Abstract: An autonomous surface cleaning apparatus includes a body, a drive system carried by the body and configured to move the autonomous surface cleaning apparatus across a surface, a cleaning assembly disposed at a front of the body and projecting forward beyond a front surface of the body, the cleaning assembly having a generally planar front surface and first and second side surfaces that extend rearward from opposite ends of the front surface. The apparatus further includes a first forward proximity sensor disposed at the front surface of the cleaning assembly adjacent to a first front corner of the cleaning assembly and a second forward proximity sensor disposed at the front surface of the cleaning assembly adjacent to a second front corner of the cleaning assembly. The first and second forward proximity sensors are angled inwardly towards a longitudinal axis of the cleaning assembly.

Abstract: A harvester (1) comprises a gantry (24) and a harvesting tool (22) with a cutter unit (52). The gantry (24) allows the cutter unit (52) to move so that the cutter unit (52) can approach and cut an individual crop from any direction in the horizontal plane. In this way, the direction of approaching and cutting can be selected so as to avoid damaging the surrounding crops.