Chinese cabbage is the main ingredient in kimchi and is one of the most consumed vegetables in Korea. However, about 99% are imported from China. The reason for this is the shortage of labor due to the decrease in the population of agricultural workers in rural areas and high labor costs compared to income. Compared to the labor shortage, more than five people are needed in the cultivation process. And it depends on manpower. However, 58% of the population in their 60s and older is higher than the rest of the population, causing serious aging problems. On the other hand, mechanization of cabbage harvesting, which requires the most effort, has hardly progressed. Therefore, research to increase mechanization in harvesting operations is indispensable. Chinese cabbage, however, is different from cabbage like paper. Failure to cut the Chinese cabbage correctly will damage the head and affect the quality. Events such as uncut, excessive cut, and side cut occur depending on the cutting posture. The number of outer leaves to be removed is then determined by the cutting. Therefore, accurate cutting is necessary to improve the quality. The reason for this is that the cabbage harvest season is only in the development stage. Therefore, it is necessary to control the cutting position in order to proceed with the cutting process accurately.
In order to carry out the accurate and accurate cabbage cutting process, this paper devised a posture control mechanism that can adjust the posture of the cutting device alone, not the Chinese cabbage harvesting machine platform. This mechanism controls only the cutting device alone, thus reducing the failure of cutting due to changes in body attitude during harvest. It also consists of a Pitch for maintaining the cutting angle, a Slide for maintaining the cutting height, and a Roll for maintaining the cutting level. In order to automatically control attitude, the algorithm for current attitude measurement is first designed. The algorithm uses Kalman filter to fuse the sensors used to design the algorithm, and integrates PID control for stable attitude control in response to tilt and obstacle attitude changes. In order to verify the algorithm, a reduction model was created and experimented. As a result, it is confirmed that attitude control system improves attitude. Next, the system was applied to actual Chinese cabbage harvester. Actual field tests also confirmed improvements in attitude. The results of the actual Chinese cabbage cutting experiment were confirmed to be more accurate than those without a control system. In order to further improve the accuracy of this system, the backstepping controller is designed and applied. PID controllers in existing systems are linear approximation controls. Therefore, irregular farmland uses backstepping controllers for nonlinear control. The dynamic characteristics of the hydraulic system used in Chinese cabbage harvester are considered. The experiment was then compared with PID controllers used in existing systems. As a result, it was confirmed that the attitude improvement rate of the backstepping controller was higher than that of PID controller. This paper aims to present the direction of Chinese cabbage harvester. By using this system, it is hoped that the cutting attitude will be stabilized and the harvest success rate will increase.