  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.
