Drones face challenges like wind and external forces in urban environments. We design an innovative control algorithm that enhances stability and safety by combining advanced perception and obstacle detection, enabling precise navigation and adaptability. This anti-disturbance capability improves performance and expands applications such as parcel delivery. Additionally, the drone cargo stabilization project minimizes sway during transport by optimizing attitude adjustments, ensuring smoother operations without compromising flight dynamics. This approach enhances delivery efficiency and safety, positioning drones as reliable tools in complex urban settings.