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ScienceDirect
IFAC PapersOnLine 55-32 (2022) 6–11
Building
Building a
a Robot
Robot Tractor
Tractor Using
Using Commercial
Commercial Components
Components and
and Widely
Widely Used
Used
Building a Robot Tractor Using Commercial
Standards
Building a Robot Tractor Using Commercial Components
Components and
and Widely
Widely Used
Used
Standards
Standards
Building a Robot Tractor Using Commercial
Standards Components and Widely Used
Juha
Juha Backman*,
Backman*, Raimo
Raimo Linkolehto*,
Standards
Linkolehto*, Madis
Madis Lemsalu*,
Lemsalu*, Jere
Jere Kaivosoja*
Kaivosoja*
Juha
Juha Backman*,
Backman*, Raimo
Raimo Linkolehto*,
Linkolehto*, Madis
Madis Lemsalu*,
Lemsalu*, Jere
Jere Kaivosoja*
Kaivosoja*
Juha*Natural
Backman*, RaimoInstitute Linkolehto*, Madis Lemsalu*, Jere Kaivosoja*
*Natural Resources
Resources Institute Finland
Finland (Luke),
(Luke), Farming
Farming technologies,
technologies,
Juha*Natural
Backman*,
*Natural Resources
Raimo
Resources Institute
Institute
Lönnrotinkatu
Lönnrotinkatu
Finland
Linkolehto*,
Finland
7, 50100
(Luke),
Madis
(Luke),
Mikkeli,
Farming
Lemsalu*,
Farming
Finland
technologies,
Jere Kaivosoja*
technologies,
*Natural Resources Institute7,
Lönnrotinkatu
Lönnrotinkatu 7,
7,
50100
Finland
50100
50100
Mikkeli,
(Luke),
Mikkeli,
Mikkeli,
Finland
Farming
Finland
Finland technologies,
(Tel:
(Tel: +358
+358 29
29 532
532 6274; e-mail: juha.backman@luke.fi)
*Natural(Tel:
(Tel: Resources
+358
+358 29 532 6274;
Lönnrotinkatu
29 Institute
532 6274;
6274;
e-mail:
7,Finland
50100
e-mail:
juha.backman@luke.fi)
Mikkeli,
e-mail:(Luke), Finland technologies,
Farming
juha.backman@luke.fi)
juha.backman@luke.fi)
Abstract: The development
development of(Tel: +358
of the 29
robot 532
Lönnrotinkatu 6274;
tractors 7, e-mail:
50100
has been juha.backman@luke.fi)
Mikkeli,
ongoing Finland
for aa long time already. There are are even
even
Abstract:
Abstract: The
The development of the
the robot
robot tractors
tractors has
has been
been ongoing
ongoing for
for aa long
long time
time already.
already. There
There are even
Abstract:
commercial The development
applications (Tel: of +358
the
available. 29
robot 532
However, 6274;
tractors e-mail:
has
still been
the juha.backman@luke.fi)
ongoing
robot for
tractor islongrare time
in already.
use in There
farms. are
In even
other
commercial
Abstract: Theapplications
development available.
of the robot However,
tractorsstillhas the
beenrobot
ongoing tractor
for ais rare in use in farms.
There In are other
commercial
commercial
developments
developments
applications
applications
in
in agricultural
agricultural
available.
available.
technology,
technology,
However,
However,it
it has
has
still
still
already
already
the
the robot
robot
been
been
tractor
tractor
recognized
recognized islong
is rare
that
that
time
rarethe
the
in already.
use
instandard
use
standard
in
in is farms.
farms.
is the
the key
key
In
In even
other
other
to
to the
the
commercial
Abstract:
developments
developments applications
Thein development
in agricultural
agricultural available.
of
technology,
technology, However,
the robot tractors
it
it has
has still
already
alreadythe
has been robot
been
beenongoing tractor
recognized
recognized is
for a long rare
that
that the
the in use
timestandard
standard in
already.is farms.
isThere
the
the key
keyIn
aretoother
toeven
the
the
widespread
widespread adoption
developments adoption
adoption
in of technology.
of technology.
technology.
agricultural technology,The
The ISO
ISO
it has11783
11783
alreadystandard
standard
been is widely
istractor accepted
widely isaccepted
recognized accepted
that the communication
communication
standard is the keystandard
standard
to the
commercial
widespread
widespread applications
adoption of
of available.
technology. However,
The
The ISO
ISO still
11783
11783 the robot
standard
standard is
is widely
widely rare
accepted in use in
communication
communication farms. In other
standard
standard
for
for agricultural
agricultural
widespread machinery.
machinery.
adoption of The
The
technology. standard
standard
The defines
defines
ISO 11783many
many devices
devices
standard is that
that
widelycan
can be
be used
used
accepted in
in precision
precision
communication farming.
farming.
standard By
By
developments
for
for agricultural
agricultural in agricultural
machinery.
machinery. technology,
The standard
The and
standard it has
defines already
defines manymany been
devicesrecognized
devices thatthat can that
be
can be usedare the
used standard
in precision
in precision is the key
farming.
farming. to the
By
By
using
using the
the standard,
standard, the
the devices
devices and the
the implements
implements of
of different
different manufacturers
manufacturers are compatible
compatible with
with each
each
for
using
using agricultural
widespreadthe
the standard,
standard,machinery.
adoption of
the
the devices
devicesThe
technology. standard
and
and The
the
the defines
ISO 11783
implements
implements manyof
of devices
standard is
different
different that
widelycan
manufacturers
manufacturers be used
accepted in
are
are precision
communication
compatible
compatible farming.
standard
with
with By
each
each
other.
other.
using The
The
the state-of-the-art
state-of-the-art
standard, the tractor
tractor
devices and already
already
the includes
includes
implements many
many
of functionalities
functionalities
different manufacturers that
that the
the robot
robot
are tractor
tractor
compatible needs.
needs.
with The
The
each
for
other.
other.agricultural
The
Theof machinery.
state-of-the-art
state-of-the-art The
tractor
tractor standard
already
already defines
includes
includes many
many
many devices that
functionalities
functionalities can be
that used
the
that the robotin precision
robot tractor farming.
tractor and needs.
needs. By
The
The
objective
objective
other. The of this
this research
research
state-of-the-art was
was to
to
tractor build
build
already aa robot
robot tractor
tractor
includes using
using
many existing
existing
functionalities commercial
commercial
that the components
components
robot tractor and
needs.to
to find
find
The
using
objective
objective the standard,
of this
of this researchthe
research devices
was
was toand the
build
to build aimplements
robot
a robot tractor
tractorof different
using manufacturers
existing
using existing commercial
commercial are compatible
components
components with
and
and to each
find
to find
suitable
suitable
objective standards
standards that
that
ofstate-of-the-art
this research are
are already
already
was adopted
adopted
to build in
in
a robot the
the agriculture.
agriculture.
tractor using The
The
existing robot
robot functionality
functionality
commercial will
will
components be
be an
an accessory
accessory
and to find
other.
suitable
suitable The
standards
standards that
that are
are tractor
already
already already
adopted
adopted includes
in
in the
the many functionalities
agriculture.
agriculture. The
The robot
robot that the robot
functionality
functionality tractor
will
will be
be an
anneeds.
accessory
accessoryThe
that
that operates
operates
suitable with
with
standards existing
existing
that are components.
components.
already adopted By
By that
that
in way,
way,
the we
we try
try
agriculture. to
to answer
answer
The robotthe
the research
research
functionality question
question
will behow
how an the
the robots
robots
accessory
objective
that
that operates
operatesof this
with
with research
existing
existing was to
components.
components. build a
By robot
that tractor
way, weusing
try toexisting
answer commercial
the research
By that way, we try to answer the research question how the robots components
question how and
the to find
robots
could
could
that become
become
operates more
more
with widely
widely
existing used.
used.
suitable
could
could standards
become
become more
more that are components.
widely
widely already
used. adopted
used. By in thatthe
way, we try to The
agriculture. answer robotthefunctionality
research question will be how an the robots
accessory
Keywords:
Copyright
Keywords:
could
that become
operates ©ISOBUS,
2022
ISOBUS,
more
with The ISO
widely
existing 11783,
Authors.
ISO 11783,
used. This
components. task
task control,
anByopen
is control, that mission
access
mission
way, wecontrol,
article under
control,
try to robot
robot
answer the control,
CC
control,
the middleware
BY-NC-ND
middleware
research license how the robots
question
Keywords:
Keywords: ISOBUS,
ISOBUS, ISO ISO 11783,
11783, task
task control,
control, mission
mission control,
control, robot
robot control,
control, middleware
middleware
(https://creativecommons.org
could
Keywords: become more widely
ISOBUS, /licenses/by-nc-nd/4.0/)
used.
ISO 11783, task control, mission control, robot control, middleware
Keywords: ISOBUS, ISO 11783, task control, mission control, robot control, middleware
1. INTRODUCTION
1. INTRODUCTION standard three-point
standard three-point hitch hitch mounted
mounted implements.implements. The The
1.
1. INTRODUCTION
INTRODUCTION standard
standard three-point
three-point hitch
hitchto mounted
mounted implements.
implements. The
The
implement
implement
standard width
width
three-point is
is limited
limited
hitch to three
three
mounted meters
meters to
to fit
fit
implements. inside
inside the
the
The
Robot
Robot tractor
tractor is
is not
not a
a1. INTRODUCTION
new
new invention.
invention. First
First publications
publications can
can be
be implement
implement width
width is
is limited
limited to
to three
three meters
meters to
to fit
fit inside
inside the
the
Robot tractor
Robot tractor is is not
not aa new
new invention.
invention. First
First publications
publications can can be robot
be robot
implementand
and to
to ensure
ensure
width is the
the safety.
safety.
limited to Autonomous
Autonomous
three meters Solutions
Solutions
to fit (2022)
(2022)
inside the
found as
found tractor
Robot early
as early as
earlyis as
as
not1940
1.
1940
a new (Condon
INTRODUCTION
(Condon
invention. et.al.
et.al.
First 1940).
1940). The
The
publications first
first
canself-
self-
be standard
robot
robot and
and three-point
to
to ensure
ensure the
the hitch
safety.
safety. mounted
Autonomous
Autonomous implements.
Solutions
Solutions The
(2022)
(2022)
found
found as
astractors
early aswere 1940
1940based (Condon
(Condon et.al. 1940).
et.al. 1940). The
The firstfirst self-
self- has has
robot developed
developed
and to autonomous
autonomous
ensure the tractor
tractor
safety. concept
concept
Autonomous together
together
Solutions with
with CNH.
CNH.
(2022)
steering
steering
found tractors
astractors
earlyis as were
1940 based
(Condon on
on mechanical
mechanical
et.al. 1940). guiding
guiding
The first systems
systems
self- implement
has
has developed
developed width
autonomous
autonomousis limited to
tractor
tractor three
concept
conceptmeters to
together
together fit inside
with
with CNH.
CNH. the
Robot
steering
steering tractor
tractors not a new
were
were based
basedinvention.
on
on not First
mechanical
mechanical publications
guiding
guiding can
systems
systems be In In
has the
the concept,
concept,
developed there
there
autonomous are
are both
both traditional
traditional
tractor concept tractors
tractors
together and
and cabinless
cabinless
with CNH.
and
and the
the
steering use
use of
of
tractors those
those systems
systems did
did not become
become widespread.
widespread. The
The robot
In
In the and
the concept,to
concept, ensure
there
there the
are safety.
both Autonomous
traditional
are traditional
both traditional Solutions
tractors
tractors and (2022)
cabinless
and cabinless
found
and
and theasuse
the useearly
of aswere
of those
those 1940 based
(Condon
systems
systems on not
did
did mechanical
et.al.
not become
become1940). guiding
The first
widespread. systems
The tractors
self- tractors used.
used. Also
Also other
other
are traditional tractor
tractor manufacturers
manufacturers have
have
development
development
and the use of of machine
of
those machine
systems vision
vision
did not and in
and
become in widespread.
particular The
particular
widespread. the In
the
The hasthe
tractors concept,
developed
tractors used.
used. there
autonomous
Also
Also other
other both traditional
tractor
traditional
traditional concept
tractor
tractor tractors
together andwith
manufacturers
manufacturers cabinless
CNH.
have
have
steering
development
development tractors of
of were
machine
machinebased on
vision
visionmechanical
and
and in
in guiding
particular
particular systemsthe
the either
either robot
robot tractor
tractor concepts
concepts (Deere
(Deere &
& Company,
Company, 2022;
2022;
introduction
introduction of
of GPS
GPS systems
systems in
in 1990s,
1990s, allowed
allowed commercial
commercial tractors
In the
either
either used.
concept,
robot
robot Also
there
tractor
tractor other
are traditional
both
concepts
concepts tractor
traditional
(Deere
(Deere &
& manufacturers
tractors and
Company,
Company, have
cabinless
2022;
2022;
development
and the use ofof
introduction
introduction of ofGPS
those
GPS machine
systems
systems
systems vision
did
in
in not andallowed
become
1990s,
1990s, in widespread.
allowed particular
commercial
commercial the AGCO,
The AGCO, 2022)tractor
2022) or commercial
or commercial products
products (Yanmar,
(Yanmar, 2021). 2022;
2021).
auto-steering
auto-steering systems
systems to
to become
become more widespread. either
tractors
AGCO, robot
used.
2022) Also
or otherconcepts
commercial traditional (Deere
2022) or commercial products (Yanmar, 2021). have
products tractor & Company,
manufacturers
(Yanmar, 2021).
introduction
auto-steering of
development
auto-steering ofGPS
systems
systems systems
machine
to
to become
become in more
vision1990s,
more
more
widespread.
and allowed commercial
in particular
widespread.
widespread. the AGCO,
AGCO,
either
There are 2022)
robot
are ornumerous
alsotractor commercial
concepts products
research (Deere (Yanmar,
& Company,
projects where2021). 2022;
different
auto-steering
introduction
The difference systems
of GPS to become
systems
between in more
1990s,
auto-steered widespread.
allowed
tractor commercial
and fully There
There are also
also numerous
numerous research
research projects
projects where
where different
different
The
The difference
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between auto-steered
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aspects 2022)
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numerous
tractors have products
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projects
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2405-8963 Copyright © 2022 The Authors. This is an open access article under the CC BY-NC-ND license.
developed
Peer an agricultural
review under responsibility robot tractor thatFederation
of International can be used with Control.
of Automatic
10.1016/j.ifacol.2022.11.106
 Juha Backman et al. / IFAC PapersOnLine 55-32 (2022) 6–11
Another problem is the task assignment for agricultural
operation. Usually, the robot uses own Mission Control system
or similar, where robot tasks are designed, assigned to the
robot, and finally the robot work is monitored. The problem is
that those are not compatible with existing Farm Management
Information Systems (FMIS) or systems where precision
farming tasks (ISOBUS Task) are designed.
In this research, the research question was how robots could
become more widely used. The hypothesis was that the robot-
function could be an accessory for a standard state-of-the-art
tractor. The tractor could be used normally by human operated,
and it could be also leaved to perform a simple operation
autonomously. The objective of this research was to build a
robot tractor using existing commercial components and to
find suitable standards that are already adopted in the
agriculture.
2. METHODS
Central components of the robot are controller, sensors, and
actuators. In the case of autonomous driving, the actuators are
steering and speed controls, the sensors are for localization and
obstacle detection, and controller tries to keep the vehicle in
desired path and to avoid the obstacles (Backman et.al. 2013).
In addition, the autonomous tractor needs to control the
implement and monitor the overall process as well. Following
chapters concentrate different parts of the autonomous tractor
more deeply.
2.1 Middleware
Middleware is essential part of the robot system. Middleware
can be used in different levels of the robot operation. In
simplest case, the middleware is used inside one computer to
be a layer between different sensors, actuators, operation
system and robot software. In more complex case, the
middleware handles communication between different
computing units of the robot. Middleware can be also used for
communication between different robots or between robots
and external systems.
Commonly used middleware in robotics is Robot Operation
System, ROS, (Quigley et.al. 2009) but there are still many
others available (Elkady and Sobh, 2012). Perhaps, the biggest
problem in ROS is that is not capable of real-time
communication. To overcome this limitation, ROS 2 is
developed (Maruyama. et.al. 2016).
In agriculture, the ISO 11783 series of standards, “Tractors and
machinery for agriculture and forestry - Serial control and
communications data network”, was developed to support the
exchange of information between different manufacturers’
mobile agricultural machinery products. The purpose of the
ISO 11783 standard is to “specify the method and format of
transfer of data between sensor, actuators, control elements,
information storage and display units whether mounted or part
of the tractor, or any implements”. The market name for
systems and devices that are proven to be compatible with the
standard is ISOBUS. Nowadays, the standard contains 14
parts, covering different aspects from defining connectors to
the definition of different standardized devices. The standard
7
is constantly evolving, and new parts will be added in the
future.
2.2 Mission control
Usually, in the case of a normal tractor, the driver is
responsible to overall process control and monitoring. When
fully autonomous operation is desired, then the robot control
software must be able to start and stop the operation, monitor
and control the subsystems, and detect and handle exceptions.
Because the driver is usually present in normal tractor, there
are no commercial tools for mission control available for
tractors. However, for the implement control there exists
standardized component: ISOBUS Task Controller (ISO
11783-10). More about this in chapter 2.5 Implement control.
The Taskfile is a standardized way to describe the agricultural
operation in the field. It is not designed to robot usage, but it
might be used for that purpose also.
For robot usage, there exist different mission control software.
Many of those are designed such that it is an interface for
human to start and stop the operation and to supervise the robot
operation. These kinds of systems are for example Open MCT
(Nasa, 2022) and QGroundControl (2019). There exist also
tools for automatic mission handling for complex operations
consisting consecutive operations; for example, Mission
control for ROS (Tallinn University of Technology, 2017) or
ROSPlan (Planning at King's College London, 2014)
2.3 Localization and navigation
The localization and navigation are basic functionalities of the
robots. Localization devices and methods tries to define the
robots or vehicles current position and orientation in a map.
Navigation system sends commands to the steering system to
achieve the desired position and location. In some cases, the
navigation system also plans the safe and obstacle free route
between points A and B, but the planning can be also in
mission control.
There are several ready-to-use software packages available for
robot navigation (Protontypes, 2021). There is also official
navigation stack for the aforementioned ROS 2 framework
(Macenski et.al 2020)
The localization and navigation are also commercially
available components or devices in agriculture as already
stated in the introduction. For global localization, different
GNSS receivers are compatible with each other because the
communication is defined in NMEA 2000 (IEC 61162-3). The
ISO 11783-7 adopts this standard as a part of ISOBUS system
(ISO 11783-7). The ISO 11783-7 defines also other navigation
related messages which can be used to control the position of
the tractor and the implement (Backman et.al. 2013). The
driving lines or guidance lines can be transferred to the
navigation system through ISOBUS Task Controller (ISO
11783-10).
2.4 Perception and obstacle detection
An important aspect of an autonomous tractor is the ability to
sense the environment. It is especially important to detect
obstacles that might cause damage to the tractor upon
8 Juha Backman et al. / IFAC PapersOnLine 55-32 (2022) 6–11
collision. Moreover, in case there are humans on the path of
the tractor, the tractor must slow down or stop completely to
avoid collision.
There are different sensors that are commonly used for
agricultural robots that are used to gather information about
the environment. In 59 % of agricultural studies use RGB
cameras as the input source for deep learning methodologies
(Dokic, 2020). In this case study it is important to have a RGB
availability that allows to send live feed to a human operator
in case of detected obstacle. Often times many cameras have
an integrated RGB feed.
One of the limitations of RGB cameras provide 2D
information. For obstacle detection, it is important to know the
distance to the object. There are multiple camera sensor types
that can measure the distance to an object. For example,
LIDARs, structured light, time of flight, and stereo vision.
Different types of sensors exist. For example, in the category
of stereo vision there are MultiSense S21, Stereolabs ZED f2,
and Intel RealSense D415, D435, D455 (Wang, 2021).
Examples of LIDARs are RealSense L515, Velodyne Puck and
Livox Horizon (Novick, 2020).
There are multiple SDKs available to handle the sensory data.
For example, DeepStream SDK by Nvidia (NVIDIA, 2022)
allows for object detection with multiple cameras. Another
SDK provided by Nvidia is TensorRT (Vanholder, 2016),
which allows to run deep learning algorithms, such as
computer vision models on the sensor input. Moreover, many
camera manufactures provide easy-to-use SDKs themselves
e.g., ZED SDK by StereoLabs (Stereolabs, 2022).
2.5 Implement control
There are two major function in implement control in
agriculture. One is to change the implement state and another
one is to control the implement operation during the work. ISO
11783 standard has taken into account both of those already,
but still there exists different ways to realize those.
The implement control during the work can be based either
ISOBUS Task Controller (ISO 11783-10), manufacturers own
proprietary controller, or it can be manually controlled using
hydraulics etc. The best for robotics usage is to use ISOBUS
TC-GEO compatible implements. When using TC-GEO, the
desired operation in field is described by prescription maps
that are in standardized ISOBUS Task format (ISO 11783-10).
Prescription map defines the setpoint values of the controllers
of the implement in each position of the field. TC-GEO server
commands the TC-GEO implement based on the prescription
map and GNSS position. If tractor facilities (hydraulics, PTO,
hitch position) is needed for the control of the implement
operation, Tractor Implement Automation (TIM) functionality
can be used (AEF, 2021).
To change the implement state between work, headland and
transport states, usually hydraulic controls are used. To do it
automatically, tractors usually have a headland automation
function. The normal way to use the headland automation is
that the driver records the actions in headland. These actions
can be further adjusted from tractor GUI and the replaying of
the recorded actions can be triggered by pushing a button or it
can be triggered automatically based on GNSS position.
ISO 11783-14 defines Sequence Control functionality which
can be used if there are actions that implement controller
should do in headland (ISO 11783-14). ISOBUS TC Section
Control (TC-SC) functionality can be also used for headland
automation (ISO 11783-10). For example, TC-SC can
command sprayer nozzles automatically on or off based on
GNSS signal. The TC-SC compatible implement then executes
the command.
3. RESULTS AND DISCUSSIONS
In Figure 1 is the commercial tractor that was used as a base
platform for robotization. Valtra N135D is a typical sized farm
tractor in Finnish farms. It has CVT transmission system that
means that the tractor control system takes care of the
transmission. Tractor speed can be commanded in full
operation range without need to change the gears. It is also
equipped with Valtra Guide auto-steering system and ISOBUS
functionalities. Those make it suitable for robotization.
Figure 1. The tractor that was used as a platform for robotization in
this research.
The state-of-the-art commercial tractor already includes many
of the components needed for robotic operation. The most
essential part that is missing is the mission control system. In
addition to that, the perception and obstacle detection system
is also missing. However, some machine vision -based auto-
steering systems have a perception system already, but that
was not the case in our research platform.
The solution could be to use some available software package
for mission control, but the problem is the middleware that
current tractors are using. None of the available mission
control systems are compatible with ISO 11783 standard. The
aim of this research was to test if it is possible to make a robot
functionality as an accessory for the tractor. That means that
the robot functionality should be compatible with already
existing components and only complement those. The solution
in this research was to use ISOBUS Task file to describe the
robot operation in the field and make a new component to
supervise the existing components in the tractor.
 Juha Backman et al. / IFAC PapersOnLine 55-32 (2022) 6–11
In addition to mission control system, perception and obstacle
detection system had to be developed for safety reasons.
Because there are not any widely used standards or devices for
this purpose existing in agricultural tractors, the commonly
used solution in robotics was used. Also, for safety reasons,
remote control and emergency stop using Radio Frequency
(RF) communication was implemented.
Figure 2. The architecture of the robot components in the
developed robot tractor
Figure 2 shows the architecture of the robot components that
was used in this research. The dark grey components are
components that exists already in commercial tractor. “Smart
Touch” is a tractor graphical user interface and it also includes
ISOBUS Task Controller and interface for auto-steering
system. The “GPS” and “Guidance” components are used for
navigation. Those were unmodified in this research.
“CabECU” and “ECU” are responsible for controlling the
tractor actuators. Some modifications to those were needed to
enable remote control using the RF remote controller.
3.1 Robot Control -device
“Robot Control” device is the central component of the robot.
It takes care of the overall operation, and user also commands
the robot operation through it. The instructions to the robot are
given using the ISOBUS Task file. ISOBUS Task file is an
XML file, which central element is Task <TSK>. Task
element includes the following basic information among
others: what to do (OperTechPractice <OTP>), where to do
(FarmIdRef, PartfieldIdRef), when to do (Time <TIM>), and
with which device to do (DeviceAllocation <DAN>). For
implement control in precision farming operation, it includes
prescription maps (TreatmentZone <TZN>). For auto-
steering, it includes reference (GuidanceAllocation <GAN>)
to guidance lines (GuidanceGroup <GGP>).
When the robot operation is started, the Robot Control sends
instructions to other devices and then starts the normal
operation of those. The Task file is split such that the
implement related data is send to ISOBUS TC. The data format
is already suitable for ISOBUS TC. The guidance lines are sent
to Valtra Guide one driving line (LineString <LSG>) at a time.
Valtra Guide is able to drive only forward or backward along
9
the guidance line, not to change the driving direction during
operation. That is why one LineString element contains only
positive or negative speed values and a new LineString is sent
when direction changes. Files are sent to SmartTouch device
through Ethernet using SFTP protocol. The operation of
different components is started through CAN-bus messages,
which CabECU interprets as if the driver presses the buttons
on the user interface.
The Robot Control is responsible for commanding the speed
along the driving line. LineString element consist of list of
guidance points (Point <PNT>). The Point does not include the
desired speed at the given point, so it had to be coded into
PointDesignator -attribute. The desired speed command is sent
to ISOBUS using “Tractor control mode command” (ISO
11783-7). The message is deprecated and in future TIM
messages (AEF, 2021) should be used. The desired speed
command is used as a setpoint for commercial Cruise Control
system.
3.2 Perception and obstacle detection
The perception system is composed of multiple components.
Firstly, the ZED 2 camera is used for object detection that aims
to recognize items from a camera feed. The ZED2 tracks 2D
and 3D positions of objects in the scene with depth detection
and 3D information. Using data from the depth module, the
SDK computes each object's 3D position as well as its
bounding box. Using data from the positional tracking module,
the position of the objects can be tracked continuously, even if
the camera is moving.
The camera uses ZED SDK that can use ROS wrapper to
communicate results from object detection module. The result
of the detected objects is published with the topic message:
zed_interfaces/Object. A colored 3D point cloud is relayed via
the point_cloud/cloud_registered topic. Both of these topics
can be written using the ROS components.
Both the robot control device and the Xavier AGX are
configured in the same network, they are both consequently
part of the same ROS application. This enables communication
between the Xavier AGX where object detection is running,
and the robotic control. This approach means that
communication overhead is minimized between the two
devices, and it is possible to share topics and messages
between two ROS devices. An added benefit is the possibility
for the robot control devices to publish topics to the Xavier
AGX.
4. CONCLUSIONS
In this research, the research question was how robots could
become more widely used. It has already been seen in the
agriculture, that the only way to make technology widely used
is through standardization. There is only one widely accepted
standard for communication in agriculture, that is ISO 11783
or ISOBUS. The hypothesis was that the robot-function could
be an accessory for a standard state-of-the-art tractor. This can
be achieved by using the standard. Many of the components
that is needed in the robot operation, is already existing in
state-of-the-art tractor. ISOBUS Task file can be used to
describe the robot operation and it can be further divided to
10 Juha Backman et al. / IFAC PapersOnLine 55-32 (2022) 6–11
existing components, to ISOBUS TC and auto-steering
devices which carry out a large part of the robot operation. If
robot control -component is not present, or it does not want to
be used, the user can use the same Task file with normal
operation.
In this research, standard was used to describe the operation. It
was also used to low level control purposes, to control the
speed and the steering of the tractor. However, current
standard does not include means to start the operation of the
standardized components. Also, it does not include means to
transfer the task files to components. The standard is
constantly evolving, and now Extended Farm Management
Information Systems Data Interface (EFDI) part is under
development (ISO/DIS 5231). That can be a solution to
transfer the information, but still to use that to robot operation
mutual understanding of different manufacturers is needed.
Also, the safety issues should be considered.
ACKNOWLEDGEMENTS
A part of this research is done in the project FlexiGroBots that
is funded by the European Union’s Horizon 2020 research and
innovation programme under grant agreement No 101017111.
https://flexigrobots-h2020.eu/
The authors would like to thank Valtra for providing a tractor
to be used as a test platfrom and support with modifying it to
robotic usage.
REFERENCES
AEF (2021). Tractor Implement Management (TIM).
Accessed 2.2.2022. https://www.aef-online.org/about-
us/activities/tractor-implement-management-tim.html
AGCO GmbH (2022), Project Xaver | Fendt Future Farm.
Accessed 26.1.2022. https://www.fendt.com/int/xaver
Agrointelli (2021). Robotti – Agrointelli. Accessed 26.1.2022.
https://www.agrointelli.com/robotti/
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