US Patent 11884223 Ground vehicle bumper system

A vehicle includes a body having a first outer periphery in a first plane parallel to a surface on which the vehicle moves in a horizontal direction; a bumper assembly having a second outer periphery in a second plane parallel to the first plane and including portions that extend beyond the first outer periphery; one or more flexible couplings coupling the bumper assembly to the body and allowing for horizontal planar deflection of the bumper assembly relative to the body when the bumper assembly impacts an obstacle; one or more sensors mounted to detect planar deflection of the bumper assembly and being configured to generate signals indicating the bumper assembly has deflected at least a threshold amount; and a drive system configured to propel the vehicle and, in response to the signals indicating the bumper assembly has deflected at least a threshold amount, cause the vehicle to stop moving.