# US 11,305,786 B2 · Maintaining consistent sensor output > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,786 B2 - Document ID: US11305786B2 - Status: Granted - Kind: B2 - Application number: 16/865,139 - Filed: 2020-05-01 - Published: 2021-11-04 - Granted: 2022-04-19 - Earliest claimed: 2020-05-01 - Assignees: Autoguide, LLC - Applicants: Autoguide, LLC - Inventors: David Levasseur; Michael Cullinane - Web page: https://patentgrep.com/patent/US11305786B2 ## CPC - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G01S 7/4972: {Alignment of sensor} - B60W 60/0018: {by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions} - B60W 60/0025: {specially adapted for specific operations} - G01S 7/4813: {Housing arrangements} - G01S 17/931: of land vehicles - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An example autonomous vehicle includes a body configured for movement along a surface, a sensor on the body to output a signal in a plane and to obtain information about an environment based on the signal, and a control system to use the information to determine a location of the autonomous vehicle in the environment. The sensor is configured to keep constant the plane of the signal for different positions of the body. ## Claims ### Claim 1 An autonomous vehicle comprising: a body configured for movement along a surface; a sensor on the body to output a signal in a plane and to obtain information about an environment based on the signal; and a control system to use the information to determine a location of the autonomous vehicle in the environment; wherein the sensor is configured to keep constant the plane of the signal for different positions of the body; wherein the different positions comprises different orientations of the body; wherein the autonomous vehicle further comprises a mount for the sensor, the mount comprising liquid floating the sensor, the liquid having a viscosity that enables the liquid to reach a level state each time an orientation of the body changes relative to gravity; and wherein the control system is at least partly onboard or at least partly remote from the autonomous vehicle and comprises, alone or in combination, one or more microcontrollers, one or more microprocessors, programmable logic, one or more application-specific integrated circuits (ASICs), or solid state circuitry. ### Claim 2 (depends on 1) The autonomous vehicle of claim 1, wherein the liquid comprises at least water. ### Claim 3 (depends on 1) The autonomous vehicle of claim 1, wherein the liquid comprises at least liquid mercury. ### Claim 4 (depends on 1) The autonomous vehicle of claim 1, wherein keeping constant the plane of the signal comprises keeping the signal horizontal relative to the surface. ### Claim 5 (depends on 1) The autonomous vehicle of claim 1, wherein keeping constant the plane of the signal comprises keeping the signal perpendicular to the direction of gravity. ### Claim 6 (depends on 1) The autonomous vehicle of claim 1, wherein the sensor comprises a light detection and ranging (LIDAR) system; and wherein the signal output comprises a laser beam. ### Claim 7 (depends on 1) The autonomous vehicle of claim 1, wherein the different positions of the body comprise at least one of yaw, pitch, or roll. ### Claim 8 (depends on 1) The autonomous vehicle of claim 1, wherein the different positions of the body result from up-slope or down-slope movement of the autonomous vehicle. ### Claim 9 (depends on 1) The autonomous vehicle of claim 1, wherein the sensor is controllable to maintain a constant height relative to the predefined elevation for different inclines of the body. ### Claim 10 (depends on 1) The autonomous vehicle of claim 1, wherein the mount is controllable by the control system to move relative to the body to maintain a constant height of the sensor relative to a predefined surface. ### Claim 11 (depends on 1) The autonomous vehicle of claim 1, wherein the mount is controllable to move vertically relative to the body. ### Claim 12 (depends on 1) The autonomous vehicle of claim 1, wherein the mount is telescopic. ### Claim 13 (depends on 1) The autonomous vehicle of claim 1, further comprising: an altimeter connected to the sensor to measure a height of the sensor and to output a reading based on the height; wherein the control system is configured to control movement of the mount based on the reading. ### Claim 14 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle comprises a mobile robot comprising an end effector having one or more tines for interacting with a stackable element. ### Claim 15 (depends on 1) The autonomous vehicle of claim 1, wherein the sensor comprises an elevation sensor to provide a reading based on a height of the body relative to a reference plane height, the height comprising a position of the body; and wherein the control system is configured to control the mount based on the reading. ### Claim 16 (depends on 1) The autonomous vehicle of claim 1, wherein the sensor comprises an elevation sensor to provide a reading representing a height of the body, the height comprising a position of the body; and wherein the control system is configured to control a height of the sensor based on the reading. ### Claim 17 (depends on 1) The autonomous vehicle of claim 1, wherein the sensor is movable relative to the body to keep constant a height of the sensor relative to a. predefined elevation. ### Claim 18 (depends on 1) The autonomous vehicle of claim 1, wherein the mount is controllable to move relative to the body to maintain a constant height of the sensor relative to a predefined elevation. ### Claim 19 (depends on 18) The autonomous vehicle of claim 18, wherein the mount is controllable to move vertically relative to the body. ### Claim 20 (depends on 19) The autonomous vehicle of claim 19, wherein the mount is telescopic.