Robotic laundry sorting devices, systems, and methods of use

An autonomous sorting device for sorting a plurality of deformable articles, comprising:

• an enclosed channel comprising a plurality of sequential work volumes and a stationary floor extending between an inlet end and an outlet end of the channel, a portion of the stationary floor within a first work volume of the plurality of sequential work volumes being configured to receive thereon the plurality of deformable articles adjacent the inlet end;
• a plurality of arms disposed in series along the enclosed channel, each one of the plurality of arms comprising an actuatable terminal gripper configured to selectively grasp at least one of the plurality of deformable articles and at least one drive configured to at least one of rotate, tilt, extend, and retract the terminal gripper, each of the plurality of arms being associated with one of the plurality of sequential work volumes;
• an inlet orifice disposed in at least one of a ceiling and a wall of the enclosed channel, the plurality of deformable articles being received into the enclosed channel through the inlet orifice;
• an outlet orifice disposed adjacent the outlet end in at least one of a wall of the enclosed channel and the stationary floor, each one of the plurality of deformable articles exiting the enclosed channel through the outlet orifice;
• at least one sensor disposed at least one of on, adjacent to, and within one or more of the plurality of sequential work volumes, the at least one sensor configured to
• detect at least one of the plurality of deformable articles disposed within at least one of the plurality of sequential work volumes, and
• output a signal indicative of at least one of a presence and a location of the at least one of the plurality of deformable articles relative to the terminal gripper of one of the plurality of arms associated with the at least one of the plurality of sequential work volumes within which that at least one of the plurality of deformable articles is detected;
• and
• a controller in operable communication with the at least one drive and the at least one sensor, the controller configured to
• receive a signal from the at least one sensor indicative of detecting at least one of the plurality of deformable articles being disposed within at least one of the plurality of sequential work volumes,
• determine a location of the at least one of the plurality of deformable articles on the stationary floor,
• instruct the at least one drive to position a terminal gripper to grasp the at least one of the plurality of deformable articles, the terminal gripper being disposed on one of the plurality of arms associated with the at least one of the plurality of sequential work volumes within which the at least one of the plurality of deformable articles is detected,
• instruct the terminal gripper to close on the at least one of the plurality of deformable articles,
• instruct the at least one drive to
• raise the closed terminal gripper of the associated arm and the at least one of the plurality of deformable articles to a hoist height above the stationary floor, and
• rotate toward the outlet end into an adjacent work volume,
• instruct the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable articles in the adjacent work volume,
• receive a signal from the at least one sensor configured to detect the released at least one of the plurality of deformable articles within the adjacent work volumes, and
• determine, based on the received signal, a state comprising at least one of
• one or more of the plurality of deformable articles are present on the stationary floor,
• none of the plurality of deformable articles are present on the stationary floor, and
• one of the plurality of deformable laundry articles exited the enclosed channel through the outlet orifice.