Autonomous laundry folding devices, systems, and methods of use
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.
1. A device for autonomously folding a plurality of laundry article types to a plurality of combinable target rectangle sizes, comprising:
a rotatable platform configured to receive a laundry article of the plurality of laundry articles on a surface thereof;
at least one elongation configured to fold the laundry article on the rotatable platform at one or more fold lines to one of the plurality of combinable target rectangle sizes, each of the plurality of combinable target rectangle sizes being configured to fit alone or in side by side stacking positions within a container;
at least one sensor configured to detect the laundry article on the rotatable platform, the at least one sensor comprising one or more cameras calibrated at a fixed position and orientation relative to the surface of the rotatable platform; and
at least one controller in operable communication with the at least one elongation, a drive of the rotatable platform, and the at least one sensor, the at least one controller being configured to, iteratively:
receive a signal from the at least one sensor indicative of an area occupied by the laundry article on the surface of the rotatable platform,
determine whether dimensions of the laundry article are within bounds of one of the plurality of combinable target rectangle sizes, and
instruct, based on a determination that the dimensions are not within bounds of one of the plurality of combinable target rectangle sizes, at least one of the drive of the rotatable platform to rotate the rotatable platform and the at least one elongation to fold the laundry article on the surface of the rotatable platform at one of the one or more fold lines.
2. The device of claim 1 , wherein the at least one controller is further configured to stop iteratively instructing the at least one of the rotatable platform to rotate and the at least one elongation to fold the laundry article upon determining the dimensions of the laundry article are within bounds of one of the plurality of combinable target rectangle sizes.
3. The device of claim 1 , wherein the one or more fold lines are preplanned in a specific order to achieve a final folded state of the laundry article that is at or within one of the plurality of combinable target rectangle sizes.
4. The device of claim 1 , wherein the at least one controller is configured to dynamically change the determined one of the plurality of combinable target rectangle sizes based on article behaviors and partially folded states while iteratively instructing the at least one elongation to fold the laundry article.
5. The device of claim 1 , wherein the at least one controller is configured to instruct the drive of the rotatable platform to rotate the rotatable platform such that the at least one elongation extends parallel to the one of the one or more fold lines prior to the at least one controller instructing the at least one elongation to fold the laundry article at the one of the one or more fold lines.
6. The device of claim 1 , wherein the at least one elongation is configured to move toward and away from the surface of the rotatable platform and parallel to the surface of the rotatable platform to fold the laundry article at the one of the one or more fold lines.
7. The device of claim 1 , wherein, based on a received signal of the at least one sensor, the at least one controller is further configured to determine one of the plurality of combinable target rectangle sizes to which the laundry article should be folded based on at least two of a detected article type, article size, and article thickness.
8. The device of claim 7 , wherein the at least one controller is configured to inform at least one of a location and orientation of one or more fold lines across the laundry article and a sequence of folds based on one or more predetermined final folded dimensions of the determined one of the plurality of combinable target rectangle sizes.
9. The device of claim 8 , wherein the at least one controller is further configured to determine the one or more predetermined final folded dimensions of the laundry article by identifying in a memory store one or more predetermined final folded dimensions associated with the at least one of the article type, the article size, and the article thickness.
10. The device of claim 1 , wherein each one of the plurality of combinable target rectangle sizes has at least one of an equal dimension to another of the plurality of combinable target rectangle sizes and a dimension that is an even fraction of a dimension of a larger one of the plurality of combinable target rectangle sizes.
11. The device of claim 1 , wherein the at least one controller is further configured to, iteratively,
receive one or more output signals from the at least one sensor,
determine, based on the received one or more output signals, at least one of an article type, size, thickness, and the area occupied by the laundry article on the rotatable platform,
determine, based on the at least one of the determined article type, determined article size, determined article thickness, and a location and orientation of the area occupied by the laundry article on the surface of the rotatable platform, a fold line of the one or more fold lines of the laundry article, and
instruct the drive of the rotatable platform to rotate the rotatable platform to align the determined fold line of the one or more fold lines with the at least one elongation suspended above the rotatable platform.
12. The device of claim 11 , wherein the drive of the rotatable platform is configured to rotate one or more times for alignment of the at least one elongation with two or more fold lines of the one or more fold lines.
13. The device of claim 12 , wherein the at least one controller is configured to instruct the at least one elongation to fold the laundry article at the one or more fold lines to achieve a final folded state that is at or within the one of the plurality of combinable target rectangle sizes.
14. The device of claim 1 , wherein the at least one controller is configured to dynamically determine a position and orientation of each of the one or more fold lines based on at least one of an accrued number of folds already executed and a determination of a difference in a maximum height and a minimum height of a top surface of the laundry article from the surface of the rotatable platform not being within or greater than a range between 1 to 3 inches.
15. The device of claim 1 , wherein the plurality of laundry article types comprise two or more article types of at least one of different sizes and different shapes, and wherein each of the two or more article types comprises a longest dimension of between about 4 cm to 500 cm.
16. A method of folding a plurality of laundry articles of disparate types and sizes to one of a plurality of combinable final folded footprint areas configured to combine to fill a container volume in side by side stacks, comprising:
iterating a folding sequence one or more times, the folding sequence comprising
receiving, at at least one controller, one or more output signals from one or more sensors in communication with the at least one controller, the one or more sensors being configured to detect at least one of an article type, an article size, and an article thickness of a laundry article of the plurality of laundry articles disposed on a surface of a rotatable platform,
determining, based on the at least one of the article type, article size, and article thickness, at least one final fold dimension of one of the plurality of combinable final folded footprint areas, and
instructing at least one of the rotatable platform to rotate and at least one elongation to fold the laundry article by iteratively
slidably moving in a first direction over the rotatable platform toward an area of the rotatable platform on which the laundry article is disposed, the at least one elongation being configured to slide between the laundry article and the surface,
raising the laundry article up while moving in the first direction over the rotatable platform until the laundry article disengages from the at least one elongation, and
determining whether the laundry article comprises the at least one final fold dimension; and
stopping iterating the folding sequence upon determining the laundry article comprises the at least one final fold dimension.
17. The method of claim 16 , wherein the at least one controller is further configured to generate, based on one or more received output signals from the one or more sensors, a pixel map of where the laundry article is on the surface of the rotatable platform to determine the area of the surface of the rotatable platform on which the laundry article is disposed.
18. The method of claim 17 , wherein, based on determining the area of the surface of rotatable platform on which the laundry article is disposed, the at least one controller is configured to determine how far into the pixel map to instruct the at least one elongation to move during iterative folding sequence.
19. The method of claim 16 , wherein the at least one controller is configured to receive an output signal comprising at least one of 3-D image data of the laundry article and one or more 2-D images of the laundry article.
20. The method of claim 19 , wherein determining the article type comprises performing a comparison to classified images stored in a memory in communication with the at least one controller.
21. The method of claim 16 , wherein the at least one controller is configured to dynamically change the determined at least one final fold dimension of one of the plurality of combinable final folded footprint areas based on at least one of article behaviors and partially folded states during the folding sequence.
22. The method of claim 16 , wherein each one of the plurality of combinable final folded footprint areas has at least one of an equal dimension to another of the plurality of combinable final folded footprint areas and a dimension that is an even fraction of a dimension of a larger one of the plurality of combinable final folded footprint areas.
23. The method of claim 16 , wherein the at least one controller is configured to inform at least one of a location and orientation of one or more folds and a sequence of folds based on the determined at least one final fold dimension of one of the plurality of combinable final folded footprint areas.
24. The method of claim 23 , wherein the at least one controller is further configured to determine the at least one final fold dimension of one of the plurality of combinable final folded footprint areas of the laundry article by identifying in a memory store one or more predetermined final folded area footprint dimensions associated with the at least one of the article type, the article size, and the article thickness.