Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules

Yonghyun Park, Myeong-Sin Kim, Juwon Shin, Yongjin Cho (), Hyuck-Joo Kim () and Hyoung Il Son ()
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Yonghyun Park: Department of Convergence Biosystems Engineering, Chonnam National University, Yongbong-ro 77, Gwangju 61186, Republic of Korea
Myeong-Sin Kim: Department of Convergence Biosystem Mechanical Engineering, Sunchon National University, Jungang-ro 255, Suncheon 57922, Republic of Korea
Juwon Shin: Department of Bio-Industrial Machinery Engineering, Jeonbuk National University, Hyeonmu 2-gil 13, Jeonju 55000, Republic of Korea
Yongjin Cho: Department of Bio-Industrial Machinery Engineering, Jeonbuk National University, Hyeonmu 2-gil 13, Jeonju 55000, Republic of Korea
Hyuck-Joo Kim: Department of Convergence Biosystem Mechanical Engineering, Sunchon National University, Jungang-ro 255, Suncheon 57922, Republic of Korea
Hyoung Il Son: Department of Convergence Biosystems Engineering, Chonnam National University, Yongbong-ro 77, Gwangju 61186, Republic of Korea

Agriculture, 2024, vol. 14, issue 11, 1-21

Abstract: This paper introduces an autonomous self-propelled Napa cabbage harvester, designed to significantly improve the efficiency and effectiveness of the traditionally labor-intensive harvesting process. The harvester integrates three key modules: a cutting, an attitude control, and a loading module. The cutting module is equipped with an attitude control module that ensures precise severance of the Napa cabbage stems, minimizing damage to the crop and maintaining product quality. The attitude control module employs a backstepping-based force control that continuously adjusts the cutting angle and height to ensure consistent cutting precision, even on uneven terrain, thereby optimizing the quality of the Napa cabbages. The loading module automates the collection and transfer of harvested Napa cabbages into storage, significantly reducing the physical burden on workers and improving operational efficiency. Field experiments demonstrated improvements, including a 42–66% reduction in task time compared to manual harvesting, as well as a 37% increase in cutting accuracy through the use of autonomous control. The proposed system presents a comprehensive solution for enhancing productivity, reducing labor demands, and maintaining high crop quality in Napa cabbage harvesting, offering a practical approach to modernizing agricultural practices.

Keywords: autonomous harvester; agricultural mechanization; backstepping control; Chinese cabbage harvester; precision agriculture (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2024
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