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 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.