Turn-around path planning method and device for agricultural machinery and readable storage medium

Abstract

The invention belongs to the field of path planning, and particularly provides a turning path planning method and device for an agricultural machine and a readable storage medium, and the method comprises the steps: obtaining the position coordinates of the agricultural machine and the position coordinates of boundary points of a field; inputting the operation width d of the agricultural machine; according to the operation width d and the position coordinates of the boundary points of the field parcels, obtaining coordinates of turning points of cross rows; generating a turning-around path of turning according to the turning-around point coordinates and the operation width d; and splicing all the U-turn paths with the route to complete path planning. By planning the U-turn path, the U-turn radius is reduced to the maximum extent, and the U-turn path is planned by better fitting the boundary trend of the field. The agricultural machinery can turn around in a complex and changeable field environment with a minimum operation space, so that the operation efficiency is improved, and the damage to crops is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of path planning, and in particular relates to a method, a device and a readable storage medium for planning a U-turn path for agricultural machinery. Background Art

[0002] In actual operations, especially when turning around in the field, how to ensure that agricultural machinery can complete the turning action efficiently and safely and fit the field boundary is one of the key technical challenges to achieve full automation. As a common link in agricultural production, the efficiency of field turning directly affects the entire operation cycle. An unreasonable turning path will not only waste time, but may also cause additional damage to the soil and crops. In addition, frequent turning actions will increase the wear and tear of agricultural machinery and shorten the service life of the equipment.

[0003] Although existing path planning methods can achieve autonomous navigation of agricultural machinery to a certain extent, they often fail to fully consider the operating width and field boundary restrictions when dealing with field U-turns, resulting in inaccurate path planning. For example, when turning, if the width of the operating tool is not taken into account, it may cause repeated operations or omissions in some plots of land, thus affecting the overall operation quality and efficiency. In addition, inappropriate U-turn paths may also lead to excessive compaction of the land, which in turn affects the soil structure and subsequent crop growth. Especially in narrow fields or complex terrain conditions, traditional U-turn strategies are difficult to meet the requirements of precision agriculture.

[0004] In addition, with the continuous upgrading of agricultural machinery and the advancement of technology, the operating width of modern agricultural machinery is getting larger and larger, which requires the U-turn path planning to be more sophisticated and intelligent. When large agricultural machinery turns around in the field, if the path planning is unreasonable, it will not only cause waste of resources, but also may trigger a series of chain reactions, such as affecting the normal operation of subsequent machinery. Therefore, developing a field U-turn path planning method suitable for wide-width agricultural machinery is of great significance to improving the level of intelligence in agricultural production, reducing resource waste, and promoting sustainable agricultural development.

[0005] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the invention

[0006] The embodiments of the present disclosure at least provide a method, device and readable storage medium for U-turn path planning for agricultural machinery.

[0007] In a first aspect, an embodiment of the present disclosure provides a U-turn path planning method for agricultural machinery, the method comprising:

[0008] Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field;

[0009] Enter the working width d of the agricultural machinery;

[0010] The coordinates of the turning point across the row are obtained according to the working width d and the position coordinates of the boundary points of the field;

[0011] Generate a U-turn path according to the coordinates of the U-turn point and the working width d;

[0012] All U-turn paths are spliced ​​with the flight routes to complete the path planning.

[0013] In an optional implementation, the step of obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field includes:

[0014] Build a positioning system;

[0015] Drive the machine to the edge of the field;

[0016] Construct a global coordinate system through the positioning system;

[0017] Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field.

[0018] In an optional implementation, the step of obtaining the coordinates of the turning point across rows according to the working width and the position coordinates of the boundary points of the field includes:

[0019] The coordinates of the four boundary points of the field are transformed to obtain the slopes and intercepts of the four edge lines of the field in the global coordinate system, and are recorded as set α and set β respectively;

[0020] The set of new intercepts η is obtained by shrinking the field inward according to the working width d;

[0021] Calculate the number and coordinates of U-turn points.

[0022] In an optional embodiment, the step of reducing the field inward according to the working width d to obtain a set of new intercepts η is as follows:

[0023] The calculation formula for calculating the intercept change τ after reduction is as follows:

[0024] τ=d / cosθ;

[0025] In the formula, θ is the angle between the corresponding edge of the field and the y-axis, and τ is the set of intercept changes relative to the original edge;

[0026] The calculation formula for the set η of the new intercept is as follows:

[0027] η=β+τ;

[0028] The four side lines of the reduced field are obtained according to the new intercept set η and the slope set α.

[0029] In an optional implementation, the step of calculating the number and coordinates of U-turn points includes:

[0030] Starting from 0, the number of agricultural machinery U-turns is increased successively to obtain a new index equation L, which is as follows:

[0031] L = Nd;

[0032] In the formula, L represents the index equation of each turning point, N represents the number of turns of the agricultural machinery,

[0033] Obtain the coordinates of the intersection of the new L equation obtained each time and the four side lines of the reduced field, that is, the coordinates of the turning point.

[0034] In an optional implementation, the step of generating a U-turn path according to the U-turn point coordinates and the working width d includes:

[0035] Get the coordinates of the two turning points where the current row needs to turn around to go to the next row, recorded as A(x1, y1) and B(x2, y2) respectively;

[0036] Set the radius of circle O1 tangent to the row where A is located to r1, and the radius of circle O2 tangent to the row where B is located to r2. The distance between the two circles is L. 12 =r1+r2;

[0037] Calculate the coordinates of the centers of the two circles, which are O1(x1, y1+r1) and O2(x2, y2-r2);

[0038] Calculate the radius R of the tangent circle O of the circle O1 and the circle O2, where the tangent circle O is tangent to the circle O1 at point A;

[0039] Get the coordinates of the tangent point P between the common tangent circle O and the circle O2;

[0040] Combining the arc segment AP of the tangent circle O and the arc segment PB of the circle O2 forms a U-turn path.

[0041] In an optional implementation, the step of calculating the coordinates of the centers of the two circles, O1(x1, y1+r1) and O2(x2, y2-r2), respectively, includes:

[0042] Calculate r2 using the following formula:

[0043] In the formula, θ A It represents the angle between the route where point A is located and the line connecting AB;

[0044] The distance between two points AB

[0045] The distance between points AB is also equal to

[0046] According to L AB Two calculation methods to find r1;

[0047] The coordinates of the centers of the two circles are O1(x1, y1+r1) and O2(x2, y2-r2) respectively.

[0048] In an optional implementation, the step of calculating the radius R of the common tangent circle O of the circle O1 and the circle O2 is:

[0049] The radius R is calculated using the following formula:

[0050] (R-r2) 2 =R 2 +L A2 2 -2RL A2 *cosα0;

[0051] Among them, L A2 It means that the distance between the center O2 and point A is calculated by the formula Calculation; α0 represents L A2 The angle with the Y axis of the global coordinate system is calculated using the formula calculate.

[0052] In a second aspect, the disclosed embodiment further provides a U-turn path planning device for a wide-width agricultural machine, comprising:

[0053] A first acquisition module, adapted to acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field;

[0054] An input module, adapted to input a working width d of the agricultural machine;

[0055] The U-turn point coordinate calculation module obtains the cross-row U-turn point coordinates according to the working width d and the position coordinates of the boundary points of the field;

[0056] A U-turn path acquisition module, adapted to generate a U-turn path according to the coordinates of the U-turn point and the operating width d;

[0057] The path planning module is suitable for splicing all U-turn paths and routes to complete path planning.

[0058] In a second aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one instruction, and when the instruction is executed by a processor, the method for planning a U-turn path for agricultural machinery as described above is implemented.

[0059] The beneficial effect of the present invention is that the present invention provides a U-turn path planning method, device and readable storage medium for agricultural machinery, wherein the U-turn path planning method for agricultural machinery includes: obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; inputting the working width d of the agricultural machinery; obtaining the U-turn point coordinates across the row according to the working width d and the position coordinates of the boundary points of the field; generating a U-turn path for turning according to the U-turn point coordinates and the working width d; splicing all U-turn paths with the route to complete the path planning. By planning the U-turn path, the U-turn radius is minimized to the maximum extent, and the U-turn path is planned to better fit the direction of the field boundary. It enables agricultural machinery to complete the U-turn action in the smallest working space in a complex and changeable field environment, thereby improving the working efficiency and reducing the damage to the crops.

[0060] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0063] Figure 1 It is a flow chart of a U-turn path planning method for agricultural machinery provided in an embodiment of the present invention.

[0064] Figure 2 It is a schematic diagram of fields and routes provided by an embodiment of the present invention.

[0065] Figure 3 It is a schematic diagram of a U-turn path provided by an embodiment of the present invention.

[0066] Figure 4 It is a schematic diagram of a planned path provided by an embodiment of the present invention.

[0067] Figure 5 It is a flow chart of a U-turn path planning device for agricultural machinery provided by an embodiment of the present invention.

[0068] Figure 6It is a partial structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] To facilitate understanding of this embodiment, a method for planning a U-turn path for agricultural machinery disclosed in the embodiment of the present disclosure is first introduced in detail. The execution subject of the method for planning a U-turn path for agricultural machinery provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities, and the computer device includes, for example: a terminal device or a server or other processing device, and the terminal device can be a user equipment (User Equipment, UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the model building method can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0071] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0072] See also Figure 1 At least one embodiment provides a method for planning a U-turn path for agricultural machinery, which minimizes the U-turn radius by planning the U-turn path, and plans the U-turn path in a better fit with the boundary direction of the field. This enables agricultural machinery to complete the U-turn action in the smallest working space in a complex and changeable field environment, thereby improving the working efficiency and reducing the damage to crops.

[0073] Specifically, the method includes:

[0074] S110: Acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field.

[0075] Specifically, step S110 includes:

[0076] S111: Build a positioning system.

[0077] The single-antenna Tiangong 980 is used as the fixed base station, and the differential information is transmitted to the cloud server mqtt through the Hanfeng DTU module. The mobile station uses the Tiangong 982 dual antenna, obtains differential information from mqtt through WIFI, publishes precise positioning information, and provides the current precise position information of agricultural machinery. The inertial measurement unit Imu is the WT901C485 of Witt Intelligent, which is used to obtain quaternions, and orangepi5B is used as the control core.

[0078] S112: Drive the agricultural machine to the edge of the field.

[0079] S113: Construct a global coordinate system through the positioning system.

[0080] Specifically, the environment perception module obtains point cloud data of the surrounding environment, while the camera is responsible for capturing visual information. Through the SLAM algorithm, this data is integrated into a complete environment map as a global coordinate system.

[0081] S114: Acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field.

[0082] S120: Input the working width d of the agricultural machine.

[0083] S130: Obtain the coordinates of the turning point across the row according to the working width d and the position coordinates of the boundary points of the field.

[0084] like Figure 2 Specifically, step S130 includes the following steps:

[0085] S131: The coordinates of the four boundary points of the field are transformed to obtain the slopes and intercepts of the four side lines of the field in the global coordinate system, and are recorded as set α and set β respectively.

[0086] S132: According to the working width d, the field is reduced inward to obtain a set of new intercepts η.

[0087] Specifically, the calculation formula for calculating the intercept change τ after reduction is as follows:

[0088] τ=d / cosθ;

[0089] In the formula, θ is the angle between the corresponding edge of the field and the y-axis, and τ is the set of intercept changes relative to the original edge;

[0090] Then, the set of new intercepts η is calculated as follows:

[0091] η=β+τ;

[0092] The four side lines of the reduced field are obtained according to the new intercept set η and the slope set α.

[0093] S133: Calculate the number and coordinates of U-turn points.

[0094] Specifically, start from 0 and increase the number of U-turns of the agricultural machinery in sequence to obtain a new index equation L, the formula is as follows: L = Nd; where L represents the index equation of each U-turn point, N represents the number of U-turns of the agricultural machinery, and obtain the coordinates of the intersection of the new L equation obtained each time and the four side lines of the reduced field, that is, the coordinates of the U-turn point.

[0095] S140: Generate a U-turn path according to the U-turn point coordinates and the working width d;

[0096] like Figure 3 As shown, step S140 includes the following steps:

[0097] S141: Obtain the coordinates of the two turning points where the current row is to turn around to go to the next row, which are recorded as A(x1, y1) and B(x2, y2) respectively;

[0098] S142: Set the radius of the circle O1 tangent to the row where A is located to r1, and the radius of the circle O2 tangent to the row where B is located to r2. The distance between the two circles is L. 12 =r1+r2;

[0099] S143: Calculate the center coordinates of the two circles, which are O1 (x1, y1+r1) and O2 (x2, y2-r2) respectively.

[0100] Specifically, the steps of calculating the center coordinates of the two circles, O1 (x1, y1+r1) and O2 (x2, y2-r2), respectively, include:

[0101] Calculate r2 using the following formula:

[0102] In the formula, θ A It represents the angle between the route where point A is located and the line connecting AB;

[0103] It should be noted that the value of r2 is greater than or equal to the minimum turning radius of the agricultural machinery and less than the working width d.

[0104] The distance between two points AB

[0105] The distance between points AB is also equal to

[0106] According to L AB Two calculation methods to find r1;

[0107] The coordinates of the centers of the two circles are O1(x1, y1+r1) and O2(x2, y2-r2) respectively.

[0108] S144: Calculate the radius R of the tangent circle O of the circle O1 and the circle O2, wherein the tangent circle O is tangent to the circle O1 at point A.

[0109] Specifically, the step of calculating the radius R of the common tangent circle O of the circle O1 and the circle O2 is:

[0110] The radius R is calculated using the following formula:

[0111] (R-r2) 2 =R 2 +L A2 2 -2RL A2 *cosα;

[0112] Among them, L A2 It means that the distance between the center O2 and point A is calculated by the formula calculate;

[0113] α0 represents L A2 The angle with the Y axis of the global coordinate system is calculated using the formula calculate.

[0114] S145: Obtain the coordinates of the tangent point P between the tangent circle O and the circle O2;

[0115] S146: Combine the arc segment AP of the tangent circle O and the arc segment PB of the circle O2 to obtain a U-turn path.

[0116] S150: All U-turn paths are connected with the flight path to complete the path planning.

[0117] The concatenated path is Figure 3 shown.

[0118] See also Figure 4 This embodiment also provides a U-turn path planning device for large-width agricultural machinery, including the following modules:

[0119] The first acquisition module is adapted to acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field, and is used to execute step S110.

[0120] The input module is adapted to input the working width d of the agricultural machine, and is used to execute step S120.

[0121] The U-turn point coordinate calculation module obtains the cross-row U-turn point coordinates according to the working width d and the position coordinates of the boundary points of the field, so as to execute step S130.

[0122] The U-turn path acquisition module is adapted to generate a U-turn path according to the coordinates of the U-turn point and the operating width d, for executing step S140.

[0123] The path planning module is adapted to connect all U-turn paths with the flight routes to complete the path planning for executing step S150.

[0124] This embodiment provides a computer-readable storage medium, in which at least one instruction is stored, and it is characterized in that when the instruction is executed by a processor, the above-mentioned U-turn path planning method for agricultural machinery is implemented.

[0125] Obtain the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; input the working width d of the agricultural machinery; obtain the coordinates of the U-turn point across the row according to the working width d and the position coordinates of the boundary points of the field; generate the turning path according to the coordinates of the U-turn point and the working width d; splice all the U-turn paths with the route to complete the path planning. By planning the U-turn path, the U-turn radius is minimized, and the U-turn path is planned to better fit the direction of the field boundary. This enables agricultural machinery to complete the U-turn action in the smallest working space in the complex and changeable field environment, thereby improving the working efficiency and reducing the damage to the crops.

[0126] See also Figure 5 This embodiment provides an electronic device, including: a memory 502 and a processor 501; the memory 502 stores at least one program instruction; the processor 501 loads and executes the at least one program instruction to implement the above-mentioned cross-project instant software defect prediction method.

[0127] The memory 502 and the processor 501 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 501 and the memory 502 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 501 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 501.

[0128] The processor 501 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 502 can be used to store data used by the processor 501 when performing operations.

[0129] In summary, the present invention provides a method, device and readable storage medium for U-turn path planning for agricultural machinery, wherein the method for U-turn path planning for agricultural machinery includes: obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; inputting the working width d of the agricultural machinery; obtaining the coordinates of the U-turn point across the row according to the working width d and the position coordinates of the boundary points of the field; generating a U-turn path for turning according to the coordinates of the U-turn point and the working width d; splicing all U-turn paths with the route to complete the path planning. By planning the U-turn path, the U-turn radius is minimized to the maximum extent, and the U-turn path is planned to better fit the direction of the field boundary. The agricultural machinery can complete the U-turn action in the complex and changeable field environment with the smallest working space, thereby improving the working efficiency and reducing the damage to the crops.

[0130] In addition, without departing from the scope of the present disclosure, the discrete or separate techniques, systems, subsystems, and methods described and illustrated in the various embodiments may be combined or integrated with other systems, modules, techniques, or methods. Other items shown or discussed as coupled may be directly connected, or may be indirectly coupled or communicated electrically, mechanically, or otherwise through some interface, device, or intermediate component. Other examples of changes, substitutions, and alterations may be determined by those skilled in the art without departing from the spirit and scope disclosed herein.

Claims

1. A U-turn path planning method for agricultural machinery, characterized in that: The method comprises: Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field; Enter the working width d of the agricultural machinery; The coordinates of the turning point across the row are obtained according to the working width d and the position coordinates of the boundary points of the field; Generate a U-turn path according to the coordinates of the U-turn point and the working width d; All U-turn paths are spliced ​​with the flight routes to complete the path planning.

2. The method for planning a U-turn path for agricultural machinery according to claim 1, characterized in that: The step of obtaining the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field comprises: Build a positioning system; Drive the machine to the edge of the field; Construct a global coordinate system through the positioning system; Obtain the location coordinates of the agricultural machinery and the location coordinates of the boundary points of the field.

3. The method for planning a U-turn path for agricultural machinery according to claim 2, characterized in that: The step of obtaining the coordinates of the turning point across the row according to the working width and the position coordinates of the boundary points of the field comprises: The coordinates of the four boundary points of the field are transformed to obtain the slopes and intercepts of the four edge lines of the field in the global coordinate system, and are recorded as set α and set β respectively; The set of new intercepts η is obtained by shrinking the field inward according to the working width d; Calculate the number and coordinates of U-turn points.

4. The method for planning a U-turn path for agricultural machinery according to claim 3, characterized in that: The steps of reducing the field inward according to the working width d to obtain a new intercept set η are as follows: The calculation formula for calculating the intercept change τ after reduction is as follows: τ = d / cosθ; In the formula, θ is the angle between the corresponding edge of the field and the y-axis, and τ is the set of intercept changes relative to the original edge; The calculation formula for the set η of the new intercept is as follows: η=β+τ; The four side lines of the reduced field are obtained according to the new intercept set η and the slope set α.

5. The method for planning a U-turn path for agricultural machinery according to claim 4, characterized in that: The step of calculating the number and coordinates of the U-turn points comprises: Starting from 0, the number of agricultural machinery U-turns is increased successively to obtain a new index equation L, which is as follows: L = Nd; In the formula, L represents the index equation of each turning point, N represents the number of turns of the agricultural machinery, Obtain the coordinates of the intersection of the new L equation obtained each time and the four side lines of the reduced field, that is, the coordinates of the turning point.

6. The method for planning a U-turn path for agricultural machinery according to claim 5, characterized in that: The step of generating a turning path according to the turning point coordinates and the working width d comprises: Get the coordinates of the two turning points where the current row needs to turn around to go to the next row, recorded as A(x1, y1) and B(x2, y2) respectively; Set the radius of circle O1 tangent to the row where A is located to r1, and the radius of circle O2 tangent to the row where B is located to r2. The distance between the two circles is L. 12 =r1+r2; Calculate the coordinates of the centers of the two circles, which are O1(x1, y1+r1) and O2(x2, y2-r2); Calculate the radius R of the tangent circle O of the circle O1 and the circle O2, where the tangent circle O is tangent to the circle O1 at point A; Get the coordinates of the tangent point P between the common tangent circle O and the circle O2; Combining the arc segment AP of the tangent circle O and the arc segment PB of the circle O2 forms a U-turn path.

7. The method for planning a U-turn path for agricultural machinery according to claim 5, characterized in that: The steps of calculating the center coordinates of the two circles, which are O1 (x1, y1+r1) and O2 (x2, y2-r2), respectively, include: Calculate r2 using the following formula: In the formula, θ A It represents the angle between the route where point A is located and the line connecting AB; The distance between two points AB The distance between points AB is also equal to According to L AB Two calculation methods to find r1; The coordinates of the centers of the two circles are O1(x1, y1+r1) and O2(x2, y2-r2) respectively.

8. The method for planning a U-turn path for agricultural machinery according to claim 6, characterized in that: The step of calculating the radius R of the common tangent circle O of the circle O1 and the circle O2 is: The radius R is calculated using the following formula: (R-r2) 2 =R 2 +L A2 2 -2RL A2 *cosα0; Among them, L A2 It means that the distance between the center O2 and point A is calculated by the formula Calculation; α0 represents L A2 The angle with the Y axis of the global coordinate system is calculated using the formula calculate.

9. A U-turn path planning device for agricultural machinery, characterized in that: include: A first acquisition module, adapted to acquire the position coordinates of the agricultural machinery and the position coordinates of the boundary points of the field; An input module, adapted to input a working width d of the agricultural machine; The U-turn point coordinate calculation module obtains the cross-row U-turn point coordinates according to the working width d and the position coordinates of the boundary points of the field; A U-turn path acquisition module, adapted to generate a U-turn path for turning according to the coordinates of the U-turn point and the operating width d; The path planning module is suitable for splicing all U-turn paths and routes to complete path planning.

10. A computer-readable storage medium, wherein at least one instruction is stored in the computer-readable storage medium, characterized in that: When the instructions are executed by a processor, the U-turn path planning method for agricultural machinery described in any one of claims 1 to 8 is implemented.

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