Simulation method and device for flexible canopy of wheat by plant protection unmanned aerial vehicle spraying

Abstract

The application provides a simulation method and device for pesticide application of a flexible wheat canopy by a plant protection unmanned aerial vehicle, and the method comprises the following steps: obtaining a wheat finite element analysis model by finite element modeling based on a three-dimensional model of the wheat, wherein the wheat material has an elastic characteristic in the wheat finite element analysis model; constructing a lattice Boltzmann fluid analysis model based on the wheat finite element analysis model, a three-dimensional model of the unmanned aerial vehicle and a virtual wind tunnel; performing fluid-structure coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain a fluid-structure coupling analysis result; and obtaining a pesticide application simulation result by adding a pesticide particle application simulation in post-processing based on the fluid-structure coupling analysis result. By introducing the elastic characteristic of the crop into the wheat finite element analysis model, the flexibility of the wheat canopy can be reflected, and the fluid-structure coupling simulation mode combining the finite element method and the lattice Boltzmann method can simulate the interaction between the wheat and the wind tunnel in real time, so that the simulation reality can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural plant protection, and in particular to a method and device for simulating a flexible wheat canopy for pesticide application by a plant protection drone. Background Art

[0002] Traditional pesticide application often results in pesticides being sprayed into non-target areas and excessive use. Rotary-wing agricultural drones, however, are maneuverable and can take off and land in fields, unaffected by terrain or crop type. They can operate in mountainous and hilly areas difficult for ground-based machinery to reach, effectively reducing pesticide usage, increasing spraying efficiency, and reducing pesticide residue.

[0003] In recent years, the use of computational fluid dynamics (CFD) technology to simulate the flow fields of agricultural drones has become a research hotspot in both the agricultural and computer science fields worldwide. The advantages of this technology lie in its high simulation efficiency, the ability to eliminate interference from environmental factors such as weather during experiments, and the intuitive observation of wind field distribution. Significant progress has been made in the field of UAV flow field simulation, primarily focusing on the study of rotor downwash flow fields and droplet drift and deposition.

[0004] The drone flow field simulation in related technologies mainly focuses on the research of drone rotor downwash flow field and droplet drift and deposition. However, for crops such as wheat, due to the flexible characteristics of the wheat canopy itself, it will produce flexible deformation under the action of the rotor downwash wind field. The mutual influence between wheat and the wind field leads to the lack of authenticity of the related technology in simulating the process of plant protection drone spraying wheat. Summary of the Invention

[0005] In response to the problems existing in the prior art, an embodiment of the present invention provides a method and device for simulating the flexible canopy of wheat during pesticide application by a plant protection drone.

[0006] In a first aspect, the present invention provides a method for simulating a flexible wheat canopy during pesticide application by a plant protection drone, comprising:

[0007] Based on the three-dimensional model of wheat, a finite element analysis model of wheat is obtained through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0008] Based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel, a lattice Boltzmann fluid analysis model is constructed;

[0009] Performing fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0010] Based on the fluid-solid coupling analysis results, the spraying simulation is performed by adding liquid medicine particles in the post-processing program to obtain the spraying simulation results.

[0011] Optionally, according to a method for simulating a flexible canopy of wheat for pesticide application by a crop protection drone provided by the present invention, the method of obtaining a finite element analysis model of wheat by finite element modeling based on a three-dimensional model of wheat includes:

[0012] Based on the three-dimensional wheat model, wheat finite element information is obtained by configuring wheat materials, wherein the wheat materials include density, elastic modulus and Poisson's ratio;

[0013] Based on the wheat finite element information, wheat array information is obtained by wheat array processing;

[0014] The wheat finite element analysis model is determined based on the wheat array information, finite element analysis step information and fluid-solid coupling action surface settings.

[0015] Optionally, according to a method for simulating a flexible wheat canopy during pesticide application by a crop protection drone provided by the present invention, a lattice Boltzmann fluid analysis model is constructed based on the wheat finite element analysis model, the drone three-dimensional model, and the virtual wind tunnel, including:

[0016] Importing the wheat finite element analysis model and the drone three-dimensional model into a virtual wind tunnel, and configuring the drone rotor speed, drone rotation axis, drone forward flight speed, and wall type based on the virtual wind tunnel;

[0017] The computational domain of the virtual wind tunnel is discretized into a grid by using a lattice Boltzmann method;

[0018] Determining the lattice Boltzmann fluid analysis model based on the virtual wind tunnel and fluid model simulation parameters;

[0019] The finite element analysis step information includes analysis duration, and the fluid model simulation parameters include simulation duration. The simulation duration of the fluid model simulation parameters is the same as the analysis duration of the finite element analysis step information.

[0020] Optionally, according to the method for simulating a flexible canopy of wheat for pesticide application by a crop protection drone provided by the present invention, before importing the wheat finite element analysis model and the drone three-dimensional model into the virtual wind tunnel, the method further includes:

[0021] An average wind speed at the target height above the ground is determined based on the target height, von Karman parameters, friction velocity parameters, and ground roughness. The average wind speed serves as an initial setting of the virtual wind tunnel.

[0022] Optionally, according to a method for simulating a flexible wheat canopy during pesticide application by a crop protection drone provided by the present invention, the method includes: performing a pesticide application simulation based on the fluid-solid coupling analysis result by adding liquid pesticide particles in a post-processing program to obtain the pesticide application simulation result, including:

[0023] Add a straight line component to simulate the liquid outlet of the nozzle, and configure the length, position and movement speed of the straight line component. The movement speed is the same as the forward flight speed of the drone.

[0024] Based on the fluid-structure coupling analysis result, adding liquid medicine particles and refreshing the liquid medicine particles through the straight component;

[0025] Obtaining a fluid simulation result of the lattice Boltzmann fluid analysis model and a finite element analysis result of the wheat finite element analysis model;

[0026] Determining the pesticide application simulation result based on the fluid simulation result and the finite element analysis result;

[0027] The fluid simulation results include wind field distribution simulation information and liquid medicine deposition simulation information, and the finite element analysis results include wheat stress simulation information and wheat deformation simulation information.

[0028] Optionally, according to the method for simulating a flexible canopy of wheat for pesticide application by a crop protection drone provided by the present invention, before obtaining a finite element analysis model of wheat by finite element modeling based on the three-dimensional wheat model, the method further includes:

[0029] Construct wheat stem model and wheat leaf model;

[0030] Based on the wheat stem model and the wheat leaf model, the wheat three-dimensional model is obtained by assembling the wheat stem and the wheat leaf;

[0031] The three-dimensional model of the drone is obtained based on the rotor configuration information, fuselage configuration information, bracket configuration information, radar configuration information and flight angle configuration information of the drone, where the flight angle configuration information is determined based on the forward flight speed of the drone.

[0032] In a second aspect, the present invention also provides a simulation device for a flexible wheat canopy for pesticide application by a crop protection drone, comprising:

[0033] A first acquisition module is configured to acquire a finite element analysis model of wheat based on the three-dimensional wheat model through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0034] A construction module is used to construct a lattice Boltzmann fluid analysis model based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel;

[0035] A second acquisition module is used to perform fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0036] The third acquisition module is used to perform a pesticide application simulation by adding liquid medicine particles in a post-processing program based on the fluid-solid coupling analysis result to obtain a pesticide application simulation result.

[0037] In a third aspect, the present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a method for simulating the flexible canopy of wheat sprayed by a plant protection drone as described above is implemented.

[0038] In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for simulating the flexible canopy of wheat when spraying pesticides by a plant protection drone as described in any of the above.

[0039] In a fifth aspect, the present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements a method for simulating the flexible canopy of wheat when spraying pesticides by a plant protection drone as described in any of the above.

[0040] The present invention provides a method and device for simulating the flexible canopy of wheat for pesticide application by a plant protection drone. By introducing the elastic characteristics of the crop into the wheat finite element analysis model, the wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, making the simulation process closer to the actual operation scene. The movement and deposition of the pesticide solution in the flexible canopy can be well reflected in the simulation. By using a fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method, wheat and a wind tunnel are interactively simulated in real time, which can improve the realism of the simulation, facilitate the combination of simulation to set a reasonable pesticide application plan, improve pesticide application efficiency and reduce waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a flow chart of the method for simulating the flexible canopy of wheat for pesticide application by a plant protection UAV provided by the present invention;

[0043] Figure 2 This is a schematic diagram of wheat stalks provided by the present invention;

[0044] Figure 3 This is a schematic diagram of the wheat assembly model provided by the present invention;

[0045] Figure 4 This is a schematic diagram of the UAV model provided by the present invention;

[0046] Figure 5 This is a schematic diagram of the wheat finite element model provided by the present invention;

[0047] Figure 6 Schematic diagram of the calculation domain in the virtual wind tunnel provided by the present invention;

[0048] Figure 7 It is a schematic diagram of a straight line component provided by the present invention;

[0049] Figure 8 This is a schematic structural diagram of a simulation device for a plant protection UAV spraying wheat flexible canopy provided by the present invention;

[0050] Figure 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0052] Figure 1 The figure is a flow chart of the simulation method of the flexible canopy of wheat for pesticide application by a plant protection UAV provided by the present invention. Figure 1 As shown, the method includes:

[0053] Step 101 : Based on the three-dimensional wheat model, a finite element analysis model of wheat is obtained through finite element modeling, in which the wheat material has elastic characteristics.

[0054] Specifically, a three-dimensional model of wheat can be constructed in advance, and based on the three-dimensional model of wheat, the wheat can be modeled using a finite element modeling tool. During the modeling process, the wheat stems and wheat leaves can be configured to have elastic characteristics. After the finite element modeling is completed, a finite element analysis model of wheat can be obtained.

[0055] It can be understood that by introducing the elastic characteristics of crops into the wheat finite element analysis model, the wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, making the simulation process closer to the actual operation scenario.

[0056] Step 102, based on the wheat finite element analysis model, unmanned aerial vehicle three-dimensional model and virtual wind tunnel, a lattice Boltzmann fluid analysis model is constructed.

[0057] Specifically, the unmanned aerial vehicle three-dimensional model can be constructed in advance, and after the wheat finite element analysis model is obtained, the wheat finite element analysis model and the unmanned aerial vehicle three-dimensional model can be imported into the virtual wind tunnel, and then the lattice Boltzmann fluid analysis model can be constructed based on the virtual wind tunnel by the lattice Boltzmann method.

[0058] Step 103, based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model, fluid-structure coupling analysis is performed to obtain fluid-structure coupling analysis results.

[0059] Specifically, after the wheat finite element analysis model and the lattice Boltzmann fluid analysis model are obtained, the fluid-structure coupling simulation method combining the finite element method and the lattice Boltzmann method can be used to simulate the interaction between the wheat and the wind tunnel in real time. After the interactive simulation is completed, the fluid-structure coupling analysis results can be obtained.

[0060] It can be understood that the fluid-structure coupling simulation analysis can be started by starting the finite element analysis software and the lattice Boltzmann fluid simulation software. During the fluid-structure coupling simulation analysis process, the simulation displacement and deformation results obtained by the finite element analysis are transmitted to the lattice Boltzmann fluid simulation software, and the wind field information is transmitted from the lattice Boltzmann fluid simulation software to the finite element analysis software. This cycle is repeated until the fluid-structure coupling analysis is completed.

[0061] Step 104, based on the fluid-structure coupling analysis results, adding liquid medicine particles in the post-processing program to perform medicine simulation to obtain medicine simulation results.

[0062] Specifically, after the fluid-structure coupling analysis is completed, the liquid medicine particles can be added in the post-processing program to perform medicine simulation. The medicine simulation can simulate the lodging of the wheat, the distribution of the liquid medicine, and the influence of the wind field of the unmanned aerial vehicle on the deposition of the liquid medicine when the unmanned aerial vehicle sprays medicine, and the calculation precision is high.

[0063] It can be understood that the fluid-structure coupling simulation by the finite element method and the lattice Boltzmann method can solve the defect that the plant motion simulation method of the related technology cannot simulate the interaction between the wheat and the wind field in real time, and can improve the simulation reality.

[0064] The application provides a simulation method for flexible canopy of wheat pesticide application by a plant protection unmanned aerial vehicle, which introduces the elastic characteristics of crops into a wheat finite element analysis model, so that the wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, the simulation process is closer to the actual operation scene, the movement and deposition of pesticide in the flexible canopy can be well reflected in the simulation, the fluid-structure coupling simulation method combining the finite element method and the lattice Boltzmann method is used to realize real-time interactive simulation of the wheat and the wind tunnel, the realness of the simulation is improved, reasonable pesticide application schemes can be set according to the simulation, the pesticide application efficiency is improved, and waste is reduced.

[0065] Optionally, according to the simulation method for flexible canopy of wheat pesticide application by a plant protection unmanned aerial vehicle provided by the application, the wheat finite element analysis model is obtained based on a three-dimensional model of wheat through finite element modeling, and the method comprises the following steps.

[0066] Based on the three-dimensional model of wheat, the finite element information of wheat is obtained by configuring the wheat material, and the wheat material comprises density, elastic modulus and Poisson's ratio.

[0067] Based on the finite element information of wheat, the array information of wheat is obtained through array processing of wheat.

[0068] Based on the array information of wheat, the finite element analysis step information and the fluid-structure coupling surface setting, the wheat finite element analysis model is determined.

[0069] Specifically, in order to obtain the wheat finite element analysis model, the wheat material can be configured based on the three-dimensional model of wheat, and the density, elastic modulus and Poisson's ratio of the wheat can be set in the configuration process (for example, the density, elastic modulus and Poisson's ratio of the wheat stem and the density, elastic modulus and Poisson's ratio of the wheat leaf are set), so as to introduce the elastic characteristics of crops in the modeling process. After the configuration of the wheat material is completed, the finite element information of the wheat can be obtained, and then the array information of the wheat can be obtained through array processing of the wheat based on the finite element information of the wheat so as to form a certain scale, and then the wheat finite element analysis model can be generated based on the array information of the wheat, the finite element analysis step information and the fluid-structure coupling surface setting.

[0070] Optionally, the process of configuring the wheat material can comprise: determining the density, elastic modulus and Poisson's ratio of the stem and the leaf; dividing the finite element grid of the stem, the leaf and the planting disc; and configuring the contact surface type.

[0071] Optionally, in the array processing of the wheat, the wheat can be arrayed at intervals of 20 cm, the planting area of the arrayed wheat has a length of 12 m and a width of 6 m, and there is no penetration phenomenon between the leaves.

[0072] Optionally, you can obtain finite element analysis step information by creating an analysis step. The process of creating an analysis step can include: setting the analysis step type to a dynamic display format; determining the analysis duration; and configuring the interaction type, field output frequency, and boundary conditions.

[0073] Optionally, after obtaining the wheat array information and finite element analysis step information, the wheat finite element analysis model can be determined by creating a job, wherein the process of creating a job can include creating, submitting the job and exporting the finite element analysis model inp script file, adding fluid-solid coupling action surface settings in the script file, and exporting the model stl format binary file.

[0074] Optionally, the fluid-solid coupling action surface setting may include: the interaction mode of the contact surface with the flow field during fluid-solid coupling simulation, and the boundary condition setting.

[0075] Therefore, by configuring wheat materials and wheat array processing, the wheat array information can be obtained, and then the wheat array information, finite element analysis step information and fluid-solid coupling action surface settings can be combined to generate a wheat finite element analysis model. By introducing the elastic characteristics of the crop into the wheat finite element analysis model, the wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, and the movement and deposition of the drug solution in the flexible canopy can be well reflected in the simulation, making the simulation process closer to the actual operation scene.

[0076] Optionally, according to a method for simulating a flexible wheat canopy during pesticide application by a crop protection drone provided by the present invention, a lattice Boltzmann fluid analysis model is constructed based on the wheat finite element analysis model, the drone three-dimensional model, and the virtual wind tunnel, including:

[0077] Importing the wheat finite element analysis model and the drone three-dimensional model into a virtual wind tunnel, and configuring the drone rotor speed, drone rotation axis, drone forward flight speed, and wall type based on the virtual wind tunnel;

[0078] The computational domain of the virtual wind tunnel is discretized into a grid by using a lattice Boltzmann method;

[0079] Determining the lattice Boltzmann fluid analysis model based on the virtual wind tunnel and fluid model simulation parameters;

[0080] The finite element analysis step information includes analysis duration, and the fluid model simulation parameters include simulation duration. The simulation duration of the fluid model simulation parameters is the same as the analysis duration of the finite element analysis step information.

[0081] Specifically, in order to obtain the lattice Boltzmann fluid analysis model, the wheat finite element analysis model and the UAV three-dimensional model can be imported into the virtual wind tunnel, and then based on the virtual wind tunnel, the UAV rotor speed, UAV rotation axis, UAV forward flight speed and wall type can be configured so that the UAV can move in the virtual wind tunnel. Then, the computational domain of the virtual wind tunnel can be discretized into a lattice through the lattice Boltzmann method, and then the virtual wind tunnel and fluid model simulation parameters can be combined to generate a lattice Boltzmann fluid analysis model.

[0082] It is understandable that when using a fluid-structure coupling simulation method that combines the finite element method and the lattice Boltzmann method, it is necessary to configure the analysis time in the finite element analysis step information to be equal to the simulation time in the fluid model simulation parameters.

[0083] Optionally, the virtual wind tunnel calculation domain can be discretized into grids by spatial discretization. The spatial discretization process can include discretizing the virtual wind tunnel calculation domain into grids using a lattice Boltzmann method based on the size of the drone and the wheat.

[0084] Optionally, configuring the fluid model simulation parameters may include setting the simulation duration of the lattice Boltzmann method to be the same as that of the finite element simulation, and adjusting the time step, output frequency, and mesh refinement scale. Accordingly, the fluid model simulation parameters include simulation duration, time step, output frequency, and mesh refinement scale.

[0085] Therefore, by importing the wheat finite element analysis model and the UAV three-dimensional model into the virtual wind tunnel, and configuring the UAV motion-related characteristics based on the virtual wind tunnel and performing spatial discretization, the lattice Boltzmann fluid analysis model can be determined, and then the fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method can be used to perform real-time interactive simulation of wheat and the wind tunnel.

[0086] Optionally, according to the method for simulating a flexible canopy of wheat for pesticide application by a crop protection drone provided by the present invention, before importing the wheat finite element analysis model and the drone three-dimensional model into the virtual wind tunnel, the method further includes:

[0087] An average wind speed at the target height above the ground is determined based on the target height, von Karman parameters, friction velocity parameters, and ground roughness. The average wind speed serves as an initial setting of the virtual wind tunnel.

[0088] Specifically, in order to realistically simulate the downwash wind field of the rotor of a UAV in forward flight under crosswind conditions, the average wind speed at the target height above the ground can be determined based on the target height, von Karman parameters, friction speed parameters and ground roughness. The average wind speed is used as the initial setting of the virtual wind tunnel to simulate the lodging of wheat under natural wind speed, that is, to realistically simulate the downwash wind field of the rotor of a UAV in forward flight under crosswind conditions.

[0089] It can be understood that the lattice Boltzmann method combined with the wind speed function can realistically simulate the rotor downwash wind field of the UAV in forward flight under crosswind conditions, thereby simulating the stress and lodging of the flexible canopy in the UAV downwash wind field in real time. The simulation results are conducive to analyzing the movement and deposition of the pesticide solution under the dual action of the wheat canopy and the UAV downwash flow field, which is conducive to improving the efficiency of pesticide application. Adjusting the pesticide application parameters according to the simulation results can reduce pesticide drift.

[0090] Alternatively, the average wind speed at a target height above the ground can be determined by the following wind speed function:

[0091]

[0092] Where V(z) is the average wind speed at the height z in the bottom layer of the atmosphere; z is the target height; k is the von Karman parameter (for example, it can be 0.4); u * is the friction velocity parameter, and z0 is the ground roughness.

[0093] Optionally, according to a method for simulating a flexible wheat canopy during pesticide application by a crop protection drone provided by the present invention, the method includes: performing a pesticide application simulation based on the fluid-solid coupling analysis result by adding liquid pesticide particles in a post-processing program to obtain the pesticide application simulation result, including:

[0094] Add a straight line component to simulate the liquid outlet of the nozzle, and configure the length, position and movement speed of the straight line component. The movement speed is the same as the forward flight speed of the drone.

[0095] Based on the fluid-structure coupling analysis result, adding liquid medicine particles and refreshing the liquid medicine particles through the straight component;

[0096] Obtaining a fluid simulation result of the lattice Boltzmann fluid analysis model and a finite element analysis result of the wheat finite element analysis model;

[0097] Determining the pesticide application simulation result based on the fluid simulation result and the finite element analysis result;

[0098] The fluid simulation results include wind field distribution simulation information and liquid medicine deposition simulation information, and the finite element analysis results include wheat stress simulation information and wheat deformation simulation information.

[0099] Specifically, a straight line component (used to simulate the liquid medicine outlet of the nozzle) can be added in the post-processing program, and the length, position and movement speed of the straight line component can be configured, wherein the movement speed of the straight line component is the same as the forward flight speed of the UAV. Then, based on the fluid-solid coupling analysis results, the spraying simulation can be performed by adding liquid medicine particles and refreshing the liquid medicine particles. After the spraying simulation is completed, the spraying simulation results can be determined.

[0100] It can be understood that the pesticide application simulation results can include the fluid simulation results of the lattice Boltzmann fluid analysis model and the finite element analysis results of the wheat finite element analysis model, wherein the fluid simulation results can include wind field distribution simulation information and pesticide liquid deposition simulation information, and the finite element analysis results include wheat force simulation information and wheat deformation simulation information.

[0101] Optionally, in the post-processing program, you can add liquid particles, set the particle outlet position and movement speed, as well as the number, density, and diameter of particles refreshed per second. By refreshing the particles, you can record the movement and deposition of particles in the flexible canopy.

[0102] Therefore, compared to traditional wheat motion simulation methods, the proposed method for simulating the flexible canopy of wheat during drone application can simulate the interaction between wheat and wind fields in real time, improving simulation realism and enabling real-time prediction of pesticide deposition within the flexible canopy. The simulation results can reflect wheat lodging during drone application, pesticide distribution, and the impact of the interaction between wheat and the drone's wind field on pesticide deposition. These simulation results can assist applicators in developing appropriate application plans, improving application efficiency and reducing waste.

[0103] Optionally, according to the method for simulating a flexible canopy of wheat for pesticide application by a crop protection drone provided by the present invention, before obtaining a finite element analysis model of wheat by finite element modeling based on the three-dimensional wheat model, the method further includes:

[0104] Construct wheat stem model and wheat leaf model;

[0105] Based on the wheat stem model and the wheat leaf model, the wheat three-dimensional model is obtained by assembling the wheat stem and the wheat leaf;

[0106] The three-dimensional model of the drone is obtained based on the rotor configuration information, fuselage configuration information, bracket configuration information, radar configuration information and flight angle configuration information of the drone, where the flight angle configuration information is determined based on the forward flight speed of the drone.

[0107] Specifically, a three-dimensional wheat model and a three-dimensional drone model can be pre-constructed. The process of constructing the three-dimensional wheat model includes constructing a wheat stalk model and a wheat leaf model. Based on the wheat stalk model and the wheat leaf model, the three-dimensional wheat model can be obtained by assembling the wheat stalks and wheat leaves. The process of constructing the three-dimensional drone model can also include obtaining the drone's rotor configuration information, fuselage configuration information, bracket configuration information, radar configuration information, and flight angle configuration information. Based on the above drone configuration information, three-dimensional modeling can be performed to obtain the drone's three-dimensional model.

[0108] It is understandable that the flight inclination angle is correlated with the forward flight speed of the UAV, and the flight inclination angle configuration information can be determined based on the forward flight speed of the UAV.

[0109] Optionally, the process of constructing the wheat stalk model may include: creating a circular disc base where the wheat contacts the ground as a planting disc, and creating a cylindrical stalk with this disc as the center.

[0110] Optionally, the process of constructing the wheat leaf model may include: simplifying and creating different leaf models according to the characteristics of the wheat leaf, and the leaf thickness may be set to 1 mm.

[0111] Optionally, during the process of assembling the wheat stems and wheat leaves, the positions of the leaves on the stems may be set to be fixed and no contact relationship between the leaves is set.

[0112] Therefore, a three-dimensional model of wheat and a three-dimensional model of drone can be constructed in advance. The three-dimensional model of wheat can be used to construct a finite element analysis model of wheat. The three-dimensional model of drone and the finite element analysis model of wheat can be used to construct a lattice Boltzmann fluid analysis model. Then, a fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method can be used to perform interactive simulation of wheat and wind tunnel in real time.

[0113] The following is an optional example of the present invention, but is not intended to limit the present invention.

[0114] For example, a simulation of pesticide application via a crop protection drone over a flexible wheat canopy was performed using Abaqus software, based on finite element analysis, and XFlow software, based on the lattice Boltzmann method, for fluid-structure interaction simulation. The drone's forward speed was 5 m / s, the crosswind speed was 2 m / s, the drone was 2.5 m above the wheat canopy, and the simulation lasted 6 seconds. The specific implementation steps are as follows:

[0115] 1) Use SolidWorks software to build 3D models of wheat and the plant protection drone:

[0116] 1.1) Create a wheat stalk model: Figure 2 Schematic diagram of wheat stalks provided by the present invention, such as Figure 2As shown, create a disc base where the wheat contacts the ground. Using this as the center, create five above-ground stems. The stems are cylindrical and 75 cm long, and are distributed radially. Export the model for subsequent assembly.

[0117] 1.2) Create wheat leaves: Create a wheat leaf model based on its characteristics. The leaf thickness is 1 mm. Create wheat near-root leaves, mid-stem leaves, and upper heart leaves. Export the model for subsequent assembly.

[0118] 1.3) Assembling wheat stems and leaves: Figure 3 This is a schematic diagram of the wheat assembly model provided by the present invention, such as Figure 3 As shown, wheat stalks and leaves were imported into SolidWorks for assembly. Each stalk was equipped with a leaf near the root, two leaves in the middle stem, and one new leaf on the upper layer. The leaf positions were set to be fixed and there was no contact between the leaves. After assembly, the model was exported.

[0119] 1.4) Create a simplified 3D model of the drone. Figure 4 This is a schematic diagram of the drone model provided by the present invention. Figure 4 As shown, you can only keep the drone's rotor, fuselage, bracket, radar, and nozzle, and adjust the drone's overall forward tilt angle to 4 degrees.

[0120] 2) Import the 3D wheat model into Abaqus to establish a finite element analysis model. In Abaqus, set the density and elastic modulus of the wheat stems and leaves, as well as the coupled simulation method, including meshing, simulation duration, interaction method, contact surface type, boundary conditions, and field output frame rate:

[0121] 2.1) Set the working directory, Figure 5 Schematic diagram of the wheat finite element model provided by the present invention, such as Figure 5 As shown, the wheat model is imported into Abaqus, the wheat material is set according to the wheat properties, the density, elastic modulus and Poisson's ratio of the stems and leaves are determined, the finite element mesh of the stems and leaves is divided, the contact surface type is defined, the model is assembled, and the sections are assigned according to the section properties;

[0122] 2.2) Arrange wheat in an array with a length of 12 m and a width of 6 m, with a spacing of 20 cm, so that there is no overlap or intersection between the wheat leaves;

[0123] 2.3) Create an analysis step: Set the analysis step type to dynamic display format, set the analysis duration to 6 seconds, define the interaction type to standard explicit co-simulation, set the field output frequency to the same as XFlow, set the bottom boundary condition of the planting plate to mechanical or completely fixed, and set the rest of the boundary condition to displacement or rotation;

[0124] 2.4) Create a job and write it to the input file, export the finite element analysis model inp script file, and add the fluid-structure interaction surface settings in the script file; export the model as a binary file in stl format.

[0125] 3) Import the wheat STL model set up in Abaqus into XFlow. In XFlow, set the wind tunnel simulation parameters, including the computational domain size, wind tunnel type, and wind speed function. Import the drone model, set the rotor speed and forward flight speed, and conduct a fluid-structure interaction simulation:

[0126] 3.1) Initially set the virtual wind tunnel parameters to a computational domain size of 50 m × 50 m × 10 m. Define a wind speed function to simulate wheat lodging under different wind speeds. The wind speed function is defined according to the following formula:

[0127]

[0128] Where V(z) is the average wind speed at the height z in the bottom layer of the atmosphere; z is the target height; k is the von Karman parameter (for example, it can be 0.4); u * is the friction velocity parameter, z0 is the surface roughness;

[0129] Considering that this example simulates a crosswind speed of 2m / s, the example can be set The ground roughness is set to z0 = 0.06;

[0130] 3.2) Import the drone 3D model, Figure 6 This is a schematic diagram of the calculation domain in the virtual wind tunnel provided by the present invention, such as Figure 6 As shown, the drone radar is 2.5 meters above the ground and 10 meters from the left boundary of the computational domain. In the geometry options tree, set the six rotor speeds, rotation axis, and forward flight speed of the drone, and set the wall type to non-equilibrium enhanced wall function.

[0131] 3.3) Spatial Discretization: Set the Structural Analysis setting in the Environment Settings to Abaqus, and the Behavior setting in the Geometry Settings to Fixed-Two Way. Set the boundary conditions based on the model's location.

[0132] 3.4) Set simulation parameters: In the simulation options, set the simulation duration to be consistent with that in Abaqus, for example, 6 seconds. Adjust the time step and output frequency according to Abaqus, and adjust the refinement resolution of different areas of the model.

[0133] 3.5) Coupled simulation: Copy the FSI_II_std_css.xml file from the XFlow software to the working directory. Modify the simulation duration in the file to match the coupled simulation time, which is 6 in this example. Click the Run button in XFlow to start the simulation. Use the DOS window to operate Abaqus. At this time, the wind field information and the structural displacement of the wheat in the two software are bidirectionally transmitted to perform fluid-structure coupling analysis.

[0134] 4) After the simulation is complete, add liquid particles to XFlow for post-processing and check the liquid deposition:

[0135] 4.1) Figure 7 It is a schematic diagram of a straight line component provided by the present invention, such as Figure 7 As shown in the figure, since the nozzle size of the plant protection drone is too small, it is difficult to perform direct spraying simulation. Therefore, according to the characteristics of the nozzle, a 0.5m straight line component can be added 0.3m below the nozzle to represent the liquid outlet. The speed of the straight line component is set to 5m / s, and the movement direction is consistent with the drone.

[0136] 4.2) Add tracer particles in post-processing, set the particle movement speed and number, density, and diameter information, refresh the particles, and observe the movement and deposition of particles in the flexible canopy; in this example, the liquid will be sprayed in a fan shape at the nozzle, set the initial velocity of the particles in the x, y, and z directions, and adjust the number of particles to match the actual spraying situation. Set the liquid density to 1000kg / m3. Set each nozzle to spray particles of four sizes: 50μm, 100μm, 200μm, and 400μm. All parameters of each particle are the same except for the particle size;

[0137] 4.3) View the coupled simulation results in XFlow, including wind speed information and the wheat's reaction to wind speed. This allows observation of the deposition of liquid medicine particles in the wheat canopy and the deformation of the wheat under the influence of the drone's wind field and crosswind. Opening the generated odb file in Abaqus reveals the force applied to the wheat and its deformation.

[0138] The present invention provides a method for simulating the flexible canopy of wheat for pesticide application by a plant protection drone. By introducing the elastic characteristics of the crop into the wheat finite element analysis model, the wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, making the simulation process closer to the actual operation scene. The movement and deposition of the pesticide solution in the flexible canopy can be well reflected in the simulation. By using a fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method, wheat and a wind tunnel are interactively simulated in real time, which can improve the realism of the simulation, facilitate the combination of simulation to set a reasonable pesticide application plan, improve pesticide application efficiency and reduce waste.

[0139] The simulation device for applying pesticides to a flexible canopy of wheat by a plant protection drone provided by the present invention is described below. The simulation device for applying pesticides to a flexible canopy of wheat by a plant protection drone described below and the simulation method for applying pesticides to a flexible canopy of wheat by a plant protection drone described above can be referenced to each other.

[0140] Figure 8 This is a schematic diagram of the structure of the simulation device for the plant protection UAV spraying wheat flexible canopy provided by the present invention. Figure 8 As shown, the apparatus includes: a first acquisition module 801, a construction module 802, a second acquisition module 803 and a third acquisition module 804, wherein:

[0141] The first acquisition module 801 is configured to acquire a finite element analysis model of wheat based on the three-dimensional wheat model through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0142] A construction module 802 is used to construct a lattice Boltzmann fluid analysis model based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel;

[0143] A second acquisition module 803 is configured to perform fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0144] The third acquisition module 804 is used to perform a pesticide application simulation by adding liquid medicine particles in a post-processing program based on the fluid-solid coupling analysis result to obtain a pesticide application simulation result.

[0145] The device for simulating the flexible canopy of wheat for pesticide application by a plant protection drone provided by the present invention introduces the elastic characteristics of the crop into the wheat finite element analysis model. The wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, making the simulation process closer to the actual operation scene. The movement and deposition of the pesticide solution in the flexible canopy can be well reflected in the simulation. The fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method is used to perform interactive simulation of wheat and the wind tunnel in real time, which can improve the realism of the simulation, facilitate the combination of simulation to set a reasonable pesticide application plan, improve the efficiency of pesticide application and reduce waste.

[0146] Optionally, the first acquisition module is specifically configured to:

[0147] Based on the three-dimensional wheat model, wheat finite element information is obtained by configuring wheat materials, wherein the wheat materials include density, elastic modulus and Poisson's ratio;

[0148] Based on the wheat finite element information, wheat array information is obtained by wheat array processing;

[0149] The wheat finite element analysis model is determined based on the wheat array information, finite element analysis step information and fluid-solid coupling action surface settings.

[0150] Optionally, the building block is specifically used to:

[0151] Importing the wheat finite element analysis model and the drone three-dimensional model into a virtual wind tunnel, and configuring the drone rotor speed, drone rotation axis, drone forward flight speed, and wall type based on the virtual wind tunnel;

[0152] The computational domain of the virtual wind tunnel is discretized into a grid by using a lattice Boltzmann method;

[0153] Determining the lattice Boltzmann fluid analysis model based on the virtual wind tunnel and fluid model simulation parameters;

[0154] The finite element analysis step information includes analysis duration, and the fluid model simulation parameters include simulation duration. The simulation duration of the fluid model simulation parameters is the same as the analysis duration of the finite element analysis step information.

[0155] Optionally, the device further includes a determination module, which is configured to: before importing the wheat finite element analysis model and the drone three-dimensional model into the virtual wind tunnel,

[0156] An average wind speed at the target height above the ground is determined based on the target height, von Karman parameters, friction velocity parameters, and ground roughness. The average wind speed serves as an initial setting of the virtual wind tunnel.

[0157] Optionally, the third acquisition module is specifically configured to:

[0158] Add a straight line component to simulate the liquid outlet of the nozzle, and configure the length, position and movement speed of the straight line component. The movement speed is the same as the forward flight speed of the drone.

[0159] Based on the fluid-structure coupling analysis result, adding liquid medicine particles and refreshing the liquid medicine particles through the straight component;

[0160] Obtaining a fluid simulation result of the lattice Boltzmann fluid analysis model and a finite element analysis result of the wheat finite element analysis model;

[0161] Determining the pesticide application simulation result based on the fluid simulation result and the finite element analysis result;

[0162] The fluid simulation results include wind field distribution simulation information and liquid medicine deposition simulation information, and the finite element analysis results include wheat stress simulation information and wheat deformation simulation information.

[0163] Optionally, the device further includes a fourth acquisition module, which is used to: before obtaining the wheat finite element analysis model through finite element modeling based on the wheat three-dimensional model, the fourth acquisition module is used to:

[0164] Construct wheat stem model and wheat leaf model;

[0165] Based on the wheat stem model and the wheat leaf model, the wheat three-dimensional model is obtained by assembling the wheat stem and the wheat leaf;

[0166] The three-dimensional model of the drone is obtained based on the rotor configuration information, fuselage configuration information, bracket configuration information, radar configuration information and flight angle configuration information of the drone, where the flight angle configuration information is determined based on the forward flight speed of the drone.

[0167] The device for simulating the flexible canopy of wheat for pesticide application by a plant protection drone provided by the present invention introduces the elastic characteristics of the crop into the wheat finite element analysis model. The wheat finite element analysis model can reflect the flexible characteristics of the wheat canopy itself, making the simulation process closer to the actual operation scene. The movement and deposition of the pesticide solution in the flexible canopy can be well reflected in the simulation. The fluid-solid coupling simulation method combining the finite element method and the lattice Boltzmann method is used to perform interactive simulation of wheat and the wind tunnel in real time, which can improve the realism of the simulation, facilitate the combination of simulation to set a reasonable pesticide application plan, improve the efficiency of pesticide application and reduce waste.

[0168] Figure 9 Schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute a method for simulating a flexible canopy of wheat for pesticide application by a plant protection drone, the method comprising:

[0169] Based on the three-dimensional model of wheat, a finite element analysis model of wheat is obtained through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0170] Based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel, a lattice Boltzmann fluid analysis model is constructed;

[0171] Performing fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0172] Based on the fluid-solid coupling analysis results, the spraying simulation is performed by adding liquid medicine particles in the post-processing program to obtain the spraying simulation results.

[0173] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0174] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the simulation method of the flexible canopy of wheat sprayed by a plant protection drone provided by the above methods, which includes:

[0175] Based on the three-dimensional model of wheat, a finite element analysis model of wheat is obtained through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0176] Based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel, a lattice Boltzmann fluid analysis model is constructed;

[0177] Performing fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0178] Based on the fluid-solid coupling analysis results, the spraying simulation is performed by adding liquid medicine particles in the post-processing program to obtain the spraying simulation results.

[0179] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for simulating the flexible canopy of wheat by spraying pesticides by a plant protection drone provided by the above methods is implemented. The method comprises:

[0180] Based on the three-dimensional model of wheat, a finite element analysis model of wheat is obtained through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat;

[0181] Based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel, a lattice Boltzmann fluid analysis model is constructed;

[0182] Performing fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results;

[0183] Based on the fluid-solid coupling analysis results, the spraying simulation is performed by adding liquid medicine particles in the post-processing program to obtain the spraying simulation results.

[0184] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0185] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for simulating the flexible canopy of wheat during pesticide application by a crop protection drone, characterized in that: include: Based on the three-dimensional model of wheat, a finite element analysis model of wheat is obtained through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat; Based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel, a lattice Boltzmann fluid analysis model was constructed, including: Importing the wheat finite element analysis model and the drone three-dimensional model into a virtual wind tunnel, and configuring the drone rotor speed, drone rotation axis, drone forward flight speed, and wall type based on the virtual wind tunnel; The computational domain of the virtual wind tunnel is discretized into a grid by using a lattice Boltzmann method; Determining the lattice Boltzmann fluid analysis model based on the virtual wind tunnel and fluid model simulation parameters; The finite element analysis step information includes an analysis duration, the fluid model simulation parameters include a simulation duration, and the simulation duration of the fluid model simulation parameters is the same as the analysis duration of the finite element analysis step information; Performing fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results; Based on the fluid-solid coupling analysis results, a spraying simulation is performed by adding liquid medicine particles in a post-processing program to obtain a spraying simulation result, including: adding a straight line component for simulating the liquid medicine outlet of the nozzle, and configuring the length, position and movement speed of the straight line component, wherein the movement speed is the same as the forward flight speed of the UAV; Based on the fluid-structure coupling analysis result, adding liquid medicine particles and refreshing the liquid medicine particles through the straight component; Obtaining a fluid simulation result of the lattice Boltzmann fluid analysis model and a finite element analysis result of the wheat finite element analysis model; Determining the pesticide application simulation result based on the fluid simulation result and the finite element analysis result; The fluid simulation results include wind field distribution simulation information and liquid medicine deposition simulation information, and the finite element analysis results include wheat stress simulation information and wheat deformation simulation information.

2. The method for simulating the flexible canopy of wheat by pesticide application by a plant protection drone according to claim 1, characterized in that: The method of obtaining a wheat finite element analysis model based on the wheat three-dimensional model through finite element modeling includes: Based on the three-dimensional wheat model, wheat finite element information is obtained by configuring wheat materials, wherein the wheat materials include density, elastic modulus and Poisson's ratio; Based on the wheat finite element information, wheat array information is obtained by wheat array processing; The wheat finite element analysis model is determined based on the wheat array information, finite element analysis step information and fluid-solid coupling action surface settings.

3. The method for simulating the flexible canopy of wheat for pesticide application by a plant protection drone according to claim 1, characterized in that: Before importing the wheat finite element analysis model and the drone three-dimensional model into the virtual wind tunnel, the method further includes: An average wind speed at the target height above the ground is determined based on the target height, von Karman parameters, friction velocity parameters, and ground roughness. The average wind speed serves as an initial setting of the virtual wind tunnel.

4. The method for simulating a flexible canopy of wheat during pesticide application by a plant protection drone according to any one of claims 1 to 3, characterized in that: Before obtaining the wheat finite element analysis model by finite element modeling based on the wheat three-dimensional model, the method further includes: Construct wheat stem model and wheat leaf model; Based on the wheat stem model and the wheat leaf model, the wheat three-dimensional model is obtained by assembling the wheat stem and the wheat leaf; The three-dimensional model of the drone is obtained based on the rotor configuration information, fuselage configuration information, bracket configuration information, radar configuration information and flight angle configuration information of the drone, where the flight angle configuration information is determined based on the forward flight speed of the drone.

5. A simulation device for wheat flexible canopy application by crop protection drones, characterized in that: include: A first acquisition module is configured to acquire a finite element analysis model of wheat based on the three-dimensional wheat model through finite element modeling, wherein the wheat material has elastic characteristics in the finite element analysis model of wheat; A construction module is used to construct a lattice Boltzmann fluid analysis model based on the wheat finite element analysis model, the UAV three-dimensional model and the virtual wind tunnel; A second acquisition module is configured to perform fluid-solid coupling analysis based on the wheat finite element analysis model and the lattice Boltzmann fluid analysis model to obtain fluid-solid coupling analysis results; A third acquisition module is configured to perform a pesticide application simulation by adding liquid medicine particles in a post-processing program based on the fluid-solid coupling analysis result to obtain a pesticide application simulation result; The building blocks are specifically used for: Importing the wheat finite element analysis model and the drone three-dimensional model into a virtual wind tunnel, and configuring the drone rotor speed, drone rotation axis, drone forward flight speed, and wall type based on the virtual wind tunnel; The computational domain of the virtual wind tunnel is discretized into a grid by using a lattice Boltzmann method; Determining the lattice Boltzmann fluid analysis model based on the virtual wind tunnel and fluid model simulation parameters; The finite element analysis step information includes an analysis duration, the fluid model simulation parameters include a simulation duration, and the simulation duration of the fluid model simulation parameters is the same as the analysis duration of the finite element analysis step information; The third acquisition module is specifically configured to: Add a straight line component to simulate the liquid outlet of the nozzle, and configure the length, position and movement speed of the straight line component. The movement speed is the same as the forward flight speed of the drone. Based on the fluid-structure coupling analysis result, adding liquid medicine particles and refreshing the liquid medicine particles through the straight component; Obtaining a fluid simulation result of the lattice Boltzmann fluid analysis model and a finite element analysis result of the wheat finite element analysis model; Determining the pesticide application simulation result based on the fluid simulation result and the finite element analysis result; The fluid simulation results include wind field distribution simulation information and liquid medicine deposition simulation information, and the finite element analysis results include wheat stress simulation information and wheat deformation simulation information.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the simulation method for the flexible canopy of wheat sprayed by a plant protection drone as described in any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for simulating the flexible canopy of wheat during pesticide application by a plant protection drone as described in any one of claims 1 to 4 is implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for simulating the flexible canopy of wheat during pesticide application by a plant protection drone as described in any one of claims 1 to 4 is implemented.

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