Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules
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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/14/11/1869 |
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| _version_ | 1846154826407215104 |
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| author | Yonghyun Park Myeong-Sin Kim Juwon Shin Yongjin Cho Hyuck-Joo Kim Hyoung Il Son |
| author_facet | Yonghyun Park Myeong-Sin Kim Juwon Shin Yongjin Cho Hyuck-Joo Kim Hyoung Il Son |
| author_sort | Yonghyun Park |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-241dcdbc31c8455a9be8b4c66e2f5dec |
| institution | Kabale University |
| issn | 2077-0472 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj-art-241dcdbc31c8455a9be8b4c66e2f5dec2024-11-26T17:43:08ZengMDPI AGAgriculture2077-04722024-10-011411186910.3390/agriculture14111869Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading ModulesYonghyun Park0Myeong-Sin Kim1Juwon Shin2Yongjin Cho3Hyuck-Joo Kim4Hyoung Il Son5Department of Convergence Biosystems Engineering, Chonnam National University, Yongbong-ro 77, Gwangju 61186, Republic of KoreaDepartment of Convergence Biosystem Mechanical Engineering, Sunchon National University, Jungang-ro 255, Suncheon 57922, Republic of KoreaDepartment of Bio-Industrial Machinery Engineering, Jeonbuk National University, Hyeonmu 2-gil 13, Jeonju 55000, Republic of KoreaDepartment of Bio-Industrial Machinery Engineering, Jeonbuk National University, Hyeonmu 2-gil 13, Jeonju 55000, Republic of KoreaDepartment of Convergence Biosystem Mechanical Engineering, Sunchon National University, Jungang-ro 255, Suncheon 57922, Republic of KoreaDepartment of Convergence Biosystems Engineering, Chonnam National University, Yongbong-ro 77, Gwangju 61186, Republic of KoreaThis 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.https://www.mdpi.com/2077-0472/14/11/1869autonomous harvesteragricultural mechanizationbackstepping controlChinese cabbage harvesterprecision agriculture |
| spellingShingle | Yonghyun Park Myeong-Sin Kim Juwon Shin Yongjin Cho Hyuck-Joo Kim Hyoung Il Son Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules Agriculture autonomous harvester agricultural mechanization backstepping control Chinese cabbage harvester precision agriculture |
| title | Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules |
| title_full | Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules |
| title_fullStr | Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules |
| title_full_unstemmed | Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules |
| title_short | Autonomous Self-Propelled Napa Cabbage Harvester: Cutting, Attitude Control, and Loading Modules |
| title_sort | autonomous self propelled napa cabbage harvester cutting attitude control and loading modules |
| topic | autonomous harvester agricultural mechanization backstepping control Chinese cabbage harvester precision agriculture |
| url | https://www.mdpi.com/2077-0472/14/11/1869 |
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