0041] 2.2 Internal facilities: Install guide rails or electromagnetic guide wires on the inner wall of the passage, and set up LED positioning beacons and anti-collision sensors. Install ventilation systems on the top or bottom of the passage to control airflow stability.

[0042] 2.3 Access node: At the intersection of the passage and each floor, set up an air-tight automatic door. When the drone arrives at the designated floor, the access control system opens, and the drone can fly out of the passage into the interior of the floor, reaching the target balcony landing pad.

[0043] 3. The central control system is the "brain" of the entire space, deployed in the cloud or on the local server of the building. Functions include: Task scheduling: Receive delivery orders and assign the best tasks to drones.

[0044] Three-dimensional path planning: Plan a three-dimensional path for each drone from the starting point to the end point, including flying outside the building and moving inside the vertical passage, avoiding air traffic conflicts.

[0045] Facility coordination: Control the extension, charging, and access opening of the landing platform, as well as the guiding equipment inside the vertical passage.

[0046] State monitoring: Real-time monitoring of drone location, power, cargo status, and the working status of each facility.

[0047] During the building design phase, the shaft space for the vertical drone passage should be reserved, and its structure should be compatible with other functions such as the core tube. The structural load, power supply, and data interface of the balcony landing pad should be designed and pre-buried as standard configurations of the building.

[0048] The system is equipped with multiple security redundancies, including: automatic return of the UAV in case of loss of communication, emergency braking in the vertical passage, backup power, fireproof materials, etc. All external openings (passage doors, balcony landing pads) are equipped with physical barriers and safety sensors to prevent accidental entry by personnel or falling objects.

[0049] The embodiment integrates the UAV take-off and landing, passage, charging and cargo transfer functions with the building structure in depth, and through the central control system, the UAV, the landing platform and the vertical passage complete collaborative work, the whole process is highly automated, realizes the function of safe, efficient and automated operation of the UAV in and out of the building, and greatly improves the operation efficiency and safety.

[0050] Embodiment 2 The embodiment realizes an integrated distribution method of integrating the UAV and the building facility space based on the principles and structures of embodiment 1, and specifically includes the following steps: The UAV carrying goods flies from the distribution center to the roof hub landing pad of the target building; After completing the identity verification on the roof, according to the instruction of the central system, enter the vertical transportation passage; The guide system in the passage is started, and the UAV is smoothly lowered to the target floor (such as the 15th floor) along the guide rail; The passage door of the floor is automatically opened, the UAV flies out of the passage, and flies to the balcony landing pad of room 1501; The RFID reader of the balcony landing pad identifies the identity of the UAV, the platform is extended, and the UAV lands. After the user takes out the goods, the platform is automatically retracted; The UAV charges according to the need on the balcony or returns to the roof, and waits for the next instruction.

[0051] The embodiment solves the problems in the prior art that the UAV cannot be operated in the city, cannot realize indoor vertical transportation, and is disconnected with the building functions. Through the vertical transportation passage, the UAV realizes seamless penetration from the urban airspace to any floor inside the building, and truly completes the direct service from the sky to the desktop.

[0052] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0053] It should be noted that according to the needs of implementation, each step / component described in the present application can be split into more steps / components, or two or more steps / components or part of the operation of the steps / components can be combined into a new step / component to achieve the purpose of the present application.

[0054] The embodiment further comprises a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory complete the communication among each other through the communication bus; the memory stores a computer program; when the program is executed by the processor, the processor executes the steps of the integrated delivery method of unmanned aerial vehicle and building facility space.

[0055] The embodiment further provides a computer readable storage medium, which stores executable instructions, and the instructions are executed by a processor to enable the processor to implement the integrated delivery method of unmanned aerial vehicle and building facility space.

[0056] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment or an embodiment combining software and hardware aspects.

[0057] Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0058] The present application is described with reference to the block diagrams of the devices (systems) according to the embodiment 1 of the present application and the flowcharts of the methods and computer program products according to the embodiment 2. It should be understood that each flow or block in the flowchart or the block diagram, and the combination of the flows or blocks in the flowchart or the block diagram can be realized by computer program instructions.

[0059] These computer program instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in the flowchart or the block diagram. Figure 1 The functions specified in one or more flows or blocks Figure 1 The integrated delivery system of unmanned aerial vehicle and building facility space.

[0060] These computer program instructions can also be stored in a computer readable storage medium capable of guiding the computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction devices, which implement the functions specified in the flowchart or the block diagram. Figure 1 The functions specified in one or more flows or blocks Figure 1 The functions specified in one or more flows or blocks

[0061] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are generated to realize the computer-implemented process, and the instructions executed on the computer or other programmable devices provide the steps for realizing the integrated unmanned aerial vehicle and building facility space distribution method in the flowchart Figure 1 one flowchart or multiple flowcharts or blocks Figure 1 one block or multiple blocks.

[0062] The above examples are only used to illustrate the design ideas and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and the protection scope of the present application is not limited to the above examples. Therefore, any equivalent changes or modifications made in accordance with the principles disclosed by the present application are within the scope of protection of the present application.

Claims

1. A delivery system that integrates unmanned aerial vehicles with building infrastructure spaces, characterized by: The building integrated landing platform, vertical transportation channel, central control system and unmanned aerial vehicle are included. The building integrated landing platform is distributed on the roof of the building or at the external opening of each household, and is used as a landing, parking and charging node for the unmanned aerial vehicle. The vertical transportation channel is integrated in the shaft space of the building, and is used for the unmanned aerial vehicle to vertically pass through between different floors. The central control system is connected with the unmanned aerial vehicle through wireless mode, and is used for distributing the unmanned aerial vehicle task, planning the flight path, monitoring the state of the unmanned aerial vehicle and the building facilities, and solving the airspace conflict.

2. The integrated unmanned aerial vehicle and building facility space distribution system according to claim 1, wherein the building integrated landing platform comprises a hub apron and a small apron. The hub apron is a regional unmanned aerial vehicle dispatch hub. The small apron is a terminal node for the unmanned aerial vehicle service.

3. The integrated unmanned aerial vehicle and building facility space distribution system according to claim 2, wherein the hub apron comprises an identity authentication device, a meteorological condition acquisition device, a communication enhancement device, a rapid charging device and a temporary warehouse.

4. The integrated unmanned aerial vehicle and building facility space distribution system according to claim 2, wherein the small apron is located outside the balcony or windowsill of each household, and is retracted close to the building facade in a non-use state through a retractable structure. The hub parking apron is located on the building roof, with an area of not less than 4 m 2 for simultaneously accommodating multiple unmanned aerial vehicles to take off and land; The structure load, power supply and data interface of the small apron are designed and pre-buried as the standard configuration of the building in the scheme design stage of the building. The small apron comprises an identity authentication device, a rapid charging device and a safety protection net. A physical isolation device and a safety sensor are further arranged at the external opening of each household, and are used for preventing personnel from entering by mistake or preventing articles from falling.

5. The integrated unmanned aerial vehicle and building facility space distribution system according to claim 1, wherein the vertical transportation channel is a vertical channel penetrating from the roof to the bottom layer of the building, which is pre-reserved in the shaft space of the building in the scheme design stage of the building, and is compatible with other functions of the shaft space of the building. The inner wall of the shaft is a smooth curve or a small wave; the entrance and exit of the shaft are horn-shaped for smooth transition to reduce the entrance loss and exit vortex; a continuous curve is used to connect the inner wall of the shaft and the external space to ensure the continuity of the slope. The shaft is an axisymmetric structure, the vertical direction is the z-axis, the standard radius is R0, Δr(z) is the radial offset for describing the concave-convex or inclination, and the inner wall radius r(z) changing with the height is expressed as: r(z)=R0+Δr(z); According to the expansion or contraction of the airflow direction, the local slope |dr / dz| of the inner wall of the shaft is controlled to be not greater than a critical value. If the inner wall of the shaft adopts a periodic concave-convex structure, A is the amplitude, and λ is the wavelength, then: Δr(z)=Asin(2πz / λ); The maximum slope 2πA / λ satisfies: 2πA / λ≤0.05; The shaft cross section adopts a circular cross section for the axial symmetric flow of the airflow; if the shaft cross section adopts a rectangular cross section, a round corner transition is used at the corner.

6. The integrated unmanned aerial vehicle and building facility space distribution system according to claim 5, wherein ​ ​ Let Rd be the maximum radius of the UAV, and δ be the safety gap, then the minimum radius r of the inner wall of the shaft is min >Rd+δ. ​ The radius of the shaft section of the airflow contraction section decreases with the increase of z, and the half-cone angle β of the airflow contraction section satisfies tanβ≤0.12, that is: |dr / dz|≤0.125; The radius of the shaft section of the airflow expansion section increases with the increase of z, and the half-cone angle of the airflow expansion section is smaller than that of the airflow contraction section, tanβ≤0.05, that is: |dr / dz|≤0.05; In the bidirectional airflow section, |dr / dz|≤0.05 is adopted. For ensuring that the airflow remains attached, reducing airflow separation and turbulence.

7. The integrated delivery system of unmanned aerial vehicles and building facilities space according to claim 1, characterized in that: The inner wall of the vertical transportation channel is provided with a guide device, a positioning beacon and an anti-collision sensor, and the top or bottom is provided with a ventilation system for controlling airflow stability; The vertical transportation channel is also provided with an emergency braking device, a backup power supply and fireproof materials; A channel door is provided at the intersection of the vertical transportation channel and each floor for the unmanned aerial vehicle to enter and exit; the channel door is an air-tight automatic door.

8. The integrated delivery system of unmanned aerial vehicles and building facilities space according to claim 1, characterized in that: The central control system is deployed in the cloud or a local server of the building, and is used for: receiving a delivery order, scheduling unmanned aerial vehicle tasks; planning a three-dimensional path of the unmanned aerial vehicle from the starting point to the end point, including building external flight and movement in the vertical channel; monitoring the position, power, cargo state of the unmanned aerial vehicle and the working state of each facility in real time; controlling the extension, charging and access opening and closing of the building integrated landing platform, and the operation of the guiding equipment in the vertical channel. The steps include:

9. A drone delivery method based on the integrated drone and building facility space delivery system of any one of claims 1 to 8, characterized in that: The unmanned aerial vehicle carrying goods flies to the hub landing pad of the target building from the distribution center and performs identity verification; The verified unmanned aerial vehicle enters the vertical transportation channel according to the instruction of the central control system; The unmanned aerial vehicle stably descends to the target floor according to the guiding device in the vertical transportation channel; The channel door of the target floor automatically opens, the unmanned aerial vehicle flies to the small landing pad of the target house and performs identity verification again; After verification, the small landing pad is opened, and the unmanned aerial vehicle lands; After the user takes out the goods, the small landing pad is retracted; The unmanned aerial vehicle charges on the building integrated landing platform as needed and waits; The unmanned aerial vehicle automatically returns to the distribution center after losing contact with the central control system. The memory stores a computer program executable by a computer processor, and the computer program executes the unmanned aerial vehicle delivery method of claim 9.

10. A computer memory, characterized by: The memory stores a computer program executable by a computer processor, and the computer program executes the unmanned aerial vehicle delivery method of claim 9.

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