Patent Publication Number: US-11643769-B2

Title: Robotic laundry sorting devices, systems, and methods of use

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 63/093,236 filed Oct. 18, 2020, titled “Robotic Laundry Sorting Devices, Systems, And Methods of Use,” the entirety of which application is hereby incorporated by reference. 
    
    
     BACKGROUND 
     The present disclosure is directed to robotic laundry devices, systems, and methods. 
     Automating and outsourcing mundane, time-consuming household chores to robotic devices is increasingly common. Time saving home robots include, for example, floor vacuuming and floor washing robots. Outsourcing responsibilities include, for example, engaging grocery shopping and delivery services, and manually operated and human-operator dependent laundry washing and dry-cleaning pick up and return services. 
     Many homes are appointed with a dedicated washer and dryer for family use. Domestic washers and dryers are increasingly sophisticated and include IoT connectivity features and push notifications for alerting users about cycle progress and energy and resource usage. These technologically advanced machines, however, require human interaction and cannot eliminate the time required for processing loads of laundry in the home. Although more modern, “high efficiency” machines are equipped with sensors for metering water usage and dryer temperatures, the efficiency gains are capped by the constraints of sequentially processing single loads of laundry. Grey water is output to the city water and sewer system for mitigation with each load of laundry processed. Energy is consumed with each load of laundry washed and dried. 
     Households can outsource laundry chores to gig worker services and/or laundromat facilities for a fee in exchange for time. Laundromats and gig services offering residential mixed load laundering services, however, require human interaction for intake and sorting of dirty laundry, transferring loads from washer to dryer, and then manually folding clean laundry. These are costly processes as measured in time, energy consumption, water consumption, and wastewater output, and they rely on human intervention to keep the process running at every transition and throughout several process steps. This invites delays at every stage. Because these processes are human-dependent and inefficient, the costs are passed along to customers outsourcing their laundry for cleaning. Human-reliant laundering services also require that employees touch the belongings of the customer, potentially exposing the employee to contaminants in the dirty laundry and potentially exposing the clean laundry to transferable pathogens, dust, hair, and other debris emanating from a laundromat employee. In addition to potentially introducing undesirable contact contamination from the employees processing the loads of laundry, a privacy barrier is breached. Outsourcing household laundry to a laundromat or gig economy worker involves employees interacting with customers&#39; personal belongings including bodily worn garments. 
     Industrial laundry services exist for handling uniform, batched business-related items, such as batches of hospital or hotel bed sheets, batches of medical scrubs, and batches of hotel towels, each batch having consistent characteristics between and within loads for determining expectedly consistent washing and drying processes. Such industrial machines are tailor-made to accept one type of laundry item of one size or style. For example, unique folding machines exist to accept a dedicated one of washed flat sheets, fitted sheets, hotel towels, and hotel bathrobes. These machines require human operators to load the washed article into its dedicated machine, which is sized and designed to fold that one type and size of article. This type of process line relies on a human operator for properly aligning and loading the clean article into the machine, which could introduce bodily contaminants, bacteria, and viral matter into the clean articles. Like laundromat services and gig workers washing in their home appliances, these industrial services rely on human intervention and potentially introduce bio-contaminants into clean loads of laundry. Because these services are only profitable by processing large volumes of like items, these industrial processors are generally subscription-based services for large clients like hotels and hospitals producing standard-size, repeat laundry articles and are not available to consumers at an individual household level. Additionally, these services are configured to combine laundry from more than one source and are not configured to isolate and process separate loads for individual households. 
     Autonomous robotic devices are provided to process loads of household laundry. Such devices eliminate human contact with deformable laundry articles. As such, the devices need to be designed to be efficient and reliable for replacing the common, human-dependent chore of laundry. 
     SUMMARY 
     In one example, an autonomous sorting device for separating and sorting a plurality of amassed deformable articles includes an enclosed channel, a plurality of arms, an inlet orifice, an outlet orifice, at least one sensor, and a controller. The enclosed channel includes 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 is 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. The plurality of arms are disposed in series along the enclosed channel. Each one of the plurality of arms includes 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. The inlet orifice is disposed in at least one of a ceiling and a wall of the enclosed channel, and the plurality of deformable articles are received into the enclosed channel through the inlet orifice. The outlet orifice is 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. The at least one sensor is 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 is 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 the presence and 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. The controller is in operable communication with the at least one drive and the at least one sensor. The controller is 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. The controller is configured to determine a location of the at least one of the plurality of deformable articles on the stationary floor relative to an arm associated with one of the plurality of sequential work volumes within which the at least one of the plurality of deformable articles is detected. The controller is configured to 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 the arm 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. The controller is configured to instruct an actuator of 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 grasped 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 including 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. 
     Implementations of the device may include one or more of the following features. 
     In examples, the plurality of deformable articles are non-uniform. 
     In examples, the plurality of sequential work volumes includes three or more work volumes. 
     In examples, the outlet orifice is disposed in a last work volume of the plurality of sequential work volumes, the last work volume being adjacent the outlet end. 
     In examples, the outlet orifice is disposed in the stationary floor of a last of the plurality of sequential work volumes. 
     In examples, a number of work volumes including the plurality of sequential work volumes is one greater than the number of the plurality of arms and each of the plurality of arms is associated with a work volume directly adjacent at least one other work volume associated with one of the plurality of arms. 
     In examples, the plurality of sequential work volumes includes three or more work volumes and the plurality of arms includes three or more arms, each of the three or more arms being associated with one of the three or more work volumes. 
     In examples, the plurality of sequential work volumes includes three or more work volumes and an outlet-facing end of each of the three or more work volumes overlaps with an inlet-facing end of an adjacent sequential one of the three or more work volumes such that each arm of the plurality of arms is configured to extend into one or more adjacent work volumes of the plurality of sequential work volumes. 
     In examples, the controller is further configured to, based on determining one or more deformable articles are present on the stationary floor in the adjacent work volume, iteratively determine a location of the at least one of the plurality of deformable articles on the stationary floor relative to an arm associated with the adjacent work volume, instruct the at least one drive of the arm associated with the adjacent work volume to position the terminal gripper of the arm associated with the adjacent work volume at the determined location to grasp the at least one of the plurality of deformable articles, instruct an actuator of the terminal gripper of the arm associated with the adjacent work volume 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 arm associated with the adjacent work volume and the grasped at least one of the plurality of deformable articles to a hoist height above the stationary floor and rotate toward the outlet end into a next sequential adjacent work volume of the three or more work volumes, 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 next sequential adjacent work volume, receive a signal from the at least one sensor configured to detect the at least one of the plurality of deformable articles, and determine, based on the received signal, a state including at least one of the following conditions: 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 articles exited the enclosed channel through the outlet orifice. In examples, the controller is configured to stop iterating when the plurality of deformable articles exits the enclosed channel through the outlet orifice as solitary deformable articles. 
     In examples, the controller is further configured to instruct two or more of the plurality of arms to operate simultaneously within each associated one of the plurality of sequential work volumes. The terminal grippers of the two or more of the plurality of arms operating simultaneously can simultaneously grasp at least one of the plurality of deformable articles. 
     In examples, the controller is further configured to, based on determining none of the plurality of deformable articles are present on the stationary floor in the adjacent work volume, receive a signal from the at least one sensor indicative of at least one of the plurality of deformable articles remaining disposed within the one of the plurality of sequential work volumes preceding the adjacent work volume, determine a location of the at least one of the plurality of deformable articles on the stationary floor relative to the associated arm, instruct the at least one drive to position the terminal gripper of the associated arm at the determined location to grasp the at least one of the plurality of deformable articles, instruct an actuator of the terminal gripper of the associated arm 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 grasped at least one of the plurality of deformable articles to a hoist height above the stationary floor and rotate toward the outlet end into the 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, and determine, based on the received signal, a state including at least one of the following conditions: 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 articles exited the enclosed channel through the outlet orifice. 
     In examples, the enclosed channel is fully enclosed on all sides and at the inlet and outlet ends. The inlet orifice and outlet orifice can each further include an actuated covering for selectively exposing and sealing each of the orifices, the controller being in operative communication with the actuation of each covering. 
     In examples, the stationary floor includes a substantially level surface from the inlet end to the outlet end. The stationary floor can include a substantially continuous surface throughout all of the plurality of sequential work volumes. 
     In examples, the enclosed channel is raised. 
     In examples, the one or more bins are configured to be disposed beneath the stationary floor, each of the one or more bins being configured to receive one or more of the plurality of deformable articles having one or more characteristics associated with at least one of the one or more bins. One of the one or more bins (e.g., sorting bins) can be disposed beneath the exit orifice for receiving each one of the plurality of deformable articles exiting the enclosed channel individually. 
     In examples, each of the one or more bins includes an identification marker for associating an identity of the bin. The one or more characteristics can include at least one of color, size, material composition, article type, degree of dirtiness, and fabric heat tolerance. The device can include an actuated carousel in operable communication with the controller, the actuated carousel being configured to receive thereon the one or more bins and rotate the one or more bins beneath the enclosed channel to match a characteristic of one of the one or more bins positioned beneath the outlet orifice with the one or more characteristics of each one of the plurality of deformable articles exiting the enclosed channel. In examples, the identification marker includes at least one of a machine-readable serial number, a bar code, a machine-readable QR code, an RFID code, NFC tag, a WIFI enabled tag, a ZIGBEE enabled tag, and an active radio telemetry system. A memory in communication with the controller can be configured to store at least one relation including one of the one or more characteristics associated with the bin, the bin identification marker for each of the one or more bins, and a customer identity shared by the plurality of deformable articles received into the enclosed channel. 
     In examples, the controller is in communication with a communication network and a remote terminal in communication with the communication network is configured to receive a customer input including the one or more characteristics associated with the plurality of deformable articles. 
     In examples the at least one sensor is configured to detect the one or more characteristics of each one of the plurality of deformable articles and output a signal to the controller including the detected one or more characteristics. The at least one sensor can include at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, a pair of stereo depth cameras, and a spectrometer. In examples, the at least one sensors outputs at least one of depth map, RGB images, and IR images. The at least one sensor can be configured to output 3-D image data to the controller. The at least one sensor are configured to output one or more 2-D images to the controller. In examples, the at least one sensor is a camera, and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, the controller is further configured to determine, based on a comparison of a received output signal of the at least one sensor to data stored in a memory in communication with the controller, at least one of an article type, an article color, an article size, and an article fabric. At least one of the at least one sensor is a 2-D camera and the data associated with repositioned deformable laundry article is size invariant image data. The memory can further include a neural network and determining the one or more characteristics of each one of the plurality of deformable articles includes processing the received output signal of the at least one sensor of each of the plurality of work volumes with a neural network classifier. 
     In examples, the controller is further configured to receive an output signal including an image, determine, based on the output signal, a number of pixels in each of an upper half and a lower half of the image, the number of pixels being representative of at least one deformable article being grasped by a terminal gripper and held at a hoist height, and determine based on the number of pixels in the lower half of the image exceeding a preset threshold that the at least one deformable article is a large sized article. 
     In examples, the controller is further configured to receive an output signal including an image of a deformable article in the enclosed channel, determine, based on the output signal and a calibrated coordinate space, where in the calibrated coordinate space each pixels of the image lies, and determine at least one of a location, shape, and size of the deformable article. In examples, the at least one sensor is a camera and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, the controller is further configured to determine, based on receiving a signal from the at least one sensor disposed within at least one of the plurality of sequential work volumes, that none of the plurality of deformable articles remain on the stationary floor in any of the plurality of sequential work volumes. Upon determining that none of the plurality of deformable articles remain on the stationary floor in any of the plurality of sequential work volumes, the controller is further configured to instruct an actuator of the carousel to transit the one or more bins of the sorted plurality of deformable articles to one or more autonomous combination washing and drying machines. 
     In examples, a retractable cleaner is configured to advance through the enclosed channel from the inlet end to the outlet end while cleaning one or more interior surfaces. The retractable cleaner can form the inlet wall of the enclosed channel in a fully retracted position. In implementations, the retractable cleaner includes a planar profile contoured and fitted to a cross sectional profile of the enclosed channel. The retractable cleaner includes an actuatable cleaning drive in operable communication with the controller. Upon determining that none of the plurality of articles remain on the stationary floor in any of the sequential work volumes, the controller is configured to instruct the retractable cleaner to advance from the inlet end to the outlet end of the enclosed channel. The controller can be configured to instruct the plurality of arms to retract from their associated work volumes prior to the retractable cleaner advancing through the plurality of work volumes such that only the terminal gripper of each of the plurality of arms remains within an associated work volume. The retractable cleaner can include a slot configured to pass over and clean the terminal gripper. 
     In examples, one or more UV lights are in operable communication with the controller. The one or more UV lights illuminate the one or more sequential work volumes of the enclosed channel after the retractable cleaner advances to the outlet end and retracts to the inlet end. The one or more UV lights can be disposed on an interior surface of the enclosed channel. The controller can be further configured to instruct the plurality of arms fully extend into the enclosed channel before the one or more UV lights are illuminated. 
     In examples, the retractable cleaner further includes one or more wheels extending from a face of the retractable cleaner for guiding motion of the retractable cleaner along one or more interior surfaces of the enclosed channel. 
     In examples, the retractable cleaner further includes a plurality of spray ports disposed along a continuous outer surface of the retractable cleaner facing the one or more interior surfaces of the enclosed channel. A service line can be in fluid communication with the plurality of spray ports. The service line can be configured to provide a cleaning fluid for application to the one or more interior surfaces via the plurality of ports. The cleaning fluid includes at least one of steam, water, detergent, germicide, and pesticide. The service line can further include at least one of a vacuum line and a power conduit. 
     In examples, the retractable cleaner further includes a plurality of evacuation ports disposed along the continuous outer surface of the retractable cleaner facing the one or more interior surfaces of the enclosed channel. The plurality of evacuation ports can be in operative communication with the vacuum line for suctioning remaining moisture from the one or more interior surfaces of the enclosed channel upon advancement of the retractable cleaner through the enclosed channel. 
     In examples, the retractable cleaner includes a squeegee on a trailing edge of the continuous outer surface of the retractable cleaner facing the one or more interior surfaces of the enclosed channel. 
     In examples, the device further includes at least one fill sensor in communication with the controller. The at least one fill sensor is configured to detect an occupied volume of the one or more bins. The at least one fill sensor can be an optical sensor configured to detect a minimum threshold fill line and a maximum threshold fill line disposed on an interior surface of one of the one or more bins positioned beneath the exit orifice. The fill sensor can be configured to detect whether the of one or more of the plurality of deformable articles received in the one of the one or more bins reaches or surpasses the minimum threshold fill line. In examples, the maximum threshold fill line is a top edge of the one of the one or more bins, and the fill sensor is configured to output a signal indicative of the occupied volume of the one of the one or more bins being with a threshold range between the minimum threshold fill line and maximum threshold fill line. Upon determining an occupied volume of the one of the one or more bins is within a threshold range indicative of being filled, the controller is further configured to instruct the carousel to unload the filled one of the one or more bins containing the sorted plurality of deformable articles to an autonomous combination washing and drying machine. 
     In examples, the at least one fill sensor is a weight sensor disposed beneath the one of the one or more bins positioned beneath the exit orifice and configured to detect whether the weight of the one of the one or more bins reaches or surpasses a minimum threshold weight indicative of a bin full condition. The weight sensor can be a scale. 
     In examples, the at least one fill sensor is configured to output a signal indicative of a bin full condition. Upon determining a bin full condition, the controller is further configured to instruct the carousel to unload the filled one of the one or more bins containing the sorted plurality of deformable articles to an autonomous combination washing and drying machine. 
     In examples, the plurality of deformable articles includes one or more loads of dirty household laundry. The plurality of deformable articles can include two or more article types of at least one of different sizes, different shapes, different colors, and different fabrics. 
     In examples, the device further includes an actuated outlet door in operable communication with the controller. The controller can be further configured to receive a signal from the at least one sensor indicative of the presence of a deformable article above the outlet orifice, and actuate the outlet door to reveal the outlet orifice when a deformable article is positioned above the outlet orifice for exiting the channel. 
     In examples, the inlet orifice is disposed in ceiling of the enclosed channel. The device further includes an actuatable inlet door in operable communication with the controller. The actuatable inlet door is configured to selectively seal and expose the inlet orifice. Upon alignment of a sealed container containing the plurality deformable articles above the inlet orifice, the controller is further configured to actuate the inlet door to reveal the inlet orifice. In examples, the device further includes a pair of rotatable clamps configured to engage the container and rotate the container to an inverted position for dropping the plurality of deformable articles onto the stationary floor of the enclosed channel. A hinged lid of the sealed container can be configured to open into the inlet orifice upon rotation to an inverted position. 
     In examples, the plurality of arms of the device each further include a rod configured to extend from an anchor at corresponding individually anchored positions. The rod includes a fully extended length of between about 0.25 m and 4 m. The anchor includes at least one drive, and the at least one drive includes a pan drive, a tilt drive, and an extend drive. The controller can be further configured to drive the at least one drive in at least one of alternating side-to-side and alternating up and down motions to shake a grasped deformable article of the plurality of deformable articles at the hoist height. 
     In examples, each one of the plurality of arms includes between one and three degrees of freedom. 
     In examples, each one of the plurality of arms includes at least one compliant joint. The at least one compliant joint can include a compliant wrist disposed between the extendable rod and the terminal gripper. 
     In examples, the terminal gripper of each of the plurality of arms includes at least two actuatable fingers. The at least two actuatable fingers can include an overmold including a durometer of between about 40 A to 80 A. 
     In examples, the terminal gripper of each of the plurality of arms is at least one of cable driven and pneumatically driven, and an actuator of each terminal gripper is in operable communication with the controller. 
     In examples, the device further includes a wrist disposed between each of the plurality of arms and an associated terminal gripper. The wrist includes one or more sensors configured to detect forces applied to the terminal gripper. 
     In examples, each anchor is disposed on a base outside the enclosed channel and the associated one of the plurality of arms disposed on the base extends through a side wall of the enclosed channel. The device can further include a plurality of openings in a sidewall of the enclosed channel, each of the plurality of openings being configured to receive a rod of each one of the plurality of arms therethrough and a seal disposed about each of the plurality of openings through which the rod of each one of the plurality of arms extends. The seal can includes and/or be manufactured from a flexible material configured to stretch as the rod extends, pans, tilts, and retracts. The seal can be pleated and compressible. The seal can be configured to enable the rod to retract so that only the terminal gripper remains exposed within the enclosed channel. The flexible material can include at least one of NEOPRENE, vinyl, rubber, plastic, leather, urethane, silicone, and elastane (SPANDEX). 
     In examples, a plurality anchors each associated with the plurality of arms are disposed on at least one of a wall, the stationary floor, and the ceiling of the enclosed channel. 
     In examples, the hoist height is a predetermined hoist height. The predetermined hoist height can includes a range of between about 0.5 to 4 m above the stationary floor. 
     In examples, the device further includes one or more weight sensors disposed on each of the plurality of arms. The one or more weight sensor are in operative communication with the controller and configured to continuously detect a rate of change as each one of the plurality of deformable laundry articles is raised. The controller is configured to determine each one of the plurality of deformable laundry articles is raised to a hoist height when the one or more weight sensors detect an unchanging rate of change of measured weight. 
     In examples, the at least one sensor of the device includes at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, and a pair of stereo depth cameras. The at least one sensor can output to the controller at least one of a depth map, RGB images, and IR images. The at least one sensor can be configured to output 3-D image data to the controller. Additionally or alternatively, the at least one sensor can be configured to output one or more 2-D images to the controller. In examples, the at least one sensor is a camera and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, determining a location of the at least one of the plurality of deformable articles on the stationary floor further includes determining one or more grip points on the at least one of the plurality of deformable articles. In examples, the one or more grip points are disposed on a high point of the at least one of the plurality of deformable articles. Additionally or alternatively, the one or more grip points are disposed on an edge of the at least one of the plurality of deformable articles. Additionally or alternatively, the controller is configured to generate a mask of the at least one of the plurality of deformable articles and identify one or more grip points that are disposed within an area of the mask. 
     In examples, the at least one sensor is disposed outside the enclosed channel above one or more of the plurality of sequential work volumes. 
     In examples, the at least one sensor is disposed adjacent a transparent window in a ceiling of the enclosed channel and includes a field of view encompassing the associated work volume. 
     In examples, the at least one sensor is disposed within the enclosed channel adjacent one of the plurality of arms and includes a field of view encompassing the work volume associated with the adjacent one of the plurality of arms. 
     In one example, a method of robotically sorting a plurality of deformable laundry articles into loads for washing includes receiving, at a controller, a signal from at least one sensor disposed at least one of on, adjacent to, and within one or more of a plurality of sequential work volumes, the signal being indicative of at least one of the plurality of deformable laundry articles being disposed within the at least one of the plurality of sequential work volumes. The method includes determining, based on the received signal, a location of the at least one of the plurality of deformable articles on a stationary floor within at least one of the plurality of sequential work volumes, the plurality of sequential work volumes being constituent to an enclosed channel and the stationary floor extending between an inlet end and an outlet end of the enclosed channel, a portion of the stationary floor adjacent the inlet end being configured to receive thereon the plurality of deformable laundry articles. The method includes instructing at least one drive of at least one of a plurality of arms disposed in series along the enclosed channel to at least one of rotate, tilt, extend, and retract a terminal gripper configured to selectively grasp at least one of the plurality of deformable laundry articles at the determined location, each one of the plurality of arms being associated with one of the plurality of sequential work volumes. The method includes instructing, by the controller, an actuator of the terminal gripper to close on the at least one of the plurality of deformable laundry articles. The method includes instructing the at least one drive to raise the closed terminal gripper and the grasped at least one of the plurality of deformable laundry articles to a hoist height above the stationary floor, and rotate toward the outlet end into an adjacent work volume. The method includes instructing the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable laundry articles in the adjacent work volume, receiving a signal from at least one sensor in the adjacent work volume of the plurality of sequential work volumes, and determining, based on the received signal, a state including at least one of the following: one or more of the plurality of deformable laundry articles are present on the stationary floor, one or more of the plurality of deformable laundry articles are not present on the stationary floor, and one the plurality of deformable laundry articles exited the enclosed channel through an outlet orifice disposed in the stationary floor adjacent the outlet end. 
     Implementations of the method may include one or more of the following features. 
     In examples, the plurality of sequential work volumes includes three or more work volumes. 
     In examples, the outlet orifice is disposed in a last work volume of the plurality of sequential work volumes, the last work volume being adjacent the outlet end. 
     In examples, the outlet orifice is disposed in the stationary floor of a last of the plurality of sequential work volumes. 
     In some examples, a number of work volumes including the plurality of sequential work volumes is one greater than the number of the plurality of arms and each of the plurality of arms is associated with a work volume directly adjacent at least one other work volume associated with one of the plurality of arms. 
     In examples, the plurality of sequential work volumes includes three or more work volumes, and the plurality of arms includes three or more arms. Each of the three or more arms is associated with one of the three or more work volumes. 
     In examples, the plurality of sequential work volumes includes three or more work volumes and an outlet-facing end of each of the three or more work volumes overlaps with an inlet-facing end of an adjacent sequential one of the three or more work volumes such that each arm of the plurality of arms is configured to extend into one or more adjacent work volumes of the plurality of sequential work volumes. 
     In examples, the method further includes, based on determining clothes are present on the stationary floor in the adjacent work volume, iteratively determining a location of the at least one of the plurality of deformable laundry articles on the stationary floor relative to an arm of the plurality of arms associated with the adjacent work volume, instructing the at least one drive of the arm associated with the adjacent work volume to position the terminal gripper of the arm associated with the adjacent work volume at the determined location to grasp the at least one of the plurality of deformable laundry articles, instructing an actuator of the terminal gripper of the arm associated with the adjacent work volume to close on the at least one of the plurality of deformable laundry articles, instructing the at least one drive to raise the closed terminal gripper of the arm associated with the adjacent work volume and the grasped at least one of the plurality of deformable laundry articles to a hoist height above the stationary floor and rotate toward the outlet end into a next sequential adjacent work volume of the three or more work volumes, instructing the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable laundry articles in the next sequential adjacent work volume, receiving a signal from the at least one sensor configured to detect the at least one of the plurality of deformable laundry articles in the next sequential adjacent work volume of the plurality of sequential work volumes, and determining, based on the received signal, a state including at least one of the following: one or more of the plurality of deformable laundry articles are present on the stationary floor, one or more of the plurality of deformable laundry articles are not present on the stationary floor, and one of the plurality of deformable laundry articles exited the enclosed channel through the outlet orifice. 
     In examples, the method further includes stopping iterating when each one of the plurality of deformable laundry articles exits the enclosed channel through the outlet orifice as a solitary deformable article. 
     In examples, the method further includes instructing two or more of the plurality of arms to operate simultaneously within each associated one of the plurality of sequential work volumes. The terminal grippers of the two or more of the plurality of arms operating simultaneously are configured to simultaneously grasp at least one of the plurality of deformable articles. 
     In examples, the method further includes instructing the at least one drive to move the terminal gripper in at least one of alternating side-to-side and alternating up and down motions to shake a grasped deformable article of the plurality of deformable articles at the hoist height. 
     In examples, the at least one sensor of the device includes at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, and a pair of stereo depth cameras. The at least one sensor can output to the controller at least one of a depth map, RGB images, and IR images. The at least one sensor can be configured to output 3-D image data to the controller. Additionally or alternatively, the at least one sensor can be configured to output one or more 2-D images to the controller. In examples, the at least one sensor is a camera and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, determining a location of the at least one of the plurality of deformable articles on the stationary floor further includes determining one or more grip points on the at least one of the plurality of deformable articles. In examples, the one or more grip points are disposed on a high point of the at least one of the plurality of deformable articles. Additionally or alternatively, the one or more grip points are disposed on an edge of the at least one of the plurality of deformable articles. 
     In examples, the method further includes, based on determining clothes are not present on the stationary floor in the adjacent work volume, receiving a signal from the at least one sensor indicative of at least one of the plurality of deformable laundry articles remaining disposed within the one of the plurality of sequential work volumes preceding the adjacent work volume, determining a location of the at least one of the plurality of deformable laundry articles on the stationary floor relative to the associated arm, instructing the at least one drive to position the terminal gripper of the associated arm at the determined location to grasp the at least one of the plurality of deformable laundry articles, instructing an actuator of the terminal gripper of the associated arm to close on the at least one of the plurality of deformable articles, instructing the at least one drive to raise the closed terminal gripper of the associated arm and the grasped at least one of the plurality of deformable laundry articles to a hoist height above the stationary floor and rotate toward the outlet end into the adjacent work volume, instructing the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable laundry articles in the adjacent work volume, and determining, based on the received signal, a state including at least one of the following: one or more of the plurality of deformable laundry articles are present on the stationary floor, one or more of the plurality of deformable laundry articles are not present on the stationary floor, and one of the plurality of deformable laundry articles exited the enclosed channel through the outlet orifice. 
     In examples, determining a location of the at least one of the plurality of deformable laundry articles on the stationary floor relative to the associated arm includes the controller executing a series of instructions to perform a background subtraction routine on an input signal including a 2D image to locate at least one of the plurality of deformable laundry articles disposed on the stationary floor. 
     In examples, the background subtraction routine includes outputting a location of a perimeter of the at least one of the plurality of deformable laundry articles on the stationary floor relative to the at least one sensor and a current position of the terminal gripper. 
     In examples, the method further includes receiving a current signal from the at least one drive indicative of none of the plurality of deformable laundry articles being grasped in the terminal gripper at the hoist height. The controller can determine that the terminal gripper closed without grasping the detected at least one of the plurality of deformable laundry articles and repeat the steps of determining a location of the at least one of the plurality of deformable laundry articles on the stationary floor relative to an arm of the plurality of arms associated with the adjacent work volume, instructing the at least one drive of the arm associated with the adjacent work volume to position the terminal gripper of the arm associated with the adjacent work volume at the determined location to grasp the at least one of the plurality of deformable laundry articles, and instructing an actuator of the terminal gripper of the arm associated with the adjacent work volume to close on the at least one of the plurality of deformable laundry articles. 
     In examples, the method further includes receiving a contact sensor signal from at least one contact sensor on a gripping surface of the terminal gripper indicative of none of the plurality of deformable laundry articles being grasped in the terminal gripper at the hoist height. The method further includes determining that the terminal gripper closed without grasping the detected at least one of the plurality of deformable laundry articles and repeating the steps of determining a location of the at least one of the plurality of deformable laundry articles on the stationary floor relative to an arm of the plurality of arms associated with the adjacent work volume, instructing the at least one drive of the arm associated with the adjacent work volume to position the terminal gripper of the arm associated with the adjacent work volume at the determined location to grasp the at least one of the plurality of deformable laundry articles, and instructing an actuator of the terminal gripper of the arm associated with the adjacent work volume to close on the at least one of the plurality of deformable laundry articles. 
     In examples, the method further includes, upon the at least one sensor outputting a signal that none of the plurality of deformable articles are present on the stationary floor, receiving another signal output from the at least one sensor. In examples, the signal includes a 2D image, and the controller is configured to determine a perimeter of at least one of the plurality of deformable articles disposed on the stationary floor. In examples, the another signal includes a 3D image and the controller is further configured to determine a height above the stationary floor of at least one article of the plurality of deformable articles disposed on the stationary floor. In examples, the another signal includes a 2D image and the controller is further configured to perform a background subtraction routine to locate at least one of the plurality of deformable articles disposed on the stationary floor. 
     In examples, one or more bins are configured to be disposed beneath the stationary floor, and each of the one or more bins is configured to receive one or more of the plurality of deformable laundry articles having one or more characteristics associated with at least one of the one or more bins. In examples, one of the one or more bins (e.g., sorting bins) is disposed beneath the exit orifice for receiving each one of the plurality of deformable laundry articles exiting the enclosed channel individually. In examples, each of the one or more bins includes an identification marker for associating an identity of the bin. The one or more characteristics include at least one of color, size, material composition, article type, degree of dirtiness, and fabric heat tolerance. 
     In examples, the method further includes actuating a carousel in operable communication with the controller, the carousel being configured to receive thereon the one or more bins. Actuating the carousel includes repositioning the one or more bins beneath the enclosed channel to match a characteristic of one of the one or more bins positioned beneath the outlet orifice with the one or more characteristics of each one of the plurality of deformable laundry articles exiting the enclosed channel. 
     In examples, the identification marker includes at least one of a machine-readable serial number, a bar code, a machine-readable QR code, an RFID code, NFC tag, a WIFI enabled tag, a ZIGBEE enabled tag, and an active radio telemetry system. 
     In examples, the method further includes storing on a memory in communication with the controller, at least one relation including one of the one or more characteristics associated with the bin, the bin identification marker for each of the one or more bins, and a customer identity shared by the plurality of deformable laundry articles received into the enclosed channel. In examples, the method further includes receiving the one or more characteristics associated with the plurality of deformable laundry articles via a communication network configured to receive a customer input at a remote terminal in wired or wireless communication with the controller in communication with the communication network. In examples, the method further includes receiving the one or more characteristics of each one of the plurality of deformable laundry articles as an output signal from the at least one sensor in communication with the controller. 
     In examples, the at least one sensor includes at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, a pair of stereo depth cameras, and a spectrometer. The at least one sensor can output to the controller at least one of a depth map, RGB images, and IR images. The at least one sensor can be configured to output 3-D image data to the controller. Additionally or alternatively, the at least one sensor can be configured to output one or more 2-D images to the controller. In examples, the at least one sensor is a camera and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, the controller is further configured to determine, based on a comparison of a received output signal of the at least one sensor to data stored in a memory in communication with the controller, at least one of an article type, an article color, an article size, and an article fabric. In examples, the at least one of the at least one sensor is a 2-D camera and the data associated with the deformable laundry article is size invariant image data. In examples, the memory further includes a neural network, and determining the one or more characteristics of each one of the plurality of deformable laundry articles includes processing the received output signal of the at least one sensor associated with each one of the plurality of work volumes with a neural network classifier. 
     In examples, the method further includes receiving, by the controller, an output signal including an image, determining, based on the output signal, a number of pixels in each of an upper half and a lower half of the image, the number of pixels being representative of at least one deformable laundry article being grasped by a terminal gripper and held at a hoist height, and determining based on the number of pixels in the lower half of the image exceeding a preset threshold that the at least one deformable laundry article includes a large sized article. 
     In examples, the method further includes receiving, by the controller, an output signal including an image of a deformable article in the enclosed channel, determining, based on the output signal and a calibrated coordinate space, where in the calibrated coordinate space each pixels of the image lies, and determining at least one of a location, shape, and size of the deformable article. 
     In examples, the method further includes determining, based on receiving a signal from the at least one sensor disposed within each of the plurality of sequential work volumes, that none of the plurality of deformable articles remain on the stationary floor in any of the plurality of sequential work volumes. In examples, the method further includes upon determining that none of the plurality of deformable articles remain on the stationary floor in any of the plurality of sequential work volumes, instructing an actuator of a carousel supporting one or more bins for collecting the one or more deformable laundry articles to transit the one or more bins of the sorted plurality of deformable articles to one or more autonomous combination washing and drying machines. 
     In examples, the method further includes receiving, by the controller, an output signal of at least one fill sensor. The at least one fill sensor is configured to detect an occupied volume of the one or more bins. In examples, the fill sensor is an optical sensor focused on a minimum threshold fill line and a maximum threshold fill line disposed on an interior surface of one of the one or more bins positioned beneath the exit orifice. The fill sensor is configured to detect whether the of one or more of the plurality of deformable laundry articles received in the one of the one or more bins reaches or surpasses the minimum threshold fill line. The maximum threshold fill line can be a top edge of the one of the one or more bins. In examples, the method further includes receiving, by the controller, an output signal from the fill sensor indicative of the occupied volume of the one of the one or more bins being with a threshold range between the minimum threshold fill line and maximum threshold fill line. Upon determining an occupied volume of the one of the one or more bins is within a threshold range indicative of being filled, the method includes instructing the carousel to transit the filled one of the one or more bins containing the sorted plurality of deformable laundry articles to an autonomous combination washing and drying machine. Additionally or alternatively, in examples, the at least one fill sensor is a weight sensor disposed beneath the one of the one or more bins positioned beneath the exit orifice and configured to detect whether the weight of the one of the one or more bins reaches or surpasses a minimum threshold weight indicative of a bin full condition. 
     The at least one fill sensor is configured to output a signal indicative of a bin full condition. Upon determining a bin full condition, the method includes instructing the carousel to unload the filled one of the one or more bins containing the sorted plurality of deformable laundry articles to an autonomous combination washing and drying machine. 
     In examples, the at least one sensor of the device includes at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, and a pair of stereo depth cameras. In examples, the method further includes receiving by the controller one or more outputs from the at least one sensor including at least one of a depth map, RGB images, and IR images. The at least one sensor can be configured to output 3-D image data to the controller. Additionally or alternatively, the at least one sensor can be configured to output one or more 2-D images to the controller. In examples, the at least one sensor is a camera and the camera is calibrated to the floor of the enclosed channel and one or more of the plurality of arms. 
     In examples, determining a location of the at least one of the plurality of deformable articles on the stationary floor further includes determining one or more grip points on the at least one of the plurality of deformable articles. In examples, the one or more grip points are disposed on a high point of the at least one of the plurality of deformable articles. Additionally or alternatively, the one or more grip points are disposed on an edge of the at least one of the plurality of deformable articles. In examples, the at least one sensor is disposed outside the enclosed channel above each of the plurality of sequential work volumes. Additionally or alternatively, in examples, the at least one sensor is disposed adjacent a transparent window in a ceiling of the enclosed channel and includes a field of view encompassing the associated work volume. Additionally or alternatively, in examples, the at least one sensor is disposed within the enclosed channel adjacent an associated one of the plurality of arms and includes a field of view encompassing the associated work volume. 
     In examples, the controller includes at least one controller in operable communication with the at least one drive and the at least one sensor. In examples, the controller is in communication with a communication network and one or more memory stores in communication with the communication network. The controller can be in communication with one or more other controllers in remote communication with the communication network. The communication network is at least one of a wired and wireless network. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    depicts a schematic of an example autonomous robotic laundry process line. 
         FIG.  2    depicts a schematic of an example autonomous robotic laundry process line including one intake and output and a plurality of washing and drying robots. 
         FIG.  3    depicts a schematic of a plurality of autonomous robotic laundry process lines including a plurality of intakes and outputs and a plurality of washing and drying robots. 
         FIG.  4    depicts a schematic example of a system for controlling an autonomous robotic laundry process line. 
         FIG.  5    depicts a schematic example of a system of autonomous devices configured to separate and sort household laundry articles. 
         FIG.  6    depicts a perspective view of an arm side of an implementation of an autonomous laundry separating and sorting device. 
         FIG.  7    depicts a cut away perspective view of an interior of the autonomous laundry separating and sorting device of  FIG.  6   . 
         FIG.  8    depicts a perspective view of a back side of the autonomous laundry separating and sorting device of  FIG.  6   . 
         FIG.  9    depicts a schematic top down view of an implementation of an autonomous laundry separating and sorting device. 
         FIG.  10    depicts a schematic view of an implementation of an autonomous laundry separating and sorting system. 
         FIG.  11    depicts a schematic view of an implementation of an autonomous laundry separating and sorting system. 
         FIG.  12    depicts a perspective partial view of an implementation of the autonomous laundry separating and sorting device. 
         FIG.  13    depicts an end view cross section schematic of an implementation of a machine vision system of the autonomous laundry separating and sorting system. 
         FIG.  14 A  depicts an end view cross section schematics of an implementation of the autonomous laundry separating and sorting system with enclosure walls removed for clarity to show sensors and determination of grip points of an article. 
         FIG.  14 B  depicts the end view cross section schematics of  FIG.  14    with a gripper engaging one of the grip points of the article. 
         FIG.  15 A  depicts a schematic perspective view of a portion of an implementation of an autonomous laundry separating and sorting system at the start of a sorting process. 
         FIG.  15 B  depicts the implementation of the autonomous laundry separating and sorting system of  15 A at a next step in the sorting process. 
         FIG.  16 A  depicts the implementation of the autonomous laundry separating and sorting system of  15 B at a next step in the sorting process. 
         FIG.  16 B  depicts the implementation of the autonomous laundry separating and sorting system of  16 A at a next step in the sorting process. 
         FIG.  17 A  depicts the implementation of the autonomous laundry separating and sorting system of  16 B at a next step in the sorting process. 
         FIG.  17 B  depicts the implementation of the autonomous laundry separating and sorting system of  17 A at a next step in the sorting process. 
         FIG.  18    depicts a schematic perspective view of a portion of the autonomous laundry separating and sorting system during the sorting process. 
         FIG.  19    depicts a schematic perspective view of a portion of an implementation of an autonomous laundry separating and sorting system beginning a two-arm hoist of a deformable article. 
         FIG.  20    depicts a schematic perspective view of a portion of the autonomous laundry separating and sorting system of  FIG.  19    during a two-arm hoist of a deformable article. 
         FIG.  21    depicts a schematic perspective view of a portion of the autonomous laundry separating and sorting system of  FIG.  20    comprising a two-arm hoist of a deformable article. 
         FIG.  22    depicts a schematic perspective view of a portion of the autonomous laundry separating and sorting system having a large deformable article therein. 
         FIG.  23    depicts a perspective partial view of an implementation of the autonomous laundry separating and sorting device comprising an actuatable inlet orifice door. 
         FIG.  24 A  depicts a perspective side view schematic of the actuatable inlet orifice door of  FIG.  23   . 
         FIG.  24 B  depicts a side view schematic of the actuatable inlet orifice door of  FIG.  23   . 
         FIG.  24 C  depicts a partial perspective side view schematic of the actuatable inlet orifice door of  FIG.  23   . 
         FIG.  25    depicts an implementation of a system for introducing deformable articles into the autonomous laundry separating and sorting device. 
         FIG.  26    depicts a side view of the system of  FIG.  25   . 
         FIG.  27    depicts an enlarged view of a portion of a portion of the system of  FIG.  25   . 
         FIG.  28    depicts an elevator configured to raise a container (e.g., box) of dirty laundry articles for transfer to an autonomous dirty laundry box tipping assembly disposed above the separating and sorting robot. 
         FIG.  29 A  depicts an alternate schematic implementation of systems for introducing deformable articles into the autonomous laundry separating and sorting device with a vacuum tube. 
         FIG.  29 B  depicts an alternate schematic implementation of systems for introducing deformable articles into the autonomous laundry separating and sorting device comprising a lay-flat box configured to open and lay flat to reveal contents within an enclosed channel. 
         FIG.  29 C  depicts an alternate schematic implementation of systems for introducing deformable articles into the autonomous laundry separating and sorting device with a grabbing claw for removing articles from a container received within an enclosed channel. 
         FIG.  29 D  depicts an alternate schematic implementation of systems for introducing deformable articles into the autonomous laundry separating and sorting device with a sliding shelf configured to pass a container through an orifice, into an enclosed channel and rotate to dump the contents of the container within the enclosed channel. 
         FIG.  29 E  depicts an alternate schematic implementation of systems for introducing deformable articles into the autonomous laundry separating and sorting device comprising an angled shelf for tilting a container introduced into an enclosed channel for emptying by an arm of the device. 
         FIG.  30 A  depicts an autonomous dirty laundry box tipping assembly for loading dirty laundry into an autonomous washing and drying device from a bin held therein. 
         FIG.  30 B  depicts the autonomous dirty laundry box tipping assembly of  FIG.  30 A  in a partially overturned rotational position. 
         FIG.  30 C  depicts the autonomous dirty laundry box tipping assembly of  FIG.  30 A  in a fully inverted rotational position. 
         FIG.  31    depicts an exploded view of the autonomous dirty laundry box tipping assembly of  FIG.  30 A  relative to a box. 
         FIG.  32    depicts a partial cut away view of an end portion of an enclosed channel and a load sorting and batching system of an implementation of the autonomous laundry separating and sorting device. 
         FIG.  33    depicts a schematic implementation of a neural network for classifying and sorting articles. 
         FIG.  34    depicts a perspective end view of an implementation of a cleaning system of the autonomous laundry separating and sorting device. 
         FIG.  35    depicts a cross section schematic end view of a cleaning system of the autonomous laundry separating and sorting device. 
         FIG.  36    depicts an example of an arm of the autonomous separating and sorting robot. 
         FIG.  37    depicts a portion of the arm of  FIG.  36    with partial transparency to reveal inner working elements of a drive system. 
         FIG.  38    depicts a rotated view of the portion of the arm of  FIG.  37    showing an implementation of a drive system of the arm of the autonomous laundry separating and sorting device. 
         FIG.  39 A  depicts an example hinged gripper of the autonomous laundry separating and sorting device. 
         FIG.  39 B  depicts an example pulley driven gripper of the autonomous laundry separating and sorting device. 
         FIGS.  40 A-B  depict example grippers of the autonomous laundry separating and sorting device. 
         FIGS.  41 A-B  depict example grippers of the autonomous laundry separating and sorting device. 
         FIG.  42 A  depicts an example gloved gripper in an open position. 
         FIG.  42 B  depicts an example gloved gripper in a closed position. 
         FIG.  43 A  depicts a side cut away view of an example wrist of the autonomous laundry separating and sorting device. 
         FIG.  43 B  depicts a back perspective cut away view of the wrist of  FIG.  43 A . 
         FIG.  44    depicts a side perspective cut away view and close up of a portion of the wrist of  FIGS.  43 A-B . 
         FIG.  45    depicts an implementation of a method of autonomously separating and sorting a load of dirty laundry with an autonomous separating and sorting device. 
         FIG.  46    depicts a schematic of an implementation of image processing to detect an article disposed in the autonomous laundry separating and sorting device. 
         FIG.  47    depicts a state diagram of the autonomous laundry separating and sorting device. 
         FIG.  48    depicts an implementation of a load constructor for identifying and aligning designated bins with an outlet orifice of the separating and sorting device. 
         FIG.  49    depicts an exploded view of a portion of the load constructor of  FIG.  48    showing a pop up transfer roller assembly raised above a drive roller. 
         FIG.  50    depicts a side view of an implementation of a single pop up transfer roller assembly of  FIG.  49   . 
         FIG.  51 A  depicts an example weight sensor disposed beneath a load constructor. 
         FIG.  51 B  depicts the weight sensor of  FIG.  51 A . 
         FIG.  52 A  depicts a single conveyor of the load constructor of  FIG.  48   . 
         FIG.  52 B  depicts a partial perspective view of a pop up transfer roller assembly of  FIG.  52 A . 
         FIG.  53    depicts a side perspective view of a plurality of interoperative pop up transfer roller assemblies geared to rotate together on a single conveyor of the load constructor of  FIG.  48   . 
         FIG.  54    depicts an end perspective view of the plurality of interoperative pop up transfer roller assemblies of  FIG.  53   . 
         FIG.  55 A  schematic view of a first introduction of a bin into a load constructor loading position. 
         FIG.  55 B  depicts a schematic view of an introduction of a second bin into the load constructor loading position of  FIG.  55 A . 
         FIG.  56 A  depicts a schematic view of potential movements of a bin disposed on a load constructor. 
         FIG.  56 B  depicts a schematic view of a plurality of cameras disposed about a load constructor. 
         FIGS.  57 A-D  depict a sequence of moves of a plurality of bins disposed on a load constructor for filling beneath an outlet orifice of a separating and sorting robot. 
     
    
    
     DETAILED DESCRIPTION 
     This disclosure relates to autonomous robotic devices, systems, and methods for handling residential loads of laundry without relying on human labor and human related injuries, inefficiencies, theft, and potential contamination. Laundry articles are collected from households and delivered to one or more process lines for cleaning, packing, and returning to the households. The autonomous processes are time and cost efficient, eliminate human intervention-based delays, eliminate line workers and associated potential introduction of human contaminants introduced by line workers, and eliminate any concerns with having private personal items handled by strangers. The system includes one or more autonomous process lines comprising a plurality of autonomous robotic devices configured to work in concert to process one or more dirty loads of household laundry from a collection of dirty, non-uniform articles to individually separated, cleaned, folded, and packed laundry articles. The plurality of autonomous robotic devices operate without human intervention to efficiently and effectively launder a plurality of customers&#39; dirty items, including masses of both uniform and non-uniform articles. This disclosure relates to autonomous robotic devices configured to separate individual articles from a mass of a plurality of dirty laundry articles, sort the individual articles into one or more loads of laundry according to one or more load construction guidelines, and introduce the one or more loads of laundry to one or more combination washer dryers. 
     As shown in  FIG.  1   , in implementations of the system, a process line  100   a  comprises a plurality of autonomous robots configured to operate in series without human intervention to process and transport dirty laundry through the cleaning process, folding and repackaging the clean laundry for return to a household. In one implementation, the process line  100   a  comprises an automated intake robot  2000  for receiving a load of dirty household laundry comprising a plurality of deformable laundry articles. The deformable laundry articles can be non-uniform in type, size, shape, thickness, color, and fabric (e.g., material type). For example, the plurality of deformable laundry articles can include items commonly laundered in homes, such as sheets, towels, table cloths, curtains, and adult and children&#39;s garments, for example, tee shirts, pants, socks, undergarments, dresses, dress shirts, and blouses. The autonomous intake robot  2000  is configured to introduce the plurality of deformable laundry articles to a separating and sorting robot  3000  configured to separate out each one of the deformable laundry articles of the plurality of deformable laundry articles. In implementations, the separating and sorting robot  3000  is configured to sort each one of the separated deformable laundry articles into one or more related batches for washing. In implementations, the separating and sorting robot  3000  is configured to intelligently batch the separated each one of the deformable laundry articles according to a programmed sorting algorithm based, for example, on criteria including at least one of material color, material type, article size, customer washing preference, water temperature requirements, stain treatment requirements, and load size (e.g., weight and/or physical volume). In implementations, the separating and sorting robot  3000  is configured to identify and record the number and types of garments in the load of laundry and provide this information to one or more robots of the process line  100   a.    
     The separating and sorting robot  3000  outputs one or more intelligently sorted batches of deformable laundry articles to one or more washing and drying robots  4000  for laundering. The one or more washing and drying robots  4000  output the clean laundry articles to a clean laundry separating robot  5000 . Implementations of the clean laundry separating robot  5000  can be similar or identical to the separating and sorting robot  3000 . The clean laundry separating robot  5000  is configured to separate a load of clean laundry into individual deformable laundry articles for introduction into a repositioning robot  6000 . In implementations, the repositioning robot  6000  receives a single deformable laundry article and manipulates and repositions it for automated introduction into a folding robot  7000 , which automatically folds the laundry article for introduction to a packing robot  8000 . In implementations, the packing robot  8000  automatically and autonomously packs the clean load of laundry comprising the plurality of clean and folded deformable laundry articles in a shipping container for automated redistribution to the customer. In implementations, the shipping container is a reusable container, or box (e.g., a box with a removable lid for sealing contents within). In implementations, the shipping container is a disposable container. In implementations, the shipping container is a non-deformable container with an ingress protection rating that includes an intrusion protection rating of 5 or 6 and a moisture protection rating of any and all of 1 through 6 in accordance with the Ingress Protection Code, IEC standard 60529. In reusable implementations, the shipping container can be washable. 
     Implementations of the process line  100   a  of household laundry cleaning robots can comprise one or more of each of the robots depicted in  FIG.  1   . For example, as shown in  FIG.  2   , each autonomous process line  100   b  can include a bank  4002  of washing and drying robots  4000   a - n . In other implementations, as shown in  FIG.  3   , the autonomous process line  100   c  includes a bank  4002  of washing and drying robots  4000   a - n  shared by two or more sets of automated intake robots  2000   a - b  and dirty laundry separating and sorting robots  3000   a - b  and two or more sets of clean laundry separating robots  5000   a - b , repositioning robots  6000   a - b , folding robots  7000   a - b , and packing robots  8000   a - b . Additionally, two or more of the robots can be combined in a single module in alternate implementations. In implementations, one or more of the robots in the process line  100   a - c  are configured to communicate over wired connections or wireless communication protocols. For example, in implementations, one or more robots in the process line  100   a - c  can communicate with another one or more robots in the process line  100   a - c  over a wired BUS, LAN, WLAN, 4G, 5G, LTE, Ethernet, BLUETOOTH, or other IEEE 801.11 standard. 
     Referring to  FIG.  4   , an example of a system  200  of operatively connected robots is shown.  FIG.  4    depicts a schematic implementation of a portion of an autonomous robotic process line  100 ,  100   a - c . A dirty laundry separating and sorting robot  3000  is in operative communication with an automated intake robot  2000  configured to provide a plurality of dirty laundry items from a single customer (e.g., one household) to the dirty laundry separating and sorting robot  3000 . The dirty laundry separating and sorting robot  3000  is configured to provide intelligently sorted and batched loads of dirty deformable laundry articles to the washing and drying robot  4000  for effective and efficient washing and drying. The washing and drying robot  4000  is in operative communication with a clean laundry separating robot  5000  and outputs a load of clean laundry for separation by the clean laundry separating robot  5000 . Each robot  2000 ,  3000 ,  4000  includes a controller  2005 ,  3005 ,  4005  configured to operate the associated robot and the one or more controllers prompt intermediary wheel robots, conveyors, and/or carriers to transfer the one or more deformable articles  12  between sequential robots in the process line  100 ,  100   a - c.    
     For example, in implementations, the autonomous dirty laundry separating and sorting robot  3000  includes a controller  3005 . The controller  3005  includes a processor  3015  in communication with a memory  3010 , a network interface  3020 , and a sensor interface  3025 . The processor  3015  can be a single microprocessor, multiple microprocessors, a many-core processor, a microcontroller, and/or any other general purpose computing system that can be configured by software and/or firmware. In implementations, the memory  3010  contains any of a variety of software applications, data structures, files and/or databases. In one implementation, the controller  3005  includes dedicated hardware, such as single-board computers, application specific integrated circuits (ASICs), and field programmable gate arrays (FPGAs). 
     A network interface  3020  is configured to couple the controller  3005  to a network  230 . The network  230  may include both private networks, such as local area networks, and public networks, such as the Internet. It should be noted that, in some examples, the network  230  may include one or more intermediate devices involved in the routing of packets from one endpoint to another. In implementations, the network interface  3020  is coupled to the network  230  via a networking device, such as a bridge, router, or hub. In other implementations, the network  230  may involve only two endpoints that each have a network connection directly with the other. In implementations, the network interface  3020  supports a variety of standards and protocols, examples of which include USB (via, for example, a dongle to a computer), TCP/IP, Ethernet, Wireless Ethernet, BLUETOOTH, ZigBee, M-Bus, CAN-bus, IP, IPV6, UDP, DTN, HTTP, FTP, SNMP, CDMA, NMEA and GSM. To ensure data transfer is secure, in some examples, the controller  3005  can transmit data via the network interface  3020  using a variety of security measures including, for example, TLS, SSL or VPN. In implementations, the network interface  3020  includes both a physical interface configured for wireless communication and a physical interface configured for wired communication. According to various embodiments, the network interface  3020  enables communication between the controller  3005  of the dirty laundry separating and sorting robot  3000  and at least one of the plurality of robots  2000 ,  4000 ,  5000 ,  6000 ,  7000 ,  8000 ,  9000  of the process line  100 ,  100   a - c.    
     Additionally or alternatively, the network interface  3020  is configured to facilitate the communication of information between the processor  3015  and one or more other devices or entities over the network  230 . For example, in implementations, the network interface  3020  is configured to communicate with a remote computing device such as a computing terminal  205 , database  235 , server  240 , smartphone  245 , and server farm  250 . In implementations, the network interface  3020  can include communications circuitry for at least one of receiving data from a database  235  and transmitting data to a remote server  240 ,  250 . In some implementations, the network interface  3020  can communicate with a remote server over any of the wired protocols previously described, including a WI-FI communications link based on the IEEE 802.11 standard. 
     In some examples in accordance with  FIG.  4   , the network  230  may include one or more communication networks through which the various autonomous robots and computing devices illustrated in  FIG.  4    may send, receive, and/or exchange data. In various implementations, the network  230  may include a cellular communication network and/or a computer network. In some examples, the network  230  includes and supports wireless network and/or wired connections. For instance, in these examples, the network  230  may support one or more networking standards such as GSM, CMDA, USB, BLUETOOTH®, CAN, ZigBee®, Wireless Ethernet, Ethernet, and TCP/IP, among others. In implementations, the network  230  can implement broadband cellular technology (e.g., 2.5 G, 2.75 G, 3 G, 4 G, 5 G cellular standards) and/or Long-Term Evolution (LTE) technology or GSM/EDGE and UMTS/HSPA technologies for high-speed wireless communication. 
     Although the controller  3005  is described herein in particular, one or more of the plurality of robots  2000 ,  4000 ,  5000 ,  6000 ,  7000 ,  8000 ,  9000  of the process line  100  includes similar components having similar functionality. 
     Turning to  FIG.  5   , a schematic of an implementation of an autonomous separating and sorting system  400  is shown. The system  400  includes one or more of the features and devices described with regard to the embodiments of  FIGS.  1 - 4   . In implementations, the separating and sorting system  400  comprises a plurality of interactive autonomous robotic devices. In implementations the system  400  comprises a separating and sorting device  3000  comprising at least three arms and a controller  3005 , an elevator  3350  for raising a box  3500  of dirty articles to a height above the separating and sorting robot  3000 , a box tipping assembly  3400  for receiving the box  3500  of dirty articles  12  from the elevator and overturning the bin into the separating and sorting robot  3000 , and a load constructor  3200  for collecting sorted and/or batched dirty laundry articles exiting the separating and sorting robot  3000 . In implementations, the controller  3005  is in wired or wireless operative communication with processors and drives of all of the foregoing. Each autonomous device of the implementation of the system  400  of  FIG.  5    will subsequently be described with regard to implementations. 
     Turning now to  FIGS.  6 - 11   , an implementation of an autonomous sorting device  3000  (also alternatively referred to hereinafter as the “device,” “robotic device,” and “separating and sorting robot”) for separating individual dirty laundry articles of a plurality of deformable laundry articles and sorting the individual deformable laundry article into bins for washing. The plurality of deformable articles comprise one or more loads of dirty household laundry. Because the one or more loads of dirty household laundry can comprise two or more article types of at least one of different sizes, different shapes, different colors, and different fabrics, the autonomous sorting device  3000  is configured to separate each article from a pile, a bin, and/or a tangled clump of dirty laundry articles and place each separated article  12  in a specific group of articles with matching washing and drying requirements. As will be described subsequently with regard to implementations, the parameters for specific groupings can be at least one of preset, dynamically determined, and requested by a customer. The autonomous sorting device  3000  thereby autonomously separates and sorts an unsorted mass of dirty laundry into batches of dirty laundry articles for washing and drying. For example, the device  3000  can separate colored articles from white articles for separate batching, washing and drying, and the device  3000  can separate and batch towels for separate washing and drying. For example, the device  3000  can separate and batch delicate articles for washing and drying together or as individual articles, and the device  3000  can identify and batch one or more stained articles requiring individualized stain treatment. 
     In implementations, the device  3000  includes an enclosed channel  3100  comprising a plurality of sequential work volumes  3105   a - d  and a stationary floor  3110  extending between an inlet end “I” and an outlet end “O” of the enclosed channel  3100 . In implementations, the stationary floor  3110  comprises a substantially level surface extending from the inlet end I to the outlet end O. Additionally or alternatively, the stationary floor  3110  comprises a substantially continuous surface extending throughout all of the plurality of sequential work volumes  3105   a - d . In implementations, the enclosed channel  3100  is raised above a ground floor and/or mezzanine platform. In implementations, the enclosed channel  3100  comprises the floor  3110 , a ceiling  3111 , and four walls  3112   a - d . (For illustrative purposes, the floor  3110 , ceiling  3111  and four walls  3112   a - d  are shown as transparent in  FIGS.  10 - 11   .) As described later with regard to implementations of autonomously introducing a plurality of deformable laundry articles  12  into the enclosed channel  3100 , a portion  3110   a  of the stationary floor  3110  within a first work volume  3105   a  of the plurality of sequential work volumes  3105   a - d  is configured to receive thereon the plurality of deformable articles  12   a - n  adjacent the inlet end I. In implementations, the device  3000  includes a plurality of arms  3115   a - c  disposed in series along the enclosed channel  3100 , each one of the plurality of arms  3115   a - c  comprising an actuatable terminal gripper  3120   a - d  configured to selectively grasp at least one of the plurality of deformable articles  12   a - n  and at least one drive motor  3125   a - c  configured to at least one of rotate, tilt, extend, and retract the terminal gripper  3120   a - c , each of the plurality of arms  3115   a - d  associated with a corresponding one of the plurality of sequential work volumes  3105   a - d.    
     The device  3000  includes at least one selectively sealed in inlet orifice  3130 ,  3130   a - b  and an outlet orifice  3135 . Additionally or alternatively, the outlet orifice  3135  is selectively sealed by an actuatable door or covering. Additionally or alternatively, the outlet orifice  3135  is selectively sealed by an air curtain in operable communication with the controller  3005 . The at least one inlet orifice  3130 ,  3130   a - b  is disposed in at least one of a wall or ceiling of the enclosed channel  3100 , and the plurality of deformable articles  12   a - n  are received into the enclosed channel  3100  through the inlet orifice  3130 ,  3130   a - b . The outlet orifice  3135  is disposed adjacent the outlet end O of the enclosed channel  3100  in at least one of a wall  3112   a - d  of the enclosed channel and the stationary floor  3110 . Each one of the plurality of deformable articles  12   a - n  exits the enclosed channel  3100  through the outlet orifice  3135 . Selectively sealing the at least one inlet orifice  3130 ,  3130   a - b  and, in implementations, the outlet orifice  3135 , enables containment of loose personal items and other detritus and debris that might accompany an individual household&#39;s laundry without contaminating other devices and systems in the process line  100 . Additionally, selectively sealing the inlet orifice  3130 ,  3130   a - b  and, in implementations, the outlet orifice  3135 , enables effective cleaning and disinfecting of the enclosed channel  3100 , as will be described subsequently with regard to implementations. 
     As shown in  FIGS.  10 - 11   , the device  3000  comprises at least one sensor  3140   a - d  disposed at least one of on, adjacent to, and within each one of the plurality of sequential work volumes  3105   a - d . In implementations, the at least one sensor  3140   a - d  can include one or more cameras disposed at least one of on, adjacent to, and within each of the sequential work volumes. In implementations, adjacent to includes the at least one sensor being disposed external to a transparent wall or window disposed in a wall  3112   a - d , floor  3110 , and/or ceiling  3111  of the enclosed channel  3100 . For example, in implementations, the at least one sensor  3140   a - d  comprises one or more cameras adhered to or positioned adjacent plexiglass walls or windows with a field of view trained on the interior of the channel  3100 . In implementations, the at least one sensor is a camera, and the camera is calibrated to the floor  3110  of the enclosed channel and one or more of the plurality of arms  3115   a - d . The at least one sensor  3140   a - d  is configured to detect at least one of the plurality of deformable articles  12   a - n  disposed within an associated one of the plurality of sequential work volumes, and output a signal indicative of at least one of the presence and location of the at least one of the plurality of deformable articles  12   a - n  relative to the terminal gripper  3120   a - c  of the one of the plurality of arms  3115   a - c  associated the one of the plurality of sequential work volumes  3105   a - d . In implementations, at least one camera  3140   d  is disposed adjacent the outlet end O and has a field of view encompassing the outlet orifice  3135  for detecting passage of an article  12  therethrough. 
     In implementations, the at least one sensor  3140   a - d  is a single camera comprising a field of view encompassing the entire floor  3110  of the enclosed channel  3100 . implementations, the at least one sensor  3140   a - d  comprises two cameras comprising adjacent fields of view collectively encompassing the entire floor  3110  of the enclosed channel  3100 . In implementations, the at least one sensor  3140   a - d  is three or more cameras comprising adjacent field of views collectively encompassing the entire floor  3110  of the enclosed channel  3100 . 
     The device  3000  comprises a controller, such as controller  3005 , that is in operable communication with the at least one drive motor  3125   a - c , an actuator  3174   a - c  of each of the plurality of terminal grippers  3120 , and the at least one sensor  3140   a - d  of each one of the plurality of sequential work volumes  3105   a - d . As will be described subsequently with regard to implementations, the controller  3005  is configured to orchestrate movements of the plurality of arms  3115   a - c  within the enclosed channel  3100  and actuation of the associated terminal grippers  3120   a - c  to grasp, hoist, and move an initially grasped one or more of the plurality of deformable articles  12   a - n  down the series of arms  3115   a - b  such that a single article  12   n  is grasped by an arm  3115   c  closest to the exit orifice  3135 . The controller  3005  is configured to receive a signal from the at least one sensor  3140   a - c  in an associated one of the plurality of sequential work volumes  3105   a - c  indicative of at least one of the plurality of deformable articles  12   a - n  being disposed within the associated one of the plurality of sequential work volumes  3105   a - c . The controller  3005  is configured to determine a location of the at least one of the plurality of deformable articles  12   a - n  on the stationary floor  3110  relative to the associated arm  3115   a - c , instruct the at least one drive motor  3125   a - c  to position the terminal gripper  3120   a - c  of the associated arm  3115   a - c  at the determined location to grasp the at least one of the plurality of deformable articles  12   a - n , and instruct an actuator  3174   a - c  of the terminal gripper  3120   a - c  of the associated arm  3115   a - c  to close on and grasp the at least one of the plurality of deformable articles  12   a - n . The controller  3005  is configured to instruct the at least one drive motor  3125   a - c  to raise the closed terminal gripper  3120   a - c  of the associated arm  3115   a - c  and the grasped at least one of the plurality of deformable articles  12   a - n  to a hoist height above the stationary floor, and rotate toward the outlet end O into an adjacent work volume  3115   a - d . The controller  3005  is configured to instruct the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable articles  12   a - n  in the adjacent work volume, and receive a signal from at least one sensor  3140   a - d  in the adjacent work volume of the plurality of sequential work volumes  3105   a - d . The controller  3005  is configured to determine, based on the received signal, at least one of one or more of the plurality of deformable articles  12   a - n  being present on the stationary floor  3110 , none of the plurality of deformable articles  12   a - n  are present on the stationary floor  3110 , and one of the plurality of deformable laundry articles  12   a - n  exited the enclosed channel through the outlet orifice  3135 . 
     In implementations, such as those of  FIGS.  6 - 9   , the plurality of sequential work volumes  3105   a - d  comprises three or more work volumes, and each of the three or more arms are associated with one of the three or more work volumes. In implementations, the outlet orifice  3135  is disposed in a last work volume  3105   d  of the plurality of sequential work volumes  3105   a - d , which is adjacent the outlet end O of the enclosed channel  3100 . In implementations, the outlet orifice  3135  is disposed in the stationary floor  3110  within or adjacent to a last of the plurality of sequential work volumes  3105   a - c  and, in implementations, is disposed in a terminal work volume  3135   d  that is shorter in length than the preceding work volumes  31005   a - b . In implementations, the number of work volumes comprising the plurality of sequential work volumes  3105   a - d  is one greater than the number of the plurality of arms  3115   a - c  and each of the plurality of arms  3115   a - c  is associated with a work volume directly adjacent at least one other work volume associated with one of the plurality of arms  3115   a - c . For example, in  FIGS.  6 - 11   , each one of three arms  3115   a - c  is associated with a corresponding one of three sequential work volumes  3105   a - c  and a fourth work volume  3105   d  with no associated arm follows the third work volume  3105   c . In implementations, an outlet-facing end of each of the three or more work volumes overlaps with an inlet-facing end of an adjacent sequential one of the three or more work volumes such that each arm of the plurality of arms  3115   a - c  is configured to extend into one or more adjacent work volumes of the plurality of sequential work volumes  3105   a - c.    
     If the controller  3005  determines one or more of the plurality of deformable articles  12   a - n  is present on the stationary floor  3110  in the adjacent work volume into which the one or more articles was dropped, the controller  3005  is further configured to iteratively perform one or more grabs, rotations, and drops down the line of sequential arms  3115   a - c  and work volumes  3105   a - c . In implementations, upon determining the presence of one or more of the plurality of deformable articles  12   a - n , the controller  3005  is configured to determine a location of the at least one of the plurality of deformable articles  12   a - n  on the stationary floor  3110  relative to an arm associated with the adjacent work volume, and instruct the at least one drive motor  3125   a - c  of the arm associated with the adjacent work volume to position the terminal gripper of the arm associated with the adjacent work volume at the determined location to grasp the at least one of the plurality of deformable articles  12   a - n.    
     As will be described subsequently with regard to schematic implementations, the controller  3005  is configured to instruct an actuator  3174   a - c  of the terminal gripper  3120  of the arm  3115  associated with the adjacent work volume  3105  to close on the at least one of the plurality of deformable articles  12   a - n , and instruct the at least one drive  3125   a - c  to raise the closed terminal gripper of the arm associated with the adjacent work volume and the grasped at least one of the plurality of deformable articles to a hoist height H 1  above the stationary floor, and move the gripper  3120  (e.g., at least one of pan, tilt, and extend, e.g., rotate) toward the outlet end O into the next sequential adjacent work volume of the three or more work volumes  3115   a - c . The controller  3005  is configured to instruct the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable articles  12   a - n  in the next sequential adjacent work volume down the line toward the outlet end O of the enclosed channel  3100 . As in the previous iteration, the controller  3005  is configured to receive a signal from at least one sensor  3140   a - n  in the next sequential adjacent work volume of the plurality of sequential work volumes  3115   a - c , and determine, based on the received signal, at least one of one or more of the plurality of deformable articles  12   a - n  being present on the stationary floor  3110 , none of the plurality of deformable articles  12   a - n  are present on the stationary floor  3110 , and one of the plurality of deformable articles  12   a - n  exited the enclosed channel  3100  through the outlet orifice  3135 . 
     Alternatively, in implementations, the rather than an engaged gripper releasing each article  12  on the floor  3110  of an adjacent work volume  3105  following a hoist, the gripper  3120  of an available arm  3115  in a receiving work volume  3105  can grip an edge of the article  12  (e.g., a lowest hanging point), hoist the gripped edge to the hoist height and the longest engaged gripper can release the article  12 . 
     In implementations, the controller  3005  is configured to stop iterating when each one of the plurality of deformable articles  12   a - n  in a load of dirty articles exits the enclosed channel through the outlet orifice  3135  as a solitary deformable article and no deformable articles remain in the enclosed channel  3100 . 
     In implementations, as will be subsequently described with regard to an illustrative embodiment, the controller  3005  is further configured to instruct two or more of the plurality of arms  3115   a - c  to operate simultaneously within each respective one of the plurality of sequential work volumes  3105   a - c . In implementations, terminal grippers  3120   a - c  of the two or more of the plurality of arms  3115   a - c  operating simultaneously are configured to simultaneously grasp at least one of the plurality of deformable articles  12   a - b . For example, to determine an article is a large sized item, two or more arms of the plurality of arms  3115   a - c  can simultaneously grasp the article and rotate apart to spread the article. The controller  3005  can be configured to estimate a size of the article  12  based on a distance separating the engaged terminal grippers  3120   a - c  once tension is detected in the spread article. Tension can be detected, for example, by one or more sensors in communication the controller  3005  for detecting resistance to movement or by monitoring a motor current of the at least one drive motor  3125   a - c  of each arm engaged with the article. 
     As previously described with regard to  FIGS.  10 - 11   , the device  3000  comprises at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  disposed at least one of on, adjacent to, and within each one of the plurality of sequential work volumes  3105   a - d . In examples, the at least one sensor of each work volume of the plurality of work volumes  3105   a - d  is configured to at least one of detect one of one or more features and capture one or more images of the at least one of the plurality of deformable articles  12   a - n  disposed in at least one work volume  3105  of the enclosed channel  3100 . In implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  comprises at least one of a 3-D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor (e.g., including Doppler radar and/or millimeter-wave radar), and a pair of stereo depth cameras. In implementations, at least one sensor outputs to the controller  3005  at least one of a depth map, RGB images, and IR images. In implementations the at least one sensor  3140   a - c ,  3145   a - c ,  3147   a - c  comprises a REALSENSE camera configured to output at least one of a depth map, RGB images, and IR images. In implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  can be configured to output 3-D image data to the controller  3005 . Additionally or alternatively, in implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  can be configured to output one or more 2-D images to the controller  3005 . As previously described, in implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  comprises a camera, and the camera is calibrated to the floor  3110  of the enclosed channel  3100  and has a field of view encompassing one or more of the plurality of arms  3115   a - c.    
     In implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  is positioned at least one of on, adjacent to, and within an associated one of the plurality of work volumes  3105   a - c  such that the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  has an field of view encompassing the stationary floor  3110  within the associated one of the plurality of work volumes  3105   a - d . In implementations, the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  comprises a field of view (FOV) encompassing the outer perimeter reachable by an associated one of the plurality of arms  3115   a - c . In implementations, as shown in  FIGS.  10 - 13   , the at least one sensor  3140   a - d ,  3145   a - c ,  3147   a - c  is disposed outside the enclosed channel  3100 , above each of the plurality of sequential work volumes  3105   a - c . As shown in  FIG.  12    depicting a portion of the enclosed channel  3100  comprising a first work volume  3105   a , the at least one sensor  3140   a  can be disposed adjacent a transparent window  3141   a  in a ceiling  3111  of the enclosed channel  3100  and comprises a field of view encompassing the stationary floor  3110  within the associated work volume. Additionally or alternatively, as shown by way of example in  FIG.  12   , the at least one sensor can include at least one of at least one upwardly angled sensor  3145   a  and at least one transverse sensor  3147   a  disposed at least one of on, adjacent to, and within an associated work volume  3105   a . The at least one upwardly angled sensor  3145   a  comprises a field of view encompassing the work volume above the floor  3110  and is configured to detect an article  12  suspended by an associated arm  3115   a - c  above the floor  3110 . In implementations, as shown  FIGS.  12  and  13   , the at least one upward angled sensor  3145   a  and at least one transverse sensor  3147   a  are disposed outside the enclosed channel  3100 , adjacent each of the plurality of sequential work volumes  3105   a - c . In implementations, the at least one upwardly angled sensor  3145   a  and at least one transverse sensor  3147   a  can be disposed respectively adjacent a transparent window  3146   a  on an arm side of the enclosed channel and a transparent window  3148   a  on a side wall opposite the arm wall. Additionally or alternatively, in implementations, one or more of the at least one transverse sensor  3147   a  and at least one upwardly angled sensor  3145   a  can be disposed respectively adjacent a transparent window on an arm side of the enclosed channel and a transparent window on a side wall opposite the arm wall. Although the one or more sensors  3140   a ,  3145   a ,  3147   a  are described with regard to the first work volume  3105   a , in implementations, each work volume  3105   a - d  of the enclosed channel  3100  can comprise one or more of any of the sensors herein described by way of example with reference the first work volume  3105   a.    
     As shown in the schematic end view of a working volume  3105   a  in  FIG.  13    and the simplified end view showing only the floor  3110  of the enclosed channel  3100  in  FIG.  14   , in implementations of the device  3000 , the at least one sensor comprises at least one sensor  3140   a  at the ceiling aimed substantially downward at the stationary floor  3110 , an upward angled sensor  3145   a  and a transverse sensor  3147  such that the overlapping fields of view (FOVs) ϕ1-ϕ3 cover the entirety of the work volume. Such implementations are particularly advantageous for determining whether and where any one of the plurality of deformable articles  12   a - n  remains in the enclosed channel  3100  prior to concluding the separating and sorting process on the plurality of deformable articles  12   a - n  and determining the channel  3100  is dormant and ready to receive a subsequent load of dirty laundry into the enclosed channel for separating and sorting. Alternatively, in implementations, a single sensor of the one or more sensors  3140   a ,  3145   a ,  3147   a  comprises a field of view configured to detect the entirety of one or more work volumes  3105   a - c  of the enclosed channel  3100 . 
     In implementations, as shown in  FIG.  14   , determining a location of the at least one of the plurality of deformable articles  12   a - n  on the stationary floor further comprises determining one or more grip points  15   a - 15   c  on the at least one of the plurality of deformable articles  12   a - n  at which the gripper  3120   a  will close on the article  12   a . In implementations, the one or more grip points  15   a - 15   c  are disposed on a high point (e.g., grip point  15   a ) of the at least one deformable article  12   a  of the plurality of deformable articles  12   a - n . The high point can be a highest point of one or more highest points on the article  12   a , the one or more highest points being raised higher than other points on the article  12   a  relative to the planar surface of the floor  3110  beneath the article  12 . Additionally or alternatively, in implementations, one or more grip points  15   b - c  are disposed on an edge of the at least one of the plurality of deformable articles  12   a - n  as determined by the controller  3005  based on signals received from the one or more sensors  3140 ,  3145 ,  3147 . In implementations, as will be subsequently described with regard to embodiments, the controller  3005  is configured to receive or compute a mask of the article  12   a  to determine the edges of the article  12  (e.g., a continuous outline traced in 2D around the outer periphery of the article  12   a  on the floor  3110  of the channel  3100 ) and the one or more grip points  12   b - c  disposed on the edge. 
     As previously described with regard to in implementations, the at least one sensor  3140   a - c  is a camera disposed at, on, or adjacent the ceiling  3111  and/or walls  3112   a - d  of the enclosed channel  3100 . The camera is calibrated to the distance of the stationary floor  3110  and configured to detect a prominence of a deformable article  12  disposed on the floor  3110 . In implementations, as shown in  FIGS.  10 - 11  and  14   , the device  3000  further comprises one or more light sources  3150   a - c  in operable communication with the controller  3005 . The one or more light sources  3150   a - c  can comprise at least one of adjustable brightness, intensity, and color. The one or more light sources  3150   a - c  are configured to adjust lighting within the enclosed channel  3100  for improving perception by the at least one sensor comprising at least one of the at least one senor  3140   a - c  disposed at, on, or adjacent the ceiling, an upward angled sensor  3145   a - c  disposed at, or adjacent on of the walls  3112   a - d , and a transverse sensor  3147   a - c  disposed at, or adjacent on of the walls  3112   a - d  as previously described with regard to implementations. In implementations, one or more of the one or more light sources  3150   a - c  can be aimed directly or indirectly at the floor  3110  from above or aside the floor  3110 . In implementations, the one or more light sources  3150   a - c  are disposed adjected at least one of the ceiling  3111 , one or more walls  3112   a - d , and the floor  3110  at least one of within the channel  3100  and external to the channel  3100  and adjacent one or more transparent or diffusive light permitting windows, such as one or more plexiglass windows sealed within the ceiling, walls, and/or floor such that clothing, dirt and debris, loose items, and cleaning fluid do not escape the channel  3100 . 
     Turning now to  FIGS.  15 A- 17 B , a series of partial views of the device  3000  are shown for exemplification. A floor  3110  of an enclosed channel is depicted along with a plurality of arms  3115   a - c  as previously described and boundaries of associated work volumes  3105   a - b  projected on the floor  3110 . As previously described, the controller  3005  is configured to orchestrate movements of the plurality of arms  3115   a - c  within the enclosed channel  3100  and actuate the associated terminal grippers  3120   a - c  to grasp, hoist, and release which actuating the at least one motor  3125   a - c  of each arm  3115   a - c  to pan, tilt and extend the arm. 
     In implementations, as shown in  FIG.  15 A , the controller  3005  is configured to receive a signal from the at least one sensor (e.g., a camera  3140   a ,  3145   a ,  3147   a ) disposed at or adjacent a first work volume  3105   a . The signal is indicative of the at least one sensor detecting at least one article  12   a  of a plurality of deformable articles  12   a - n  being disposed within the first work volumes  3105   a . Because the first work volume  3105   a  is configured to receive a load of dirty laundry, the at least one article  12   a  is, in most instances, a mass of a plurality of deformable articles  12   a - n , when “n” indicates the maximum number of separate articles in a load of laundry. The plurality of deformable articles  12   a - n  can be, for example, a pile of non-uniform dirty laundry and the articles comprising the pile of dirty laundry can be overlapped, entangled, and otherwise stuck together or piled atop one another. The controller  3005  is configured to determine a location of the at least one of the plurality of deformable articles  12   a - n  on the stationary floor  3110  relative to the associated arm  3115   a  (e.g., the first arm  3115   a  of the plurality of arms  3115   a - c ) of the first work volume  3105   a.    
     In implementations, the controller  3005  is configured to aim the gripper  3120   a  of the first arm  3115   a  at the center of the area on the floor  3110  occupied by the plurality of deformable articles  12   a - n . Additionally or alternatively, as described with regard to  FIG.  14   , the controller  3005  is configured to aim the gripper  3120   a  at one of one or more highest points  15   a  of the plurality of deformable articles  12   a - n . Additionally or alternative, the controller  3005  is configured to determine a mask (e.g., mask  3800  of  FIG.  46   ) an article  12  or the plurality of deformable articles  12   a - n  and edge points as previously described with regard to implementations, and instruct the gripper to aim to engage an article  12  at one of the determined one or more edge points  15   b - c . In implementations, the controller  3005  is configured to instruct the gripper  3120  to aim to engage the article at one of the determined one or more edge points  15   b - c  that is closest to the outlet end O. In implementations, the controller  3005  is configured to determine a mask  3800  of an article  12   a  or a plurality of articles  12   a - n  disposed on the floor  3110 , randomly select a point  15   a  within the area of the mask  3800 , receive a depth signal from the one or more sensors (e.g., sensors  3140   a - c ,  3145   a - c ,  3147   a - c ), and instruct a gripper  3120  to grab the article  12  at the depth sensed at the selected grip point  15   a  even if that is not the highest point on the article  12 . 
     As shown in  FIG.  15 B , the controller  3005  instructs at least one drive  3125   a - c  to position the terminal gripper  3120   a  of the first arm  3115   a  at the determined location to grasp the at least one article  12   a  of the plurality of deformable articles  12   a - n  by at least one of rotating, panning, and tilting the arm  3115   a  and the associated terminal gripper  3120   a  to the target location. In implementations, the controller  3005  receives a signal form the one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c , determines a depth location of the target grip point  15 , and determines a target height to which the arm  3115  will move the gripper, the target height being short distance (e.g., 1 cm-3 cm) directly above the target grip point  15 . The arm  3115  then moves the gripper  3120  to the target height above the target grip point  15 , positioning the joint at the base of the spread gripper fingers  3107   a - b  ( FIGS.  39 A- 41 A ) adjacent the article  12  so that the fingers of the gripper  3120  do not push the article  12  away and out of reach. In implementations, the controller  3005  is configured to thus position the gripper so that the fingers  3107   a - b  of the gripper  3120  close on the target grip point  15  as the arm  3115  is lifting the article  12  off the floor  3110 . 
     With the gripper  3120  positioned at least one of on or directly above the location of the target grip point  15 , the controller  3005  instructs an actuator  3174   a  of the terminal gripper  3120   a  to close the gripper  3120   a  on the at least one article  12   a  of the plurality of deformable articles  12   a - n . Additionally or alternatively, in implementations, after selecting the target point  15 , the controller  3005  is configured to instruct the one or more drive motors  3125   a - c  to transit the gripper  3120  to a target location above the determined grip point, then slowly move down at a fraction of the transit speed (e.g. one half, one third, one quarter) in arriving at the target location. The controller  3005  instructs the at least one drive motor  3125   a - c  to press the gripper  3120  into the article  12  and then retract to a distance at or around 2 cm above the target location grip point while closing the fingers  3107   a - b  of the gripper  3120  around the grip point of the article  12 . In this way, the gripper  3120  is able to grasp small articles successfully, articles such as baby socks and children&#39;s gloves, for example, without driving into them at full speed and potentially pushing them out of reach of the gripper fingers  3107   a - b.    
     The controller  3005  is configured to instruct the at least one drive  3125   a - c  to raise the closed terminal gripper  3120   a  and the grasped at least one  12   a  of the plurality of deformable articles  12   a - n  to a hoist height H 1  above the stationary floor  3110 , leaving behind articles  12   b - n  in the received load, where “n” represents the maximum number of separable deformable articles in the received load of deformable laundry articles. As will subsequently be described with regard to implementations, the first gripper  3120   a  nearest the inlet end I can grasp more than one deformable article  12   a - n  from the pile of dirty laundry to hand off to the next arm  3115   b  in an adjacent work volume  3105   b . As will be described in detail, the plurality of arms  3115   a - c  operate in sequence to grasp and release articles down the length of the channel  3100  such that by the third grasp by the third arm  3115   c , the more than one initially grasped deformable articles are separated and a single article  12   a  is held aloft by the final arm  3115   c  adjacent the outlet O. 
     In implementations, the device  3000  can include one or more weight sensors disposed each of the plurality of arms  3115   s - c , the one or more weight sensor being in operative communication with the controller  3005  and being configured to continuously detect a rate of change as each one of the plurality of deformable laundry articles is raised. The controller  3005  can then determine that one of the plurality of deformable laundry articles is raised to a hoist height when the one or more weight sensors detect an unchanging rate of change of measured weight because the article is lifted completely off the floor  3110  and is no longer supported by the floor  3110 , therefore imparting a maximum downward force on the engaged arm  3115   a . Additionally or alternatively, the at least one sensor of at least one of a downward angled sensor  3140   a - c , a transversely angled sensor  3145   a - c  (e.g., having a field of view aimed across the channel from one side wall  3112   c - d  to another), and an upwardly angled sensor  3147   a - c , can detect a position of the terminal gripper above the floor  3110  and output a signal to the controller indicative of this height position. Upon receiving the signal, the controller  3005  can then determine that the gripper  3120   a  is at a hoist height conducive for moving the article into an adjacent work volume  3105   b  for dropping there. Additionally or alternatively, one or more encoders (e.g., motor encoders  3157   a - c, a ′- c′, a ″- c ″,  FIG.  5   ) outputs a signal to the controller  3005 , and the controller  3005  determines a hoist height of the gripper  3120  engaged with the article  12  by dynamically processing (e.g., processing the one or more encoders signals as the one or more motors  3125   a - c  are moving the arm  3115 ) the signal with a calibrated kinematics routine. In implementations, the hoist height is pre-set, and the controller  3005  uses calibrated kinematics to determine when the gripper reaches the pre-set hoist height. Additionally or alternatively, in implementations the at least one sensor  3140   a - c ,  3145   a - c ,  3147   a - c  is configured to detect a gap between the hoisted article and the floor  3110 , and output a signal to the controller  3005  for dynamic processing to determine when an article  12  is hoisted to a height at which a detectable gap (e.g., a region from which the detectable article is no longer sensed across the width of the channel  3100 ) appears between the hoisted article and the floor  3110 . In implementations, the at least one sensor  3147   a - c  comprises a transverse field of view for dynamically detecting the appearance of a gap beneath the article  12  and above the floor  3110 . 
     As shown in  FIG.  16 A , the controller  3005  instructs the at least one drive motor  3125   a - c  to at least pan the arm  3115   a , gripper  3120   a , and hoisted article  12   a  in the direction D toward the outlet end O of the channel  3100  and into an adjacent work volume  3105   b . Additional, the controller  3005  can tilt and extend the first arm  3115   a  such that the terminal gripper  3120   a  is positioned within the second work volume  3105   b  accessible by the second arm  3115   b . As shown in  FIG.  16 B , the controller  3005  is configured to instruct the actuator  3174   b  of the terminal gripper  3120   a  to open and release the article  12   a  in the adjacent work volume  3105   b . The controller  3005  receives a signal from at least one sensor (of at least one of a downward angled sensor  3140   b , a transversely angled sensor  3145   b , and an upwardly angled sensor  3147   b ) in the adjacent work volume  3105   b  and determines, based on the received signal, that the at least one deformable article  12   a  is present on the stationary floor  3110 . Similar to the first arm  3115   a , the second arm  3115   b  is configured to grasp the deformable article  12   a  from the stationary floor  3110  within the associated second work volume  3105   b , rotate in the direction D toward the outlet end O of the channel  3100  and release the deformable article in the third work volume  3105   c , as shown in  FIG.  17 A . 
     In implementations, the controller  3005  is configured to determine whether a terminal gripper  3120   a - c  missed grasping the article prior to hoisting to the hoist height H 1 . For example, after the first arm  3115   a  has hoisted, rotated, and opened the terminal gripper  3120   a  in a second work volume  3105   b , the controller  3005  of the device  3000  can determine that the article is not present on the floor  3110  within the second work volume based on one or more sensor signals from the at least one sensor  3140   a - c . The controller  3005  can then at least one of query and receive a signal from the at least one sensor  3140   a  in the first work volume  3105   a  and determine a location of the deformable article on the floor  3110  within the first work volume  3105   a . The controller  3005  can then repeat the instructions of positioning the terminal gripper  3120   a  of the first arm  3115   a  at the determined location to grasp the at least one article  12   a  of the plurality of deformable articles  12   a - n , grasping, raising, rotating, and releasing the article in the second work volume  3105   b.    
     In implementations, as will be described subsequently with regard to the method of operation, the controller  3005  can execute a miss recovery routine. In implementations, the miss recovery routine comprises moving the target grip point  15  inward from an edge by a distance in a range of between about 10-20 mm (e.g., 10 mm, 11 mm, 12 mm, 13 m, 14 mm, 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm) in a direction toward the inlet end I with each subsequent attempt after a missed grab. Additionally or alternatively, in implementations, the controller  3005  can determine a center of mass of the mask of the at least one article  12   a  on the floor  3110  and move the targeted grip point  15  the toward the center of mass with each subsequent attempt after a missed grab. Alternatively, in implementations, the controller  3005  is configured to move the target grip point  15  to some other location within the area of the garment mask (e.g., mask  3800 ). 
     In implementations, the controller  3005  selects the alternate grip point locations randomly, or by iterating attempted grasps at alternate locations in a deterministic manner. This ensures that the gripper  3120  will find a graspable portion of the article  12 , accounting for any spacing between extensions and the core of a garment, such as between sleeves and the torso portions of a shirt, which may place a center of mass in an open location not occupied by the article  12 . Additionally or alternatively, in implementations, the controller  3005  is configured to create a bounding box  3805  around the mask  3800  of the article  12  as shown in  FIG.  46   , the bounding box comprising a length LB and a width WB that places the mask  3800  inside the bounding box  3805 . The controller  3005  is configured to choose a random point as the target grip point  15  based on the length LB and width WB of the bounding box, determine whether the grip point  15  is within the mask (e.g., grip point  15   b ) and not just within in the bounding box (e.g.,  15   a ), and instruct a gripper  3120  to grasp the grip point  15   b  within the mask area corresponding to the location of the article  12 . If the grip point was not within the mask  3800 , the controller  3005  randomly selects a new target grip point with the bounding box  3805  and iteratively continues randomly selecting target grip points until a target point is within both the bounding box  3805  and the mask  3800 . The randomness of determining a grip point  15  within the bounding box  3805  accounts for the difference in size between an end effector in software path planning (e.g., a single point) and the volume of the gripper  3120 , which is a 3D element and not a single point, and results in successful grabs of the article  12  regardless of article size. This enables a gripper  3120  to grab very small items such as baby socks, for example. By comparison, targeting a center of mass could result in the joint at the base of the fingers of the gripper  3120  touching the floor  3110  of the channel  3100  and not reaching the article, even though the center of the gripper  3120  was directly above the given target point, such as an edge point of the small article or a point moved inward from an edge point toward a center of mass. 
     Additionally or alternatively, in implementations, after selecting the target grip point within the bounding box, the controller  3005  is configured to instruct the one or more drive motors  3125   a - c  to transit the gripper  3120  to a target location above the determined grip point, then slowly move down at a fraction of the transit speed in arriving at the target location. The controller  3005  instructs the at least one drive motor  3125   a - c  to press the gripper  3120  into the article and then retract to a distance at or around 2 cm while closing the fingers  3107   a - b  of the gripper  3120  around the grip point of the article. In this way, the gripper  3120  is able to grasp small articles successfully, articles such as baby socks and children&#39;s gloves, for example, without driving into them and potentially pushing them out of reach. 
     Each of the subsequent arms in the plurality of sequential arms  3115   a - c  similarly performs a grasp, rotation, and drop down the line of sequential arms  3115   a - c  and work volumes  3105   a - c  from the inlet end I to the outlet end O of the channel  3100 . By performing sequential grasps, rotations, and drops the device  3000  increases the likelihood that each subsequent grasp will result in the terminal gripper  3120  of an arm  3115  retaining only a single article  12  in the final work volume  3105   d  for dropping through the outlet orifice  3135 . By separating the load of the plurality of deformable articles  12   a - n  into single articles, the device  3000  is able to sort each one of the plurality of deformable articles  12   a - n  into a receiving bin  3202  configured to receive a single load of laundry having one or more common characteristics for improved washing and drying. Each article of the plurality of deformable articles  12   a - n  can be independently detected by the at least one sensor (at least one of a downward angled sensor  3140   a - c , a transversely angled sensor  3145   a - c , and an upwardly angled sensor  3147   a - c ), and the controller  3005  can determine one or more characteristics for batching the article into an associated bin  3202   a - n . As shown in  FIG.  17 B , a single article  12   a  of the plurality of deformable articles  12   a - n  exits the channel  3100  at the outlet orifice  3135  to be received by a bin  3202  therebeneath. 
     Also as shown in  FIG.  17 B , one or more arms of the plurality of arms  3115   a - c  can operate simultaneously. For example, a third arm  3115   c  can drop an article  12   a  through the outlet orifice  3135  into a bin  3202  while a first arm  3115   a  is rotating into the second work volume  3105   b  with a hoisted one or more articles  12   b - c  in its terminal gripper  3120   a , leaving behind the remaining plurality of deformable articles  12   d - n  on the floor  3110  at a load intake position. The first arm  3115   b  will drop the articles  12   b - c  from its terminal gripper  3120   a  onto the floor  3110  in the second work volume  3105   b  and the terminal gripper  3120   b  of the second arm  3115   b  is likely to grasp only one of the two deformable articles  12   b - c  dropped. Additionally or alternatively, in implementations, the controller  3005  is further configured to drive the at least one drive motor  3125   a - c  of an arm  3115  of the plurality of arms  3115   a - c  in at least one of alternating side-to-side and alternating up and down motions to shake a grasped deformable article  12  of the plurality of deformable articles at the hoist height H 1 . By shaking the terminal gripper  3120  at the hoist height, the arm  3115  can free any articles that may be stuck together, e.g., statically attracted or entangled. This shaking and/or snapping motion will separate two articles hoisted together when only a single article  12  is grasped. This helps prevent two articles  12  from being delivered to a next work volume  3150   b - c  and therefore helps ensure that only a single article  12  is grasped by the gripper  3120   c  of the final arm  3115   c  in the sequentially placed plurality of arms  3115   a - c.    
     In implementations, as shown in  FIG.  18   , the controller  3005  is further configured to determine whether a work volume is clear of any articles before an arm drops another article into that work volume. For example, an article  12   b  can remain in the third work volume  3105   c  while a second arm  3115   b  waits for the third arm  5115   c  to finish cleaning the third work volume  5105   c  before releasing another article  12   c  into the third work volume  3105   c . This prevents piling up more than one article in the third work volume  3105   c  and further ensures that only a single, separated article will be released through the outlet orifice  3135 . Table 1 describes an implementation of a decision matrix executed by the controller  3005  based on sensor input for determining whether a work volume  3105 ,  3105   a - c  is clear of any articles  12 ,  12   a - n  before dropping another article into that work volume: 
     
       
         
           
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Population count 
                   
                 Work volume 
                   
               
               
                 at and in contact 
                   
                 floor available 
               
               
                 with gripper 
                   
                 to receive new 
               
               
                 above floor 
                 Floor mask 
                 article? 
                 Meaning 
               
               
                   
               
             
            
               
                 Article detected 
                 Empty 
                 Yes 
                 Grab successful 
               
               
                 Article detected 
                 Article detected 
                 No 
                 Maybe multiple 
               
               
                   
                   
                   
                 articles grabbed, 
               
               
                   
                   
                   
                 maybe large 
               
               
                   
                   
                   
                 article grabbed 
               
               
                 Empty 
                 Empty 
                 Yes 
                 Grab successful, 
               
               
                   
                   
                   
                 small article 
               
               
                 Empty 
                 Article detected 
                 No 
                 Missed 
               
               
                   
                   
                   
                 grab/dropped 
               
               
                   
                   
                   
                 article, or 
               
               
                   
                   
                   
                 successful small 
               
               
                   
                   
                   
                 article grab but 
               
               
                   
                   
                   
                 multiple articles 
               
               
                   
                   
                   
                 on floor 3110 
               
               
                   
               
            
           
         
       
     
     In this implementation, after an arm performs an article  12  hoist, the controller  3005  will evaluate a population count of an output sensor signal (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ) to determine whether an article is detected in an area under the engaged arm  3115 . In implementations, the population count comprises the number of points in a point cloud, and the points comprise at least one of points that have been voxelized and points that have not been voxelized. Alternatively, in implementations, determining a population count indicative of a successful hoist comprises the controller  3005  identifying correlated points between 3D points in a depth map with RGB pixels in an RGB image of the hoisted article based on the output signal of one or more sensors (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ). This implementation of determining population count can also be used by the controller  3005  for classifying an article at the last hoist above the outlet orifice  3135  before dropping the article into a bin based on at least one of a detected article size and color. 
     If the population count is detected as large (e.g., at or above a threshold value indicative of an article  12  being detected), the controller  3005  determines that the arm  3115  and gripper  3120  grabbed and hoisted at least one article  12 . If the population count is below a threshold value, the controller  3005  determines that the grab missed grasping an article, in which case the article is still on the floor  3110 , or the article wasn&#39;t missed but is smaller than a threshold population count, e.g., a sock. The controller  3005  determines whether an article is on the floor by evaluation the mask  3800 . If the mask processing indicates an empty floor, the controller  3005  determines the grab was successful and the article  12  in the gripper  3120  is small, therefore the floor beneath that arm is available for receiving a new article. If the controller  3005  analyzes the mask and determines the floor is not empty (e.g., an article  12  is detected on the floor  3110 ), the controller  3005  determines the floor  3110  is not available for receiving another article. In this instance when an article is detected in the gripper and on the floor  3110 , either more than one article  12   a - n  had been deposited on the floor  3110  in the work volume  3105  and one article was hoisted and another left behind on the floor  3110 , or the article in the hoisted gripper is large and extends down onto the floor  3110 . 
     If the population count is below a threshold value and the floor mask does not indicate an article being present on the floor  3110 , the floor  3110  is available to receive an article. This condition can indicate that the grab was successful, and the item hoisted is small (e.g., below a population count threshold). If the population count is below a threshold value and the floor mask indicates an article being present on the floor  3110 , the work volume is not available for receiving another article. This condition indicates either a missed or dropped article or that a small item was successfully grabbed but another article remains on the floor  3110 . 
     Additionally or alternatively to the above described conditions, in implementations, the controller  3005  is configured to account for shadows. For example, if an article is supposedly detected on the floor  3110  of the work volume  3105   a  of a hoisted arm  3115   a , but the arm  3115   b  corresponding to the next sequential work volume  3105   b  is stowed, the controller  3005  determines the detected article is a shadow of the hoisted article  12  the engaged arm  3115  is waiting to move to the adjacent work volume  3105   b . The controller  3005  can assume this is a shadow and not an article because the arm  3115  for the adjacent work volume  3105   b  would have tried to pick up the article  12  and would be in a hoisted position. 
     In implementations, the controller  3005  is configured to stop iterating the sequential grasps, hoists, rotations, and drops when each one of the plurality of deformable articles  12   a - n  exits the enclosed channel  3100  through the outlet orifice  3135  as a solitary deformable article and no deformable articles remain in the enclosed channel  3100  as detected by the one or more sensors (e.g., at least one of one or more downward angled sensors  3140   a - c , one or more transversely angled sensors  3145   a - c , and one or more upwardly angled sensors  3147   a - c ). As will be subsequently described, the controller  3005  is configured to determine that the enclosed channel  3100  is clear of any deformable articles before accepting a new load of dirty laundry (e.g., a new pile of deformable articles  12   a ′-n′) onto the stationary floor  3110  adjacent the intake end I. 
     Although the above implementations describe each of the plurality of arms  3115   a - c  rotating a grasped article  12  into an adjacent work volume and the associated terminal gripper  3120   a - c  releasing the article onto the floor  3110  in in the adjacent work volume, additionally or alternatively, in implementations, one or more of the terminal grippers  3120   a - c  of the plurality of arms  3115   a - c  can simultaneously grasp at least one article  12   a  of the plurality of deformable articles  12   a - n  at a hoist height H 1  without releasing the article onto the floor  3110  so that the article  12   a  is spread out. For example, as shown in  FIGS.  19 - 21   , the controller  3005  can determine one or more grip points  15   a - f  on a deformable article  12   a  hoisted by a second arm  3115   b . In implementations, the one or more grip points  15   a  are disposed on an edge  16  of the deformable article  12   a . The controller  3005  can instruct a terminal gripper  3120   c  of a third arm  3115   c  in a work volume  3105   c  adjacent the second work volume  3105   b  to grip one of the one or more grip points  15   a - f . For example, the terminal gripper  3120   c  of the third arm  3115   c  can grip the lowest grip point  15   d  on the article  12  as shown in  FIG.  19   . As shown in  FIG.  20   , the third arm  3115   c  can then raise the grasped grip point  15   d  of the article  12   a  to the hoist height H 1  while the terminal gripper  3120   b  of the second arm  3115   b  is still engaged with the article  12   a  at the hoist height H 1 . 
     As shown in  FIG.  21   , one or more of the engaged second arm  3115   b  and engaged third arm  3115   c  can rotate away from the other to spread the article  12   a  to an uncrumpled state, stopping for example when a resistance sensor in communication with the controller  3005  detects resistance indicative of the article  12   a  being spread. The second terminal gripper  3120   b  can then release the article  12   a  leaving only the third gripper  3120   c  holding the article  12   a  at the hoist height H 1 . In this way, the plurality of grippers  3115   a - c  continually pass the article  12  between mid-air grasps and by the final grasp, the article is a single article ready for exiting and sorting into a collection bin  3202  for washing. Additionally, in implementations, the controller  3005  can determine whether an article is a large sized item while two or more arms of the plurality of arms  3115   a - c  simultaneously grasp the article and rotate apart to spread the article to at least a threshold length. The controller  3005  can be configured to estimate a size of the article  12   a  based on a distance W separating the engaged terminal grippers  3120   a - c  once tension is detected in the spread article  12   a . Tension can be detected, for example, by one or more sensors in communication the controller  3005  for detecting resistance to movement or by monitoring a motor current of the at least one drive motor  3125   a - c  of each arm engaged with the article  12   a . The controller  3005  can access a memory  3010 ,  210 ,  235 ,  240 ,  250  in wired or wireless communication with the controller  3005 , for example via a communication network  230 , and cross reference the determined distance W with a database of article size classifications. The determination of a size classification can inform which collection bin  3002  will receive the article  12   a , as will be described subsequently with regard to implementations. 
     Although  FIGS.  14 - 22    show the plurality of arms  3115   a - c  and floor  3110  of the channel  3100  absent the remaining enclosure walls  3112   a - d  for exemplary purposes, in implementations, the enclosed channel  3100  is fully enclosed on all sides including at the inlet end I and outlet end O. Additionally, in implementations, as shown in  FIGS.  6 - 7   , a lower portion  3113  of the channel side wall along the arms (e.g., arm wall  3112   c  of  FIG.  6   ) can be angled inward toward the lower edge meeting the floor  3110  such that any of the plurality of deformable articles  12   a - n  falling too close to the arm wall  3112   c  during a drop will slide down under the force of gravity onto the floor  3110 , within reach of one or more of the plurality of arms  3115   a - c . Also as will be subsequently described in further detail with regard to implementations, the inlet orifice  3130   a - b  and outlet orifice  3135  each comprise an actuated covering for selectively exposing and sealing each of the orifices, the controller  3005  being in operative communication with the actuator of each covering for sealing and uncovering the openings of the enclosed channel  3100  only when required to receive a load of deformable articles  12   a - n  through the inlet orifice  3130   a - b  into the channel  3100  and to allow a separated one of the deformable articles  12  to exit the channel  3100  through the exit orifice  3135 . By selectively sealing and uncovering the openings  3140   a - b ,  3135 , the device  3000  contains the dirty load of deformable articles  12   a - n  and any loose items (e.g., buttons, hair ties, pocket change, pens) dirt, debris, and other biological matter that may be on the deformable articles  12   a - n . This prevents the loss of personal items and the spread of dirt, debris, and potentially harmful matter from spreading throughout the process line  100 , particularly to clean loads of deformable articles being processed by other robots of the process line  100 . The channel  3100  can be autonomously sealed for autonomous cleaning and sanitization between loads of laundry and any lose articles can be autonomously collected for return to the customer in one or more customer containers or boxes. 
     Turning to  FIGS.  23 - 24 C , in implementations, the inlet orifice  3130   a  is disposed in a ceiling  3111  of the enclosed channel, adjacent the inlet end I such that a plurality of deformable articles  12   a - n  received therethrough lands upon the floor  3110  of the channel adjacent a first arm of a plurality of arms  3115   a - c  disposed sequentially along the length of the channel  3100 . The inlet orifice  3130   a  is selectively sealed by a slidable door  3131  configured to be drawn away from the inlet orifice  3130   a  when a load of deformable articles is ready for placement into the enclosed channel  3100 . In implementations, the door  3131  comprises one or more pair of rollers  3305   a - b ,  3307   a - b ,  3308   a - b  configured to slide along a pair of rails  3310   a - b  disposed therebetween such that the door  3131  moves up and back at a slight incline in the direction of arrow S. In implementations, the rollers  3305   a - b ,  3307   a - b ,  3308   a - b  are spring loaded bearing rollers, and the pair of rails  3310   a - b  are mounted astride the inlet orifice  3130   a . For example, in implementations, the door  3131  can raise up in a range of about 10-15 mm. In implementations, the door  3131  is mounted on one end to a spring loaded hinge  3315  that pulls the door  3131  up an inclined pair of rails  3310   a - b  having a total rise of about 12 mm. Implementations of the door  3131  being a sliding door provides the benefits of a fast opening and closure to minimize the time the inlet orifice  3130   a  is exposed. This prevents exposing other robots in the process line  100 ,  100   a - c  to potential dirt, debris, biohazardous substances, and other contaminants and detritus that might escape from a sealed box of one or more dirty articles  12 ,  12   a - n.    
     In implementations, the sliding trap door  3131  is actuated by a drive motor  3320  in operable communication with the controller  3005  for selectively sealing and exposing the inlet orifice  3130   a  on demand. The drive motor  3320  can be configured to rotate a movable track  3325  to which the spring loaded hinge  3315  is attached. In implementations, the drive motor  3320  can be a low profile linear drive that enables the trapdoor assembly  3300  to have a low profile atop the enclosed channel  3100 . As will be subsequently described, the low profile enables a box tipping assembly  3400  to be mounted in close proximity with the inlet orifice  3130   a  thereby minimizing or eliminating exposure of the box contents (e.g., one or more dirty articles  12 ,  12   a - n ) to the exterior and surrounding environment external to the enclosed channel  3100 . This prevents the load of one or more deformable articles  12 ,  12   a - n  therein and any dirt, detritus, debris, and/or biological matter from falling outside the enclosed channel  3100 . As will be described subsequently with regard to implementations, the box tipping assembly is designed to avoid contamination of the process line  100  at large and the exterior of the enclosed channel  3100  in particular by dirty laundry (e.g., one or more dirty articles  12 ,  12   a - n ). Only the cleanable interior surfaces of the enclosed channel  3100  are touched by dirty laundry released from a customer box. 
     As shown in  FIGS.  25 - 27   , upon alignment of a sealed box  3500  containing the plurality deformable articles above the inlet orifice  3130   a , the controller  3005  actuates the inlet door  3131  to reveal the inlet orifice  3130   a  before emptying the contents of the aligned box  3500  into the enclosed channel  3100 . In implementations, a box  3500  containing a plurality of dirty deformable articles  12   a - n  from a single customer (e.g., household) is autonomously queued to a first position A adjacent the inlet orifice  3130   a , for example on a conveyor and/or flow rack  3405 . When the enclosed channel  3100  is ready to being a separation and sorting processing, the controller  3005  instructs a pair of rotatable clamps  3410   a - b  to engage the box  3500 . The box  3500  then moves along a pair of rails  3415   a - b  in a direction from the first position A to the second position B (as indicated by arrow T) directly above the inlet orifice  3130 . In implementations, the controller  3005  is configured to simultaneously instruct a drive to advance the box  3500  to the second position B while opening the door  3131  to expose the orifice  3130   a . Alternatively, the controller  3005  instructs a conveyor drive  3445  ( FIG.  5   ) to advance the box  3500  to the second position B and instructs the drive motor  3320  of the trap door  3131  to open the door  3131  once the box  3500  is positioned above the door  3131 . In implementations, as shown in  FIGS.  25 - 27   , the box tipping assembly  3400  comprises a cam follower and bidirectional gear engagement assembly  3420  configured to rotate the box  3500  to an inverted position for dropping the plurality of deformable articles onto the stationary floor  3110  of the enclosed channel  3100 . In implementations, the gear engages a rack for rotating the box  3500  such that a lid  3505  flips open into the orifice  3130   a  and contents fall into the enclosed channel  3100 . In implementations, the lid  3505  is a hinged lid configured to open into the inlet orifice  3130   a  upon rotation of the box  3500  to an inverted position. In implementations, the box  3500  is rotated with the lid  3505  hinged at the leading edge of rotation such that the lid  3505  blocks any deformable articles from falling anywhere other than into the inlet orifice  3130   a.    
     Turning to the system schematic of  FIG.  5   , the box tipping assembly  3400  comprises a processor  4705  in wired or wireless communication with the controller  4005  via a network interface  4735 . The box tipping assembly  3400  comprises a driven conveyor  3405  driven by a conveyor drive  3345  in operable communication with a reversible conveyor motor (not shown). The driven conveyor  3405  is configured to receive a full box  3500  into the box tipping assembly  3400  and eject the righted box  3500  once emptied. In implementations, the driven conveyor  3405  further comprises an incremental shaft encoder  3455  on the conveyor motor configured to rotate the driven conveyor  3405  by a measurable amount to move a box  3500  into a clamping position, position B. Additionally or alternatively, the conveyor  3405  comprises at least one position sensor  3450  configured to detect a position of a box  3500  within the box tipping assembly  3400  and transmit a signal to the processor  3430  of the box tipping assembly  3400  to actuate the pair of rotatable clamps  3410   a - b  to retain the box  3500  for tipping. In implementations, the position sensor  3450  comprises at least one of one or more non-contacting electromagnetic switches (e.g., Hall effect sensors), one or more mechanical limit switches, one or more photoelectric proximity switches (e.g., break beams), one or more inductive sensors, and one or more time of flight distance sensors configured to detect the presence of the position of the clamped box  3500  along the pair of rails  3415   a - b  and output a signal to the conveyor drive  3445  to stop moving the conveyor  3405 . The box tipping assembly  3400  further comprises a tipper drive  3440  in operable communication with a tipper motor configured to rotate at least one of the pair of rotatable clamps  3410   a - b  to invert a box  3500  clamped therein. In implementations an incremental shaft encoder is disposed on the drive motor shaft of the tipper motor for detecting a rotational position of the pair of rotatable clamps  3410   a - b . Additionally, in implementations, the box tipping assembly  3400  comprises one or more limit switches configured to detect at least one of the pair of rotatable clamps  3410   a - b  being upturned and the pair of rotatable clamps  3410   a - b  being inverted. 
     Additionally, in implementations, as shown in  FIG.  28    an elevator  3350  can raise a closed and/or sealed box  3500  to a conveyor and/or flow rack  3405  of the box tipping assembly  3400  and transfer the box  3500  to the box tipping assembly  3400  for emptying into the enclosed channel  3100 . As shown in  FIGS.  5  and  28   , in implementations, the elevator  3350  is disposed adjacent the enclosed channel  3100  and comprises one or more load sensors  3359 , such as one or more undermounted loadcells, for detecting a box  3500  received thereon for elevating to the inlet orifice  3130   a . In implementations, the elevator  3350  comprises a driven roller conveyor  3380  for receiving the box  3500  thereon from the separating and sorting robot  3000 . The roller conveyor  3380  is movably attached to one or more vertical risers  3390   a - b  and driven up and down the vertical risers by a drive motor  3385  and puller system  3392  that includes a counterweight  3394 . 
     As shown in the system schematic of  FIG.  5   , in implementations, the elevator  3350  comprises a processor  3355  in wired or wireless communication with the controller  4005  via a network interface  3370 . The elevator  3350  comprises an elevator drive  4415  in operable communication with a pulley system drive motor  4465  and a conveyor drive  3365  in operable communication with a reversible conveyor motor  3385  configured to receive a full box  3500  for elevating and an emptied box  3500  for lowering. In implementations, the elevator  3350  further comprises a load sensor  3359  for detecting the presence of a box  3500  on the conveyor  3380  and a position sensor configured to detect alignment of the conveyor  3380  with the conveyor and/or flow rack  3405  of the box tipping assembly  3400 . Additionally or alternatively, the conveyor  3380  comprises at least one position sensor  3375  configured to detect a position of a box  3500  on the conveyor  3380  and transmit a signal to the processor  3355  of the elevator  3350  to actuate the drive motor  3385  to raise the box  3500  for transferring to the box tipping assembly  3400 . In implementations, the position sensor  3375  comprises at least one of one or more non-contacting electromagnetic switches (e.g., Hall effect sensors), one or more mechanical limit switches, one or more photoelectric proximity switches (e.g., break beams), one or more inductive sensors, and one or more time of flight distance sensors configured to detect the presence of the position of the clamped box  3500  along the conveyor  3380  as the box  3500  is being received thereon and output a signal to the conveyor drive  3367  to stop moving the conveyor  3380 . 
     Although the inlet orifice  3130   a  is describe as a selectively exposed orifice in the ceiling  3111  of the enclosed channel  3100  configured to receive a plurality of deformable articles from a box  3500  disposed above the orifice  3130   a , other intake assemblies and methods are contemplated. As shown in  FIGS.  29 A-E , alternate methods of introducing a plurality of deformable articles  12   a - n  into the enclosed channel  31  comprises sucking the close in through a flexible tube  3425  in communication with a vacuum  3430  ( FIG.  29 A ), and inserting the box  3500  into the enclosed channel  3100  through a side opening  3130   b  (see  FIG.  7   ) and pulling the deformable articles from the box  3500 . For example,  FIG.  28 B  shows a box  3500  inserted into the enclosed channel  3100  and opened to a lay-flat stay, exposing the one or more deformable articles  12   a - n  within the channel  3100  only once the inlet orifice is sealed, thereby containing all dirt and other potential contaminants within the washable channel  3100 . In implementations, as shown in  FIG.  29 C , instead of having side walls the unfold to lay flat, a box  3500  comprises a removable or hinged lid and a gripper  3435  of an extendable arm is lowered into the box to remove one or more deformable articles therein once the box is received within the enclosed channel  3100 . In implementations, as depicted in  FIG.  29 D , a sliding drawer or extendable conveyor tongue can deliver a box  3500  through a side orifice  3130   a  into the channel  3100 . In implementations, as shown in  FIG.  29 E , a wall in which the orifice  3130   a  is disposed comprises an angled base for slidably receiving a box  3500  thereon in a tipped orientation for easy accessibility by an arm  3115   a  in the first work volume of the enclosed channel  3100 . 
     In implementations as shown in  FIGS.  30 A-C  and  31 , the box tipping assembly  3400 ′ comprises a framed tumbler  3467  positioned above an inlet orifice  3130   b  in the ceiling of the channel  3100 . After clamping the box  3500  within the tumbler, a drive motor  3468  of the tumbler  3467  can rotate the clamped box  3500  on command from the controller  3005  to invert the box  3500  and dump the one or more deformable articles  12   a - n  through the frame  3465  and into the inlet orifice  3130   a  of the channel  3100 . As described previously with regard to implementations, the box  3500  can be sealed with a selectively removable lid, such as a hinged lid (not shown) that opens under gravitational force as the box  3500  is inverted. In implementations, the box tipping assembly  3400 ′ comprises a frame  3465  and suspension elements  3470   a - d ,  3470   a ′-d′ disposed thereon configured to rotatably engage a tumbler  3467  configured to receive a box  3500  containing one or more deformable articles  12   a - n . In implementations, the device  3000  comprises an autonomous conveyor (not shown) configured to transit the box  3500  from a rack or storage area to at least one of the box tipping assembly  3400 ′ and, as shown in  FIG.  28   , an elevator  3350  configured to receive the box  3500  and raise the box  3500  to a height of the box tipping assembly  3400 ′ for conveyance into the tumbler  3467 . 
     As shown in the exploded view of  FIG.  32   , in implementations, the tumbler  3467  further comprises a conveyor  3475  on which the box  3500  slides into the tumbler  3467  to be held by one or more selectively actuated clamps  3477 . In implementations the one or more selectively actuated clamps  3477  comprise a pneumatically operated clamp in operable communication with the controller  3005 . In implementations, the conveyor  3475  comprises a plurality of driven rollers  3476 . As shown in sequential depiction in  FIGS.  30 A-C , with the box  3500  clamped into the tumbler  3467 , the controller  3005  rotates the tumbler  3467  seated on a plurality of guide wheels  3472   a - d ,  3472   a ′-d′ affixed to the suspension elements  3470   a - d ,  3470   a ′-d′ thereby flipping the box  3500  upside down with its opening facing the inlet orifice  3130   a ′ therebeneath. Once the controller  3005  receives a signal that a selectively removable cover of the inlet orifice  3130   a  is removed thereby exposing the orifice  3130   a , the controller  3005  signals the box tipping assembly  3400 ′ to rotate and drop the one or more deformable articles  12   a - n  from the box  3500  through the orifice  3130 . The tumbler  3467 , frame  3465 , and suspension elements  3470   a - d ,  3470   a ′-d′ are designed so that deformable articles  12  being tipped from the box in do not touch any of the tumbler  3467 , frame  3465 , and suspension elements  3470   a - d ,  3470   a ′-d′ thereby avoiding being caught in theses structural and moving components and avoiding potential contamination and subsequent cleaning requirements. 
     As described previously with regard to implementations, as shown in the system schematic of  FIG.  5    and  FIGS.  30 A- 31   , the box tipping assembly  3400 ′ comprises a processor  3430  in wired or wireless communication with the controller  3005  via a network interface  3437 . The box tipping assembly  3400 ′ comprises a conveyor drive  3445  in operable communication with a reversible conveyor motor  3468  configured to receive a full box  3500  into the tumbler  3467  and eject the box  3500  once emptied. In implementations, the conveyor  3475  further comprises an incremental shaft encoder  3474  on the conveyor motor  3473  configured to rotate the conveyor rollers  3476  by a measurable amount to move a box  3500  into a clamping positioning within the tumbler  3467 . Additionally or alternatively, the conveyor  3475  comprises at least one position sensor  3450  configured to detect a position of a box  3500  within the tumbler  3467  and transmit a signal to the processor  3430  of the box tipping assembly  3400 ′ to actuate the clamp  3477  to retain the box  3500  for tipping. In implementations, the position sensor  3450  comprises at least one of one or more non-contacting electromagnetic switches (e.g., Hall effect sensors), one or more mechanical limit switches, one or more photoelectric proximity switches (e.g., break beams), and one or more inductive sensors, and output a signal to the drive motor  3437  to stop moving the rollers  3476 . The box tipping assembly  3400 ′ further comprises a tipper drive  3440  in operable communication with a tumbler motor  3468  configured to rotate the tumbler  3467  to invert a box  3500  clamped therein. In implementations an incremental shaft encoder  3455  is disposed on the drive motor shaft of the tumbler motor  3468  for detecting a rotational position of the tumbler  3467 . Additionally, in implementations, the box tipping assembly  3400 ′ comprises one or more limit switches configured to detect at least one of the tumbler  3467  being upturned and the tumbler  3467  being inverted. 
     Turning now to the outlet end O of the enclosed channel, the outlet orifice  3135  is configured to receive individually sorted articles therethrough for batching into sorted loads of laundry for washing. In implementations, such as that of  FIG.  17 B , the device  3000  comprises an actuated outlet door  3137  in operable communication with the controller  3005 . In implementations, the outlet door  3137  can be similar in design and function to the inlet orifice door  3131 . In implementations, the outlet door can be a hinged door. In implementations, the outlet door comprises a two-piece trap door. The controller  3005  can be configured to receive a signal from the at least one sensor  3140   a - c  indicative of the presence of a deformable article  12  positioned over the outlet orifice  3135  and actuate the outlet door  3137  to expose the outlet orifice  3135  on demand. By actuating the door  3137  on a just-in-time basis, the controller  3005  maintains the containment of any dirt, debris, and biological matter within the enclosed channel  3100  by minimizing the amount of time the orifice  3135  is exposed, thereby exposing the external environment to the contents of the channel  3100 . 
     In implementations, as shown in  FIG.  18   , the controller  3005  is further configured to determine whether a work volume  3105   a - d  is clear of any articles  12  before an arm  3115  drops another article  12  into that work volume. For example, an article  12   b  can remain in the third work volume  3105   c  while a second arm  3115   b  waits for the third arm  3115   c  to finish cleaning the third work volume  3105   c  before releasing another article  12   c  into the third work volume  3105   c . The article  12   b  remaining in the third work volume  3105  is detected by the one or more sensors, e.g., at least one of a downward angled sensor  3140   a - c , a transversely angled sensor  3145   a - c , and an upwardly angled sensor  3147   a - c  as previously described with regard to implementations. 
     As previously described, in implementations, such as shown in  FIGS.  10 - 11   , the enclosed channel  3100  is raised above a floor  10  or platform. For example, the enclosed channel  3100  can be supported by a plurality of legs  17   a - f  disposed on and, in some implementations, anchored to the floor  10  or platform. In implementations, one or more sorting bins  3202   a - e  (also referred to herein as “bin” or “bins”) are configured to be disposed beneath the stationary floor  3110  of the channel  3100  to receive the separated and sorted each one of the plurality of deformable articles  12   a - n  associated with a single household&#39;s load of dirty laundry. The one or more sorting bins  3202   a - e  are disposed beneath the exit orifice for receiving each one of the plurality of deformable articles exiting the enclosed channel  3100  individually and, in implementations, collecting a sorted and batched load of deformable articles for washing and drying collectively. In implementations, the one or more sorting bins  3202   a - e  are disposed on a carousel  3200 , or load constructor, for rotating an appropriate one of the one or more sorting bins  3202   a - e  beneath the outlet orifice  3135 . Each of the one or more bins  3202   a - e  is configured to receive one or more of the plurality of deformable articles  12   a - n  having one or more characteristics associated with at least one of the one or more bins  3202   a - e  so that items having compatible and/or matching characteristics are aggregated into one or more associated bins. In implementations, the one or more characteristics comprise at least one of color, size, and fabric heat tolerance. 
     The autonomous separating and sorting robot  3000  is configured to provide the at least one deformable article  12  to one or more washing and drying devices  4000 , and in implementations the autonomous separating and sorting robot  3000  comprises sensors configured to determine one or more characteristics of the at least one deformable article  12 . The one or more characteristics can be, for example, material composition, fabric finish, load weight, color, size, volume, article type, and degree of dirtiness. In implementations, the autonomous separating and sorting robot  3000  communicates these characteristics to the controller  4005  of the one or more washing and drying devices  400  for determining parameters for a washing and drying cycle, parameters such as wash cycle temperature, cleaning and rinse agent amounts and concentrations, wash cycle duration (e.g., one or more soak and agitation cycles), number and duration of rinse cycles, soak cycle duration, washing cycle agitation speed (e.g., for delicate, normal, and heavy loads), maximum spin speed during fluid (e.g., water and/or chemicals) extraction, wash detergent selection and concentration, number of rinse cycles, drying air temperature, drying airflow rate, and a minimum size device  4000  in a cluster  4002  for receiving each load of at least one deformable article  12 . Additionally or alternatively, in implementations, the autonomous separating and sorting robot  3000  is configured to estimate cycle duration and wash water requirements (e.g., for plant load balancing purposes across one or more clusters  4002 ). 
     In implementations, the wash parameters associated with the identified one or more characteristics are stored in a memory in communication with the controller  3005 . The memory can be a memory  3010  of the separating and sorting device  3000  and additionally or alternatively can be a memory storage or database  235 ,  250 ,  240  in remote communication with the controller  3005  via the communication network  230 . Because each load of household laundry contains articles of various types, sizes, materials, stains, and related wash requirements, each load may comprise more than one associated wash parameter. The wash parameters can be stored in a look up table cross referenced with one or more characteristics along with a default hierarchy for selecting washing and drying parameters based on two or more characteristics. For example, water temperature and agitation cycle duration associated with material type can trump parameters associated with load volume or weight. For example, a large load of laundry comprising several heavy cotton towels can be washed on warm water with vigorous agitation while a large load of thing cotton undergarments can be washed at more slow, gentle agitation speeds. The controller  3005  thus can be configured to determine wash parameters for each individual load of laundry based on the characteristics of the one or more deformable articles  12  in each individual load and communicate at least one of the one or more characteristics and washing and drying parameters associated with a bin  3202  to the one or more washing and drying devices  4000  receiving the bin  3202 . Additionally or alternatively to the autonomous separating and sorting robot  3000  determining one or more characteristics of the at least one deformable article  12  for cross referencing with associated wash parameters, the wash parameters can be communicated to and received by a remote terminal  205  in communication with the communication network  230 . A user of the remote terminal, e.g., the customer owning the one or more deformable articles, can provide predetermined wash parameters associated with a tagged (e.g., RFID label, bar code, QR code, etc.) container of dirty laundry articles  12   a - n  on an input screen of the remote terminal  205  or handheld device  245 , and the provided predetermined parameters can be communicated to and stored in the memory  4010 ,  235 ,  240 ,  255  in communication with the controller  3005 . 
     Because the one or more characteristics can include at least one of load size, fabric type, fabric finishes, wash cycle temperature, and article type (e.g., thick, water retaining items such as towels and jeans and thinner fabric items such as t-shirts and underwear), in implementations, at least one of the controller  4005  of the washing and drying device  4000  and remote terminal  205  determines optimum conditions for airflow, air temperature. and drying duration based on the load characteristics detected by the separating and sorting robot  3000 . For example, the load characteristics can comprise two or more of the following load characteristics: the size of the load of laundry articles  12   a - n  relative to a size of a drum of a washing and drying robot  4000   a - n , the fiber composition and fabric type (e.g., weave/knit type and looseness, length of fibers (staple) from which the fiber/yarn is spun, spin quality of the fiber/yarn, fuzziness, etc.) of one or more articles  12  in the load, fabric finishes of one or more articles  12  in the load, wash cycle temperature, and article type and thickness. The two or more load characteristics can be determined by the dirty laundry separating and sorting robot  3000  and communicated to the controller  4005  of the washing and drying robot  4000  and/or the remote terminal  205  by a controller  3305  of the dirty laundry separating and sorting robot  3000  via a wired or wireless network  230 . 
     Turning to the system schematic of  FIG.  5   , as previously described, the controller  3005  is configured to determine based on receiving a signal from the at least one sensor  3140 ,  3145 ,  3147  disposed within each of the plurality of sequential work volumes  3105   a - d  that none of the plurality of deformable articles  12 ,  12   a - n  remain on the stationary floor  3110  in any of the plurality of sequential work volumes in the enclosed channel  3100 . Upon determining that none of the plurality of deformable articles  12 ,  12   a - n  remain on the stationary floor  3110  in any of the plurality of sequential work volumes  3105   a - d , at least one of the controller  3005  and a load constructor processor  3221  is further configured to instruct at conveyor drive  3222  of the load constructor  3200  to transit the one or more bins  3202   a - e  of the sorted plurality of deformable articles  12 ,  12   a - n  to one or more autonomous combination washing and drying machines  4000 . 
     The one or more deformable articles  12 ,  12   a - n  in a common bin  3202   a - e  are routed to a single washing and drying device  4000 . In implementations, more than one bin  3202   a - e  can be routed to a single washing and drying device  4000  if the characteristics of the deformable articles therein are matching and/or compatible for washing together and without exceeding a load capacity of a washing and drying device  4000 , as will be described subsequently with regard to implementations of load construction parameters. In implementations, the device  3000  comprises at least one fill sensor in communication with the controller  3005 , and the at least one fill sensor is configured to detect an occupied volume of the one or more bins. In implementations, the fill sensor is an optical sensor focused on a minimum threshold fill line and a maximum threshold fill line disposed on an interior surface of one of the one or more bins  3202   a - e  positioned beneath the exit orifice. The optical fill sensor can be configured to detect whether the of one or more of the plurality of deformable articles received in the one of the one or more bins reaches or surpasses the minimum threshold fill line. In implementations, the maximum threshold fill line comprises a top edge of the one of the one or more bins  3202   a - e . Additionally or alternatively, the fill sensor is configured to output a signal indicative of the occupied volume of the one of the one or more bins being with a threshold range between the minimum threshold fill line and maximum threshold fill line. Upon determining an occupied volume of the one of the one or more bins is within a threshold range indicative of being filled, the controller  3005  is further configured to instruct the load constructor  3200  to unload the filled one of the one or more bins  3202   a - e  containing the sorted plurality of deformable articles  12   a - n  to the autonomous combination washing and drying device  4000 . In implementations, a filled volume of all deformable articles in a single bin  3202  should be less than a washing and drying device capacity. For example, the washing and drying device capacity can be in a range of between about 0.10 m{circumflex over ( )}3 to 0.20 m{circumflex over ( )}3. In implementations, the washing and drying device capacity can be at or about 0.17 m{circumflex over ( )}3. In implementations, the controller  3005  is configured to determine whether additional items can be added to a collection bin  3202 . The controller  3005  can determine whether a deformable article  12  fits into the available bin based on a size estimate and previous bin fill level. For example, the controller  3005  can be configured to stop loading a bin  3202  that is in a range of between about one half to three quarters full. 
     Additionally or alternatively, as shown in  FIGS.  10 - 11    and  FIGS.  51 A-B , the fill sensor is a weight sensor (e.g. a scale or loadcell  3215 ) disposed beneath the one of the one or more bins  3202   a - e  positioned beneath the exit orifice  3135 . The scale  3215  is configured to detect whether the weight of the one of the one or more bins  3202   a - e  reaches or surpasses the minimum threshold weight indicative of a bin full condition. Because the weight of all articles  12   a - n  in a single bin  3202  must weigh less than a washing and drying device  4000  capacity, the controller  3005  is configured to determine whether additional items can be added to a collection bin  3202  based on at least one of weight and volume. The controller  3005  can determine whether a deformable article  12  fits into the available bin based on a weight estimate of the article and the bin weight. For example, in an implementation, the washing and drying device capacity can be about 16 kg, and the controller  3005  can be configured to stop loading a bin  3202  having a current net bin mass of greater than or equal to 14 kg. In implementations, the washing and drying device capacity can be about 16 kg, and the controller  3005  can be configured to not add a heavy item to a bin  3202  having a current net bin mass of greater than or equal to 10 kg. In implementations, a heavy item weighs between about 5-10 kg. In implementations, the controller  3005  is configured to obtain a mass measurement of a deformable article  12  by reading the tilt arm current of a tilt motor  3125   b - b ″ of the at least one drive motor  3125   a - c  required to raise the deformable article  12  to the hoist height H 1 . 
     In implementations, the fill sensor is configured to output a signal indicative of the bin full condition. Upon receiving the bin full condition output signal, the controller  3005  is further configured to instruct the load constructor  3200  to unload the filled one of the one or more bins  3202   a - e  containing the sorted plurality of deformable articles  12   a - n  to one or more autonomous combination washing and drying machines  3000 . In implementations, each of the one or more bins  3202   a - e  comprises an identification marker  3220   a - e  for associating with at least one of a identity of the bin and one or more characteristics of the one or more deformable articles sorted into the each of the one or more bins  3202   a - e.    
     In implementations, as shown in  FIG.  32   , the identification marker  3220   a - e  of each bin  3202  of the plurality of bins  3202   a - e  comprises a customer ID and at least one of a net weight, a final fill level (e.g., Full, ¾, ½, ¼, and E, where E indicates the contents being below the ¼ fill level), color (e.g., light or dark) and item size (e.g., large or typical). A controller  4005  in operable communication with the autonomous washing and drying machine  4000  or machines receiving the one or more bins  3202   a - e  will use the information associated with the identification marker or markers  3220   a - e  to determine how and whether to combine one or more of the bins  3202   a - e  in a single washing and drying device  4000 . Additionally or alternatively, the controller  3005  of the device  3000  and/or the controller  4005  of the washing and drying device  4000  can be configured to determine how and whether to combine one or more of the plurality of bins  3202   a - e  based on one or more characteristics of the one or more deformable articles  12   a - n  disposed in each bin  3202   a - e  and associated with the bin marker  3220 . In implementations, the bin marker  3220 ,  3220   a - e  comprises a visible marker such as a digital display, an RFID tag, a bar code, or a QR code. Additionally or alternatively, the bin marker  3220  is determined by the controller  3005  and assigned to a bin  3202  based on the bin position on the load constructor  3200 . The bin marker  3220  is a unique pointer passed to a structure in software. 
     The parameters for determining combining bins can be stored on a local and/or remote memory in wired or wireless communication with a least one controller  3005 ,  4005 . To prevent overfilling a washing and drying device  4000 , the parameters can include one or more of the following limitations: ‘¾’ full bins shall not be combined with any other bins, a ‘½’ full bin may only be combined with a single ‘¾’ full bin, a ‘¾’ full bin may be combined with another ‘¾’ full bin or an ‘E’ bin, three “E” bins may be combined and a combined weight of all bins must be less than a threshold weight. For example, the threshold weight can be in a range of between about 10-20 kg. In implementations, the threshold weight is at or about 16 kg. 
     As previously described, in implementations the device  3000  comprises an actuatable load constructor  3200  in operable communication with the controller  3005 . As shown in  FIGS.  10 - 11  and  32   , in implementations, the load constructor  3200  is configured to receive thereon the one or more bins  3202   a - e  and rotate the one or more bins  3202   a - e  beneath the enclosed channel  3100  to match a characteristic of one of the one or more bins positioned beneath the outlet orifice  3135  with the one or more characteristics of each one of the plurality of deformable articles  12 ,  12   a - n  exiting the enclosed channel  3100 . In implementations, the load constructor  3200  comprises one or more conveyors  3205 ,  3205   a - d  for positioning one of the one or more bins  3202   a - e  disposed thereon beneath the exit orifice  3135 . In implementations, a central conveyor  3205   a  is configured to receive thereon a bin  3202   c  for placement beneath the orifice  3135 . In implementations, the conveyors  3205   a - d  are configured to move the bins both back and forth in the direction of the channel inlet end I to outlet end O and side to side. In implementations, the conveyor is configured to hold one fewer bin than the number of available conveyor spaces such at a gap  3217  enables free flowing movement of the bins  3202   a - e  on the load constructor. 
     Turning now to  FIGS.  48 - 57   , in implementations the load constructor  3200  comprises 6 conveyors for receiving a maximum of 5 bins  3202   a - e  thereon for moving back and forth and side to side to position a particular bin beneath the exit orifice  3135 . The total number of conveyors can scale to any number as long as one conveyor  3205  is left unoccupied for shuffling two or more bins  3202   a - e  about the load constructor  3200 . As shown for example in  FIG.  52   , in implementation, each conveyor  3205  comprise a plurality of driven rollers  3245   a - f  configured to position a bin  3202  thereon in a first direction and a plurality of pop up transfer roller assemblies  3240   a - d  configured to raise a rotating belt  3241  up above a top plane of the driven rollers  3245  to engage a bottom surface of the bin  3202  and transfer the bin  3202  thereon in a direction perpendicular to the first direction. As shown in  FIGS.  50  and  52 B , in implementations each rotating belt  3241  is driven by a drive gear  3243  and supported by one or more rollers  3245   a - e  for tensioning and retaining the belt  3241  thereon. As shown in  FIGS.  49 - 50  and  52 - 54   , each of the transfer roller assemblies  3240  is spring loaded to raise the rotating belts  3241  of each pop up transfer roller assembly  3240 ,  3240   a - d  up higher than the adjacent rollers  3245 ,  3245   a - f . As shown in  FIGS.  53 - 54    the pop up transfer roller assemblies  3240   a - d  of each conveyor  3205  are mounted on a shared moveable frame  3246  and, in implementations, are geared together for simultaneous rotation of each belt  3241  of the plurality of transfer roller assemblies  3240   a - d.    
     In implementations, each of the maximum number of bins  3202  can be positioned on the load constructor  3200  at the start of a separating and sorting process for a load of deformable laundry articles  12   a - n . Alternatively, the load constructor processor  3221  can call for the autonomous loading of a bin  3202  onto the load constructor  3200  upon receipt of a signal communicating of a detected condition comprising at least one of a start of a separating and sorting process, the identification of a new article characteristic associated with newly identified washing and drying parameters (e.g., color, fabric type, material thickness, stain identification, etc.) within a load of dirty laundry articles  12   a - n , and detection of a bin full condition of a bin  3202  disposed on the load constructor  3200  prior to completing separating and sorting of a load of deformable laundry articles  12   a - n.    
     For example, as shown in  FIG.  55 A , first bin  3202  labeled with the numeral 1 enters a load position beneath the orifice  3135 . The load position in this example is conveyor  3205   b  and the total number of conveyors  3205   a - d  is eight. The first article  12   a  that enters the first bin  3202  (e.g., numeral 1) sets the bin type. For example, if the first article  12   a  is a large, white, thick, terrycloth article such as a towel, the bin characteristic is at least one of large, white, thick, and terrycloth such that any other large, which, thick, terrycloth items subsequently identified by the one or more sensors  3140   a - d ,  3145   a - d ,  3147   a - d  of the enclosed channel  3100  will be deposited also in this bin  3202  until a bin full condition is reached. As shown in  FIG.  55 B , when the separating and sorting device  3000  identifies an article of a second type, the first bin (numeral 1) moves to a new conveyor position (e.g., corner conveyor  3205 ) and a second bin labeled with numeral 2 is transferred across one or more conveyors  3205   c - d  to the load position conveyor  3205  beneath the orifice for receiving the article of a second type. In this way, each bin  3202  of the plurality of bins  3202   a - e  contains one or more deformable articles  12   a - n  comprising one or more shared characteristics for effective aggregate washing and drying. As shown in  FIG.  56 A , in implementations, a bin disposed on the load position conveyor  3205   b  can move side to side (arrow S) on one of the driven rollers  3240   a - f  and the pop up transfer roller assemblies  3245   a - d  and back and forth (arrow BF) on the other of at least one of the driven rollers  3240   a - f  and transfer roller assemblies  3245   a - d . As shown in  FIG.  56 B , one or more sensors  3140   d - g  are positioned about the load constructor  3200  for detecting the at least a level and/or volume of one or more deformable articles  12   a - n  contained in each of the one or more bins  3202 ,  3202   a - n  thereon. In implementations, the one or more sensors  3140   d - g  comprise one or more cameras positioned about the load constructor  3200 . 
       FIGS.  57 A-D  depict a sequence of moves of 5 bins  3202  (labeled 1-5) moving about a load constructor  3200 . Each bin moves one conveyor location at a time, either front to back or side to side. In  FIG.  57 A , bin number 2 moves to an open location. In  FIG.  57 B , bin number 1 transfers to bin number 2&#39;s starting location and bin number 4 transfers to bin number 1&#39;s starting location. In  FIG.  57 C , bin number 2 moves to bin number 4&#39;s starting location and bin number 1 moves to bin number 2&#39;s second location, as shown in  FIG.  57 D . In implementations, the controller  3005  and/or load constructor processor  3221  is configured to move the bins in a most efficient sequence when a particular bin type is called to the loading position. For example, at least one of the controller and load constructor processor  3221  employs optimized path planning (e.g., DIJKSTRA&#39;S path planning algorithm) for efficient, autonomous reordering of bins  3202   a - n  on the load constructor  3200 . Additionally, in implementations, each conveyor  3205  of the plurality of conveyors  3205   a - n  comprises one or more position sensors  3228  for detecting a position of a bin  3202  thereon as successfully loaded and approximately centered. For example, in implementations, each conveyor  3205  of the plurality of conveyors  3205   a - n  comprises four limit switches, one disposed at each corner of the conveyor  3205 , for detecting the passage of a bin thereacross such that the controller  3005  and/or processor  3221  receiving signals from one or more of the four limit switches can determine a position of the bin  3202  based on which switches of which conveyor(s) detected passage of a transferring bin  3202  thereacross. 
     As previously described, each of the one or more bins  3202   a - e  comprises an identification marker representative of the contents of the bin and linkable with a customer ID. In implementations, the identification marker comprises at least one of a machine-readable serial number, a bar code, a machine-readable QR code, an RFID code, NFC tag, a WIFI enabled tag, a ZIGBEE enabled tag, and an active radio telemetry system. In implementations, the controller  3005  can create a virtual tag in memory associated with a known location of one or more bins based on an initial location and subsequent locations as the one or more bins move through the process line  100 ,  100   a - c . In implementations, the controller  3005  is in communication with a memory configured to store at least one relation comprising one of the one or more characteristics associated with the bin, the bin identification marker for each of the one or more bins, and a customer identity shared by the plurality of deformable articles received into the enclosed channel. In implementations, the controller  3005  is in communication with a communication network  230 , and a remote terminal  205  in communication with the communication network is configured to receive a customer input comprising the one or more characteristics associated with the plurality of deformable articles. 
     Additionally or alternatively, in implementations, at least one sensor (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ) is configured to detect the one or more characteristics of each one of the plurality of deformable articles  12   a - n  and output a signal to the controller  3005  comprising the detected one or more characteristics. In implementations, the at least one sensor comprises at least one of a 3D camera, an IR sensor, a 2-D camera, LIDAR, LADAR, a sonar proximity sensor, an ultrasonic ranging sensor, a radar sensor, a pair of stereo depth cameras, a colorimeter for determining color of an article  12 , and a spectrometer for determining fiber type of a deformable article  12 . In implementations, the at least one sensor comprises at least one of a colorimeter and spectrometer disposed on or in the fingertips of the gripper fingers  3107   a - b  because these points come into close contact with the material of the article  12  for successful evaluation. Additionally or alternatively, the at least one sensor comprises at least one of a colorimeter and spectrometer disposed at least one of in a wall  3112   a - d  of the channel  3100  and along the floor  3110  such that an arm  3115  can hold a hoisted article against or immediately proximate the sensor. The one at least one sensor can further detect one or more stains disposed on a deformable article and flag the article in software for delivering to a bin  3202  marked for stain treatment in the washing and drying device  4000 . In implementations, the at least one sensor comprises a camera (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ) associated with one or more of the plurality of work volumes outputs at least one of depth map, RGB images, and IR images. In implementations, the at least one sensor comprises a camera (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ) associated with one or more of the plurality of work volumes, the camera being configured to output 3-D image data to the controller  3005 . Additionally or alternatively, the at least one sensor comprises a camera (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ) associated with one or more of the plurality of work volumes and the camera is configured to output one or more 2-D images to the controller  3005 . As previously described, in implementations, the at least one sensor is a camera, and the camera is calibrated to at least one of the floor of the enclosed channel  3100  and one or more of the plurality of arms  3115   a - c.    
     In implementations, the controller is configured to determine, based on a comparison of a received output signal of the at least one sensor to data stored in a memory in communication with the controller, at least one of an article type, an article color, an article size, and an article fabric. In implementations, at least one sensor is a 2-D camera, and the data associated with the deformable laundry article is size invariant image data comparable with database images of tagged articles and/or classes of articles. 
     In implementations, the memory comprises a neural network  300 , and determining the one or more characteristics of each one of the plurality of deformable articles comprises processing the received output signal of the at least one sensor with a neural network classifier. In implementations, as shown in  FIG.  33   , the neural network  300  comprises a trained neural network, for example a convolutional neural network that operates quickly on 3D and/or 2D data and is configured to classify images from the 3D and/or 2D camera. In an implementation, the classification comprises generating a descriptor based on the output signal of the at least one sensor  3140   a - c ,  3145   a - c ,  3147   a - c  associated with each one of the plurality of work volumes, and classifying, using the neural network, the output signal based on the descriptor. The neural network is configured to output a probability that the output signal corresponds to a class of the stored data indicative of one or more deformable article types, for example. The classes of trained data in the neural network include data associated with many types of deformable articles. For example, as shown in  FIG.  33   , a neural network  300  can be trained with a set of training data  305 . After training, the neural network  300  comprises a set of weights that can be used for neural network inference to determine whether an input  330  (e.g., output signal from the one of the at least one sensors  3140   a - c ,  3145   a - c ,  3147   a - c  in each one of the plurality of sequential work volumes  3105   a - d  of the device  3000 ) is within one of the trained classes. The classes of trained data in the neural network include data associated with many types of deformable laundry articles that comprise particular washing characteristics (e.g., size, color, temperature requirements, degree of dirtiness, etc.) 
     For example, size is a particularly important characteristic of a deformable article because a large item (e.g., a bed sheet, comforter, tablecloth, large bathrobe, etc.) can envelop smaller items, preventing them from being washed or dried effectively. Therefore the controller  3005  will prevent mixing these items in a common (e.g., shared) bin  3202  for washing. The neural network  300 , therefore can be used to determine whether a deformable article in the enclosed channel  3100  is of a large garment class. For example, in implementations such as that of  FIG.  21   , the controller  3005  is configured to receive an output signal comprising an image  3142  of a deformable article  12   a  engaged with at least one gripper (e.g., two or more grippers  3120   b ,  3120   c ) at a hoist height H 1 . The controller is configured to determine, based on the output signal, a number of pixels in each of an upper half  3142   a  and a lower half  3142   b  of the image, and based on the number of pixels in the lower half of the image exceeding a preset threshold that the at least one deformable article  12   a  comprises a large sized article. Additionally or alternatively, the controller  3005  can be configured to determine an overall pixel count occupied by the deformable article. Additionally or alternatively, the controller  3005  can be configured to determine a gap height H 2  as previously described with regard to implementations, and, based on the gap height being equal to or less than a threshold distance, determine the deformable article  12   a  is of a large size class. 
     In other implementations, such as that of  FIG.  22   , the controller  3005  can determine whether a deformable article is a large item by stitching images together from multiple cameras (e.g., sensors  3140   a - c ,  3145   a - c ,  3147   a - c ), and identifying article size and position relative to the coordinates of the enclosed channel  3100 . The controller  3005  is configured to cream a single-image view of the entire floor  3110  of the channel and identify the deformable article  12  against the backdrop of the entire length of the floor  3110 . Because the one or more sensors (e.g., cameras)  3140   a - c ,  3145   a - c ,  3147   a - c  are calibrated into the physical space of the enclosed channel  3100 , the controller  3005  can determine where in physical dimensions of the channel the article begins and ends. For example, as shown in  FIG.  22   , the article  12  is a large size article spanning between the second and third work volumes  3105   b - c.    
     As previously described with regard to implementations, the at least one of the controller  3005  and load constructor processor  3221  can determine a bin full condition based on at least one of a weight and a volume of each of the plurality of loaded bins  3202  on the load constructor  3200 . As previously described with regard to implementations shown in  FIGS.  51 A-B , one or more corners of a load position conveyor beneath the outlet orifice  3135  each comprises a loadcell  3215  there beneath. In implementations, each of the loadcells  3215   a - d  are in operative communication with at least one of the controller and the load constructor processor  3221  for outputting a signal indicative of a weight of a bin  3202  positioned on the load position conveyor. In implementations, each loadcell  3215  is configured to senses a weight in a range of between about 10 kg to 30 kg. Additionally or alternatively, a bin full condition is detected by one or more sensors configured to detect the height of the contents of a bin. For example, as shown in  FIG.  56 B , one or more cameras  4140   d - g  disposed about the load constructor detect the height of contents within a bin and whether the contents have exceeded a threshold bin volume height. In implementations, each camera  4104   d - g  can detect a volume of one or more deformable articles in a bin  3202  by breaking the (length×width) of a bin into discrete “columns”. Because the camera is positioned a set height relative to the load constructor  3200 , a static distance to the bottom of a bin  3202  is known. For each column in a bin, the camera  3140   d - g  measures the heights and calculates the volume of each column. At least one of the controller  3005  and load constructor processor  3221  sums the volumes of every column and calculates an approximate filled volume within the bin. Because the bin has a known maximum volume and/or maximum threshold fill volume, the controller  3005  and/or load constructor processor  3221  compares the filled total volume against the maximum volume and/or maximum threshold fill volume and then determine whether the remaining unoccupied volume in a bin can receive an additional one or more articles  12 . As described with regard to implementations, the one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c  of the enclosed channel and/or one or more sensors of the arm  3115 , gripper  3120  and drive motors  3125   a - c  can determine or approximate based on weight the size of a separated article positioned above the outlet orifice  3135 . 
     Additionally or alternatively, in implementations, the controller  3005  executes a crumple predictor routine for determining a volume of a separated article  12 . The crumple predictor is trained by taking a picture of a suspended article, dropping the articles on the floor  3110  of the channel  3100  and taking a picture of the article on the floor  3110 . The controller  3005  then computes a volume of the article on the floor  3110  from point cloud voxels of the detected article  12 . The crumple predictor can be trained on a plurality of articles comprising a plurality of shapes, sizes, and volumes, and the controller  3005  can store that information in memory  3010  or database for estimating volumes of subsequently separated articles  12  suspended in the channel  3100 . 
     Because articles  12   a - n  can pile in a pyramid during loading, the driven rollers  2145   a - d  of the plurality of conveyors  3105   a - n  are configured to rotate rapidly in opposite directions to “shake” the bin  3202  thereon and settle the contents therein from a pyramid to a more uniform height across the length and width of the bin  3202 . Additionally or alternatively, the device  3000  comprises one or more plungers for pushing a just loaded article  12  into a bin  3202  and compressing the peak of any pyramid shaped deposited article. 
     As previously described with regard to implementations, at least one of the controller  3005  and load constructor processor  3221  can intelligently shift bins  3202   a - n  on the load constructor  3200  such that the plurality of deformable articles  12   a - n  are sorted into one or more bins based on what percent of the load of deformable articles  12   a - n  has been separated and sorted and what percent remains. Additionally or alternatively, the load constructor  3200  can fill each bin  3202   a - n  to a “bin full” state before starting to fill a second bin of the same type. Alternatively, the load constructor can fill two or more bins of the same article type (e.g., two light article bins), alternating between the two or more bins with each addition of an article of that type. When the separation and sorting process completes, the at least one of the controller  3005  and load constructor processor  3221  determines if the two or more bins of the same article type can be combined into a single washing and drying device  4000  without exceeding a threshold capacity. 
     As described previously, once the controller  3005  determines that all deformable articles of a plurality of deformable articles  12   a - n  received into the enclosed channel  3100  from a customer box  3500  are sorted into the one or more bins  3202   a - e , the controller  3005  instructs the load constructor  3200  to convey the remaining bins thereon to one or more washing and drying devices  4000   a - n . The controller  3005  then prepares the enclosed channel  3100  for receiving a next load of one or more deformable articles  12   a - n . In implementations, as shown in  FIGS.  6 - 9  and  34 - 35   , the device  3000  comprises a retractable cleaner  3600  configured to advance through the enclosed channel  3100  from the inlet end I to the outlet end O while cleaning one or more interior surfaces. In implementations, the retractable cleaner  3600  is configured to form the inlet wall  3112   a  of the enclosed channel  3100  in a fully retracted position. In implementations, the retractable cleaner comprises a planar profile contoured and fitted to a cross sectional profile of the enclosed channel  3100 . In implementations, the cross-sectional profile of the enclosed channel is a symmetrical polygon, symmetric about a center line. In implementations, the cross sectional profile of the enclosed channel  3100  is not symmetrical. 
     In implementations, the retractable cleaner  3600  comprises an actuatable cleaning drive motor in operable communication with the controller  3005 . Upon determining that none of the plurality of deformable articles  12   a - n  remain on the stationary floor  3110  in any of the sequential work volumes  3005   a - d , the controller  3005  is configured to instruct the retractable cleaner  3600  to advance from the inlet end I to the outlet end O of the enclosed channel  3100 . In implementations, the drive motor extends a telescoping plunger  3612  or pusher arm disposed on an external face  3616  of the retractable cleaner  3600 . As shown in  FIG.  35   , in implementations, the controller  3005  is configured to instruct the plurality of arms  3115   a - c  to retract from their associated work volumes prior to the retractable cleaner  3600  advancing through the plurality of work volumes  3105   a - d  such that only the terminal gripper  3120   a - c  of each of the plurality of arms  3115   a - c  remains within an associated work volume of the enclosed channel  3100 . The retractable cleaner  3600  can comprise a slot  3605  configured to pass over and clean the terminal gripper  3120 . Additionally, in implementations, the device  3000  includes a waterproof covering  3117  or seal about the arm  3115 . The waterproof covering  3117  can comprise at least one of a flexible cone and an accordion pleated boot covering the arm and surrounding opening in a sidewall of the channel  3100  through which the arm  3115  extends. By sealing the opening, the waterproof covering  3117  prevents moisture from escaping the channel  3100  during cleaning and contains dirt, debris, biological matter, and any other biohazards and loose items within the enclosed channel  3100  during the separating process and sorting. Because the covering  3117  is flexible, arm movement is unconstrained and because the covering is waterproof, it can withstand the pressure, temperatures, and chemical compositions and cleaning solutions emanating from the retractable cleaner  3600 . 
     Additionally, in implementations, the device  3000  further comprises one or more UV lights in operable communication with the controller  3005  for cleaning the enclosed channel  3100 . The one or more UV lights are configured to illuminate the one or more sequential work volumes  3105   a - d  of the enclosed channel  3100  after the retractable cleaner  3600  advances to the outlet end O and then retracts to the inlet end I. In implementations, the one or more UV lights are disposed on one or more interior surfaces of the enclosed channel  3100 , and the controller  3005  is further configured to instruct the plurality of arms fully extend into the enclosed channel before the one or more UV lights are illuminated, thereby also cleaning the fully extended arms  3115   a - c . This sanitizes the enclosed channel surfaces and the arms  3115   a - c  and associated grippers  3120   a - d  between separating and sorting successive loads of one or more dirty deformable articles  12   a - n , thereby preventing the potential introduction of contaminants, pathogens, and other debris and dirty between loads of articles. 
     Turning back to  FIG.  34   , in implementations, the retractable cleaner  3600  further comprises one or more wheels or pairs of wheels  3610   a - e  extending from an outer face  3616  (e.g., end wall  3112   a ) of the retractable cleaner  3600 . The one or more wheels or pairs of wheels  3610   a - e  are configured to guide the motion of the retractable cleaner  3600  along one or more interior surfaces of the enclosed channel  3100  as the plunger arm  3612  advances the retractable cleaner  3600  down the length of the enclosed channel  3100  from in the inlet end I to the outlet end O. In implementations, the retractable cleaner  3600  comprises a plurality of spray ports  3615   a - n  disposed along a continuous outer surface  3620  of the retractable cleaner  3600  facing the one or more interior surfaces of the enclosed channel  3100 . A service line  3625  is in fluid communication with the plurality of spray ports  3615   a - n . The service line  3625  is configured to provide a cleaning fluid for application to the one or more interior surfaces via the plurality of spray ports  3615   a - n . In implementations, the cleaning fluid comprises at least one of steam, water, a detergent, a germicide, and a pesticide. 
     In implementations, the service line  3625  further comprises at least one of a vacuum line and a power conduit. Additionally, in implementations, the retractable cleaner  3600  further comprises a plurality of evacuation ports  3630   a - n  disposed along the continuous outer surface  3620  of the retractable cleaner facing the one or more interior surfaces of the enclosed channel. The plurality of evacuation ports  3630   a - n  is in operative communication with the vacuum line for suctioning remaining moisture from the one or more interior surfaces of the enclosed channel  3100  upon advancement of the retractable cleaner  3600  through the enclosed channel  3100 . 
     Additionally, in implementations, the retractable cleaner  3600  comprises a squeegee  3635  on a trailing edge of the continuous outer surface  3620  of the retractable cleaner  3600  facing the one or more interior surfaces of the enclosed channel. 
     As described with regard to implementations, the device  3000  comprises a plurality of arms  3115   a - c  for separating a plurality of deformable articles and intelligently sorting the articles one at a time into one or more batches for washing. As previously described, each of the plurality of arms  3115   a - c  is configured to pan, tilt, extend, and retract within an associated work volume  3105   a - c  of the enclosed channel  3100 . 
     As shown in  FIGS.  36 - 38   , the plurality of arms  3115   a - c  each extend from a corresponding anchor  3118   a - c  at corresponding individually anchored positions as shown, for example, in the implementations of  FIGS.  10 - 11   . In implementations, the anchor  3118   a - c  comprises a columnar pedestal or base affixed to the floor  10  beneath the device  3000  and adjacent the enclosed channel  3100 . In implementations, each arm  3115   a - c  comprises a fully extended length of between about 0.25 m and 4 m. The plurality of arms  3115   a - c  are each configured to tilt and extend to a hoist height H 1 . In implementations, the hoist height comprises a predetermined height Additionally or alternatively, the hoist height can vary depending on the size of a raised article  12 . The controller  3005  can dynamically determine a final hoist height, based on, for example, a received sensor signal, that the article  12  is suspended above the floor  3110  of the channel  3100 . In implementations, the hoist height comprises a range of between about 0.5 to 4 m above the stationary floor  3110 . 
     Turning to  FIGS.  36 - 38   , the arm  3115   a - c  comprises at least one drive motor  3125   a - c  disposed on an anchor  3118   a - c , and, in implementations, the at least one drive motor comprises a pan drive motor  3125   a , a tilt drive motor  3125   b , and an extend drive motor  3125   c  as will be described in detail subsequently. In implementations, the plurality of anchors  3118   a - c  are each associated with one of the plurality of arms  3115   a - c  and disposed on at least one of a wall  3112   a - d , the stationary floor  3110 , and the ceiling  3111  of the enclosed channel  3100 . In implementations, each anchor is disposed outside the enclosed channel  3100  and the associated one of the plurality of arms  3115   a - c  moveably engaged therewith extends through a side wall  3112   c - d  of the enclosed channel  3100 . 
     In implementations, the enclosed channel  3100  comprises a plurality of openings in a sidewall, each opening being configured to receive one of the plurality of arms  3115   a - c  therethrough. Implementations, as described with regard to  FIG.  25   , a seal or covering  3117  is disposed about each of the plurality of openings through which each one of the plurality of arms extends. In implementations, the seal comprises a flexible material configured to stretch as the rod extends, pans, tilts, and retracts. Additionally or alternatively, the seal is pleated and compressible. As described with regard to the implementation of  FIG.  35   , the seal is configured to enable the arm  3115   a - c  to retract so that only the terminal gripper  312   a - c  remains exposed within the enclosed channel  3100  for cleaning and sanitizing. In implementations, the flexible material comprises at least one of NEOPRENE, vinyl, rubber, plastic, leather, urethane, silicone, and elastane (SPANDEX). 
     In implementations, as shown in  FIGS.  6 - 7  and  10 - 11   , for example, the plurality of arms  3115   a - c  are disposed along a length of the enclosed channel  3100  at individually anchored positions spaced apart from each of the other anchored positions by between about 150 cm to 400 cm. In one implementation, the plurality of arms  3115   a - c  are spaced apart by a distance of between about 4 to 9 feet (e.g. (e.g., 4 ft, 4.25 ft, 4.5 ft, 4.75 ft, 5 ft, 5.25 ft, 5.5 ft, 5.75 ft, 6 ft, 6.25 ft, 6.5 ft, 6.75 ft, 7 ft, 7.25 ft, 7.5 ft, 7.75 ft, 8 ft, 8.25 ft, 8.5 ft, 8.75, 9 ft). In implementations the plurality of arms  3115   a - c  comprises at least two arms. In implementations, the plurality of arms  3115   a - c  comprises at least three arms. In implementations, each one of the plurality of arms  3115   a - c  comprises an arm with no joints. In some implementations, at least one arm of the plurality of arms  3115   a - c  comprises one or more joints. In implementations, one of the one or more joints is a spherical joint. In alternative implementations one or more of the plurality of arms  3115   a - c  comprises a stationary vertical riser along which a gripper translates up and down. In still yet other implementations, one or more of the anchors  3118   a - c  comprises a rotatable riser along which a gripper  3120  translates bidirectionally. In implementations, rather than rotating between work volumes as described previously, one or more of the plurality of arms  3115   a - c  can be movably mounted to slide or motor along one or more tracks disposed above and/or aside the floor  3110  of the channel  3100 . The one or more movably mounted plurality of arms are configured to slide linearly between at least one of vertical and horizontal positions, the horizontal positions extending the length of each work volume  3105   a - c . In implementations, the movably mounted arms are configured to at least one of extend and tilt. Additionally, in implementations, the plurality of arms movably mounted to rails comprise one or more joints. 
     In the implementation of  FIG.  11   , the device  3000  comprises three arms  3115   a - c  connected to bases  3118   a - c  each anchored aside the enclosed channel  3100 . In implementations, one or more of the bases  3118   a - c  is anchored to a floor  10  beneath the enclosed channel  3100 . In other implementations, one or more of the bases  3118   a - c  is anchored to a ceiling  3111  or support frame or beam  3119  located above the floor  3110  for providing access to an associated plurality of work volumes  3105   a - d.    
     As previously described with regard to implementations, each of the plurality of arms  3115   a - c  comprises at least one drive motor  3125   a - c, a ′- c′, a ″- c ″ schematically represented in  FIG.  6    and shown in  FIGS.  36 - 38   . (Although  FIGS.  34 - 36    show a single arm  3115 , all elements described herein are considered applicable to each arm and where applicable elements are generically referenced.) Each arm  3115 ,  3115   a - c  (hereinafter referred to as an arm  3115 ) of the plurality of arms  3115   a - c  can comprise between one and three degrees of freedom. As shown in  FIGS.  6  and  37 - 38   , in implementations, each arm  3115  of the plurality of arms  3115   a - c  can include a pan motor  3125   a , a′, c′ for rotating each associated arm  3115   a - c  about a vertical axis P through a rotational angular direction α and parallel to schematically represented vertical axis L Z . In implementations, each arm  3115  is disposed at anchored positions spaced apart by at least about a distance of at least 5-20 inches (e.g., approximately 12-50 cm) from the channel  3100  exterior surfaces so as to not interfere with the enclosed channel  3100  while maintaining effective working volumes for successfully grasping, hoisting, and rotating one or more articles  12  down the channel  3100 . As shown in  FIG.  5   , in implementations, the pan motor  3125   a - a ″ comprises an encoder  3157   a - a ″ for detecting a rotational position of the arm  3115   a - c, a ′- c′, a ″- c ″. In implementations, the pan motor  3125   a - a ″ is a controllable servo motor and comprises a speed encoder in operable communication with at least one of the processor  3155 ,  3155   a - c  and the controller  3005 . 
     In implementations, each arm  3115  of the plurality of arms  3115   a - c  can include a tilt motor  3125   b, b ′, b″ c for raising and lowering the arm  3115  and associated terminal gripper  3120  with respect to the floor  3110 , wherein the floor  3110  is in a plane defined by axes L HX  and L HY  as shown in  FIG.  7   . The arm tilt motor  3125   b, b ′, b″ is positioned at least a distance of 300 mm over the floor  3110 . In implementations, a tilt motor  3125   b - b ″ comprises an encoder  3157   b - b ″ for detecting a position of the arm  3115 ,  3115   a - c . As shown in  FIGS.  36 - 38   , the tilt motor  6120  of a lifter  6100  is configured to tilt an arm  6110  in a rotational tilt direction θ about a tilt axis T approximately aligned with a longitudinal axis of the tilt motor  6210 , thus moving a gripper  6105  upward along a the vertical L Z  (e.g., z-axis). 
     As shown in  FIGS.  37 - 38   , in implementations, each arm  3115  of the plurality of arms  3115   a - c  can include an extend motor  3125   c - c ″ for pushing and pulling an associated arm  3115 ,  3115   a - c  forward and back in a linear direction along an axis E of each arm  3115  and thereby drive each gripper  3120  toward and away from its associated base  3118  of the plurality of bases  3118   a - c . For example, as shown in  FIGS.  37 - 38   , the extend motor  3125   c  drives a friction wheel  3126  configured to engage a surface of the arm  3115 . The arm  3115  is seated in two or more rotatable support wheels  3127   a - c  configured to hold the arm in steady alignment as the friction wheel  3126  retracts and extends the arm  6110  therealong into and out of the work volume  3105 ,  3105   a - d . In implementations, the rotatable support wheels  6127   a - c  comprise v-groove ball bearings and one or more corners of an arm  3155  are disposed on and movably supported by the v-groove of each bearing. Additionally or alternatively, in implementations, the rotatable support wheels  3127   a - c  comprise one or more crowned rollers having rounded edges to guarantee no wear on an engaged arm  3115 ,  3115   a - c . In implementations, the rotatable support wheels  3127   a - c  are configured to withstand maximum radial and axial loads during high-acceleration motions of a heavy article (e.g., an article comprising a weight in a range of between about 3 kg to 5 kg) supported by each arm  3115   a - c . Additionally or alternatively the arm  3115  further comprises a rack disposed thereon for engaging with a gear (not show) to prevent the arm  3115  from slipping during extend and retract motions in the direction of the bidirectional arrow representing axis E. 
     The one or more drive motors  3125   a - c, a ′- c′, a ″- c ″ associated with each arm  3115   a - c  can operate simultaneously, in some sub-combination, or alternate operating to move the each gripper  3120   a - c  to a location within the enclosed channel  3100  for engaging a deformable laundry article  12  disposed therein. Each gripper  3120   a - c  is configured to releasably engage the deformable laundry article  12  and operate at least one of independently of and in tandem with another of the grippers  3120   a - c  to at least one of raise and suspend the deformable laundry article above the floor  3110  of the enclosed channel  3100 . 
     In implementations, each arm  3115 ,  3115   a - c  can comprise a rod, such as an extruded beam, configured to extend from an associated base  3118 ,  3118   a - c . In implementations, an arm  3115  can have no joints along its length, and a length from end to end that measures between about 0.25 m and 4 m (e.g. 0.25 m, 0.5 m, 1.0 m, 1.25 m, 1.5 m, 1.75 m, 2.0 m, 2.25 m, 2.5 m, 2.75 m, 3.0 m, 3.25 m, 3.5 m, 3.75 m, 4.0 m). In implementations, each arm  3115  of the plurality of arms  3115   a - c  is an extendable arm comprising a fully extended length of between about 0.25 m and 4 m (e.g. 0.25 m, 0.5 m, 1.0 m, 1.25 m, 1.5 m, 1.75 m, 2.0 m, 2.25 m, 2.5 m, 2.75 m, 3.0 m, 3.25 m, 3.5 m, 3.75 m, 4.0 m). In examples, the extendable arm can include at least one of one or more flexible and/or compliant joints and two or more telescoping sections. In implementations, the at least one compliant joint comprises a compliant wrist disposed between the extendable rod of the arm  3115  and the terminal gripper  3120 . Additionally or alternatively, the wrist of an arm  3115  comprises one or more of a swivel joint and hinge joint for bending the wrist and aligning the terminal gripper to close on a grippable edge of a hoisted article  12  rather than trying to pinch a planar surface. 
     Joints and telescoping arms can be implemented to accommodate space constraints, but the additional moving sections can create pinch points for potential entangling the deformable laundry article  12 . Therefore, in implementations, each arm of the plurality of arms  3115   a - c  comprises no joints. In implementations, the motions of each arm  3115 ,  3115   a - c  have a resolution of +/−5 mm in all three cardinal directions (L HX , L HY , L Z ). This precision enables alignment of an associated gripper  3120 ,  3120   a - c  before grabbing a grip point  15   a - f  on a deformable laundry article  12 . In implementations, each arm  3115 ,  3115   a - c  moves the associated gripper  3120 ,  3120   a - c  within a spherical work volume having a radius defined by the arm  3115 ,  3115   a - c . In implementations, the linear error introduced by degrees of pan and/or tilt at a full extension of the arm  3115 ,  3115   a - c  is +/−5 mm. 
     As previously described, in implementations, the two or more arms  3115 ,  3115   a - c  comprises three arms anchored along a length of the enclosed channel. In implementations, as shown in  FIGS.  15 A- 17 B , each arm  3115 ,  3115   a - c  has a range of motion that extends into an adjacent work volume  3105   a - c . In implementations, adjacent work volumes  3105   a - d  overlap for at least 0.30 meter (e.g., about 1 ft) for the full vertical height of the work volume  3105   a - d , from the floor  3110  to a maximum suspension height (e.g., maximum hoist height) within the work volumes  3105   a - c . In implementations, each one of the plurality of arms  3115   a - c  is configured to extend to any point on the floor within an associated work volume  3105   a - c  and throughout the width, length, and height H of the work volume  3105   a - c , which is the volume of space extending between the floor  3110  and the ceiling  3111  that is accessible by the arm  3115   a - c  at full extension, though a maximum pan range of movement and maximum tilt range of movement. In implementations, the pan motor  3125   a - a ″ comprises a power output in a range of between about 30-1800 W. In implementations, the tilt motor  3125   b - b ″ comprises a power output in a range of between about 120-3550 W motor. In implementations, the extend motor  3125   c - c ″ comprises a power output in a range of between about 60-1690 W motor. The bottom end of the ranges comprise power ratings for pan, tilt, and extend motors controlling an arm  3115  repositioning an article  12  having a weight between about 0.1-1.25 kg or an article having a weight in the range of about 3-5 kg traversing a work volume slowly (2-5 seconds). The top end of the ranges comprise requirements for moving an engaged article  12  having a weight of between about 3-5 kg traversing the work volume quickly (1-2 seconds), wherein traversing the work volume comprises moving through a full range of motion of any individual motor  3125   a - c, a ′- c′, a ″- c ″ (e.g., pan, tilt, extend). These ranges and values are intended to address the ranges and values of the plurality of varied laundry article types typically generated by a household. In any of the above implementations, traversing a work volume  3105   a - c  is defined as any traversal including at least one of a full range of pan, full range of tilt, and full range of extend motions of the arm  3115   a - c  and associated gripper  3120   a - c.    
     In addition to pan, tilt, and extend motions, in implementations, additionally or alternatively, the controller  3005  is further configured to drive the at least one drive of an arm  3115  of the plurality of arms  3115   a - c  in at least one of alternating side-to-side and alternating up and down motions to shake one or more grasped deformable article  12  of the plurality of deformable articles at the hoist height. By shaking the terminal gripper  3120  at the hoist height, the arm  3115 ,  3115   a - c  can free any articles  12   a - n  that may be stuck together, e.g., statically attracted, or entangled. This is possible because the terminal grippers  3120  are designed to securely grasp an article  12 . 
     As shown in the system schematic of  FIG.  5   , the device  3000  comprises three or more arms  3115   a - c  in operable communication with at least one of their respective processors  3155   a - c  and the at least one controller  3005 . In implementations, each one of the three or more arms  3115   a - c  comprises a pan drive  3160 , tilt drive  3162 , and extend drive  3164  configured to drive motors  3125   a - c, a ′- c′, a ″- c ″ configured to pan, tilt, and extend an arm  3115 ,  3115   a - c  as described with regard to implementations. In implementations, the pan motors  3125   a - a ″, tilt motors  3125   b - b ″, and extend motors  3125   c - c ″ comprise controllable motors (e.g., a brushless DC motor (BLDC)), Each arm  3115 ,  3115   a - c  comprises a network interface  3166 ,  3166   a - c  configured to communicate data and sensor signals to at least one of the respective processors  3155 ,  3155   a - c  and the at least one controller  3005  of the system  400  (via a wireless or wired communication network  230 ) for processing. The sensor signals can be output from one or more optical sensors  3140 ,  3145 ,  3147 , one or more encoders  3157   a - c, a ′- c′, a ″- c ″, and one or more position sensors  3168 ,  3168   a - c  and routed via a sensor interface  3170 ,  3170   a - c.    
     Additionally, each arm  3115 ,  3115   a - c  comprises a gripper drive  3172   a - c  and a gripper actuator  3174 ,  3174   a - c  in communication with at least one of the respective processors  3155 ,  3155   a - c  and the at least one controller  3005  of the system  400  (via a wireless or wired communication network  230 ). Additionally, in implementations, each arm  3115 ,  3115   a - c  comprises one or more gripper sensors  3176 ,  3176   a - c  (e.g., a Hall sensor for detecting an angular position of a gripper wrist that flexes relative to the longitudinal arm axis E) and fingertip pressure sensors disposed in the fingers of the gripper for detecting contact forces with an article of clothing and/or the workspace floor  3110 . 
     As previously described, each arm  3115  of the plurality of arms  3115   a - c  terminates at an associated gripper  3120 ,  3120   a - c . In implementations, each gripper  3120 , including gripper fingers, can be manufactured from a lightweight, impact resistant material, such as aluminum or steel. In implementations, as shown in  FIGS.  39 A- 41 B , each gripper  3120  comprises at least two actuatable fingers  3707   a - b . In implementations, the at least two actuatable fingers comprise an overmold  3708   a - b  comprising a durometer of between about 40 A to 80 A. For example, the overmold can comprise at least one of a polymer or copolymer including at least one of a rubber, a thermoplastic elastomer, (TPE), thermoplastic polyurethane (TPU), thermoplastic vulcanizates (TPV), and silicone. The overmold provides protection of the encapsulated fingers and any delicate fabrics of the deformable laundry article  12 . Additionally, having a soft fingertip enables finer grasping or grabbing of deformable laundry articles  12  off of a surface, such as the floor  3110  of the enclosed channel  3100 . In implementations, a gripping surface of each finger of a gripper  3120 ,  3120   a - c  comprises a textured surface, e.g., ribs, bumps, ridges, and/or other protuberance, for assisting with gripping the fabric of an article  12  with some degree of friction and/or perturbation. Additionally or alternatively, an outside surface (e.g., opposite the gripping surface) of each finger of a gripper  6105   a - d  comprises a smooth surface for preventing the fabric of an article  12  from sticking to an outside surface of the gripper  3120 ,  3120   a - c . In implementations, the gripper  3120 ,  3120   a - c  is washable and capable of withstanding heavy liquid spray and/or immersion and can have an IP rating of at least one of IP65, IP66, and IP56. In implementations, each gripper  3120  is about 300 mm long, about 100 mm high, and weighs about 500 grams. 
     In implementations, as shown in  FIGS.  42 A-B , the gripper  3120 ,  3120   a - c  comprises a glove  3104  or covering to prevent a deformable article from getting caught on at least one of a topography or interface of movable components of the gripper  3120 ,  3120   a - c  during the separating and sorting process. In implementations, the covering  3104  comprises a flexible, dirt repellant fabric. Additionally or alternatively, in implementations, the covering  3104  comprises a liquid-impermeable material configured for enabling washing of the covered gripper. In implementations, the covering  3104  can be at least one of polyester, rayon, thermoplastic polyurethane, nitrile, closed-cell foams, rubbers, silicone, and NEOPRENE. The glove, or covering  3104 , is flexible and/or stretchable such that the fingers  3707   a - b  can move apart and together ( FIG.  42 B ) without any disruptive resistive forces. 
     The at least two actuatable fingers  3707   a - b  can rotate about parallel pivot points  3706   a - b . In implementations, the at least two actuatable fingers  3707   a - b  are configured to be actuated by a drive assembly  3709  (e.g.,  FIGS.  41 A-B ) to rotate simultaneously while gripping a deformable laundry article  12 . The drive assembly  3709  can be in operable communication with the controller  3005 . In implementations, the drive assembly  3709  can be cable driven or pneumatically driven. The drive  3709 , as shown in  FIGS.  41 A-B , can be mounted to the arm  3115  and can be 100 mm long and weigh 500 grams. In implementations, the drive assembly  3709  comprises a cross section radius  3711  of less than 100 mm from the axis E of the arm  3115  in any direction. 
     In implementations, a gripper  3120  can comprise the following design factors shown in table 2: 
     
       
         
           
               
               
               
             
               
                 TABLE 2 
               
               
                   
               
             
            
               
                 Grip strength 
                 50 
                 N 
               
            
           
           
               
               
            
               
                 Finger strength-to-force ratio 
                 2.0 
               
            
           
           
               
               
               
            
               
                 Grip force 
                 25 
                 N 
               
               
                 Contact distance 
                 80 
                 mm 
               
               
                 Grip torque 
                 2 
                 N-m 
               
               
                 Gripper transmission factor 
                 22 
                 mm 
               
               
                 Cable tension 
                 90 
                 N (20 lbs) 
               
            
           
           
               
               
            
               
                 Cable 
                 2045 SN [220 lb breaking strength, 
               
               
                   
                 7 × 19 construction, 1.12 mm diameter] 
               
            
           
           
               
               
               
            
               
                 Motor pulley radius 
                 14 
                 mm 
               
               
                 Motor torque 
                 1.26 
                 N-m 
               
               
                   
               
            
           
         
       
     
     In implementations, the following definitions apply to the design factors of table 2. Grip strength is the maximum force that can be applied to moving the deformable article  12 . It can also be thought of as the force required to pull a deformable laundry article  12  out of a gripper  3120 . The at least two actuatable fingers  3107   a - b  make contact with the deformable laundry article  12  and directly impart the force that moves the deformable laundry article  12  (grip strength). This force is due to a combination of friction (when the force is generally parallel to the gripping surface) and normal tension (for instance, when the deformable laundry article  12  is wrapped over one of the two or more fingers  3707   a - b ). In implementations, such as that depicted in  FIGS.  40 A-B , the gripper  3120  comprises a sweet spot SS which comprises the volume between the two fingers  3107   a - b  in which an article must be (e.g., the contact area CA) when the gripper actuates in order for the grasp to be successful. 
     Grip force is the force the two or more fingers  3707   a - b  push against each other (when empty) or the deformable laundry article  12  (when engaged). The grip force is determined by the grip torque and the contact distance (distance between finger pivot  3706  and contact point with the deformable laundry article  12 ). If the deformable laundry article  12  is engaged at a single point, the grip force equals the grip torque divided by the contact distance. In embodiments, calculations are based on the center of the contact area defining the contact point. Strength-to-force ratio is the ratio between grip strength and grip force. In implementations, grip strength and grip force are directly proportional so that the ratio is fixed for a given combination of finger  3707 , deformable laundry article  12  type and shape. In other implementations, grip strength and grip force have a sigmoidal relationship. For example, this applies to grippers  3120  that create a normal force or otherwise ‘lock’ the deformable laundry article  12  into place between the fingers  3707   a - b . Grip torque is the torque on the joints of the fingers  3707   a - b . This is dependent on the cable tension and gripper geometry and can be increased by increasing the lever arm in the gripper  3120 , but this increases the gripper size. Cable tension is dependent on the motor torque and lever arm at the motor. This sets the minimum diameter of the cable. Cable tension can be increased by decreasing the motor lever arm, but in implementations using a pulley wheel, a minimum diameter is required to ensure the cable does not break. Motor torque is minimized to reduce cost and weight of the motor. 
       FIGS.  39 A-B  show exemplary grippers comprising linkages and pulleys for moving the fingers  3707   a - b  by turning translational cable displacement into angular motion. In one implementation employing a pulley ( FIG.  39 B ), two cables  3713  are threaded through the finger joints  3716 . In another implementation employing linkages ( FIG.  39 A ), a single cable is looped around a pin. The linkage system is configured to amplify torque as the fingers  3707   a - b  close. 
     In other implementations, the grippers  3120 ,  3120   a - b  can comprise pneumatic actuators. A cable, or pneumatic tube, is snaked through the arm  3115 . The gripper mechanism is driven by a linear motion, which is translated into finger rotation by linkages or pulleys. In implementations, the fingers  3107   a - b  are joined by linkages to one another and an actuatable cylinder. The pneumatic gripper  3120  is lightweight, quickly actuated, and built to withstand cycles on order of magnitude in the millions or higher. In implementations, at least one pneumatic tube runs through a hollow conduit extending the length of the arm  3115 . In implementations, two pneumatic tubes run through the hollow conduit, each one of the pneumatic tubes configured to be in fluid connection with one of two sides of a pneumatic actuator. In implementations, the controller  3005  actuates the gripper  3120  to close (e.g., clamp shut) the fingers  3107   a - b  by pressurizing one side of a pneumatic actuator. In implementations, the controller  3005  actuates the gripper  3120  to open (e.g., spread apart) the fingers  3107   a - b  by pressurizing the other side of the pneumatic actuator. Additionally or alternatively, in implementations, the fingers can be held open by a cylinder and return spring assembly, which can be weak enough to allow any tangled deformable laundry article  12  to slip off the fingers. Pneumatic actuators have the advantage of being easy to seal against ingress of dirt and germs. Pneumatics actuators have the advantage of being easy to seal against ingress of dirt and germs. In implementations comprising a pneumatic cylinder at 100 psi, a gripper  3120  can comprise the following design factors shown in table 3: 
     
       
         
           
               
               
               
               
             
               
                   
                 TABLE 3 
               
               
                   
                   
               
             
            
               
                   
                 Grip strength 
                 50 
                 N 
               
            
           
           
               
               
               
            
               
                   
                 Finger strength-to-force ratio 
                 2.0 
               
            
           
           
               
               
               
               
            
               
                   
                 Grip force 
                 25 
                 N 
               
               
                   
                 Contact distance 
                 80 
                 mm 
               
               
                   
                 Grip torque 
                 2 
                 N-m 
               
               
                   
                 Gripper transmission factor 
                 22 
                 mm 
               
               
                   
                 Piston force 
                 90 
                 N (20 lbs) 
               
            
           
           
               
               
               
            
               
                   
                 Piston bore size (assuming 100 psi) 
                  7/16″ 
               
               
                   
                   
               
            
           
         
       
     
     Turning to  FIGS.  43 A through  44    In implementations, the gripper  3120  further comprises a wrist  3750  comprising a plurality of sensors  3755   a - d ,  3765  configured to sense an application of force on the gripper  3120  as applied various directions including at least one of up and down, sided to side, and axially. The plurality of sensors  3755   a - d ,  3765  are configured to output a signal to the controller  3005 . The wrist  3750  is disposed between the fingers  3707   a - b  and the arm  3115 . In implementations, the wrist  3750  comprises a plurality of compression springs  3760   a - d  configured to flex and compress under an application of force and a rod  3767  configured to trip one or more limit switch sensors  3755   a - d ,  3760  under an application of a threshold force. For example, as shown in the magnified view M 1  of  FIG.  44   , the rod  3767  can compress and trip one of the one or more limit switch sensors  3755   a - d ,  3765  under an application of force in a range of between about 4 to 5 pounds of force. Although the sensors are described as limit switches, in implementations, the plurality of sensors  3755   a - d ,  3765  can be one or more analog sensors configured to detect how much the terminal gripper has moved. In implementations, the sensor  3765  behind the rod  3767  is configured to detect if the gripper  3120  has hit the floor  3110  of the enclosed channel head on, thereby applying an axial force. 
     In implementations, the controller  3005  receives one or more signals from the plurality of sensors  3755   a - d ,  3765  and determines the application of a side-to-side force indicative of a deformable article being snagged on a first arm or terminal gripper while the terminal gripper of a subsequent arm of the plurality of arms grasps the article. In implementations, the controller  3005  receives one or more signals from the plurality of sensors  3755   a - d ,  3765  and determines the application of a threshold amount of axial force applied as the terminal gripper  3120  pushes against the floor  3110  of the channel  3100  to sweep up and grasp an article resting on the floor. For example, and article such as a thin silk scarf, may be smooth and comprises a low profile. The terminal gripper  3120  can comprise flexible fingers  3707   a - b  and be configured to accommodate being driven into the floor with a threshold amount of force (e.g., 11 bf, 21 bf, 31 bf, e.g., 4.4 N, 8.9 N, 13.3 N) while enabling the flexible fingers  3707   a - b  to be actuated in a grasping motion. In implementations, the controller  3005  receives one or more signals from the plurality of sensors  3755   a - d ,  3765  and determines the application of a threshold amount of axial force applied as the terminal gripper  3120  pushes against a pile of deformable articles to ensure the terminal gripper  3120  is positioned with the pile of deformable articles for successfully grasping at least one article. 
     Additionally or alternatively, as shown in  FIG.  5   , one or more sensors can include sensors  3176 ,  3176   a - c  disposed on or in one or more portions of the grippers  3120 ,  3120   a - c . In implementations, the one or more sensors  3176 ,  3176   a - c  can include a finger torque and position sensor disposed on the gripper  3120  to sense when the fingers  3707   a - b  have closed. This allows the robot  300  to operate quickly because the closed sensor can signal moving onto the next step. Additionally or alternatively, a force/torque sensor can be disposed on a wrist of a gripper  3120  to determine if the gripper has collided with anything, is pulling too hard on a deformable laundry article  12 , or is tangled in the deformable laundry article  12 . This sensor assists with pinching the fingers  3707   a - b  to grasp clothes off of a surface (e.g., the conveyor) by determining when contact is made with the surface. Additionally, a force/torque sensor can output a signal to the processor  3155  for estimating a weight of a deformable laundry article  12 . Additionally or alternatively, one or more force/torque sensors can be disposed at a tilt axis driven by the arm tilt motor  3125   b - b ″. In implementations, a torque sensor can be disposed on or in a motor for the gripper  3120 . Additionally or alternatively, in implementations, strain gauges can be disposed in the bases of the fingers  3707   a - b  (not fingertips). Additionally or alternatively, in implementations, a tension sensor can be disposed in-line with a cable for rotating and closing the fingers  3707   a - b . In all implementations, a torque sensor could provide an output signal for determining whether or not the fingers  3707   a - b  of each gripper  3120  are engaged with a deformable laundry article  12 . In other implementations, engagement can be detected by force/pressure sensors (not shown) disposed on the fingertips of the two or more fingers  3707   a - b . The force/pressure sensor(s) can be one of the gripper sensor(s)  3176 ,  3176   a - c  configured to communicate a sensor signal to the controller  3005 , as shown in  FIG.  5   . 
     Referring now to  FIG.  45   , any of the examples and implementations described previously with regard to an autonomous separating and sorting device  3000  are applicable to implementations described herein with regard to a method  3900  of robotically separating and sorting a deformable article  12  (e.g., also referred to herein as a “deformable laundry article”) from an amassed plurality of deformable articles  12   a - n . Any of the methods described hereinafter applicable in combination with any and all of the processes, devices, and systems described previously with regard to implementations. 
     In implementations, a method  3900  of autonomously (e.g., robotically) sorting a plurality of deformable laundry articles  12   a - n  into loads for washing, comprises receiving  53905 , at a controller, a signal from at least one sensor disposed at least one of on, adjacent to, and within at least one of a plurality of sequential work volumes within an enclosed channel, the signal being indicative of at least one of the plurality of deformable laundry articles being disposed within at least one of the plurality of sequential work volumes. In implementations, the at least one sensor is disposed in a first bay or work volume of a continuous, enclosed channel comprising a plurality of sequential work volumes. The method comprises determining  53910 , based on the received signal, a location of the at least one of the plurality of deformable articles on a stationary floor of the associated one of the plurality of sequential work volumes. 
     At the start of the separating and sorting process, all of the at least one of the plurality of deformable articles are disposed in a first work volume of the enclosed channel. As described previously with regard to implementations, the plurality of sequential work volumes  3105   a - d  are constituent to an enclosed channel  3100  and the stationary floor  3110  of the enclosed channel  3100  extends between an inlet end I and an outlet end O of the enclosed channel. A portion of the stationary floor  3110  adjacent the inlet end I is configured to receive thereon the plurality of deformable laundry articles  12   a - n  when introduced into the channel  3100 . If the controller  3005  determines, based on the received signal, that a laundry article is not detected, in implementations, the method comprises receiving S 3912  a second signal from another of the at least one sensor. For example, in implementations, the first signal can be at least one of a 2D and 3D image and the second signal can be another at least one of a 2D and 3D image. In implementations, the first and/or second signal can be, for example as shown in  FIG.  46   , a 2D mask  3800  derived from an image of the floor  3110  of enclosed channel. The 2D mask comprises an outline of the peripheral edge of an article  12  disposed on the floor  3110 . In implementations the first signal can include an IR greyscale image or RGB image of the floor  3110  and the second signal can include an IR greyscale image or RGB image of the article disposed on the floor. The controller can take an absolute difference in luminance value of the background image of the floor and the luminance value of the article to find an edge between the article and floor thereby creating a mask, or outline, of the article. Additionally or alternatively, in implementations, the controller  3005  receives the input signal of one or more sensors (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ), takes an absolute difference between the bits of background and running images, uses a threshold to make that difference image black and white, and then applies at least one of eroding and blurring to generate the final mask. This reduces potential errors caused by lighting differences. 
     The method comprises determining  53913  wherein at least one article  12  is detected in each of the work volumes. If no article is detected, the method concludes by sending a collection bin containing one or more separated and sorted deformable laundry articles  12  to one or more washing and drying robots  4000 . If an article is detected in a work volume, the method comprises identifying S 3915  a grip point on the article and instructing S 3920  at least one drive of at least one of a plurality of arms  3115   a - c  disposed in series along the enclosed channel  3100  to at least one of rotate, tilt, extend, and retract a terminal gripper  3120  configured to selectively grasp at least one of the plurality of deformable laundry articles at the determined grip point. As described herein with regard to implementations, each one of the plurality of arms is associated with one of the plurality of sequential work volumes. The controller instructs an actuator of the terminal gripper to close on the at least one of the plurality of deformable laundry articles. The method comprises instructing the at least one drive to raise S 3925  the closed terminal gripper and the grasped at least one of the plurality of deformable laundry articles to a hoist height above the stationary floor  3110 , and move S 3940  the gripper  3120  (e.g., at least one of pan, tilt, and extend, e.g., rotate) toward the outlet end O into an adjacent work volume  3105   b - d . In implementations, the method comprises determining  53930  whether the gripper missed grasping the grip point and repeats the instructions of identifying S 3915  a grip point, instructing the arm to pan, tilt, extend and/or retract the gripper to the grip point, instruct the gripper to grasp the grip point, and instruct the arm S 3925  to raise the gripper and grasped article to a hoist height. 
     As described previously with regard to implementations, the method can comprise the controller  3005  executing a subroutine for a miss recovery if the controller  3005  determines the gripper has not grasped the article  12 . In implementations, the miss recovery routine comprises moving the target grip point  15  inward from an detected edge of the one or more articles  12   a - n  by a distance in a range of between about 5-10 mm with each subsequent attempt after a missed grab (e.g., grasp by the gripper). Additionally or alternatively, in implementations, the controller  3005  can determine a center of mass of the mask of the at least one article  12  on the floor  3110  of the work volume and move the targeted grip point  15  from the outer most edge of the at least one article  12  toward the center of mass with each subsequent attempt after a missed grab. 
     In implementations, method comprises the controller  3005  selecting the alternate grip point locations randomly, or by iterating attempted grasps at alternate grip point locations in a deterministic manner. This ensures that the gripper  3120  will find a graspable portion of the article  12 , accounting for any spacing between extensions and the core of a garment, such as between sleeves and the torso portions of a shirt, which may place a center of mass in an open location not occupied by the article  12 . Additionally or alternatively, in implementations, the controller  3005  is configured to create a bounding box  3805  around the mask  3800  of the article  12  as shown in  FIG.  46   , the bounding box comprising a length LB and a width WB that places the mask  3800  inside the bounding box  3805 . The controller  3005  is configured to choose a random point as the target grip point  15  based on the length LB and width WB of the bounding box, determine whether the grip point  15  is within the mask (e.g., grip point  15   b ) and not just within in the bounding box (e.g.,  15   a ), and instruct a gripper  3120  to grasp the grip point  15   b  within the mask area corresponding to the location of the article  12 . If the grip point was not within the mask  3800 , the controller  3005  randomly selects a new target grip point with the bounding box  3805  and iteratively continues randomly selecting target grip points until a target point is within both the bounding box  3805  and the mask  3800 . The randomness of determining a grip point  15  within the bounding box  3805  accounts for the difference in size between an end effector in software path planning (e.g., a single point) and the volume of the gripper  3120 , which is a 3D element and not a single point, and results in successful grabs of the article  12  regardless of article size. This enables a gripper  3120  to grab very small items such as baby socks, for example. By comparison, targeting a center of mass could result in the joint at the base of the fingers of the gripper  3120  touching the floor  3110  of the channel  3100  and not reaching the article, even though the center of the gripper  3120  was directly above the given target point, such as an edge point of the small article or a point moved inward from an edge point toward a center of mass. 
     Additionally or alternatively, prior to instructing the at least one drive to move or rotate S 3940  the arm toward the outlet end into an adjacent work volume, the method comprises determining  3935  whether the arm holding the article at the hoist height is adjacent a collection bin at an outlet end of the enclosed channel. If the arm is not adjacent the collection bin, the method comprises instructing S 3945  the actuator of the terminal gripper to open the gripper to release the at least one of the plurality of deformable laundry articles in the adjacent work volume (e.g., the receiving work volume). The method comprises receiving S 3950  a signal from at least one sensor in the receiving work volume of the plurality of sequential work volumes, and determining S 3955 , based on the received signal, a state comprising at least one of one or more of the plurality of deformable laundry articles are present on the stationary floor, and one or more of the plurality of deformable laundry articles are not present on the stationary floor. 
     If the controller determines, based on the received signal, that the laundry article is not detected, in implementations, the method comprises receiving S 3960  a second signal from another of the at least one sensor. For example, in implementations, the first signal can be at least one of a 2D and 3D image and the second signal can be another at least one of a 2D and 3D image. In implementations, the second signal can be, for example as shown in  FIG.  46   , a 2D mask  3800  derived from an image of the floor  3110  of enclosed channel. The 2D mask comprises an outline of the peripheral edge of an article disposed on the floor  3110 . In implementations the first signal can include an IR greyscale image or RGB image of the floor  3110  and the second signal can include an IR greyscale image or RGB image of the article disposed on the floor. The controller can take an absolute difference in luminance value of the background image of the floor and the luminance value of the article to find an edge between the article and floor thereby creating a mask, or outline, of the article. Additionally or alternatively, in implementations, the controller  3005  receives the input signal of one or more sensors (e.g., one or more sensors  3140   a - c ,  3145   a - c ,  3147   a - c ), takes an absolute difference between the bits of background and running images, uses a threshold to make that difference image black and white, and then applies at least one of eroding and blurring to generate the final mask. This reduces potential errors caused by lighting differences. 
     The method comprises determining S 3962  whether the second signal indicates an article being detected in the receiving work volume. If any article is not detected, the method returns to determining S 39390  whether the previous gripper missed the grab or potentially dropped the article prior to entering the receiving (adjacent) work volume. If the article is on the floor of the prior work volume, the method returns to identifying S 3915  a grip point, instructing S 3920  the gripper to travel to the grip point, and instructing S 3925  the previous arm to hoisting the article. 
     If the article is determined S 2962  to be in the receiving work volume, either detected from the signal of a first of the at least one sensor or a second signal of the at least one sensor, the method comprises identifying S 3965  a grip point of the laundry article and instructing S 3970  a gripper of the arm associated with the receiving work volume (e.g., the “adjacent work volume”) to travel to and grasp the grip point. The method comprising instructing S 3975  the arm to raise the article engaged in the gripper to a suspension height and confirm S 3980  whether the laundry article is raised. If the article is not detected in the gripper at the hoist height, the method comprises repeating the steps of identifying S 3965  a grip point of the laundry article, instructing S 3970  a gripper of the arm associated with the receiving work volume to travel to and grasp the grip point, and instructing S 3975  the arm to raise the article engaged in the gripper. 
     The method comprises determining  3980  whether the gripper missed grabbing the grip point. If the gripper missed, the method comprises executing a miss recovery subroutine as previously described. If the gripper did not miss, the method comprises determining  3935  whether the arm holding the article at the hoist height is adjacent a collection bin at an outlet end of the enclosed channel. If the arm is not adjacent the collection bin, the method iteratively repeats S 3940 -S 3980  until the arm holding the article is the arm closes to the outlet orifice and collection bin. The method comprises determining S 3985  at least one characteristic of the laundry article  12  and instructing S 3990  alignment of a collection bin (e.g., sorting bin) associated with the at least one characteristic within reach of the arm and engage gripper. As described previously with regard to implementations, the collection bin can be one of a plurality of bins disposed on a carousel or load constructor in operable communication with the controller for shuffling bins beneath the channel for receiving separated articles into one or more bins containing articles of matching one or more washing and drying characteristics. The method comprises instructing S 3992  the arm to rotate and the gripper to release the article into the collection bin associated with the at least one characteristic. The robot  3000  thus intelligently batches one or more articles into loads for washing and drying with appropriate collective washing and drying cycle parameters (e.g., water temperature, air temperature, cycle durations, agitation speed, etc.). 
     In implementations, the method comprises receiving a signal indicative of at least one of a weight and an occupied volume of the collection bin receiving the laundry article. The method comprises determining whether the at least one of weight and volume are above a threshold value. If at least one of the weight and volume exceeds a threshold, the method comprises sending S 3998  the collection bin to a washing and drying robot  4000  for laundering. 
     In implementations, the method comprises stopping iterating the grasps, rotations, and releases when each one of the plurality of deformable laundry articles exits the enclosed channel through the outlet orifice as a solitary deformable article. In implementations, the method comprises instructing two or more of the plurality of arms to operate simultaneously within each associated one of the plurality of sequential work volumes. In implementations, the method comprises instructing terminal grippers of two or more of the plurality of arms operating simultaneously to simultaneously grasp at least one of the plurality of deformable articles. In implementations, the method comprises instructing the at least one drive of the arm with an engaged terminal gripper to move the terminal gripper in at least one of alternating side-to-side and alternating up and down motions to shake a grasped deformable article at the hoist height. In implementations, the method comprises receiving a contact sensor signal from at least one contact sensor on a gripping surface of the terminal gripper indicative of none of the plurality of deformable laundry articles being grasped in the terminal gripper at the hoist height. In implementations, the rather than an engaged gripper releasing each article  12  on the floor  3110  of an adjacent work volume  3105  following a hoist, the gripper  3120  of an available arm  3115  in a receiving work volume  3105  can grip an edge of the article  12  (e.g., a lowest hanging point), hoist the gripped edge to the hoist height and the longest engaged gripper can release the article  12 . 
     As depicted in  FIG.  47   , the separating and sorting device  3000  is a state machine that operates based on a current state of the enclosed channel. Between runs of processing loads of one or more deformable articles, the enclosed channel  3100  and the plurality of arms  3115   a - c  therein are in a dormant state  3855 , the channel  3100  being devoid of any articles. Once a load of dirty one or more articles  12   a - n  enter the channel  3100 , the arms  3115   a - c  are in a stowed position  3860  at rest. The device  3000  captures images  3865 , evaluates  3870  the environment of the channel  3100  and based on a state of the one or more articles  12   a - n  within the channel  3100 , moves the arms  3875  to action as described previously with regard to implementations. The device  3000  iteratively cycles through the states of capturing images  3865 , evaluating  3870  the environment, and moving the arms  3115   a - c  until all of the one or more articles  12   a - n  are sorted out of the channel  3100 . The arms  3115   a - c  then resume their stowed state  3860  and the device  3000  again is in a dormant state  3855  awaiting at least one of cleaning and receiving a next load of one or more deformable articles  12   a ′-n′. 
     All of the methods and tasks described herein may be performed and fully automated by a computer system. The computer system may, in some cases, include multiple distinct computers or computing devices (e.g., physical servers, workstations, storage arrays, etc.) that communicate and interoperate over a network to perform the described functions. Each such computing device typically includes a processor (or multiple processors or circuitry or collection of circuits, e.g. a module) that executes program instructions or modules stored in a memory or other non-transitory computer-readable storage medium. The various functions disclosed herein may be embodied in such program instructions, although some or all of the disclosed functions may alternatively be implemented in application-specific circuitry (e.g., ASICs or FPGAs) of the computer system. Where the computer system includes multiple computing devices, these devices may, but need not, be co-located. The results of the disclosed methods and tasks may be persistently stored by transforming physical storage devices, such as solid state memory chips and/or magnetic disks, into a different state. 
     Although the subject matter contained herein has been described in detail for the purpose of illustration, it is to be understood that such detail is solely for that purpose and that the present disclosure is not limited to the disclosed embodiments, but, on the contrary, is intended to cover modifications and equivalent arrangements that are within the spirit and scope of the appended claims. For example, it is to be understood that the present disclosure contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment. 
     Other examples are within the scope and spirit of the description and claims. Additionally, certain functions described above can be implemented using software, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations.