Main contents

Basic System

The software of the basic system is implemented with the RTI's Constellation software development system, which uses UML standard. The machine control system is "wired" together from various software components using the graphical tool. The logic of the control system are modelled as state machines. From these models the tool automatically generates runnable code. The basic system has been tested with three different agricultural implements during the summer 2004.

Tume-Agri Combined Seed and Fertilizer Drill

  • The implement has its own hydraulic valve block which is used to control hydraulic functions
  • All functions can be controlled manually
  • Headland sequences
  • Calibration functions
  • Position based control for both fertilizer and seed

Junkkari Sprayer

  • Tractor's manual hydraulic valves are used to control hydraulic functions
  • Pressure and application rate controllers implemented in software
  • Calibration functions
  • Position based control

Junkkari Combined Seed and Fertilizer No-Tillage Drill

  • Tracktor's hydraulic valve block is controlled with standard ISOBUS messages to implement hydraulic functions
  • All functions can be controller manually
  • Headland sequences
  • Calibration functions
  • Position based control for fertilizer

Virtual Terminal (VT)

  • The virtual terminal as a "browser" to which different implements can download their user interfaces
  • Agrocom's and Kverneland's VT's are used for testing but in principle any VT should work

Task Controller (TC)

  • The information needed to complete different tasks is stored to the task controller (e.g. application rate maps)
  • The task controller can also be used to collect data during different task (e.g. yield maps)
  • PDAs are good TC platforms since they can be used to move information from farm management information system (FMIS) to field and back easily


  • A PC running RedHat Linux operating system is used as an implement electronic control unit (IECU)
  • PCs are good research platforms but they are an overkill for commercial applications
  • The implement PC has CAN interface card for connection to the ISOBUS network and WLAN adapter for testing wireless communication


  • A GPS-adapter is used to relay messages from a GPS-receiver to the ISOBUS network
  • The adapter is based on Dallas Semiconductor's TINI pdf module and its software is written in Java programming language
  • ISOBUS compatible GPS-receivers are not yet commercially available