# US 12,007,762 B2 · Adjustable height sensor roof

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- Number: US 12,007,762 B2
- Document ID: US12007762B2
- Status: Granted
- Kind: B2
- Application number: 18/074,966
- Filed: 2022-12-05
- Published: 2023-03-30
- Granted: 2024-06-11
- Earliest claimed: 2020-01-17
- Assignees: Zimeno Inc.
- Applicants: Zimeno, Inc.
- Inventors: Praveen Varma Penmetsa; Zachary Meyer Omohundro; Christopher Travis Whitney; Rama Venkata Surya Kumar Varma Bhupatiraju; Mizbauddin Mohammed; Bhargav Ramakrishna Reddy
- Web page: https://patentgrep.com/patent/US12007762B2

## CPC

- B60Q 1/2611: {Indicating devices mounted on the roof of the vehicle}
- G05D 1/0016: {characterised by the operator's input device (input arrangements for computing systems in general G06F3/00)}
- B60K 17/28: characterised by arrangement, location, or type of power take-off
- B60Q 1/44: for indicating braking action {or preparation for braking, e.g. by detection of the foot approaching the brake pedal}
- B60Q 1/46: for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights {or hazard lights}
- B60Q 1/50: for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q 5/001: {Switches therefor}
- B60R 25/23: using manual input of alphanumerical codes
- B60R 25/24: using electronic identifiers containing a code not memorised by the user
- B60R 25/25: using biometry
- B62D 25/06: Fixed roofs (non-fixed roofs or like shelters B60J7/00; roof liners B60R13/02; insulating elements B60R13/08)
- B62D 49/00: Tractors (of walk type B62D51/04; endless- track features B62D55/00 {; transport specially adapted for underground galleries E21F13/02})
- G05D 1/0038: {by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation (images analyzed by a computer and used for automatic navigation G05D1/0246)}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/223: Command input arrangements on the remote controller, e.g. joysticks or touch screens
- G05D 1/2235: {involving the operator tracking the vehicle by direct line of sight}
- G05D 1/224: Output arrangements on the remote controller, e.g. displays, haptics or speakers
- G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras}
- G05D 1/2285: using voice or gesture commands
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/65: Following a desired speed profile
- G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672)
- G06F 16/40: of multimedia data, e.g. slideshows comprising image and additional audio data (retrieval of still image data G06F16/50; retrieval of audio data G06F16/60; retrieval of video data G06F16/70)
- B60Q 2800/20: Utility vehicles, e.g. for agriculture, construction work
- B60Y 2200/221: Tractors
- B60Y 2300/1888: Control of power take off [PTO]
- G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)}
- G05D 1/226: Communication links with the remote-control arrangements
- G05D 2107/21: {Farming, e.g. fields, pastures or barns}
- G05D 2109/10: Land vehicles
- G06N 3/042: Knowledge-based neural networks; Logical representations of neural networks
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS

## Abstract

A vehicle may include a movable roof, a sensor supported by the roof, and an actuator for selectively raising and lowering the roof.

## Claims

### Claim 1

A vehicle comprising:
a chassis;
ground motive members supporting the chassis;
a seat;
an operator cab comprising a roof over and above the seat;
a height adjustable support supporting the roof;
a sensor supported by the roof to sense structural surroundings about the vehicle; and
an actuator for selectively raising and lowering the roof based upon the sensed structural surroundings,
wherein the sensor comprises a camera and wherein the vehicle comprises a controller, the controller configured to output control signals causing the actuator to move the roof and the supported camera between a first height and a second height different than the first height, wherein the controller is further configured to cause the camera to capture a first image with the camera at the first height and a second image with the camera at the second height.

### Claim 2 (depends on 1)

The vehicle of claim 1 further comprising a controller to determine a height of the roof based on signals from the sensor supported by the roof.

### Claim 3 (depends on 1)

The vehicle of claim 1 further comprising a controller, wherein the structural surroundings comprise foliage or crops arranged in rows on opposite transverse sides of the vehicle, wherein the sensor is configured to output signals indicating a height of the foliage or crops on the opposite transverse sides of the vehicle and wherein the controller is configured to control the actuator to adjust the height of the roof and the supported sensor based upon the height of the foliage or crops as determined by the controller based upon the signals.

### Claim 4 (depends on 1)

The vehicle of claim 1, wherein the structural surroundings comprise foliage or crops and wherein the controller is configured to determine a height of the foliage or crops based upon the signals and to automatically lower the roof towards tops of the foliage or crops, moving the sensor into closer proximity to the tops of the foliage or crops, based on the height of the foliage or crops as determined from the signals.

### Claim 5 (depends on 1)

The vehicle of claim 1, wherein the structural surroundings comprise foliage or crops and wherein the controller is configured to determine a height of the foliage or crops based on the signals and to automatically raise the roof further away from tops of the foliage or crops based on the height of the foliage or crops as determined from the signals, moving the sensor away from the tops of the foliage or crops to provide the sensor with a perspective over the foliage or crops.

### Claim 6 (depends on 1)

The vehicle of claim 1 further comprising a controller, wherein the controller is to automatically control the actuator to iteratively adjust the height of the roof based upon signal quality from the sensor.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein the height adjustable support is selected from a group of height adjustable supports consisting of: telescopic tubes, a pivot, a multiple link pivot, and a four-bar linkage.

### Claim 8 (depends on 1)

The vehicle of claim 1 further comprising a height sensor selected from a group of height sensors consisting of: an actuator encoder, a mechanical travel sensor, an inertial measurement device and a roof perception sensor.

### Claim 9 (depends on 1)

The vehicle of claim 1, wherein the sensor comprises a sensor selected from a group of sensors consisting of: an ocular camera, stereo cameras, time-of-flight cameras, thermal cameras, lidar, radar, sonar, initial measurement units, magnetometers, weather sensors, and electromagnetic sensors.

### Claim 10 (depends on 1)

The vehicle of claim 1, the actuator comprises an actuator selected from a group of actuators consisting of: an electric motor, a hydraulic motor, and a pneumatic actuator.

### Claim 11 (depends on 1)

The vehicle of claim 1, wherein the sensor comprises a camera.

### Claim 12 (depends on 1)

The vehicle of claim 1, wherein the sensor is supported and configured to sense structural surroundings comprising foliage about the vehicle or an upcoming overhead structure.

### Claim 13 (depends on 1)

The vehicle of claim 1, wherein the structural surroundings comprises a trailer and a relative position of the trailer to the vehicle, vehicle further comprising a controller, wherein controller is configured to cause the actuator to automatically lower the roof in response to the signals indicating presence of the vehicle on the trailer.

### Claim 14 (depends on 1)

The vehicle of claim 1, wherein the sensor extends along an underside of the roof.

### Claim 15 (depends on 1)

The vehicle of claim 1 further comprising:
a processor; and
a non-transitory computer-readable medium containing instructions for directing the processor to:
determine a height for the roof based on the signals from the sensor supported by the roof; and
automatically output control signals to cause the actuator to move the roof to the determined height.

### Claim 16 (depends on 15)

The vehicle of claim 15 further comprising an operator cab comprising the roof, wherein the sensor is configured and supported by the roof to output signals indicating characteristics of crops or foliage having a height less than the roof and wherein the instructions are configured to direct the processor to determine the height for the roof for enhanced sensing of the crops or foliage based on the signals from the sensor.

### Claim 17

A vehicle comprising:
a chassis;
ground motive members supporting the chassis;
a seat;
a roof above the seat;
a height adjustable support supporting the roof;
a sensor supported by the roof; and
an actuator for selectively raising and lowering the roof;
a processor; and
a non-transitory computer-readable medium containing instruction to direct the processor, the instructions comprising:
remote operator input sensing instructions to obtain a sensed input sensed by the sensor supported by the roof from an operator remote from the vehicle;
input recognition instructions to recognize and associate the sensed input with a vehicle action; and
input response control instructions to output control signals to the vehicle to cause the vehicle to carry out the vehicle action.

### Claim 18 (depends on 17)

The vehicle of claim 17, wherein the vehicle action comprises raising or lowering of the roof.

### Claim 19 (depends on 17)

The vehicle of claim 17 further comprising an operator cab comprising the roof, wherein the roof extends over the seat.

### Claim 20

A vehicle comprising:
a chassis;
ground motive members supporting the chassis;
a seat;
a roof above the seat;
a height adjustable support supporting the roof;
a sensor to output signals indicating presence of the vehicle on a trailer;
an actuator for selectively raising and lowering the roof;
a controller configured to cause the actuator to automatically lower the roof in response to the signals indicating presence of the vehicle on the trailer.

### Claim 21

A vehicle comprising:
a chassis;
ground motive members supporting the chassis;
a seat;
a roof above the seat;
a height adjustable support supporting the roof;
a sensor supported by the roof to sense structural surroundings about the vehicle; and
an actuator for selectively raising and lowering the roof based upon the sensed structural surroundings,
wherein the structural surroundings comprise foliage or crops and wherein the controller is configured to determine a height of the foliage or crops based on the signals and to automatically raise the roof further away from tops of the foliage or crops based on the height of the foliage or crops as determined from the signals, moving the sensor away from the tops of the foliage or crops to provide the sensor with a perspective over the foliage or crops.