정식시기에 따른 고랭지 양배추의 수확 및 저장중 품질변화

엄향란(Hyang Lan Eum),이영훈(Young Hoon Lee),홍세진(Sae Jin Hong),신일섭(Il Sheob Shin),용영록(Young Rok Yeoung) (사)한국생물환경조절학회 2012 생물환경조절학회지 Vol.21 No.2

본 연구는 해발 750m 이상의 고랭지에서 재배된 양배추의 정식시기 및 수확 시 기상환경이 품질에 미치는 영향과 수확 후 저장 중 품질변화를 조사하기 위해서 수행하였다. 수확 된 양배추의 품종 별 구중은 정식시기 및 수확시기가 늦으면 구중이 감소하는 양상을 보이며 상품성이 낮았다. 반면 8월 23일(3차)에 수확된 양배추 품종은 정식시기 및 수확시기가 8월 3일(1차)과 8월 13일(2차)에 비해 늦었음에도 불구하고 수확기의 기상환경이 좋아 경도 및 가용성 고형물의 함량이 높았다. 가용성 고형물의 함량은 수확 전후의 기상환경에 영향을 받아 수확 전 3일 이상 강우가 없을때 수확하는 것이 높게 유지하였고, 경도는 늦은 정식 시기가 경도를 낮추는 것으로 나타났다. 양배추의 색도는 수확기에 따른 변화는 일정한 경향이 없었으며, 품종간에도 유의적인 차이는 보이지 않았다. 공시품종 중 수확 시 품질은 ‘Speed king’과 ‘Minix 40’ 품종이 가장 우수하였다. 양배추 저장은 8월 3일(1차), 8월 23일(3차), 그리고 9월 10일(4차)에 수확된 양배추를 상온(25℃, 60% RH)과 저온(3℃, 85% RH)에 각각 저장하여, 수확시기와 수확기의 기상환경이 상온 및 저온저장에 미치는 영향을 확인하였다. 양배추의 생리장해는 수침, 시들음, 냉해가 저장기간 4일경부터 발생하여 상품성을 상실하였다. 양배추 6개 품종의 저장기간은 수확 시 기상환경에 따라 상온저장의 경우 3~5일, 저온저장의 경우 9~10일 정도 가능하였다. 특히 8월 3일(1차)에 수확한 양배추는 수확일 전후의 열악한 기상환경으로 실온 및 저온 저장기간이 가장 짧아 실온 2일 그리고 저온은 4일의 저장기간을 보였다. This study was conducted to investigate the effect of climate conditions during cultivation and harvesting on the quality and storability of fresh bulb cabbage (Brassica oleracea L. var. capitata). Plug seedlings of six cabbage cultivars were transplanted to Gangneung-Wonju University high elevation research station in Gangwon province (780 m above sea level, lat. 37.5°N.) and harvested with four different harvest times like August 3 (1<SUP>st</SUP>), August 13 (2<SUP>nd</SUP>), August 23 (3<SUP>rd</SUP>), and September 10 (4<SUP>th</SUP>), respectively from 50 days after transplanting. Weight loss, Hunter color factors, firmness, and soluble solids content (SSC) of the cabbage bulbs were investigated during storage at 3℃ (85% RH) and 25℃ (60% RH). Decreased bulb weight and poor quality cabbages were apparent at the late transplanting (July 14) and harvest (September 10) respectively. Quality index such as firmness and SSC at August 23 (3<SUP>rd</SUP>) harvested cabbage was better than August 3 (1<SUP>st</SUP>) and August 13 (2<SUP>nd</SUP>) cabbages due to the good weather condition just before harvesting. The cv. ‘Speed king’ and ‘Minix 40’ showed good qualities among the cultivars, especially when the bulbs were harvested during sunny day conditions from one week before harvesting. Also SSC was influenced by weather condition before harvesting rather than transplanting date, while firmness was influenced by transplanting and harvest date. However, the differences among the cultivars were not significant. The potential of storage as maintaining the quality was different, depending on weather conditions at harvest time. Generally the storage periods of six cultivars were around 3~5 days and 9~10 days at room and low temperature, respectively. However, the August 3 (1<SUP>st</SUP>) harvested cabbage lost their marketable quality very fast because of rainy and cloudy weather condition before harvesting and also storability of bulbs was 2 days and 4 days at room temperature and 3℃, respectively. Quality index was also not significant difference among cultivars.

센서 융합 기반의 배추 수확기 예취부 3축 자세 제어

박용현(Yonghyun Park),전종표(Jongpyo Jun),손형일(Hyoung Il Son) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.3

In Korea, Chinese cabbage harvesting is insufficiently mechanized and automated, and this task is typically carried out using manual labor. Thus, research on Chinese cabbage harvesters is required. However, the terrain in cabbage fields is generally rough and comprises many obstacles. Consequently, problems such as overcutting, missed cutting, and side cutting occur while cutting cabbages using a cabbage harvester. Therefore, it is necessary to study the cutting mechanism of the harvester to perform accurate cutting, considering the terrain in the fields. To this end, a three-axis attitude control mechanism was designed in this study; this mechanism controls the cutting device of the Korean cabbage harvester with three cylinders. In addition, an accelerometer, a gyro sensor, and a rotary encoder were designed for sensor fused. The cylinders were controlled such that the measured roll (Φ) and pitch (θ) were level with the ground. In addition, the angle of the guide in the cutting device (θe), driven by grounding to the ground, was calibrated using the height data. The cylinder in the sliding (x) axis was controlled to maintain the target height. Further, a proportional-integral-derivative controller was integrated to reduce overshoot and improve stability. To assess the performance of the algorithm, a 2:1 scaled-down model of the cutting device of the Korean cabbage harvester was produced, and the attitude control mechanism was installed on its driving platform and tested. Attitude measurement was performed using a motion capture device (OptiTrack). For quantitative evaluation, data with and without the attitude control system were compared by estimating their root mean square error (RMSE). The RMSE values for the level and height were 0.89° and 2.23 cm, respectively, for attitude control with the posture control system; however, those for attitude control without the posture control system were 2.15° and 4.05 cm, respectively. In addition, improvements of 58% in the level control and 45% in the height control were observed. In further investigations, better results can be obtained using the harvester if the changes in the angle and height are higher than those obtained in this experimental environment.

자주식 배추수확기의 인발성능 및 전처리부 설계

김호진,최영수 경상대학교 농업생명과학연구원 2020 농업생명과학연구 Vol.54 No.1

본 연구에서는 주행부, 주반송부, 동력전달부 등으로 구성된 배추를 인발하여 수확할 수 있는 궤도형의 자주식 인발형 배추수확기 개발, 인발기능과 이송기능을 갖는 주이송부의 설계 요인에 따른 포장 수확 성능 평가, 우리나라 품종별 재배작형에 따른 배추 물리적 특성 분석 및 시작기의 인발 및 반송 성능 향상을 위한 전처리부 설계를 수행하였다. 수확기 설계를 위한 기초 자료로 활용하기 위해서 우리나라 계절별 대표 품종(봄배추: 대통배추, 가을배추: 노랑배추, 월동배추: 겨울왕국)에 대해 수확시기의 물리적 특성을 조사하였다. 겉잎을 제거하지 않은 상태에서 크기를 품종별 평균값으로 나타냈을 때 3가지 품종에 있어서 폭은 22.7 ~ 30.6 cm, 높이 29.9 ~ 33.8 cm 범위로 나타났으며, 수직인발력은 평균 90.8~159.5 N으로 다양하게 나타났다. 인발각도, 속도비를 인발성능 요인으로 고려한 인발성능 평가에서 인발각도 35°, 수확기 주행 속도가 0.4 m/s 이고 인발벨트 속도 0.61 m/s 일 때의 속도비 1 : 1.22에서 인발률 80%로 인발정도가 가장 높게 나타났으나, 보다 향상된 배추 인발성능을 확보하기 위해서는 인발 시 배추를 안정적으로 전달할 수 있는 메카니즘이 추가로 요구되어 배추수확기 주이송부의 전방에 부착할 수 있는 유인부와 보조반송부로 구성된 전처리부를 전장 88 cm, 전폭 60 cm, 전고 15 cm의 치수로 설계・제시하였다. This research was conducted to evaluate the pulling performance of a Chinese cabbage harvester, which was designed and constructed for a self-propelled harvester with pulling mechanism. The harvester is consisted of crawler-type running gear, main pulling conveyor, hydro static transmission system as main units. In order to get the informations for developing a pulling mechanism, physical properties of three types of Chinese cabbages, which were cultivated in different seasons of spring, autumn and winter, were investigated. Also, vertical pulling force was measured. The size of the three types of Chinese cabbages ranged from 22.7 cm to 30.6 cm in width and 29.9 cm to 33.8 cm in height. In general, winter Chinese cabbage showed larger size than other varieties. The pulling force ranged from 90.8 N to 159.5 N on average. Field tests were carried out to evaluate the pulling performance of the harvester. The results of the test showed the best pulling rate of 80% when the conditions were at inclined angle of 35° of the main conveyor, the driving speed of 0.4 m/s, and the belt speed of 0.61 m/s (speed ratio 1:1.22). However, the results suggested that an auxiliary device such as a preprocessing unit should be designed to enhance the pulling and conveying performance. The preprocessing unit was designed so that it can be attached in front of the main pulling conveyor of the prototype harvester and is consisted of induced unit and auxiliary pulling conveyor. The preprocessing unit was designed with dimensions of 88 cm in overall length, 60 cm in overall width and 15 cm in overall height. It is expected that the unit can help for Chinese cabbages to be pulled out easily and to ensure stable transfer along the main pulling conveyor.

배추 자동 수확을 위한 2 축 유압 시스템의 백스테핑 제어: 예비결과

박용현,손형일 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6

The paper proposes a backstepping control of 2-DOF hydraulic system for automatic Korean cabbage harvesting. First, we designed a mechanism that allows only cutting devices in Korean cabbage harvesters to control their attitude separately to proceed with precise harvesting. And the 2-DOF hydraulic system was designed for the operation of two hydraulic cylinders that control slide( ) length and pitch( ) rotation of the designed Mechanisms. The system was modeled considering the movement of the cutting device. It is then control by applied to backstepping control, a nonlinear control technique. We also conducted a comparison experiment with PID control to verify the performance of the designed controller.

Analysis of Driving Stability and Vibration of a 20-kW Self-Propelled 1-Row Chinese Cabbage Harvester

ALI MOHAMMOD,이예슬,Chowdhury Milon,KHAN NADEEM ALI,Swe Khine Myat,Rasool Kamal,Kabir Md Shaha Nur,이대현,정선옥 한국농업기계학회 2021 바이오시스템공학 Vol.46 No.1

Purpose Overturning and high vibration levels are major causes of agricultural farm fatalities and mechanical troubles during operation. This study assessed the stability angles of a self-propelled 1-row Chinese cabbage harvester and measured the vibration levels for safety under different conditions. Methods The stability of the Chinese cabbage harvester was investigated using computational methods, and the vibration levels were measured on off-road and field conditions. The three-dimensional model of the Chinese cabbage harvester was designed and simulated to evaluate the static stability angles employing commercial software. The relationship between vehicle and deformable soil was calculated using the empirical models. The critical angles and the climbing ability of the developed harvester were examined under loaded and unloaded conditions. The vibration exposures were measured on the cabbage conveyor and the power transmission part in static, off-road, and field operation conditions under various speeds and slopes. Results The stability simulation results showed the minimum lateral stability angles of the harvester were pointed on the loaded condition compared to the unloaded condition. The maximum sideways overturning angle of the Chinese cabbage harvester was recorded as 32° at 150° ground angle and 30° at 270° ground angle, from the moving directions clockwise, for unloaded and loaded conditions. The high levels of vibration were measured at 0.19, 1.64, and 1.38 m/s2 for static, off-road, and field conditions at high speeds among X-, Y-, and Z-axis directions, respectively. Besides, the considerable vector sum (Av) exposures were calculated 1.54, 2.14, and 2.48 m/s2 at 0.3, 0.6, and 0.9 m/s forward speeds on the cabbage conveyor part. Conclusion The concept and guidelines of this research could help to protect operators from safety risks and expose vibration characteristics during farm operations of the self-propelled Chinese cabbage harvester prototype.

Stress and Fatigue Analysis of the Power Transmission Sprocket Gears for Design of a Self-propelled and Small-sized Chinese Cabbage Harvester

( Ye-seul Lee ),( Bo-eun Jang ),( Yong-joo Kim ),( Young-soo Choi ),( Keum-bae Ji ),( Sun-ok Chung ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1

Harvesting operation of Chinese cabbage still relies on manual labor force, therefore harvesters need to be developed. When developing machines, computer simulations would improve the optimum design reliability and reduce the development time and costs. Objective of this study was to conduct stress and fatigue analysis for optimum design of sprocket gear in Chinese cabbage harvester power transmission system. Using software (midas NFX), stress and fatigue analysis were performed for material and gear pressure angles. The gear materials were chosen structural chrome steel SCR420H and mechanical structural carbon steel SM45C. The gear pressure angle was 16 ° to 24 ° at 2° intervals. As a result of stress and fatigue analysis, the maximum displacement and fatigue life did not change significantly with the material and pressure angle, but the maximum stress was the lowest at 20° in both materials.

유한요소해석을 이용한 배추 수확기 수집부 견인 고리 구조해석

주현식,신주원,조승제,조용진,김대철 경상국립대학교 농업생명과학연구원 2023 농업생명과학연구 Vol.57 No.2

Chinese cabbage is an important vegetable in the highest cultivated area and production among leafy vegetables in Korea. A decreasein the rural population and an aging population resulted in a lack of rural labor, which was caused by a decrease in Chinese cabbageproductivity. Most harvesting the Chinese cabbage depends on labor. A Chinese cabbage harvester is being developed for reducing laborand improvement of productivity. The purpose of this research improves the stability of a self-propelled Chinese cabbage harvester byconducting structural analysis and redesigning the tow hooks. Structural analysis was conducted by changing the angle and the heightof the tow hook based on the loading weight. The results were derived that the maximum stress of 608.38 MPa, the maximum deformationof 3.14e-3 mm, and the minimum safety factor of 0.78 at the minimum height of the tow hook attached in the collection part. In thecase of the tow hook attached to the harvester, the results were derived that the maximum stress of 835.76 MPa, the maximum deformationof 4.74e-3 mm, and the minimum safety factor of 0.48. In the case of the hinge pin, the results were derived that the maximum stressof 373.46 MPa, the maximum deformation of 2.12e-3 mm, and the minimum safety factor of 1.23. The safety factor was higher than1 in most areas except the maximum stress point. Therefore, it is necessary to reinforce the maximum stress point in the stage of manufacturefor increasing structural stability. 배추는 국내 생산 엽채류 중 재배면적 및 생산량이 가장 높은 비중을 차지하는 중요한 작물이다. 농촌인구 감소 및 고령화는 농촌 노동력부족으로 이어지고 이는 배추 생산력 감소의 원인이 되고 있다. 배추 수확은 대부분 인력에 의존하고 있으며, 노동력 절감과 생산성 향상을 위한관리 및 수확을 위한 배추 수확기가 개발되고 있다. 본 논문의 목적은 견인형 자주식 배추 수확기 견인 고리 설계단계에서 구조해석을 실시하여최대 응력, 변형량, 안전계수를 도출하여 안정성을 높이는 데 있다. 수집부에 배추가 최대 적재 시 발생하는 하중을 기준으로 하중의 각도, 견인고리의 높이를 변경하여 구조해석을 실시하였다. 수집부 부착 견인 고리의 경우 최소 높이에서 최대 응력 608.38 MPa, 최대 변형량 3.14e-3mm, 최소 안전계수 0.78이 도출되었으며, 배추 수확기 부착 견인 고리의 경우 최소 높이에서 최대 응력 835.76 MPa, 최대 변형량 4.74e-3 mm,최소 안전계수 0.48이 도출되었다. 마지막으로 힌지핀의 경우 중간 높이에서 최대 응력 373.46 MPa, 최대 변형량 2.12e-3 mm, 최소 안전계수1.23이 도출되었다. 최대 응력 지점을 제외한 대부분은 안전계수가 1보다 높았다. 따라서 제작 단계에서는, 최대 응력 지점을 보강하여 견인 고리에대한 구조적 안정성을 높일 필요성이 있다

Dissipation Patterns of Insecticide Sulfoxaflor in Spinach and Korean Cabbage

Michael Opolot,Sang-Hyeob Lee,Se-Yeon Kwak,Aniruddha Sarker,Sung-Chan Cho,Hyo-Jeong Kim,Hye-Rin Jeong,Jang-Eok Kim 한국농약과학회 2018 농약과학회지 Vol.22 No.4

The present greenhouse experiment was carried out to study the residues of sulfoxaflor in spinach and Korean cabbage under different pre-harvest application regimes. After 2 times application of with 1 week interval in that day of harvest (0), 3, 7, 14 and 21 days before harvest, and the residue of pesticides was investigated by LC-MS/MS. Matrix-matched calibration curves for sulfoxaflor in both spinach and Korean cabbage yielded good linearity (R<SUP>2</SUP> ≥ 0.9995). The biological half-lives of sulfoxaflor in spinach and Korean cabbage deduced from first order forms of decline (C=3.2539e<SUP>-0.179t</SUP> in spinach and C=1.2432e<SUP>-0.196t</SUP> in Korean cabbage) were 3.87 and 3.54 days, respectively. Pre-harvest residues of sulfoxaflor in spinach at 10-3 days (2.16 mg/kg) and 7-0 days (2.97 mg/kg) were above the EU-MRL (2.0 mg/kg), but within the MFDS value of 3.0 mg/kg. In Korean cabbage, residues at 10-3 days (0.74 mg/kg) and 7-0 days (1.17 mg/kg) were above the MFDS value of 0.3 mg/kg, though below the EU-MRL (6.0 mg/kg). Based on field incurred residues, it’s safe to apply sulfoxaflor to spinach as per MFDS regulation and Korean cabbage at 21-14 or 14-7 days before harvest as per EU regulation.

온도시간 기반의 배추 생육단계 추정

김진희 ( Jin Hee Kim ),윤진일 ( Jin I. Yun ) 한국농림기상학회 2015 한국농림기상학회지 Vol.17 No.4

기온자료만으로 배추의 결구시기 및 수확적기를 정확하게 예측하기 위해 실측자료에 근거한 배추 생육단계 예측모형을 개발하였다. 이 모형에서는 배추의 일생을 생육기와 결구기로 나누고 각각에 대해 매일의 생장량이 최적 함수식에 의해 계산된다. 최적 함수식의 도출에는 강원도 고랭지 여름배추 주산지와 전남해남의 가을배추 주산지 7개 농가, 8개 작형에서 수집된 2012-2014년 자료가 활용되었다. 예측모형의 성능검증에는 같은 지역의 다른 농가 17개에서 수집된 생육자료와 소기후모형에 의해 복원된 국지기온자료로 구성된 독립자료세트가 사용되었는데, 17개 지점의 3년간 수확예정일 평균추정오차(RMSE)는 5.3일 이었다. 이 모형은 기상청의 일별 기온자료를 이용하여 다양한 지역과 작형에서 재배되는 배추의 결구기와 수확기를 예측하는 소위 ‘농업기상예보’ 목적으로 활용될 수 있을 것이다. A thermal time-based phenology model of Kimchi cabbage was developed by using the field observed growth and temperature data for the purpose of accurately predicting heading and harvest dates among diverse cropping systems. In this model the lifecycle of Kimchi cabbage was separated into the growth stage and the heading stage, while the growth amount of each stage was calculated by optimal mathematical functions describing the response curves for different temperature regimes. The parameter for individual functions were derived from the 2012-2014 crop status report collected from seven farms with different cropping systems located in major Kimchi cabbage production area of South Korea (i.e., alpine Gangwon Province for the summer cultivation and coastal plains in Jeonnam Province for the autumn cultivation). For the model validation, we used an independent data set consisting of local temperature data restored by a geospatial correction scheme and observed harvest dates from 17 farms. The results showed that the root mean square error averaged across the location and time period (2012-2014) was 5.3 days for the harvest date. This model is expected to enhance the utilization of the Korea Meteorological Administration``s daily temperature data in issuing agrometeorological forecasts for developmental stages of Kimchi cabbage grown widely in South Korea.

자주식 소형 배추수확기 설계 및 기초성능시험

최영수,지금배 한국정밀농업학회 2017 정밀농업기술 Vol.4 No.1

<P> Chinese cabbage is one of the major in Korea because it is the main ingredient of Kimchi. Recently Korean government promote mechanization of the upland crop production operations to improve the current mechanization level of 56%. Abreast the increment of life quality of the people, the recognition of healthy food, and changes of domestic conditions, agricultural mechanization has been an important topic. In addition, it is also urgent due to the declining and aging of farmers. The ratio of agricultural crop farmers to total population is 5.7%. Among these, 48% are over 60 years old; 10 years later, agricultural production would be difficult to sustain without agricultural machinery. The harvesting labor force, which depends on manpower, is 11.8~23.08% of the total labor force. The mechanization rate of cabbage is about 57.5%, but the grafting and harvesting work using much labor input could not be promoted. The purpose of this study is to develop a self-propelled and small-sized cabbage harvester suitable for domestic small compartment environments. This harvester would solve the problems: reduction of cultivation area, aging labor force, and the increment of demand. </P>