1. ISO 11783 Task Controller Lecture 9 Task Controller – Part I
ISO Part 10
BAE
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

2. 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
March 22, 2009
BAE

3. 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

4. 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
Andy Beck / Hans Nissen
John Deere
March 22, 2009
BAE

5. Optional Task Controller Interface Methods
Andy Beck / Hans Nissen
John Deere
March 22, 2009
BAE

6. Task Management Workflow
Planning of field Task on the desktop computer (Farm Management Information System = FMIS) What, Where, How, by Whom, When, etc.
Conversion of task into standard XML format
Assignment of task data to “implements” (Working Sets clearly identified by their NAME)
Transfer from PC to Mobile TC (this may include a conversion)
TC transmits information as specified to “implement” controllers
TC collects information as specified in the field Totals, site specific data Logging, new Coding Data, etc
Transfer of data back to PC (this may includes conversion)
Analyzing of field data in FMIS
March 22, 2009
BAE

7. 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

8. TC – WS Message Interaction
March 22, 2009
BAE

9. March 22, 2009
BAE

10. March 22, 2009
BAE

11. 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

12. 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

13. 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

14. Task States State Description Initial
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

15. 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

16. 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

17. Prescription map terminology
See ISO Figure 3
March 22, 2009
BAE

18. Grid definition terminology
See ISO Figure 4
March 22, 2009
BAE