<i>Development of ISOBUS Universal Terminal and Client ECUs for Agricultural Machinery</i>

Abstract

Abstract. A modern agricultural vehicle's electronic control units (ECU) communicated based on the ISO 11783 standards. The connection of different machines, implements, different manufacturers into a single bus for the exchange of control commands and sensor data are a challenge for the precision agriculture. One of main functionality is the universal terminal (UT) in the intelligent monitoring system. The universal terminal is to monitoring and interpretation object pool when received from the UT-Client ECUs on the implement bus. In this research work, we develop the UT application program for server ECU (such as Virtual Terminal) and the client based on the OSB-Ag Company commercial libraries for ISOBUS. There have two main libraries for ECUs, which are the server-core-suite and the ISOBUS-stack. The server-core-suite have an application program interface for the task controller (TC), a virtual terminal (VT), and file server (FS). The vt-core makes ISOBUS services available to the terminal for visualizing the operating masks of the UT-Client ECUs on the implements. The UT application implemented by the Qt graphical user interface (GUI) tool at embedded Linux, main hardware platform is the ARM-Cortex-A9 microprocessor such as Freescale - i.MX6Q. Also, we develop the UT-client ECU of a hydraulic control system for manure spreader, which is consist of the load sensor for weight, the belt speed sensor, the hydraulic belt motor controller, the spinner controller and attached GPS device. Finally, we summarize the hardware-software porting to an embedded system with the IsoAglib Safety edition.