Aiming at the problem of the scheduling scheme of urban low-altitude logistics unmanned aerial vehicles (UAVs), this paper establishes a demand-based UAV scheduling scheme model using an improved simulated annealing algorithm, taking minimizing the cost of distribution as the objective function and considering restrictions such as UAV performance constraints, airspace constraints, and distribution constraints, among others. For verification, actual express data and airspace constraints in Shanghai are taken as examples. Two urban air traffic networks are constructed using road and building data. The analysis results show that the planning scheme of this model is superior to other forecasting models in terms of delivery cost and delivery time. In addition, this model can flexibly calculate the optimal scheduling scheme under the constraints of multiple parameters, according to the requirements of delivery volume, delivery distance, UAV performance, etc.