Systems and methods for retrofitting push lawn equipment for autonomous or semi-autonomous control

A retrofit assembly for retrofitting push lawn equipment for autonomous or semi-autonomous control, comprising:

• a support frame configured to connect to the push lawn equipment at a first axle for a first wheel of the lawn equipment, wherein the support frame has a plurality of interconnected support elements, including at least a first support element and a second support element, wherein the second support element has a first groove, wherein the first support element is inserted into the first groove, and wherein the first support element is movable relative to the second support element for accommodating a size of the push lawn equipment by sliding along the second support element in the first groove;
• a plurality of wheels coupled to the support frame;
• at least one motor mounted on the support frame and coupled to the plurality of wheels for driving the plurality of wheels;
• and
• a controller mounted on the support frame and configured to control the at least one motor for moving and steering the support frame.

A method for retrofitting push lawn equipment for autonomous or semi-autonomous control, comprising:

• removing a first wheel from at least one axle of the push lawn equipment;
• removing a second wheel from the at least one axle of the push lawn equipment;
• securing a support frame of a retrofit assembly to the at least one axle, wherein the support frame has a plurality of interconnected support elements, including at least a first support element and a second support element, wherein the securing comprises inserting the at least one axle through a first hole of the first support element;
• moving the first support element relative to the second support element thereby accommodating a size of the push lawn equipment;
• driving a plurality of wheels coupled to the support from with at least one motor mounted on the support frame;
• and
• controlling the at least one motor with a controller mounted on the support frame such that the support frame and the push lawn equipment are moved and steered by rotation of the wheels,
• wherein the second support element has a first groove, wherein the first support element is inserted into the first groove, and wherein the moving comprises sliding the first support element along the second support element in the first groove.