Transcript ISO 11783 Implement Messages

ISO 11783 Task Controller
Lecture 9 Task Controller – Part I
ISO 11783 Part 10
BAE 5030 - 353
Spring 2009
Instructor: Marvin Stone
Biosystems and Agricultural Engineering
Oklahoma State University
Taken largely from:
Andy Beck and Hans Nissen
John Deere and Co.
NAIITF ISOBUS Task Controller Workshop
4 June 2008
March 22, 2009
BAE 5030-353
Purpose of Task Management
• To allow management of
– Machinery resources
Production inputs
• Tractors
• Fertilizers
• Implements
• Seeds
• Combines
• etc
– Production outputs
• Sprayers
• Grain
• Etc
• Hay
– Labor resources
• 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 Nissen
John Deere
Optional Task Controller Interface Methods
Andy Beck / Hans Nissen
John Deere
March 22, 2009
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
BAE 5030-353
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
State
Initial
Description
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.
March 22, 2009
BAE 5030-353
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
See ISO 11783 Figure 3
March 22, 2009
BAE 5030-353
Grid definition terminology
See ISO 11783 Figure 4
March 22, 2009
BAE 5030-353