Control interface on an autonomous work vehicle

In one embodiment, an autonomous vehicle includes a controller and a control interface disposed in an enclosure on the side of the autonomous vehicle. The control interface includes a display communicatively coupled to the controller. The display is used to at least setup or control operation of an implement attached to the autonomous vehicle, setup or control operation of the autonomous vehicle, or both.

BACKGROUND

The invention relates generally to work vehicles, and specifically, to control interfaces on autonomous work vehicles.

Work equipment, such as agricultural vehicles (e.g., tractors) and implements (e.g., tillers, seeders, etc.), may be used to perform tasks at work sites, such as in an agricultural operation (e.g., farm). The work vehicles may be capable of manned and/or unmanned (e.g., autonomous) operation. For example, some work vehicles may only be capable of manned operation, while others may be capable of manned or autonomous operation. Typically, work vehicles that are manned by an operator include a control interface that is disposed within an operator station on top of the vehicles. The operator interacts directly with the control interface to control operation of the vehicle and/or the implement. However, locating the control interface on top of a vehicle capable of autonomous operation may be inconvenient for an operator who is not physically riding the vehicle during autonomous operation. For example, the operator may have to climb on top of a stopped autonomous agricultural vehicle to interact with the control interface. Further, the operator may have to climb down from the top of the autonomous vehicle after the change is input into the control interface before starting the vehicle again. Such activity may be inconvenient for operators using autonomous vehicles in their work operation.

BRIEF DESCRIPTION

In one embodiment, an autonomous vehicle includes a controller and a control interface disposed in an enclosure of the autonomous vehicle. The control interface includes a display communicatively coupled to the controller. The display is used to at least setup or control operation of an implement attached to the autonomous vehicle, setup or control operation of the autonomous vehicle, or both.

In one embodiment, a work vehicle system includes an implement attached to an autonomous vehicle. The autonomous vehicle includes a controller, a control interface disposed in an enclosure of the autonomous vehicle. The control interface includes a display communicatively coupled to the controller. The display is used to at least setup or control operation of the implement, setup or control operation of the autonomous vehicle, or both.

In one embodiment, an autonomous vehicle includes a control interface that includes a display and a first ignition switch. The autonomous vehicle also includes a second ignition switch. The first ignition switch and the second ignition switch are used in cooperation to control operation of the autonomous vehicle.

DETAILED DESCRIPTION

Some embodiments of the present disclosure relate to providing a more conveniently located and readily accessible control interface for autonomous vehicles that are capable of either autonomous or manual operation. As discussed above, some control interfaces in vehicles may be located on top of the vehicle in an operator station. Such a location may prove to be inconvenient to access in vehicles that operate autonomously where the operator does not typically ride in the operator station of the vehicle during operation because the operator has to climb into the operator station to access the control interface and climb off of the vehicle before starting the vehicle again. To inhibit climbing into and out of the operator station when the user desires to use the control interface, some embodiments may include mounting or disposing the control interface on a side of the autonomous vehicle. This side-mounted control interface may enable the operator to interact with the control interface while standing on the ground next to the autonomous vehicle. Further, in some embodiments, the control interface may be located at approximately eye level relative to an average height of a person. This may reduce the chance that the operator has to bend over to view a display of the control interface or strain his or her neck to look up at the display.

Moreover, in some embodiments, the control interface may include a display (e.g., touch screen) that provides functionality to control operation of the autonomous work vehicle and/or an implement attached to the autonomous vehicle, as well as display information (e.g., fuel level, tire pressure, oil temperature, agricultural particulate prescription map, distribution schedule of the agricultural particulate, etc.) of the vehicle and/or the implement. The control interface may also include an ignition switch that has to be in an ON position, along with another ignition switch in a hybrid operator station of the vehicle being in an ON position, for the autonomous vehicle to be operable (e.g., power on and operate). The control interface may also include a battery disconnect switch, a data transfer port (e.g., universal serial bus (USB) port), a stop button, and/or an autonomous/manual switch. The ease at which the operator is able to access the control interface may enhance operability of the autonomous vehicle and/or the implement by providing a more convenient experience to the operator.

It should be noted that the techniques disclosed may be used on any desired type of vehicle, but are particularly useful for work vehicles. More particularly, one presently contemplated application is in the area of agricultural work operations, such as on farms, in fields, in operations entailed in preparing, cultivating, harvesting and working plants and fields, and so forth. While in the present disclosure reference may be made to the vehicle10as an “agricultural vehicle”, it should be borne in mind that this is only one particular area of applicability of the technology, and the disclosure should not be understood as limiting it to such applications.

Turning now toFIG. 1, a perspective view of an embodiment of an autonomous agricultural vehicle10capable of autonomous or manual operation that includes a side-mounted control interface12and an attached implement14is depicted, in accordance with an embodiment. The autonomous agricultural vehicle10includes a controller configured to automatically guide the autonomous agricultural vehicle10through a field (e.g., along a direction of travel26) to facilitate agricultural operations. Example agricultural operations that the autonomous agricultural vehicle10and the implement14may perform include planting operations, seeding operations, application operations, tillage operations, harvesting operations, and the like. For example, the controller may automatically guide the agricultural vehicle10that pulls the implement14along a guidance swath through the field without input from an operator. The controller may also automatically guide the agricultural vehicle10around headland turns between segments of the guidance swath. To facilitate control of the autonomous agricultural vehicle, the controller includes a spatial locating device, such as a Global Position System (GPS) receiver, which is configured to output position information to the controller.

In certain embodiments, the controller may also include an inertial measurement unit (IMU) communicatively coupled to the controller and configured to enhance the accuracy of the determined position and/or orientation. For example, the IMU may include one or more accelerometers configured to output signal(s) indicative of acceleration along a longitudinal axis, a lateral axis, a vertical axis, or a combination thereof. In addition, the IMU may include one or more gyroscopes configured to output signal(s) indicative of rotation (e.g., rotational angle, rotational velocity, rotational acceleration, etc.) about the longitudinal axis, the lateral axis, the vertical axis, or a combination thereof. The controller may determine the position and/or orientation of the agricultural vehicle based on the IMU signal(s) while spatial locating signals received by the spatial locating device are insufficient to facilitate position determination (e.g., while an obstruction, such as a tree or building, blocks the spatial locating signals from reaching the spatial locating antennas). In addition, the controller may utilize the IMU signal(s) to enhance the accuracy of the determined position and/or orientation. For example, the controller may combine the IMU signal(s) with the spatial locating data and/or the position determined by the spatial locating device (e.g., via Kalman filtering, least squares fitting, etc.) to determine a more accurate position and/or orientation of the agricultural vehicle (e.g., by compensating for movement of the spatial locating device resulting from pitch and/or roll of the autonomous agricultural vehicle10as the vehicle10traverses uneven terrain).

In certain embodiments, the IMU and the spatial locating device may be disposed within a common housing. In further embodiments, the IMU and one spatial locating antenna may be disposed within a common housing. For example, each spatial locating antenna housing may include a spatial locating antenna and an IMU. Furthermore, in certain embodiments, a portion of the spatial locating device and one spatial locating antenna may be disposed within a common housing. For example, a first portion of the spatial locating device and the first spatial locating antenna may be disposed within a first housing, and a second portion of the spatial locating device and the second spatial locating antenna may be disposed within a second housing. In certain embodiments, a first IMU may be disposed within the first housing, and a second IMU may be disposed within the second housing.

The autonomous agricultural vehicle10may be controlled remotely by an operator in a base station. As such, the autonomous agricultural vehicle10may be communicatively coupled to the base station. In some embodiments, operating autonomously may refer to the ability of the autonomous agricultural vehicle10to sense its environment and operate without input from the operator, as noted above. Thus, the autonomous agricultural vehicle10may include one or more sensors16that obtain data (e.g., object proximity, position of the vehicle10, speed of the vehicle10, weather, etc.) and provide the data to the controller of the autonomous agricultural vehicle10. The controller may process the data to determine how to autonomously operate the autonomous agricultural vehicle10as desired.

Further, the controller may store an agricultural particulate prescription map (e.g., seeding rate, location of seeding to be disbursed, etc.) to execute to control the implement14. In some embodiments, the control interface12mounted or disposed on the side of the autonomous agricultural vehicle10may be used by the operator to conveniently control operation of the implement14. More specifically, the operator may approach the control interface12while standing on the ground and interact with the control interface12without climbing on top of a ladder or the autonomous agricultural vehicle10. This may be particularly beneficial when the autonomous agricultural vehicle10is operating autonomously. Although the depicted implement14is a planter, it should be understood that any type of agricultural implement may be controlled by the control interface12.

As depicted, the implement14includes a hollow support frame18, a tow frame20, a hitch assembly22, and row units24. More specifically, one end of the tow frame20is connected to the hollow support frame18and the other end is connected to the hitch assembly22, which enables a coupling to the autonomous agricultural vehicle10. Thus, the implement14may be towed along a direction of travel26by the autonomous agricultural vehicle10.

Additionally, as depicted, a plurality of row units24is coupled to the hollow support frame18. Thus, as the autonomous agricultural vehicle10tows the implement14, each of the row units24may deposit seeds at a desired depth beneath the soil surface, thereby establishing rows of planted seeds. It should be noted that the number of row units24may be adjusted based on a desired number of seed rows. In other words, the implement14may be adjusted to include 6, 8, 12, 16, 24, 32, or 36 row units, or more.

Furthermore, the spacing between row units24may be selected based on the type of seed being planting. For example, the row units24may be spaced 30 inches from one another when planting corn, and 15 inches from one another when planting soy beans. As such, the number and/or spacing of the row units24may be adjusted multiple times during the lifespan of the implement14.

As described above, the row units24may control the planting of seeds. More specifically, each row unit24may utilize vacuum pressure to control the seed flow rate and/or the spacing between planted seeds. Accordingly, in the depicted embodiment, a vacuum source28is mounted on the support frame18. In the depicted embodiment, the implement14utilizes a single centralized vacuum source. Additionally or alternatively, multiple vacuum sources may be used. For example, a first vacuum source may supply vacuum pressure to half of the row units24, and a second vacuum source may supply vacuum pressure to the other half of the row units24.

In some embodiments, the vacuum source28may be a fan that displaces air to generate vacuum pressure. For example, the vacuum source28may expel air from the row units24to generate a negative vacuum pressure. Thus, any suitable vacuum source28may be utilized, such as a hydraulically driven fan, an electrically drive fan, and so forth. Moreover, embodiments of the fan may include an axial fan, a blower-type fan, a plurality of parallel fans, a plurality of sequential fans, a turbine-type fan, or any combination thereof. To facilitate distributing the vacuum pressure, a conduit or tubing system may be used to pneumatically couple the vacuum source28to the hollow frame structure18.

The control interface12mounted or disposed on the side of the autonomous agricultural vehicle10may be used to setup and/or control seeding rates and/or vacuum levels of the implement14, to setup and/or control a subset of configuration values for the autonomous agricultural vehicle10, to log data related to work performed by the autonomous agricultural vehicle10and/or the implement14(e.g., portions of field worked, the agricultural particulate levels and distribution), and the like. Further, as described below, the control interface12may include a first ignition switch that is connected in series to a second ignition switch disposed within a hybrid operator station40of the autonomous agricultural vehicle10. The hybrid operator station40may include a cover42that conceals a compartment of the hybrid operator station40that includes a foldable chair for an operator to sit in, a steering wheel or steering assembly, and/or the second ignition switch, among other things.

FIG. 2is a zoomed-in view of a portion50of the autonomous agricultural vehicle10ofFIG. 1including the side-mounted control interface12disposed behind a cover panel52, in accordance with an embodiment. The cover panel52may be semi-transparent (e.g., opacity from 0 to 40 percent) to enable an operator to see through the cover panel52and view the information displayed on the display of the control interface12. In some embodiments, the cover panel52may be semi-transparent (e.g., not fully transparent) because it may be desirable to block certain light rays from contacting the display of the control interface12. As such, the cover panel52may be tinted or coated with a darkening layer. Further, the cover panel52may be durable enough to protect the control interface12from the environment and certain objects (e.g., water, hail, rocks, dirt, dust, etc.).

FIG. 3is a zoomed-in view of the portion50of the autonomous agricultural vehicle10ofFIG. 1including the side-mounted control interface12with the cover panel52removed, in accordance with an embodiment. As depicted, removing the cover panel52exposes the control interface12to enable an operator to access the control interface12. In some embodiments, the cover panel52may be removed by unhinging a clip that secures the cover panel52to a side panel54of the autonomous agricultural vehicle10or pulling on the cover panel52to overcome a magnetic force of a magnet on the side panel54holding the cover panel52in place. The side panel54may include an enclosure56that includes the control interface12and is covered by the cover panel52when the cover panel52is locked into place on the side panel54. The control interface12may include a display58, an ignition switch60, a battery disconnect62, a data transfer port (e.g., USB port)64, a stop button66, and/or an autonomous/manual switch68.

In some embodiments, the display58may include a touch screen display. The display58may be a liquid crystal display (LCD), a light-emitting diode (LED) display, a cathode ray tube (CRT), an image projection device, a plasma display, or any other type of display or device capable of presenting an image visible to an operator. In some embodiments, the display58may not be touch compatible. Instead, one or more input peripherals, such as buttons, dials, touch pads, keyboards, a mouse, microphones, and the like may be included in the control interface12and used to control the display58. As depicted, the display58may be exposed on the side of the autonomous agricultural vehicle10. As such, an operator may access the control interface12including the display58by standing next to the control interface12including the display58without having to climb on top of the autonomous agricultural vehicle10, which may be particularly beneficial when autonomous operation is enabled. That is, the operator may be standing on the same surface that the autonomous agricultural vehicle10is disposed upon when accessing the control interface12including the display58.

As discussed above, the display58may be used to setup and/or control the operation of the implement14and/or the autonomous agricultural vehicle10(e.g., a subset of the configuration values for the autonomous vehicle). As such, the display58may display a graphical user interface with various icons, buttons, lists, information, widgets, charts, gauges, graphs, maps, or the like, that may be usable by or informative to the operator. For example, the operator may use the display58to configure an agricultural particulate prescription map (e.g., seeding rates, seeding location on the terrain, etc.) and/or a distribution plan (e.g., seeding schedule) of the implement14. Further, the display58may display various information related to the implement14, such as the vacuum levels of the implement, amount of agricultural particulate, type of agricultural particulate, the particulate prescription map, the distribution plan, implement geometry, and the like. Also, the display58may display various information related to the autonomous agricultural vehicle10, such as configuration values, fuel level, fuel usage, vehicle geometry, vehicle to base station communication, oil pressure, any alerts triggered, whether the ignition switch60is in the ON or OFF position, whether the other ignition switch in the hybrid operator station40is in the ON or OFF position, an operation plan (e.g., travel route on a digital representation of the terrain, speeds, schedule), a digital representation of the location of the autonomous agricultural vehicle10on a map of the terrain, and the like. Additionally, the display58may display the software version of the operating system responsible for operating the autonomous agricultural vehicle10and/or the graphical user interface displayed on the display58.

In some embodiments, the ignition switch60may include a key70and a lock72. The ignition switch60may be wired in series to another ignition switch disposed on top of the autonomous agricultural vehicle10(e.g., inside of the hybrid operator station40). As such, in some embodiments, operating the autonomous agricultural vehicle10may dictate that both ignition switches are in an ON position. For example, when the key70is inserted into the lock72and turned to an ON position and the ignition switch in the hybrid operator station42is in the ON position, the autonomous agricultural vehicle10may be operable. In some embodiments, a base station may remotely start the autonomous agricultural vehicle10when both of the ignition switches are in the ON position. If one of the ignitions switches is in an OFF position, then the autonomous agricultural vehicle10may be inoperable. For example, if the key70is turned to the OFF position or the ignition switch in the hybrid operator station40is turned to the OFF position, the autonomous agricultural vehicle10may not be remotely started.

The battery disconnect62may disconnect the battery from being used by the autonomous agricultural vehicle10. The battery disconnect62may be used to isolate the battery from the rest of the electrical system. In some embodiments, the battery disconnect62may sever the positive connection from the battery. Alternatively, the battery disconnect62may sever the negative connection from the battery. As depicted, the battery disconnect62may be a physical switch that is manually flipped to disconnect the battery. However, in some embodiments, the battery disconnect62may be a soft switch, in that a digital button may be displayed on the display58that represents the battery disconnect62. When the digital button is touched on the screen by the user, the battery disconnect62may cause a controller or a mechanism to disconnect the battery.

In some embodiments, the data transfer port64may be used to upload or download data to a controller of the autonomous agricultural vehicle10. The control interface12may include the data transfer port64with an extension cord or the like to enable convenient access to an operator standing next to the vehicle10. The operator can connect a jump drive, flash drive, external hard drive, smartphone, computing device, laptop, tablet, or the like, to download data from or upload data to the controller. For example, the operator may download fuel usage, an agricultural particulate prescription map, a distribution schedule of the implement, a travel route of the autonomous agricultural vehicle10, any alerts that were triggered over a certain time period, and the like. Further, the operator may upload certain data to the controller via the data transfer port64, such as an agricultural particulate prescription map (e.g., the locations where particulate is to be disbursed and the amount of particulate to disburse), a travel route for the autonomous agricultural vehicle10, desired fuel usage, schedule of distribution, and the like. It should be understood that the data transfer port64may not be limited to the USB protocol. Other serial bus communication protocols (e.g., Ethernet, Profibus, FireWire, etc.) may be used as the port64or as one or more additional ports to communicate data over a bus between the controller and a connected device.

In some embodiments, the stop button66, when pressed, may cause the autonomous agricultural vehicle10to stop and power down. The stop button66may stop and power down the vehicle10when pressed while the vehicle10is operating in autonomous or manual mode.

In some embodiments, the autonomous/manual switch68may enable the autonomous agricultural vehicle10to operate in an autonomous mode or a manual mode. For example, when the autonomous/manual switch68is set to autonomous, the autonomous agricultural vehicle10may operate autonomously by using stored travel routes, data from the sensors16, agricultural particulate prescription maps, distribution schedules, or the like. When the autonomous/manual switch68is set to manual, the controller may enable the autonomous agricultural vehicle10to be operated locally. For example, the controller may ignore commands received from a base station and the hybrid operator station40may be converted to enable the operator to sit on top of the autonomous agricultural vehicle10to operate the vehicle10using a set of operator controls mounted on the vehicle (e.g., a throttle control pedal, brake, transmission control, steering wheel, and so forth).

In some embodiments, the control interface12may include a radio transceiver in coupled to a controller of the autonomous agricultural vehicle10. The radio transceiver may be communicatively coupled to a remote base station to enable the controller to communicate with the remote base station. For example, the remote base station may transmit commands (e.g., operating commands) to the controller via the radio transceiver of the autonomous agricultural vehicle10. Likewise, the controller may provide status updates or information to the remote base station via the radio transceiver.

With the foregoing in mind,FIG. 4is a block diagram of example components of the autonomous agricultural vehicle10and the implement14ofFIG. 1, in accordance with an embodiment. It should be noted that the listed components are provided as example components and the embodiments described herein are not to be limited to the components described. As discussed above, the control interface12may include the display58, the ignition switch60, the battery cutoff62, the data transfer port64, the stop button66, and/or the autonomous/manual switch68. As depicted, the display58, the ignition switch60, the data transfer port64, the stop button66, and/or the autonomous/manual switch68may be communicatively coupled to a controller80of the autonomous agricultural vehicle10.

The controller80may include a processor82and a memory84. The processor82may be any type of computer processor or microprocessor capable of executing computer-executable code. Moreover, the processor82may include multiple processors or microprocessors, one or more “general-purpose” processors or microprocessors, one or more special-purpose processors or microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processor82may include one or more reduced instruction set (RISC) processors.

The memory84may be any suitable articles of manufacture that can serve as media to store processor-executable routines, code, data, or the like. These articles of manufacture may represent non-transitory, computer-readable media (e.g., any suitable form of memory or storage) that may store the processor-executable code or routines used by the respective processor82to perform the presently disclosed techniques. For example, the memory84may store instructions to execute a graphical user interface displayed on the display58to enable the operator to control the autonomous agricultural vehicle10(e.g., setup configuration values) and/or the implement14(e.g., setup and/or modify an agricultural particulate prescription map and/or a distribution schedule of the implement14). It should be noted that non-transitory merely indicates that the media is tangible and not a signal. The memory84may include volatile memory (e.g., a random access memory (RAM)), nonvolatile memory (e.g., a read-only memory (ROM)), flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The memory84may also be used to store any data (e.g., agricultural particulate prescription map, distribution schedule, travel route, fuel usage, etc.), analysis of the data, the operating system, and the like.

Generally, the processor82may execute software applications that include a graphical user interface (GUI) that enables a user to setup and/or control operation of the autonomous agricultural vehicle10and/or the implement14via the display58and to view information related to the autonomous agricultural vehicle10and/or the implement14. Additionally, the processor82may execute instructions to power down the autonomous agricultural vehicle10when the stop button66is pressed. The processor82may access data from a device connected via the data transfer port64and the data may be uploaded to the memory84. For example, the data from the data transfer port64may include an agricultural particulate prescription map or the like. In some embodiments, the processor82may receive an indication when the autonomous/manual switch68is set to autonomous mode or manual mode. When the autonomous/manual switch68is set to autonomous mode, the processor82may control the autonomous agricultural vehicle10autonomously using one or more stored prescription maps, distribution schedules, travel routes, data received from the sensors16, commands received from a remote base station, or the like. When the autonomous/manual switch68is set to manual mode, the processor82may receive signals from local components (e.g., gas pedal, steering wheel, brake) of the autonomous agricultural vehicle10that enable local operation.

Also, the ignition switch60may provide an indication to the processor82when it is switched to the ON position or the OFF position. Another ignition switch86may be disposed on top of the autonomous agricultural vehicle10inside of the hybrid operator station40, as discussed above. The ignition switch86may also be communicatively coupled to the controller80and provide an indication to the processor82when the ignition switch86is in the ON position or the OFF position. The processor82may determine when the ignition switches60and86are both in the ON position before enabling operation of the autonomous agricultural vehicle10. For example, when both ignition switches60and86are in the ON position, the processor82may allow remotely starting or operating the autonomous agricultural vehicle10, among other things. When one of the ignition switches60and86are in the OFF position, the processor82may render the autonomous agricultural vehicle10inoperable. For example, the processor82may disable remotely starting or operating the autonomous agricultural vehicle10, among other things, when one or both of the ignition switches60and/or86are in the OFF position.

The controller80may also be communicatively coupled to a network interface88. The network interface88may enable wireless (e.g., Bluetooth® Low Energy, ZigBee®, WiFi®) or wired (e.g., Ethernet, Controller-Area-Network (CAN)) communication with, for example, the implement14, a base station, or any desirable computing device. The network interface88may be communicatively coupled to a network interface90of the implement14. As such, the controller80may send command signals to the implement14via the network interfaces88and90, respectively, to control the implement14. For example, the network interface90may receive the command signals from the network interface88and send the command signals to a controller92of the implement14. The controller92may include a processor94and a memory96. The processor94may receive and execute the command signals. In some embodiments, the command signals may control the distribution rate of an agricultural particulate, the distribution schedule (e.g., timing), or the like of the implement14.

The processor94may be any type of computer processor or microprocessor capable of executing computer-executable code. Moreover, the processor94may include multiple processors or microprocessors, one or more “general-purpose” processors or microprocessors, one or more special-purpose processors or microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processor94may include one or more reduced instruction set (RISC) processors.

The memory96may be any suitable articles of manufacture that can serve as media to store processor-executable routines, code, data, or the like. These articles of manufacture may represent non-transitory, computer-readable media (e.g., any suitable form of memory or storage) that may store the processor-executable code or routines used by the respective processor94to perform the presently disclosed techniques. For example, the memory96may store instructions to execute an agricultural particulate prescription map, distribution schedule, or the like. It should be noted that non-transitory merely indicates that the media is tangible and not a signal. The memory96may include volatile memory (e.g., a random access memory (RAM)), nonvolatile memory (e.g., a read-only memory (ROM)), flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The memory96may also be used to store any data (e.g., agricultural particulate prescription map, distribution schedule, implement configuration, autonomous work vehicle configuration, etc.), analysis of the data, and the like.

Further, the implement may include one or more actuators98and one or more motors100. The actuators98and the motors100may be communicatively coupled to the controller92and controlled via the controller92. The one or more actuators98may be used to lower or raise certain portions of the implement14, such as the row units24, to enable a distribution mode and a travel mode, respectively. Further, the motors100may be controlled to distribute the agricultural particulate via a metering device or the like. The controller92may receive the command signals from the autonomous agricultural vehicle10and operate the one or more actuators98and/or the motors100accordingly.