Autonomous devices, systems, and methods for queuing folded laundry
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.
1 . A system for autonomously stacking a plurality of folded laundry articles on a packing queue platform, comprising:
the packing queue platform configured to receive thereon the plurality of folded laundry articles in one or more stacks for loading into a container;
a conveyor configured to deposit a folded laundry article of the plurality of folded laundry articles along a length of the packing queue platform at least one of on the packing queue platform and atop a previously deposited one or more folded laundry articles of a plurality of laundry articles in a stack;
a vertically actuated elevator coupled to the packing queue platform, the vertically actuated elevator configured to raise and lower the conveyor affixed to the vertically actuated elevator and configured to transit the conveyor along the length of the packing queue platform;
one or more sensors disposed adjacent at least one of the packing queue platform and the vertically actuated elevator, the one or more sensors being configured to detect a height of a folded laundry article disposed on the conveyor and a height of the previously deposited one or more folded laundry articles on the packing queue platform; and
a controller in operable communication with a conveyor drive configured to rotate a surface of the conveyor, an elevator drive of the vertically actuated elevator configured to raise and lower the conveyor vertically, a cantilever drive configured to slide the conveyor forward and backward toward and away from the packing queue platform, a rail drive configured to move the conveyor laterally along the length of the packing queue platform, and the one or more sensors, the controller being configured to
receive an output signal from the one or more sensors determinative of the height of the folded laundry article disposed on the conveyor and the height of the previously deposited one or more folded laundry articles,
determine whether the height of the previously deposited one or more folded laundry articles is short enough to receive the folded laundry article from the conveyor in a stack having a final height that does not exceed a threshold height;
deposit the folded laundry article, upon determining the previously deposited one or more folded laundry articles are short enough to receive the folded laundry article in a stack without the final height exceeding the threshold height, atop the previously deposited one or more folded laundry articles; and
deposit the folded laundry article atop the previously deposited one or more folded laundry articles and compress the stack to at or below the threshold height for compact loading into the container upon determining the final height of the stack is not short enough to receive the folded laundry article by a buffer height in a range of between about 5 to 15 cm.
2 . The system of claim 1 , wherein the controller is further configured to instruct the elevator drive and the cantilever drive to compress the stack by cantilevering the conveyor over the packing queue platform and lowering the conveyor to press a bottom surface of the conveyor against a top surface of the stack.
3 . The system of claim 1 , further comprising one or more driven compression plungers in operable communication with the controller, the one or more driven compression plungers being configured to compress the stack of folded laundry articles on the packing queue platform.
4 . The system of claim 3 , wherein the one or more driven compression plungers are disposed on at least one of the vertically actuated elevator and the packing queue platform, and at least one of the one or more sensors comprises a position sensor disposed on or proximate the one or more driven compression plungers.
5 . The system of claim 4 , wherein the position sensor is configured to sense a height the previously deposited one or more folded laundry articles on the packing queue platform and output a signal indicative of the height to the controller.
6 . The system of claim 4 wherein the position sensor comprises at least one of an encoder on a drive motor of the one or more driven compression plungers and a distance sensor measuring the height of at least one of the one or more driven compression plungers from some fixed point.
7 . The system of claim 4 , wherein the position sensor comprises an optical distance sensor mounted above the one or more driven compression plungers configured to measure at least one of the height of the one or more driven compression plungers and the height of the previously deposited one or more folded laundry articles on the packing queue platform.
8 . The system of claim 4 , wherein the one or more sensors comprise at least one position sensor disposed about the packing queue platform, such as point cloud sensors and other cameras configured to detect a depth.
9 . The system of claim 1 , wherein the one or more sensors comprise at least one of one or more point cloud sensors and one or more cameras configured to detect a depth.
10 . The system of claim 1 , wherein depositing the folded laundry article atop the previously deposited one or more folded laundry articles further comprises the controller being configured to
instruct the elevator drive to position a depositing end of the conveyor at a height in a range of between about 5 mm to 75 mm above a surface of the previously deposited one or more folded laundry articles disposed on the packing queue platform;
instruct the cantilever drive to cantilever the depositing end of the conveyor over the packing queue platform, and
instruct simultaneously, upon receiving a sensor signal from the one or more sensors indicative of the folded laundry article being proximate the depositing end, the conveyor drive to rotate the surface of the conveyor and the cantilever drive to withdraw the depositing end to deposit the folded laundry article in the stack atop the previously deposited one or more folded laundry articles.
11 . The system of claim 1 , wherein the plurality of folded laundry articles comprises at least one of two or more types of laundry articles and two or more sizes of laundry articles.
12 . The system of claim 1 , wherein the plurality of folded laundry articles comprises two or more article types of at least one of different sizes and different shapes, wherein each of the two or more article types comprise a longest dimension of between about 4 cm to 500 cm, and wherein a plurality of folded laundry articles comprises laundry articles belong to a common household.
13 . The system of claim 1 , wherein the plurality of folded laundry articles are unbound and not wrapped, sealed, restrained, or fastened in any way.
14 . A method of autonomously stacking and compressing a plurality of unbound folded laundry articles in a packing queue, comprising:
receiving, at a controller, an output signal from one or more sensors determinative of a height of an unbound folded laundry article of the plurality of unbound folded laundry articles disposed on a conveyor configured to cantilever over a packing queue platform and deposit the unbound folded laundry article thereon atop one or more previously deposited unbound folded laundry articles disposed on the packing queue platform;
receiving an output signal from the one or more sensors determinative of a height of the one or more previously deposited unbound folded laundry articles disposed on the packing queue platform;
calculating a final stack height based the height of the unbound folded laundry article and the height of the one or more previously deposited unbound folded laundry articles;
determining the final stack height will not exceed a threshold height by more than a buffer height, wherein the buffer height comprises a range of between about 5 to 15 cm;
depositing in a stack the unbound folded laundry article atop the one or more previously deposited unbound folded laundry articles upon determining the final stack height will not exceed a threshold height by more than a buffer height; and
compressing the stack to a final stack height at or below the threshold height for compact loading into a container.
15 . The method of claim 14 , further comprising lowering one or more compression plungers disposed on a conveyor gantry, the one or more compression plungers being configured to compress the stack to at or below the threshold height.
16 . The method of claim 14 , further comprising instructing a vertical elevator drive of the conveyor and a cantilever drive of the conveyor to compress the stack by cantilevering the conveyor over the packing queue platform and lowering the conveyor to press a bottom surface of the conveyor against a top surface of the stack.
17 . The method of claim 14 , wherein depositing the unbound folded laundry article atop the one or more previously deposited unbound folded laundry articles further comprises the controller being configured to
instruct a vertical elevator drive to position a depositing end of the conveyor at a height in a range of between about 5 mm to 75 mm above a surface of the one or more previously deposited unbound folded laundry articles disposed on the packing queue platform;
instruct a cantilever drive to cantilever the depositing end of the conveyor over the packing queue platform, and
instruct simultaneously, upon receiving a sensor signal from the one or more sensors indicative of the unbound folded laundry article being proximate the depositing end, a conveyor drive to rotate the surface of the conveyor and the cantilever drive to withdraw the depositing end to deposit the unbound folded laundry article in the stack atop the one or more previously deposited unbound folded laundry articles.
18 . The method of claim 14 , wherein the plurality of unbound folded laundry articles comprises at least one of two or more types of laundry articles and two or more sizes of laundry articles.
19 . The method of claim 14 , wherein the plurality of unbound folded laundry articles comprises two or more article types of at least one of different sizes and different shapes, wherein each of the two or more article types comprise a longest dimension of between about 4 cm to 500 cm, and wherein a plurality of folded laundry articles comprises laundry articles belong to a common household.
20 . The method of claim 14 wherein the threshold height comprises a range of 25 cm to 65 cm.