Abstract: Systems and methods for autonomously placing and rearranging a plurality of unbound folded laundry articles in an ordered queue for ordered packing in a container are described. The system includes a plurality of tiered platforms configured to receive thereon folded laundry articles, the platforms comprising at least one placer conveyor configured to load the articles in an order into a container. At least two cantilevering, bi-directional conveyors transit along opposite sides of the platforms configured to place, retrieve and stack folded laundry articles on the plurality of tiered platforms and the placer conveyor. At least one controller is in operable communication with drives and sensors of the system, a memory, and a communication network, the at least one controller being configured to instruct the bi-directional conveyors to deposit, retrieve, and stack together the folded laundry articles on the placer conveyor.

Abstract: Devices, systems, and methods for autonomously stacking and compressing a plurality of unbound folded laundry articles in a packing queue are described. A method includes receiving output signal from one or more sensors determinative of the height of an unbound folded laundry article disposed on a conveyor configured to deposit the unbound folded laundry article atop one or more previously deposited one or more unbound folded laundry articles disposed on the packing queue platform; receiving an output signal determinative of a height of the previously deposited one or more unbound folded laundry articles; calculating a final stack height; depositing in a stack the folded laundry article atop the previously deposited one or more folded laundry articles upon determining the final stack height will not exceed a threshold height; and compressing the stack to a final stack height at or below the threshold height for compact loading into a container.

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: 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: 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: 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: 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: 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: A device for autonomously folding a deformable article includes a rotatable platform configured to receive the deformable article and at least one movable elongation in operable communication with at least one elongation drive. The at least one movable elongation is configured to raise and lower from the surface of the rotatable platform, move parallel to the surface, and manipulate the deformable article to thereby fold the deformable article at one of the one or more fold lines. The device includes a table drive configured to rotate the rotatable platform about a central axis such that the at least one elongation aligns with one of the one or more fold lines, and at least one sensor configured to detect the deformable article position and orientation on the rotatable platform. A controller is in operable communication with the at least one elongation drive, the table drive, and the at least one sensor.

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: A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Abstract: Devices, systems, and methods for autonomously queueing a plurality of folded household laundry articles in a packing queue are described. A packing system includes a rotating platform configured to rotate a folded laundry article for directional placement in the packing queue, at least one packing queue platform receiving the folded laundry article into a packing queue disposed thereon, and a double ended conveyor. The double ended conveyor includes a retrieving end and a depositing end. The conveyor is configured to be mounted to a gantry for traveling along the length of the queue platform and cantilevering the retrieving end over the rotating platform for retrieving the folded laundry article and 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 folded laundry article of the plurality of household laundry articles.

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.