Method for simultaneously operating several agricultural devices connected together to form a device combination for an application

Abstract

Method for simultaneously operating several agricultural devices (4) connected to each other for an application in a device combination (2), wherein functions of at least two of the devices (4) connected to each other in a device combination (2) can be controlled via at least one respective ECU control unit (6) with an associated device bus network (10), transmitters (20) and receivers (24) are connected to the respective device bus network (10) which exchange data with each other within the device bus network (10), and each respective device bus network (10) has an interface (12) for data exchange with an external bus network, characterized in that the device bus networks (10) of at least two of the devices (4) connected to each other in a device combination (2) are connected to each other via at least one first component (8) which has at least two separate bus networks (14) and an integrated controller (16),and wherein the integrated controller (16) of the first assembly (8) is provided with a firmware (18) which communicates via each of the separate bus networks (14) with the device bus network (10) connected to this separate bus network (14) of the first assembly (8), wherein the firmware (18) determines the baud rates of the connected device bus networks (10) after the device bus networks (10) are connected to the associated separate bus networks (14), and , - the firmware (18) of the first assembly (8) transmits the number of free memory locations for CAN-ID filters for the respective device bus network (10) to the respective connected ECU control units (6) of the device bus networks (10), the ECU control units (6) inform the firmware (18) via the respective separate bus network (14) of the first assembly (8) to which they are connected, the CAN-ID to be received on the respective separate bus network (14) of the first assembly (8), the CAN-ID to be filtered according to the instruction of the respective ECU control unit (6) of the respective connected device bus networks (10) are permanently stored by the firmware (18), and thereafter only such data is transmitted by the firmware (18) from the reporting device bus network (10) via the other separate bus networks (14) to the other connected device bus networks (10) that are provided with these reported CAN-ID.

Description

[0001] The present invention relates to a method for simultaneously operating several agricultural devices connected together to form a device combination for an application, wherein the functions of at least two of the devices connected to form a device combination can be controlled via at least one respective ECU control unit with an associated device bus network, transmitters and receivers are connected to the respective device bus network, which exchange data with each other within the device bus network, and each respective device bus network has an interface for data exchange with an external bus network. Such bus networks are known from DE 11 2008 000 664 B4 and from the company publication of Infineon Technologies AG: Controller Area Network Controller (Multi-CAN) XMC1400, XMC4000, Edition 2016-05, Munich, 2016.

[0002] From European patent EP 3 073 814, it is known to operate a tractor with one or more implements, whereby the tractor and the implements exchange data via an ISOBUS data bus. Data communication via ISOBUS also extends to the exchange of data between individual components of the tractor and components of one or more implements that are connected to each other via a communication medium. The ISOBUS standard is intended to ensure that the various components of the communicating systems can interact with each other. The ISOBUS standard standardizes the methods and format of data exchange between sensors, actuators, control elements, storage devices, and display elements in such a way that communication between the tractor's systems and the implemented implements should function smoothly.Communication between the tractor and the attached implements is enabled by connecting the respective bus networks, primarily via standardized connectors and cables, as well as defined participants, data formats, and interfaces. Communication is not managed by a central controller; instead, multiple ECUs are connected to a single line, each with simultaneous access. Communication is controlled by prioritizing and addressing the data transmitted over the line.

[0003] From document EP 0 838 141 A2, it is known to operate a tractor with several agricultural implements simultaneously. The tractor and the implements have controllers that operate the respective implements, but also exchange data with each other via a bus network, such as a CAN bus network, to optimize the function of the implement combination. The tractor and the attached implements communicate smoothly with each other via the bus network and the interfaces between implements if the bus network was designed from the outset to operate precisely those implements together in a single implement combination.

[0004] In practice, however, it has become clear that the ideal scenario of seamless communication between several agricultural machines combined into a single unit is often unattainable. On farms, there are a wide variety of machines for individual arable farming processes, such as sowing, fertilizing, applying pesticides, tillage, harvesting green fodder, potatoes, vegetables or beets, spreading manure, or baling. These machines come from different manufacturers, and their electronic systems cannot be operated together, even if the machines are from the same manufacturer and all comply with the standards of the respective bus systems used.This situation is all the more regrettable as there is a growing trend to combine various agricultural work processes into a single operation by combining appropriate equipment. For example, it is possible to combine a seed drill with a fertilizer spreader and mount this combination on a tractor, which then performs fertilizing and sowing in one pass.

[0005] The fact that, for example, a seed drill and a fertilizer spreader, or any other combination of implements, can be operated smoothly on a tractor with data exchange between the various systems of the tractor and the attached implements often fails because the bus networks of the respective agricultural machines, despite adherence to bus network standards such as the ISOBUS or CAN bus standards, cannot communicate flawlessly with each other. This is because, for example, the topology when connecting multiple machines no longer conforms to the standards. Therefore, in order to operate the desired combination of implements at all, the bus network of one or more of the machines in the combination often has to be isolated from the rest of the bus network or completely deactivated.This naturally impairs the work result of the device combination, which is undesirable.

[0006] The object of the present invention is to propose a method for simultaneously operating several agricultural devices connected together to form a device combination for an application, in which the agricultural devices communicate better with each other.

[0007] The problem is solved for a generic method by connecting the device bus networks of at least two of the devices connected to form a device combination via at least a first component unit, which has at least two separate bus networks and an integrated controller, and wherein the integrated controller of the first component unit is provided with firmware that communicates via each of the separate bus networks with the device bus network connected to this separate bus network of the first component, wherein the firmware determines the baud rates of the connected device bus networks after the device bus networks are connected to the corresponding separate bus networks, and - the firmware of the first component transmits the number of free memory locations for CAN ID filters for the respective device bus network to the respective connected ECU control units of the device bus networks; the ECU control units inform the firmware, via the respective separate bus network of the first component to which they are connected, of the CAN IDs to be received on the respective separate bus network of the first component; the CAN IDs to be filtered according to the instruction of the respective ECU control unit of the respective connected device bus networks are permanently stored by the firmware; and thereafter only such data is transmitted by the firmware from the reporting device bus network via the other separate bus networks to the other connected device bus networks that are provided with these reported CAN IDs.

[0008] According to the invention, only messages containing the CAN IDs to be filtered are transmitted from the sending device bus networks to the other device bus networks connected to the first component. This reduces the bus load on the device bus networks to the necessary minimum. If one or more of the devices connected to the device combination already exhibit a high bus load when operating independently, these devices are only burdened with the additional bus load filtered by the first component. This significantly reduces the risk of overloading a device that was already subjected to a high bus load.

[0009] Another advantage is that devices with a good bus network topology when operating independently do not develop a technically flawed bus network topology through communication between the devices forming the combination. This flawed topology could result from too many terminating resistors or excessively long branch lines. The bus network topology is only extended by the length of the connecting cable to the first component, which is shorter than, for example, 1 meter.

[0010] Communication between different devices within a device assembly often fails because different machines use identical components connected to the bus network, which, according to the manufacturer, use the same bus protocols for the CAN ID to be used. A received message with CAN ID 0x100, DLC 8 from one device bus network can, for example, be forwarded by the firmware to a second device bus network under CAN ID 0x200, DLC 4 to avoid confusion with messages that also use CAN ID 0x100, DLC 8. If the multiple assigned CAN IDs are appropriately modified by the first component connected between the device bus networks, this source of errors for data communication between the device bus networks is eliminated.

[0011] Another source of errors in data communication between device bus networks is differing baud rates. Different baud rates can be combined in data communication between devices within a single device combination. If components with different baud rates are connected to the device bus networks, this leads to interference in the bus networks. This source of error can be eliminated by having the firmware query the respective baud rates of the components in the connected device bus networks and block CAN-ID data records with an incompatible baud rate. Alternatively, the firmware can adjust the baud rates of the affected data records to a suitable value when forwarding them to the other device bus networks, ensuring that even the adjusted data records can be processed without interference in the other device bus networks.

[0012] The persistent storage of the CAN IDs to be filtered from the respective connected device bus networks, which were reported to the firmware by the relevant ECU control units, means that these are retained even in the event of a communication failure or power outage. The persistent filters must be overwritten by the main controller via the software that is part of the firmware of the first module; otherwise, they remain in place.

[0013] In addition to persistently stored CAN IDs, non-permanent CAN IDs are also possible. These are stored, for example, only until the data connection between the devices combined into a device assembly is broken, the operation of the device assembly is interrupted by a voltage drop in the device electronics, or another event occurs that causes the CAN ID to be deleted. The firmware can specify which CAN IDs are stored persistently and which are not. It is then sufficient to define the CAN IDs to be filtered in the device assembly once at startup and then retain them as long as the device assembly remains operational. From a software perspective, this is easily implemented via a suitably programmed startup routine that runs automatically in the background and requires no additional manual input.

[0014] When this description refers to the term firmware, it means software embedded in electronic devices. It can be stored, for example, in flash memory, EPROM, EEPROM, or ROM, and is either not replaceable by the user or only replaceable with special tools or functions. The firmware is preferably a component of the first device. However, it may be possible for at least parts of the software required for the operation of the first device to be stored wirelessly via cellular networks or Wi-Fi, or via a wired connection, either temporarily or permanently, or loaded onto the first device using cloud services, whether in offline or online operation of the first device or a connected network node.

[0015] As a result, it is considerably easier to electronically combine individually usable devices into a device combination and operate them as such. The electronic connection between the respective device bus networks is established by connecting each device individually to the control unit. The integrated controller in the control unit then manages the data communication between the connected device bus networks via the firmware in such a way that malfunctions due to different baud rates and / or identical CAN IDs in different device bus networks cannot occur. The devices can be connected to form a device combination using a "plug and play" approach. It is not necessary to modify the CAN topology of the devices used for a specific application; it can remain unchanged.It is also possible to combine bus networks that are actually incompatible with each other due to incompatible baud rates.

[0016] In simplified terms, the first component can operate in three ways: as long as the bus networks between different devices communicate without interference, it suffices for the first component to forward the data received on one bus network to the other bus network in its entirety and without modification. However, the separation of the bus networks by the first component offers the advantage that the topology of the connected bus networks remains virtually unchanged. If, however, communication problems were to occur between the bus networks because the additional transmission of data from the other bus network would overload one network or because CAN IDs are assigned twice, the first component filters the data transmitted from one bus network to the other. This ensures that, for example, only 20% of the data received by one bus network is passed on to the other, and this 20% remains unchanged.The filters to be applied are determined by the firmware running on the first unit. The first unit can also identify data sent from one bus network that cannot be processed on another connected bus network, for example, because it has a different baud rate. The firmware on the first unit then modifies this data before forwarding it to the other bus network so that it can be processed there.

[0017] The module offers the advantage of being mobile and deployable as needed. Whenever data communication fails between different devices operating in a system, the module can be inserted between the device bus networks to resolve the communication problems. The module can therefore be swapped between different device combinations as required. No firmware modification is necessary.

[0018] When this description refers to bus networks, it can mean any type of network in which data is exchanged. Preferably, it refers to an ISOBUS network, which is described in the ISO 11783 standard. However, the ISOBUS standard also builds upon the data communication standard of the CAN bus, the standard for which can be found in the ISO 11898 document.

[0019] According to one embodiment of the invention, the integrated control unit of the first component is provided with firmware in which the baud rates and the CAN IDs to be received from the connected device bus networks, as well as rules for converting received CAN messages, are stored.

[0020] According to one embodiment of the invention, mapping tables are stored in the firmware, containing additional filtering and conversion rules for data communication between device bus networks connected to the first component. These additional mapping tables allow for highly flexible configuration of message exchange between the device bus networks.

[0021] According to one embodiment of the invention, at least one device bus network of one of the devices connected to form a device combination is connected via an interface to a second component, and the second component handles the data communication between this device bus network and the device bus networks connected to the first component via a connection established between the first and second components. The addition of a second component expands the possible combinations of devices. Furthermore, the described embodiment makes it possible to tunnel other bus networks not connected to the first or second component, which may be part of a device combination.If only the building units need to be connected over a greater distance, the topologies of the bus networks connected to the building units remain virtually unaffected; their topologies are only degraded by the length of the connecting lines to the respective building unit. The connection between the building units can itself be organized as a bus network.

[0022] According to one embodiment of the invention, the second component has at least two separate bus networks and an integrated controller, wherein the integrated controller of the second component is provided with firmware that communicates via one of the separate bus networks with the device bus network connected to this separate bus network of the component and via another of the separate bus networks with the first component connected to this separate bus network of the second component, wherein the firmware determines the baud rates of the device bus networks connected to the first and second components after the device bus network and the first component are connected to the respective separate bus networks, and - the firmwares of the first and second modules transmit the number of free memory locations for CAN ID filters for the respective device bus network to the respective connected ECU control units of the device bus networks; the ECU control units inform the associated firmware, via the respective separate bus network of the first or second module to which they are connected, of the CAN ID to be received on the respective separate bus network of the first or second module; the CAN IDs of the respective connected device bus networks to be filtered according to the instruction of the respective ECU control unit are permanently stored by the firmwares; and thereafter only such data are transmitted by the firmwares from the reporting device bus network via the other separate bus networks to the other connected device bus networks that are provided with these reported CAN IDs; and / or - the integrated control of the second component is equipped with firmware in which the baud rates and the CAN IDs to be received from the connected device bus networks, as well as rules for converting received CAN messages, are stored.

[0023] By designing the second component according to the technical principles of the first component, they can communicate well with each other and bridge technical problems that could arise from the assignment of identical CAN IDs and / or different baud rates in the bus networks of the connected devices.

[0024] According to one embodiment of the invention, the interfaces are designed as standardized interfaces according to the data protocol of the associated bus network. The use of standardized interfaces for connecting the components to existing device bus networks increases functional reliability. The programming of separate software interfaces is unnecessary. Furthermore, the interfaces are physically and electrically designed to be compatible with existing connectors.

[0025] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. All features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the description of the figures and / or shown in the figures alone, are usable not only in the combinations specified, but also in other combinations or individually.

[0026] The invention will now be explained in more detail with reference to a preferred embodiment and the accompanying drawings. These show: Fig. 1: An embodiment with two devices using different baud rates, Fig. 2: a schematic diagram of a construction unit, Fig. 3: an embodiment with two devices that use the same CAN protocol, and Fig. 4: An embodiment with three devices independent of the baud rates used and the connected participants.

[0027] In Fig. Figure 1 shows an embodiment of a device combination 2 with two devices 4 that use different baud rates. Each of the two devices 4 has a device bus network 10. Each bus network 10 includes an associated control unit 6. In this embodiment, a sensor 11 is connected to one of the bus networks 10 and transmits data at a baud rate of 125 kbit / s. The device bus network 10 of the other device 4 contains a motor 13 that transmits its data at a baud rate of 250 kbit / s. If both device bus networks 10 were combined into a common bus network, the different baud rates would lead to functional problems.

[0028] To avoid this, the two interfaces 12 of the respective device bus networks 10 are not directly connected to each other, but an intermediate unit 8 is inserted. This intermediate unit 8 prevents the different baud rates from causing functional problems.

[0029] In Fig. Figure 2 shows the structure of a component 8 in the form of a schematic diagram. The component 8 has an integrated controller 16 to which separate bus networks 14 are connected. Each separate bus network 14 can have an external device bus network 10 connected to it via the interface 12. The device bus networks 10 do not communicate directly with each other, but only with the integrated controller 16 via the separate bus networks 14.

[0030] The integrated controller 16 contains firmware 18, which manages and controls the communication between the separate bus networks 14 and the connected device bus networks 10. During operation of the device combination 2, the firmware 18 stored in the integrated controller 16 executes the data communication as described above in the invention. The component 8 thus performs a filtering and conversion function, thereby preventing communication problems between the connected device bus networks 10. The topologies of the device bus networks 10 are only minimally affected by the connection of the component 8, because the lines extending to the component 8 are relatively short.

[0031] The exemplary embodiment shows that, in addition to the respective integrated controller 16, transmitters 20 and receivers 22 are also connected to the device bus networks 10. These are the respective connections of the sensors and actuators that are connected to the associated device bus network 10. Depending on the connected component, these can be units that only transmit, only receive, or both transmit and receive.

[0032] In Fig. Figure 3 shows an embodiment of a device combination 2 with two devices 4, in which the components connected to the respective device bus networks 10 use the same CAN protocol or an identical CAN ID. In this embodiment, these are the motors 13, which come from the same supplier and therefore have an identical CAN ID. If the two device bus networks 10 were combined into a common bus network, assignment problems would arise as to which of the two motors 13 is meant when data is to be transmitted to one of the two motors 13. Similarly, it is difficult for other components connected to the device bus network 10 to recognize whether the data sent by the motors 13 originates from the motor 13 of one device 4 or the other. To avoid having to reprogram the CAN ID of one of the two motors 13, the two device bus networks 10 are connected to each other by the assembly 8.Here, in the inventive manner described above, it can be clarified via the assembly unit 8 which CAN IDs are to be filtered and which data are made available to the other device bus network 10 via the assembly unit 8 and the firmware 18 contained therein.

[0033] In Fig. Figure 4 shows a device combination 2 with three devices 4a, 4b, and 4c. The device combination 2 is operated by a tractor 24. While device 4a is operated in front-mounted mode, devices 4b and 4c are attached to the tractor. Due to this arrangement, the device combination 2 has a considerable length. If the device bus networks 10 of devices 4a, 4b, and 4c were interconnected, it is likely that data communication in such a device combination 2 would break down because the topography of the bus networks 10 alone would be significantly degraded by the additional interconnected device bus networks 10.

[0034] To ensure uninterrupted data communication, device 4a is connected to the first module 8a via interface 12, while device 4c is connected to the second module 4b. The first module 8a and the second module 8b are connected to each other via a dedicated bus network 26. The bus network 26 between the first module 8a and the second module 8b does not significantly extend or degrade the bus networks of devices 4a and 4c, as they still only reach as far as modules 8a and 8b. The distance between devices 4a and 4c is essentially bridged by the bus network 26 between the first and second modules 8a and 8b, which can be relatively long because it only handles communication between modules 8a and 8b and does not require any additional branch connections.

[0035] Device 4b is not integrated into the bus network between modules 8a and 8b. Instead, it operates independently of the other device bus networks 10. While the two modules 8a and 8b coordinate the CAN IDs of the two motors 13a and 13c, this is not necessary for motor 13b of device 4b, as the device bus network of device 4b does not exchange data with the other device bus networks of devices 4a and 4c.

[0036] The invention is not limited to the above embodiments. It will be easy for a person skilled in the art to modify the embodiments in a manner deemed suitable to adapt them to a specific application.

Claims

[1] Method for simultaneously operating several agricultural devices (4) connected to each other for an application to form a device combination (2), wherein functions of at least two of the devices (4) connected to form a device combination (2) can be controlled via at least one respective ECU control unit (6) with an associated device bus network (10), transmitters (20) and receivers (24) are connected to the respective device bus network (10) which exchange data with each other within the device bus network (10), and each respective device bus network (10) has an interface (12) for data exchange with an external bus network, characterized by, that the device bus networks (10) of at least two of the devices (4) connected to form a device combination (2) are connected to each other via at least one first module (8) which has at least two separate bus networks (14) and an integrated controller (16), and wherein the integrated controller (16) of the first module (8) is provided with firmware (18) which communicates via each of the separate bus networks (14) with the device bus network (10) connected to this separate bus network (14) of the first module (8), wherein the firmware (18) determines the baud rates of the connected device bus networks (10) after the device bus networks (10) are connected to the associated separate bus networks (14), and - the firmware (18) of the first assembly (8) transmits the number of free memory locations for CAN ID filters for the respective device bus network (10) to the respective connected ECU control units (6) of the device bus networks (10), the ECU control units (6) inform the firmware (18) via the respective separate bus network (14) of the first assembly (8) to which they are connected, the CAN IDs to be received on the respective separate bus network (14) of the first assembly (8), the CAN IDs to be filtered according to the instruction of the respective ECU control unit (6) of the respective connected device bus networks (10) are permanently stored by the firmware (18), and thereafter only such data are transmitted by the firmware (18) from the reporting device bus network (10) via the other separate bus networks (14) to the other connected device bus networks (10) that are provided with these reported CAN IDs. [2] Method according to claim 1, characterized by, that the integrated control (16) of the first assembly (8) is provided with a firmware (18) in which the baud rates and the CAN IDs to be received of the connected device bus networks (10) as well as rules for converting received CAN messages are stored. [3] Method according to claim 1 or 2, characterized by , that the firmware (18) contains mapping tables which contain additional filter and conversion rules for data communication between device bus networks (10) connected to the first assembly (8). [4] Method according to any one of the preceding claims, characterized by, that at least one device bus network (10) of one of the devices (4) connected to form a device combination (2) is connected to a second component (8) via an interface (12), and the second component (8) handles the data communication between this device bus network (10) and the device bus networks (10) connected to the first component (8) via a connection established between the first and second component (8). [5] Method according to claim 4, characterized bythat the second assembly (8) has at least two separate bus networks (14) and an integrated controller (16), and wherein the integrated controller (16) of the second assembly (8) is provided with firmware (18) which communicates via one of the separate bus networks (14) with the device bus network (10) connected to this separate bus network (14) of the assembly (8) and via another of the separate bus networks (14) with the first assembly (8) connected to this separate bus network (14) of the second assembly (8), wherein the firmware (18) determines the baud rates of the device bus networks (10) connected to the first and second assemblies (8) after the device bus network (10) and the first assembly (10) are connected to the respective separate bus networks (14), and - the firmwares (18) of the first and second modules (8) transmit the number of free memory locations for CAN ID filters for the respective device bus network (10) to the respective connected ECU control units (6) of the device bus networks (10); the ECU control units (6) inform the associated firmware (18) via the respective separate bus network (14) of the first or second module (8) to which they are connected of the CAN ID to be received on the respective separate bus network (14) of the first or second module (8); the CAN IDs of the respective connected device bus networks (10) to be filtered according to the instruction of the respective ECU control unit (6) are permanently stored by the firmwares (18); and thereafter only such data is transmitted by the firmwares (18) from the reporting device bus network (10) via the other separate bus networks (14) to the other connected device bus networks (10). will be those that are marked with these reported CAN IDs; and / or - the integrated control (16) of the second assembly (8) is provided with a firmware (18) in which the baud rates and the CAN IDs to be received of the connected device bus networks (10) as well as rules for converting received CAN messages are stored. [6] Method according to any one of the preceding claims, characterized by , that the interfaces (12) are designed as standardized interfaces (12) according to the data protocol of the associated bus network.

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