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

中文翻译：

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基于传感器融合的切割装置姿态控制提高韩国白菜收获精度

大白菜收割缺乏机械化，靠人力；因此，对韩国卷心菜收割机进行研究非常重要。虽然这些收割机已经开发了多种形式，但它们尚未实现商业化。大多数韩国白菜田都有斜坡；因此，存在一些挑战，可以阻止准确的收获。因此，为了解决现场的这些挑战，我们在本研究中采用了两个气缸，开发了一种机制，能够控制切割装置的姿态，而不是驱动平台主体，以应对斜坡。通过保持切割的水平、角度、高度，我们可以减少损失并提高收获性能。很难找到应用这些机制的例子。对于基础研究，基于卡尔曼滤波器进行了传感器融合，常用于姿态控制。使用为保持姿态而获得的数据来控制液压缸。此外，还进行了现场测试以验证该系统，并获得并验证均方根误差 (RMSE)，以定量评估是否存在姿态控制。因此，本研究的目的是通过所提出的姿态控制系统为韩国卷心菜收割机的发展方向提出建议。