ISO 11783 Task Controller

Lecture 9 Task Controller – Part IISO 11783 Part 10

BAE 5030 - 353Spring 2009

Instructor: Marvin StoneBiosystems and Agricultural Engineering

Oklahoma State University

March 22, 2009 BAE 5030-353

Taken largely from:Andy Beck and Hans NissenJohn Deere and Co.NAIITF ISOBUS Task Controller Workshop4 June 2008

Purpose of Task Management

• To allow management of– Machinery resources

• Tractors

• Implements

• Combines

• Sprayers

• Etc– Labor resources

Production inputs• Fertilizers

• Seeds

• etc– Production outputs

• Grain

• Hay

• etc

March 22, 2009 BAE 5030-353

Nature of task management

• Task management facilities– Tasks can be defined and named– Tasks management actions are

• Allocation or association of … with Tasks– Resources– Inputs– Outputs

– Time of Allocation or association with Tasks• Before beginning task on desktop = Planning

• At time of task on VT in the field = adhoc

– Planned task data may be transported to the field and loaded into the task controller

– Task data gathered in the field may be unloaded from the Task Controller and transported back to the desktop

March 22, 2009 BAE 5030-353

Functionality covered by ISO 11783 Task Controller

• Standardized Interface between the Mobile System and the Farm Management Information System (PC in farm office)

• Standardized file format (XML based) between TC and FMS

• Standardized communication between Task Controller (TC) and controllers on the bus (Process Data Message = PDM)

• Documentation of work of the mobile system (totals of tractor, implements, time stamps, etc.; geo-referenced when GPS available)

• Prescriptions for multiple implements in parallel• Handling of Coding Data (all kinds of setup data like

operator names, farm and field names, machine information, etc.)

• Handling of Machine Configuration (mounting positions including their position offsets, working width, etc.)

• Data Dictionary (ISO11783 part 11) defines the data types (defined as online-dB on www.isobus.net)

March 22, 2009 BAE 5030-353

Andy Beck / Hans NissenJohn Deere

Optional Task Controller Interface Methods

March 22, 2009 BAE 5030-353

Andy Beck / Hans NissenJohn Deere

BAE 5030-353

Task Management Workflow

1. Planning of field Task on the desktop computer (Farm Management Information System = FMIS) What, Where, How, by Whom, When, etc.

2. Conversion of task into standard XML format

3. Assignment of task data to “implements” (Working Sets clearly identified by their NAME)

4. Transfer from PC to Mobile TC (this may include a conversion)

5. TC transmits information as specified to “implement” controllers

6. TC collects information as specified in the field Totals, site specific data Logging, new Coding Data, etc

7. Transfer of data back to PC (this may includes conversion)

8. Analyzing of field data in FMIS

March 22, 2009

Task Controller User Interface Functions

• A User-Interface is not mandatory, nevertheless common & useful to– Select a task from a list– Start/Stop a task– Modify a task– Create a task– Add new Coding Data– Display Warnings as needed– Provide Total Overviews– Etc.

March 22, 2009 BAE 5030-353

TC – WS Message Interaction

March 22, 2009 BAE 5030-353

March 22, 2009 BAE 5030-353

March 22, 2009 BAE 5030-353

Task Controller Connection Management

• The Task Controller shall (must) on Startup:– Complete its correct Address Claim– Wait for 6 seconds after complete Address Claim– Start transmission of cyclic TC Status Message (initial status

is ‘0’)– Allow WS to initialize and load their Device Configuration

Data (DCD)– Parse the DCD on activation message and respond

accordingly– Set the TC Status to ‘1’ when all needed settings are valid

(task chosen and activated, all included WS connected, etc)

March 22, 2009 BAE 5030-353

Working Set (WS) Connection Management

• The Working Set shall (must) on Startup:– Complete its correct Address Claim– Wait for 6 seconds after complete Address Claim– Wait for TC Status Message– Identify itself and its members to the system– Start transmission of frequent WS Task Status Message– Query TC as to determine its capabilities– Request Language format– Query TC if DCD already exists (version etc)– Load DCD when not available or existing one doesn’t reflect

the machine settings– Wait for TC feedback on DCD Activation Message

March 22, 2009 BAE 5030-353

Task Controller Data Logging

• The WS define in their DCD which elements can provide information for data logging

• The Desktop SW usually defines which data to log for a certain operation (transferred in the XML task file as DataLogTriggers to the TC)

• DataLogTriggers allow:– log a certain DDI from a certain DCD element of a specific WS– log specific Bits/Bytes from certain PGNs on the bus– log these data on certain intervals or thresholds (Trigger methods)– log cumulative total counters

• Data can come in on different rates; special rules apply how the data gets logged in the binary data files send back to the PC.

• Data is usually log with GPS position and time stamps• A Process Data Value can be send with a maximum of 10 times

per second.

March 22, 2009 BAE 5030-353

Task States

March 22, 2009 BAE 5030-353

State DescriptionInitial Initial Task is prepared at FMIS but not yet processed on MICS.

Running Running Task is currently being processed on MICS. Only one task can be active per task controller at the same time.

Paused Paused Task was previously running, is not presently running, and is not yet completed.

Completed Completed Task is finished. This state can only be set by the operator and cannot be set automatically by the MICS.

Task Controller Data Logging

• System behavior on Start, Pause and Resume of a Task:– Start:

• The TC sets the Task Status in its Status Message to ‘1’.

• The WS sets all Total Counters to zero on the transition from ‘0’ to ‘1’.

• The TC enables the Trigger Methods for the individual Process Data Variables as appropriate.

– Pause:• The TC sets the Task Status in its Status message to ‘0’.

• The WS stops increasing its total counters.

• The WS stops sending its trigged data.

• The TC requests from each WS each individual information marked as ‘counter’ in its DCD and stores them in the task file.

– Resume:• Same as ‘Start’, but

• TC restores the previously stored total counters in each WS

March 22, 2009 BAE 5030-353

Task Controller Site-Specific Application

• TC and WS may support prescriptions (WS defines e.g. its application rate as ‘set-able’ in its DCD)

• Application map gets planned at Desktop PC• Application map gets attached to XML Task file as Grid or Shape File• TC opens application map in the field• TC determines the appropriate application rate based on GPS position

in the application map• TC may takes offset of GPS to drop point into account (e.g. distance

between GPS and Sprayer Boom)• TC sends the new application rate to the correct object of the

connected WS• WS applies the new application rate when appropriate (e.g. Manual

versus Auto Mode)• WS sends new current rate for documentation purpose

March 22, 2009 BAE 5030-353

Prescription map terminology

March 22, 2009 BAE 5030-353

See ISO 11783 Figure 3

Grid definition terminology

March 22, 2009 BAE 5030-353

See ISO 11783 Figure 4