Object-gathering apparatus

A self-propelled object-gathering apparatus comprising:

• a chassis;
• a drive system coupled to the chassis and configured to traverse the apparatus over a surface;
• a control system coupled to the chassis and programmed to detect a bounded operational area, and to guide the apparatus within the bounded operational area;
• a receptacle coupled to the chassis;
• a sweep assembly coupled to the chassis and rotatable with respect to the chassis, the sweep assembly configured to transfer objects from the surface into the receptacle by mechanical action on the objects in response to rotation of the sweep assembly, wherein the sweep assembly comprises:
• a roller element coupled to the chassis and rotatable with respect to the chassis;
• a sweep assembly motor coupled to the chassis and drivingly coupled to the roller element to cause rotation of the roller element;
• and
• bristles extending outward from the roller element and configured to mechanically urge the objects from the surface into the receptacle in response to the rotation of the roller element;
• a ramp coupled to the chassis between the sweep assembly and the receptacle, the ramp configured to cooperate with the bristles to guide the objects into the receptacle;
• and
• a screen coupled to the chassis, the screen comprising a screen first end elevated above the receptacle, the screen extending from the screen first end rearward towards the roller element, the screen oriented to deflect the objects elevated by the bristles towards the receptacle, wherein the screen comprises screen bristles interdigitated with the bristles of the sweep assembly, wherein the bristles of the sweep assembly pass between the screen bristles during rotation of the sweep assembly.

A self-propelled object-gathering apparatus comprising:

• a chassis comprising opposing first and second sides;
• a drive system coupled to the chassis and configured to traverse the apparatus over a surface, the drive system comprising a first set of wheels positioned adjacent to the first side and a second set of wheels positioned adjacent to the second side;
• a control system coupled to the chassis and programmed to detect a bounded operational area, and to guide the apparatus within the bounded operational area;
• a receptacle coupled to the chassis;
• a sweep assembly coupled to the chassis and rotatable with respect to the chassis, the sweep assembly configured to transfer objects from the surface into the receptacle by mechanical action on the objects in response to rotation of the sweep assembly;
• a first suspension assembly coupling the first set of wheels to the chassis, the first suspension assembly comprising a rocker arm comprising a pivot and two ends, the rocker arm extending in an inverted V-shape from the pivot to the two ends, wherein the pivot is coupled to the first side of the chassis and a respective wheel of the first set of wheels is coupled to each of the two ends, the first suspension assembly further comprising a biasing element coupled between the chassis and the rocker arm, the biasing element configured to return the first set of wheels to a common horizontal plane;
• a second suspension assembly coupling the second set of wheels to the chassis, wherein the first and second suspension assemblies are independent, and wherein:
• the rocker arm comprises an upper surface extending between the pivot and a first end of the two ends of the rocker arm;
• and
• the biasing element comprises a resilient strip comprising a first end fixed to the first side of the chassis and an opposite, free second end, wherein the free second end is configured to urge the upper surface of the rocker arm downward in response to upward displacement of the first end of the rocker arm.