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Korean cabbage harvesting lacks mechanization and depends on human power;thus, conducting research on Korean cabbage harvesters is of immenseimportance. Although these harvesters have been developed in various forms,they have not yet attained commercialization. Most Korean cabbage fields haveslopes; thus there are several challenges, that can prevent accurateharvesting. Therefore, to address these challenges at the site, we adopt twocylinders in this study, develop a mechanism that enables attitude control ofthe cutting device, not driving platform body, to cope with slopes. Bymaintaining the level, angle, height of cutting, we can reduce loss and improveharvest performance. It is difficult to find examples where these mechanismshave been applied. For basic research, sensor fusion has been carried out basedon the Kalman filter, which is commonly utilized for attitude control. Thehydraulic cylinder was controlled using the data obtained for maintaining theattitude. Furthermore, field tests were conducted to validate this system, andthe root mean square error (RMSE) was obtained and verified to quantitativelyassess the presence or absence of attitude control. Therefore, the purpose ofthis study is to suggest a development direction for Korean cabbage harvestersvia the proposed attitude control system.

A Sensor Fusion-based Cutting Device Attitude Control to Improve the Accuracy of Korean Cabbage Harvesting