Abstract: Autonomous transport vehicles play a crucial role in enhancing the efficiency of agricultural product transportation with in facility greenhouses and reducing labor costs, making them an essential component of agricultural automation and intelligence. This study addresses the challenge of automatic driving for electric transport vehicles in greenhouses. Utilizing the Visual Studio 2013 development environment, the image processing platform was configured with the OpenCV 3.0 visual library to develop an autonomous driving system tailored for electric transport vehicles in greenhouses settings. Considering the working environment and structural characteristics of these vehicles, an image processing method and a trajectory correction control strategy were designed to optimize navigation. Finally, a real vehicle test platform for the automatic driving system of electric transport vehicles was constructed to validate the systems performance. Experimental results showed that in the straightline automatic driving test, the vehicle maintained a directional deviation angle of 3.61°, thereby meeting the operational requirements for transport vehicles. In the automatic driving trajectory correction test, the system effectively stabilized the vehicles driving posture within the preset maximum angle deviation of 5° and a distance deviation of 17mm when initially displaced by 100mm with an angle deviation of 27°.

Key words: facility greenhouse, electric vehicles, automatic driving, visual navigation, trajectory correction

摘要： 自动行驶运输车可以有效提高设施大棚内的农产品运输效率和降低劳动成本，是农业自动化和智能化的必然发展方向。针对大棚内电动运输车的自动行驶问题，基于Visual Studio 2013开发环境，完成OpenCV 3.0视觉库的图像处理平台配置，设计一种适用于设施大棚电动运输车的自动行驶系统，综合电动运输车作业环境和运输车结构特点，对车辆行驶道路图像处理方法和轨迹纠偏控制方法进行设计。搭建电动运输车自动行驶系统实车试验平台，对所设计的自动行驶系统进行试验验证。结果表明：在直线自动行驶试验中，车辆方向偏差角为3.61°，可以满足运输车的直线行驶作业要求；在自动行驶轨迹纠偏试验中，电动运输车在初始距离偏移100 mm、角度偏移27°的位置下，轨迹纠偏系统可以使电动运输车稳定行驶时的位姿维持在预设最大角度偏移5°和距离偏移17 mm之内。

关键词: 设施大棚, 电动运输车, 自动行驶, 视觉导航, 轨迹纠偏