Abstract: An autonomous laundry folding system includes a folding device including a rotatable platform configured to receive a laundry article on a surface thereof and an elongation configured to fold the laundry article on the rotatable platform. The system includes a controller in communication with the folding device and a remote device running a user application for communicating instructions to the folding device to fold the laundry article. The user application includes a graphic display comprising one or more images of the laundry article being displayed on a display screen of the remote device to a user of the remote device, and a user input field configured to receive a user input comprising at least one of an article type identification and a folding preference.

Abstract: Devices, systems, and methods for autonomously queueing a plurality of folded laundry articles in a packing queue are described. A packing system includes a packing queue platform configured to receive a folded laundry article into one of a plurality of packing queue locations disposed along a length of the platform, a double ended conveyor, one or more sensors configured to detect a packing queue location, and a controller. The double ended conveyor includes a retrieving end and a depositing end. The conveyor is configured to be mounted to a one or more fixed rails for traveling along the length of the queue platform and cantilevering the depositing end over the packing queue platform for depositing the folded laundry article onto either a surface of the packing queue platform or another previously deposited folded laundry article of the plurality of folded laundry articles.

Abstract: Methods and systems for spreading out and folding a suspended laundry article are described. A robotic system for spreading out and folding a laundry article includes at least three lifters disposed about a perimeter of a surface, two or more sensors disposed at fixed locations about the surface, and a controller in operative communication with the two or more sensors and the at least lifters. The controller is configured to receive output signals from the two or more sensors, determine whether the laundry article suspended by at least two lifters of the at least three lifters is spread out, and instruct, based on a determination of the laundry article being spread out, one or more of the at least three lifters to fold the spread out laundry article one or more times.

Abstract: A system for queuing a plurality of folded laundry articles for loading into a shipping container includes at least two vertically stacked platforms configured to receive thereon the folded laundry articles, a cantilevered conveyor configured to deposit the folded laundry articles on the at least two vertically stacked platforms and redistribute the folded laundry articles between the at least two vertically stacked platforms for ordered packing, one or more sensors disposed adjacent the at least two vertically stacked platforms, and at least one controller in operable communication with a drive of the cantilevered conveyor, the one or more sensors, and a memory. The controller is configured to instruct the cantilevered conveyor to transit along lengths of the at least two vertically stacked platforms, and store in the memory at least one of the area footprint, height, and article types of the deposited folded laundry articles.

Abstract: A device for autonomously folding a plurality of laundry article types to a plurality of combinable target rectangle sizes includes a rotatable platform configured to receive a laundry article on a surface thereof and at least one elongation configured to fold the laundry article on the platform to one of the combinable target rectangle sizes. Each of the plurality of combinable target rectangle sizes are configured to fit alone or in side by side stacking positions within a container. At least one sensor is configured to detect the laundry article on the rotatable platform. A controller in operable communication with the at least one elongation, a drive of the rotatable platform, and the at least one sensor is configured to instruct at least one of the drive of the rotatable platform to rotate the platform and the elongation to fold the laundry article at one or more fold lines.

Abstract: An autonomous racking system for use with a mobile delivery vehicle includes an array of flow racks configured to receive thereon a plurality of containers associated with a plurality of households. A plurality of rollers disposed continuously along a length of each one of the flow racks are configured to roll one or more of the plurality of containers disposed thereon toward a front end of the array. Each one of a plurality of unloading pushers is disposed at a back end of a plurality of containers disposed on each one of the flow racks and are configured to push containers past a front end of the array. A controller is operable communication with the plurality of pushers and a memory configured to store an initial location of each container and an updated location of one or more remaining containers pushed toward the front end of the array.

Abstract: Autonomously operated systems and methods of packing unbound folded laundry articles are described. A system of stacking a plurality of folded laundry articles onto a receiving surface includes two or more side-by-side parallel extendable surfaces configured to extend at least one of independently and simultaneously, at least one sensor configured to detect a presence of one or more folded laundry articles on at least one of the surfaces, and a controller in operative communication with at least one drive of the two or more surfaces and the at least one sensor. The controller is configured to extend a loading end of at least one of the surfaces out upon receiving a signal from the at least one sensor, and retract the loading end to deposit the one or more folded laundry articles atop at least one of the receiving surface and one or more previously deposited folded laundry articles.

Abstract: Devices, systems, and methods for autonomously packing unfolded laundry articles into a container are described. The system includes a container configured to receive the laundry articles, a movable surface for receiving the container, and at least one drive motor for imparting motion to the laundry articles in the container, including at least one of a shaking, twisting, vibrating, oscillating, shushling, and tilting. At least one sensor is configured to detect two or more container fill heights. A controller in communication with the at least one drive motor and the at least one sensor is configured to instruct the at least one drive motor to rotate at least one of a driven conveyor, driven pusher, and driven rollers and the container disposed thereon rapidly back and forth repeatedly until a maximum height variation in the two or more container fill heights falls within a threshold range.

Abstract: A robotic system includes a movable platform disposed at a bottom of a work volume, the movable platform being configured to transit outside the work volume, at least three lifters disposed about a perimeter of the work volume, two or more sensors disposed at fixed locations about the work volume, and a memory including a neural network. A controller is in operative communication with the memory, the two or more sensors, and the lifters. The controller is configured to receive output signals from the two or more sensors, determine, based processing on the received signals with the neural network, whether the deformable laundry article suspended by two lifters is repositioned, and instruct, based on a determination of the deformable laundry article being repositioned, the lifters to lower the repositioned deformable laundry article onto the movable platform.

Abstract: A method of autonomously washing and drying at least one deformable article with a combination washer and dryer includes receiving, at a controller in communication with the combination washer and dryer, a request to begin a washing and drying cycle, instructing a pivot motor to rotate the combination washer and dryer upward such that an opening of the combination washer and dryer faces upward to receive the at least one deformable article therein; instructing the pivot motor to pivot the loaded combination washer and dryer to a washing and drying angle in a range of between about 0 degrees to 20 degrees from horizontal, and instructing, in response to a sensor output signal indicating the combination washer and dryer being pivoted to the washing and drying angle, an autonomous door loader disposed adjacent to and detached from the combination washer and dryer to seat a removable door in the opening.

Abstract: Systems for autonomously batching a plurality of separated laundry articles into sorted loads for washing and drying are described. For example, each one of a plurality of collection bins is configured to receive a sorted load of separated articles including at least one common one of one or more washing and drying characteristics. A plurality of conveyors are configured to receive thereon the bins and position one bin into a loading position adjacent to an exit orifice of a sorting surface. At least one sensor disposed at least one of on, adjacent to, and within the surface is configured to detect the washing and drying characteristics. A controller in operable communication with a drive of the plurality of conveyors and the at least one sensor is configured to instruct the conveyors to move the bins to batch each separated laundry article into a bin matching the washing and drying characteristics.

Abstract: An autonomous racking system for use with a mobile delivery vehicle includes an array of flow racks configured to receive thereon a plurality of containers each of which associated with a single customer and a plurality of pushers configured to push each one of the containers past a front end of the array. An elevator abuts the front end of the array to receive one or more containers from at least one of the array and a vehicle side access portal, and to deliver one or more containers to one or more of the plurality of flow racks from the portal. The elevator comprises a plurality of loading pushers configured to push a container off of the movable carriage and onto the array. A controller is operable communication with a plurality of pusher drives, an elevator drive motor, and one or more elevator position sensors.

Abstract: Devices, systems, and methods for autonomously packing unfolded laundry articles into a box are described. The system includes a box configured to receive the laundry articles, a movable surface for receiving the box, and at least one actuator for imparting at least one of a shaking, twisting, vibrating, oscillating, shushling, and tilting motion to the box. A plunger is configured to compress the articles within the box and at least one sensor is configured to detect that the mass of articles is flattened and substantially level across a top surface. A controller in communication with drive motors, actuators, and at least one sensor is configured to determine whether the articles are flattened sufficiently for delivery to a packing station for receipt of folded laundry articles placed atop the plurality of unfolded laundry articles.

Abstract: A system for separating and spreading apart an amassed plurality of deformable articles includes an elongated platform configured to receive thereon adjacent an inlet end the amassed plurality of deformable articles. A plurality of arms is disposed in series along the platform. Grippers of each of the plurality of arms are configured to grasp in sequence at least one of the amassed plurality of deformable articles and move the at least one article toward an outlet end opposite the inlet end. The system includes a surface adjacent the outlet end and a last arm in the series of the plurality of arms delivers a separated deformable article into a repositioning work volume above the surface adjacent the elongated platform. Two or more repositioning arms are disposed about the work volume at individually anchored positions for spreading apart and lowering onto the surface the spread apart deformable article for folding.

Abstract: Devices, systems, and methods for autonomously separating and sorting a plurality of individual articles from a pile of laundry articles into two or more sorted loads for washing are described. For example, an autonomous sorting and separating system includes a stationary surface configured to receive thereon at a first location the pile of laundry articles. A plurality of actuatable grippers are disposed at spaced apart positions adjacent the stationary surface and comprise a first actuatable gripper configured to grasp, hoist, and deposit at a second location at least one of the plurality of individual articles within reach of a second actuatable gripper. A terminal gripper comprising at least one of the second actuatable gripper and another actuatable gripper is configured to release an individual article into one of the two or more sorted loads. At least one controller is in operable communication with the grippers.

Abstract: An autonomous system for washing and drying household laundry includes a plurality of autonomous combination washer and dryers each including a perforated drum disposed within a tub mated thereto at a drive end opposite an opening. A first air orifice is disposed through the tub. A detachable door includes a second air orifice configured to receive an air conduit such that air flows through the first and second air orifices during a drying cycle while the door seals the opening. A controller is configured to instruct a drive motor to spin the drum about a spin axis extending between the drive end and the opening. A driven carrier in operable communication with the controller slides along a raised rail disposed adjacent the plurality autonomous combination washer and dryers and retrieves, holds, and reseats a door in an opening of one of the plurality of autonomous combination washer and dryers.

Abstract: Devices, systems, and methods for autonomously separating a mass of clean laundry into single articles for folding and/or packing include autonomous separating device. The device includes a platform including a plurality of sequential work volumes and a stationary floor extending between an inlet end and an outlet end of the platform, a plurality of arms disposed in series along the platform for rotating, tilting, extending, and retracting a terminal gripper of each arm into an associated work volume for grabbing at least one of a plurality of laundry articles and passing the at least one laundry article to an adjacent work volume for grasping and hoisting by an adjacent arm. The device includes a bin, platform, conveyor and/or repositioning robot adjacent the outlet end for receiving each single article one at a time as each separate article passes beyond the outlet end.

Abstract: A device for autonomously folding a plurality of laundry article types to a plurality of combinable target rectangle sizes includes a rotatable platform configured to receive a laundry article on a surface thereof and at least one elongation configured to fold the laundry article on the platform to one of the combinable target rectangle sizes. Each of the plurality of combinable target rectangle sizes are configured to fit alone or in side by side stacking positions within a container. At least one sensor is configured to detect the laundry article on the rotatable platform. A controller in operable communication with the at least one elongation, a drive of the rotatable platform, and the at least one sensor is configured to instruct at least one of the drive of the rotatable platform to rotate the platform and the elongation to fold the laundry article at one or more fold lines.

Abstract: Devices, systems, and methods for autonomously queueing a plurality of folded laundry articles in a packing queue are described. A packing system includes a packing queue platform configured to receive a folded laundry article into one of a plurality of packing queue locations disposed along a length of the platform, a double ended conveyor, one or more sensors configured to detect a packing queue location, and a controller. The double ended conveyor includes a retrieving end and a depositing end. The conveyor is configured to be mounted to a one or more fixed rails for traveling along the length of the queue platform and cantilevering the depositing end over the packing queue platform for depositing the folded laundry article onto either a surface of the packing queue platform or another previously deposited folded laundry article of the plurality of folded laundry articles.

Abstract: Devices, systems, and methods for communicating between remote users and a system of autonomous robotic devices for processing residential loads of laundry are described. An autonomous robotic laundry system includes plurality of robotic devices configured to process one or more loads of household laundry from a mass of unwashed, non-uniform articles to individually separated, cleaned, folded, and packed laundry articles. In implementations, the autonomous robotic devices are configured to operate based on optional inputs communicated by a device of a remote user to at least one controller in operable communication with the autonomous robotic devices. The robotic devices are configured to determine how to process the deformable laundry articles based on at least one of applying sensor output to a machine learning model and executing routines incorporating the optional inputs. The at least one controller is configured to provide real-time updates of two or more process statuses of the system.