Patent Abstract:
Items of laundry are fed from an input machine to a mangle or some other laundry-treatment arrangement. Operating personnel are employed to feed the input machine with the items of laundry. This is costly in terms of time and personnel. The invention makes provision for determining surface profiles of the items of laundry by means of imaging installations. From these surface profiles a location for the automatic gripping of the item of laundry or of a corner of same, and preferably also the position of the location or corner, is determined by electronic image processing, whereby the location or corner of the item of laundry can be securely gripped in an automatic and targeted manner. By virtue of the described measures, hitherto manual activities in front of the input machine can be easily performed in a reliable and fully-automatic mode.

Full Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This patent application claims the benefit of and priority on German Patent Application No. 10 2014 017 477.8 having a filing date of 26 Nov. 2014. 
       BACKGROUND OF THE INVENTION 
       [0002]    1. Technical Field 
         [0003]    The invention relates to a method for feeding items of laundry to a mangle or to some other laundry-treatment arrangement, wherein an item of laundry is gripped, said item of laundry is spread out at two adjacent corners of a front edge and deposited with said front edge on a feed conveyor which transports the item of laundry to the mangle or to some other laundry-treatment arrangement, and to a method for feeding items of laundry to a mangle or to some other laundry-treatment arrangement, wherein an item of laundry is gripped and said item of laundry is spread out at two adjacent corners of a front edge and transported with this front edge as the leading edge to the laundry-treatment arrangement. 
         [0004]    Furthermore, the invention relates to an apparatus for feeding items of laundry to a mangle or some other laundry-treatment arrangement with a transport system having moveable clamps for holding a respective corner of an item of laundry, to an apparatus for feeding items of laundry to a laundry-treatment arrangement in which the transport system is assigned at least one pair of rollers for the passage of at least one part of an item of laundry and that the two rollers of the pair of rollers can rotate about parallel, upright axes of rotation, and to an apparatus for feeding items of laundry to a laundry-treatment arrangement in which the transport system is assigned at least one pair of rollers for the passage of at least one part of an item of laundry and that the two rollers of the pair of rollers can rotate about parallel axes of rotation that can be brought at least into a nearly upright position. 
         [0005]    2. Prior Art 
         [0006]    After being washed and dried, items of laundry are ironed in a mangle as so-called dry laundry, where they are freed of residual moisture or immediately folded in a folding device. The items of laundry must be fed to the mangle, folding device or some other laundry-treatment arrangement in a spread-out state. This is carried out mechanically by means of input machines. Said input machines are equipped with a feed conveyor, which feeds the spread-out item of laundry lying on it into the mangle or some other laundry-treatment arrangement. 
         [0007]    The items of laundry are fed into the input machine individually, for example by being placed on the feed conveyor or hung on spreading clamps which spread out the item of laundry in front of the feed conveyor and deposit it on the latter. The hanging of the individual items of laundry on the clamps of the input machine as well as the direct placement of each individual item of laundry on the feed conveyor has been hitherto carried out manually. This is costly in terms of time and personnel. Attempts have been made to automate these activities. They have mostly failed due to the difficulty of automatically locating and gripping adjacent edges of a front edge of items of laundry in a reliable manner with a reasonable expenditure of mechanical investment. 
       BRIEF SUMMARY OF THE INVENTION 
       [0008]    The object of the invention is therefore to provide a method and apparatus by means of which items of laundry can be fed automatically to a mangle, folding machine or some other laundry-treatment arrangement in a simple and reliable manner. 
         [0009]    A method for achieving the object stated at the beginning is a method for feeding items of laundry to a mangle or to some other laundry-treatment arrangement, wherein an item of laundry is gripped, said item of laundry is spread out at two adjacent corners of a front edge and deposited with said front edge on a feed conveyor which transports the item of laundry to the mangle or to some other laundry-treatment arrangement, characterized in that a surface profile of at least one item of laundry is recorded, from which a location to be gripped on the item of laundry is determined and the item of laundry is then gripped at this location. Accordingly, provision is made to record a surface profile of the respective item of laundry or a plurality of said items of a pile of laundry to be fed. On the basis of the preferably three-dimensional surface profile, it is possible to determine or select, in particular by means of image analysis, an intended or easily accessible location on the respective item of laundry to be fed to the laundry-treatment arrangement and/or to determine the position of this location. The item of laundry can then be securely gripped at this location automatically. 
         [0010]    It is preferably provided that a multidimensional, if appropriate a three-dimensional, image is generated by imaging processes or devices. By virtue of an appropriate, preferably electronic image analysis, it is possible to determine the intended or most easily accessible location on the item of laundry, for example the coordinates of such a location, which can then be approached by an appropriate lifting or gripping means, for example a clamp, a gripper or a suction device, which then grip the item of laundry at the intended location or at the location that has been determined to be the preferred one. Thus, the intended or most favorable location for gripping the respective item of laundry can be determined automatically and subsequently this location can also be approached automatically by the appropriate means and automatically gripped. This thereby eliminates the hitherto manual work steps required to feed items of laundry to a laundry-treatment arrangement. 
         [0011]    The surface profile of each item of laundry, or also of a plurality of items of laundry lying or jumbled in a pile, is preferably determined by three-dimensional imaging means, for example by at least one 3D camera or a laser scanner. This results in a three-dimensional image of the respective item of laundry. Through image analysis, in particular by electronic and/or computational means, it is possible to determine the coordinates of the searched location, preferably a corner, or the particularly favorable location for gripping the item of laundry. By approaching in a targeted manner the location or corner thus determined, the appropriate lifting or gripping means can reliably grip the item of laundry where it can be gripped most conveniently and/or where it is intended to be gripped. 
         [0012]    If an arbitrary location on the item of laundry is to be gripped, this is carried out in that, based on the determined surface profile, in particular a three-dimensional surface profile, which represents a kind of topography, the location having the largest curvature gradient is gripped. At this location one part, so to speak, of the irregularly lying or arbitrarily oriented item of laundry sticks out or projects from a pile containing a plurality of items of laundry. The item of laundry can then be reliably and fully-automatically grabbed at this location by mechanical means. 
         [0013]    It is additionally preferred that the item of laundry be gripped at such a corner which has been identified to be the most accessible for a gripper or some other gripping means on the basis of the evaluation of the determined, preferably three-dimensional surface profile. The determination of the surface profile therefore not only identifies at least one corner of the item of laundry but also establishes which corner of the item that can be best gripped. 
         [0014]    A preferred option for the further design or development of the method provides that, alternatively or in addition, the surface profile of an item of laundry hanging from a fastening means of the apparatus is determined and, based on this surface profile, the item of laundry is gripped at another free corner in a targeted manner, for example by means of another fastening means. This therefore results in the automatic gripping of two locations, and if required at two corners of the item of laundry. 
         [0015]    It is also conceivable, by means of the recorded surface profile of an item of laundry hanging by a corner from a fastening means, to locate the corner adjacent to this corner and to grip it in a targeted manner. This makes it easily possible to grip an item of laundry automatically at adjacent corners of an edge, this edge preferably being a leading front edge with which the item of laundry is fed to the laundry-treatment arrangement. 
         [0016]    One preferred design of the method provides that, on the basis of the determined surface profile or topography of the item of laundry, it is possible to identify the orientation of the hem of said item of laundry. It is thereby possible to establish on which side of the item of laundry a narrow, marginal strip, which is folded over during the formation of the hem in the item of laundry, is located. On the basis of the location of the hem as known from the evaluation of the determined surface profile, it is possible to feed the item of laundry to the laundry-treatment arrangement, in particular to place it on a feed conveyor, in such an orientation that the hem purposefully lies facing up or down, thereby assuming the intended position or orientation. This orientation of the hem during manual feeding of the laundry-treatment arrangement or input machine used to be performed by a human operator. That could lead to faulty feeding inputs. Due to the invention&#39;s automated method, such faulty feed inputs are no longer possible. 
         [0017]    A further method for achieving the object set forth at the beginning, whereby this can also be a preferred further development of the previously described method, is a method for feeding items of laundry to a mangle or to some other laundry-treatment arrangement, wherein an item of laundry is gripped and said item of laundry is spread out at two adjacent corners of a front edge and transported with this front edge as the leading edge to the laundry-treatment arrangement, characterized in that, in the case of an item of laundry hanging down from a held corner, a lowest corner of said item of laundry is gripped and stretched, whereby the other corners of the item of laundry are formed such that they assume positions that can be gripped. Accordingly, provision is made that, in the case of an item of laundry held at one corner, the lowest point of the item of laundry hanging down by a corner is gripped and the item of laundry is then stretched, in particular only lightly stretched, as these corners are moved apart. This causes the remaining corners of the item of laundry to be configured such that they assume a position which can be gripped and/or which is suitable for image acquisition. The item of laundry can then be automatically gripped also at such a corner formed in this manner, after which the item of laundry is held at the targeted corners, preferably adjacent corners of a front edge. 
         [0018]    It can be advantageous to design the method such that the item of laundry held at diagonally opposite corners is stretched. This then forms two free corners that are adjacent to each of the held corners. This makes it easily possible to determine automatically the adjacent corners of the item of laundry and subsequently to grip them mechanically in a targeted manner. 
         [0019]    Another possibility offered by the advantageous further development of the method provides for the automatic determination, preferably by means an imaging process, of the position of the free corners formed during the stretching of the item of laundry at preferably diagonally opposite corners when the surface profile is determined. In this manner, the positions of the free corners formed during the stretching action can be calculated from the evaluation of the recorded image of the laundry item, if possible also as a three-dimensional image, thereby providing the spatial positions of the free corners formed by the stretching of the item of laundry, in particular their coordinates. From this it can also be established which of the free corners, adjacent to a particular held corner of the item of laundry, delimit a short or a long edge of the item of laundry. The item of laundry can then be gripped automatically in the way that it should be transferred to the following laundry-treatment arrangement, for example in the feed conveyor of a input device upstream of a mangle. 
         [0020]    An apparatus for achieving the object set forth at the beginning is an apparatus for feeding items of laundry to a mangle or some other laundry-treatment arrangement with a transport system having moveable clamps for holding a respective corner of an item of laundry, characterized in that the transport system is assigned at least one imaging device for the purpose of generating a surface profile of an item of laundry. This apparatus is provided with an image-generating device in the course of the transport system for feeding single items of laundry to a laundry-treatment arrangement, in particular to a mangle or an input machine upstream thereof. It is therefore possible to record at least one surface profile of the item of laundry before the transport system and/or during its course, whereupon the item of laundry can be securely gripped. It is thereby possible to grip an arbitrary location on the item of laundry, but also a specific location, such as a corner. 
         [0021]    As an alternative or in addition, image-generating devices can be provided at various positions along the course of the transport system which serve to direct differently moveable clamps or other types of gripping means of the transport system toward specific locations, in particular corners, on the item of laundry in a targeted manner and to grip them. Such processes as the rehanging of the item of laundry, the changing of clamps, the gripping of specific locations or corners of the item of laundry and/or the reorientation of the item of laundry can thereby be carried out automatically and reliably. 
         [0022]    Individual or a plurality of image-generating devices are preferably located at various points of the transport system. These may be identical image-generating devices, each of which generate three-dimensional images, for example. But it is also conceivable, depending on the purpose of the task at hand, to configure each image-generating device differently. For example, image-generating devices, above all cameras, can be provided which generate three-dimensional images in some cases and two-dimensional images in other cases. It is also conceivable that the image-generating devices at specific points of the conveying section generate a surface profile of only one part of the item of laundry, namely only of that part whose position, orientation and/or configuration must be recorded in order to manipulate this part in the appropriate manner, in particular to grasp it. 
         [0023]    A further apparatus for achieving the object set forth at the beginning, which can also be a preferred further development of the previously described apparatus, is an apparatus for feeding items of laundry to a laundry-treatment arrangement, characterized in that the transport system is assigned at least one pair of rollers for the passage of at least one part of an item of laundry and that the two rollers of the pair of rollers can rotate about parallel, upright axes of rotation. Accordingly, the transport system is assigned at least one pair of rollers for the passage of at least one part of an item of laundry between them, wherein the rollers of the pair of rollers can rotate about parallel upright axes of rotation. The axes of rotation can preferably run vertically, but can also run at a slight oblique angle to the vertical. The rollers form a gap resulting in the mechanical locating of a particular position, in particular of a corner, of the item of laundry drawn through the gap between the parallel rollers. The vertical or practically vertical orientation of the parallel axes of rotation of the two adjacent rollers facilitates the finding of the corner and the receiving of a section of the item of laundry that is moved past the rollers of the transport system. This part of the item of laundry, usually a rear part, thus unavoidably comes between the rollers with its most outer corner and can thus be reliably detected. This also applies when a clamp of the transport system grips a plurality of items of laundry at the same time. Then only a rear corner of an item of laundry is formed between the upright pair of rollers. 
         [0024]    A preferred further development of the apparatus provides that the axes of rotation of the roller pair can be pivoted synchronously while maintaining their parallel alignment. Preferably the axes of rotation of the pair of rollers can be pivoted from an upright, i.e. vertical or nearly vertical alignment, to a horizontal or nearly horizontal alignment (and back). As a result, a part of the item of laundry can reliably pass between the initially upright rollers of the pair of rollers and, following the pivoting of the pair of rollers, the corner is aligned for easy gripping. 
         [0025]    One advantageous arrangement of the apparatus provides that the rollers of the pair of rollers can be driven preferably to rotate in opposite directions, specifically and in particular at the same rotational speed. By stopping the drive, the found corner of the item of laundry can be held temporarily in a clamp-like manner until it is received by a clamp or some other retaining means, including, for example, a suction device. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0026]    Preferred exemplary embodiments of the invention are described in more detail in the following as based on the drawings where: 
           [0027]      FIG. 1  shows a schematic representation of items of laundry being fed to a laundry-treatment arrangement, 
           [0028]      FIG. 2  shows a schematic representation analogous to  FIG. 1  of a second exemplary embodiment of the invention, and 
           [0029]      FIG. 3  shows a schematic representation analogous to  FIGS. 1 and 2  of a third exemplary embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       [0030]    The figures schematically illustrate different approaches for the automatic feeding of items of laundry to a laundry-treatment arrangement. For the purposes of the following description, it will be assumed that the laundry-treatment arrangement (not shown) is an input machine for feeding preferably spread-out items of laundry to a mangle. However, the invention is not limited to this. 
         [0031]    A single, washed and at least partially dry item  10  of laundry that is not spread out and is arbitrarily oriented, for example in a jumbled fashion, or also a pile of washed and at least partially dried items  10  of laundry are transported to a receiving position  12  by means of a schematically represented conveyor  11  or other transport means. From this receiving position  12  a item  10  of laundry is in each case fed to the input machine (not shown) in a fully automated fashion with no accompanying manual assistance, preferably deposited on a feed conveyor of the input machine with at least a partially spread-out front edge  13 , or transferred to the input machine on clamps, in particular spreading clamps. 
         [0032]    Shown in  FIG. 1  is a single item  10  of laundry situated in arbitrary orientation on the conveyor  11  of the receiving position  12 . At the receiving position  12  an image is generated of the item  10  of laundry of irregular orientation by means of at least one shown camera  14 . This is preferably a three-dimensional image. This image of the surface profile represents at least one part of a topography of the item  10  of laundry. In  FIG. 1  only a single camera  14  is shown symbolically in the region of the receiving position  12 . This may be a 3D camera or a laser scanner. But it is also conceivable to provide a plurality of cameras  14  at the receiving position  12 , which are expediently distributed at different positions around the item  10  of laundry at the receiving position  12 . 
         [0033]    The receiving position  12  is assigned a gripping device  15  which in the shown exemplary embodiment has a rail  16  which is inclined obliquely upwards and which has two clamps  17  that can travel upwards along it in linear fashion. The clamps  17  grip alternately an item  10  of laundry at the receiving position  12 . While one clamp  17  is receiving an item  10  of laundry at the receiving position  12 , the other clamp  17  can transfer a previously gripped item  10  of laundry to another conveyor at an opposite and higher end region of the rail  16 . But it is also conceivable that the gripping device  15  has only a single clamp or another type of gripping means, for example a suction device. The gripping device  15  can also be formed from a long-stroke cylinder. In this case, the gripping means  15  has only a single clamp  17 . 
         [0034]    The gripping device  15  is followed by a transport device  18 . The transport device  18  shown here has a straight rail  19 , which runs approximately horizontal in the shown exemplary embodiment. A plurality of preferably identical clamps  20  can travel on the rail  19  in a rectilinear fashion. An upper region of the rail  16  of the gripping device  15  and an end region of the rail  19  directed toward the rail  16  are located at a transfer point  21  in such a tight arrangement that a item  10  of laundry held by the clamp  17  can be received in the upper end region of the rail  16  by a clamp  20  at the end region of the rail  19  of the transport device  18  which points toward the gripping device  15 . 
         [0035]    The transfer point  21  between adjacent end regions of the rails  16  and  19  is also assigned at least one camera  22 . For simpler presentation purposes, only one camera  22  is shown in  FIG. 1 , although a plurality of preferably identical cameras  22  can be provided at different positions. The at least one camera  22  can generate an image, preferably a three-dimensional image, of the item  10  of laundry at the transfer point  21 . This image reproduces the surface profile or topography of at least one part of the item  10  of laundry in the region of the transfer point  21 . Accordingly, the clamp  20  of the transport device  18  located in each case at the transfer point  21  can grip an arbitrary corner  23  of the item  10  of laundry. 
         [0036]    The end  24  of the rail  19  of the transport device  18  situated opposite the gripping device  15  (shown to the right in  FIG. 1 ) is located at a reorientation point  25 . At this reorientation point  25  the item  10  of laundry held at a corner  23  by the clamp  20  initially hangs down freely. The surface profile or topography of the item  10  of laundry hanging down from the clamp  20  at the reorientation point  25  is in turn determined by at least one camera  22  to generate preferably a three-dimensional image. In the shown exemplary embodiment, two opposite, preferably identical cameras  22  are shown which record the surface profile or topography of the item  10  of laundry from opposite sides of the item  10  of laundry, preferably an outer side and an inner side. 
         [0037]    Provided at the reorientation point  25  is a stretching clamp  26  which is traversable, preferably on a linear track  27 . For example, for this purpose the stretching clamp  26  can be attached to a high-speed servo axis which in the simplest case is formed by a pneumatic cylinder. The stretching clamp  26  grips a corner  28  at the lowest point of the item  10  of laundry hanging down from the clamp  20 . This lower corner  28  lies diagonally opposite the top corner held by the clamp  20 . 
         [0038]    Due to the stretching clamp  26  being moved in the feed direction  29  toward the input machine (not shown) while the clamp  20  remains stationary, the item  10  of laundry is at least somewhat or partially stretched, thus forming a diagonal fold  30  between the diagonally opposite corners  23  and  28 . In the process, the remaining corners  31 ,  32  of the item  10  of laundry are formed, with the result that the image recorded by the cameras  23 , which corresponds to the three-dimensional surface profile of the item  10  of laundry, can provide reliable detection or identification of the corners  31  and  32 . 
         [0039]    Provided at the reorientation point  25  below the item  10  of laundry is a pair of clamps comprising clamps  33 ,  34  that can moved toward and apart from each other. The clamps  33 ,  34  can be moved toward and apart from each other by means of appropriate linear drives. The clamps  33  and  34  are moved apart to the extent that they attain a distance from one another that allows them to still grip the corner  28  held by the clamp  26  and a corner  32  that has become free during the stretching of the item  10  of laundry. The clamps  33 ,  34  of the pair of clamps thereby hold two adjacent corners  28  and  32  of an edge of the item of laundry, which can possibly be the front edge  13 . 
         [0040]    In the shown exemplary embodiment, a second pair of clamps having the clamps  35 ,  36  is provided above the pair of clamps with the clamps  33 ,  34 . The clamps  35 ,  36  can also be moved together and apart independently of each other, but can also be moved together along a preferably a straight conveying section  37  in the feed direction  29  while maintaining the same distance from one another. The clamps  35 ,  36  take the item  10  of laundry from the clamps  33 ,  34 , specifically also at the corners  28  and  32 . The item  10  of laundry is then held at opposite corners  28  and  32  of the front edge  13  in a spread-out or partially spread-out position, i.e. in a preliminary spread-out position. The item  10  of laundry thereby hangs down from the clamps  35  and  36  and can be transported along the conveying section  37  to the input machine (not shown). 
         [0041]    It is conceivable that the pair of clamps comprising the clamps  35 ,  36  or the pair of clamps comprising the clamps  33 ,  34  can be omitted. In that case, no transfer from one pair of clamps to the other occurs at the reorientation point. Instead, the item  10  of laundry held on the corners  28  and  32  is directly transported to the input machine in the feed direction  29  by the clamps  33 ,  34  or  35 ,  36 . 
         [0042]    The method according to the invention is implemented by the previously described apparatus as shown in  FIG. 1  as follows: 
         [0043]    Either a single item  10  of laundry or a pile of a plurality of items  10  of laundry is transported by the conveyor  11  to the receiving position  12 . At the receiving position  12  a plurality of items  10  of laundry are immediately separated out in the process. Even when only a single item  10  of laundry is transported to the receiving position  12 , this item is disordered, in particular crumpled. For that reason, at least one camera  14  at the receiving position  12  records preferably a three-dimensional image of the surface profile or topography of the item  10  of laundry. This results in a three-dimensional image of the structure or topography of the item  10  of laundry lying on the conveyor  11 . The three-dimensional image of the at least one item  10  of laundry at the receiving position  12  is preferably electronically processed and evaluated by image processing. Above all, a determination is made as to which location on the item  10  of laundry on the conveyor  11  can best be gripped. For this purpose, preferably the location of the largest curvature gradient of the item  10  of laundry at the receiving position  12  is determined electronically or computationally, and the coordinates of this location are set. Accordingly, the clamp  17  of the gripping device  15  is moved in a targeted manner toward the location that can be conveniently gripped and the item  10  of laundry is gripped here. 
         [0044]    The three-dimensional image or surface model of the item  10  of laundry that is recorded by the at least one camera  14  extends in three dimensions or spatial directions, namely in an X, Y and Z direction or axis. This makes it possible to grip any form that the arbitrarily positioned item  10  of laundry assumes. In particular, this makes it possible to determine the heights and recesses of the item  10  of laundry, thereby allowing conclusions to be made concerning the surface profile, in particular the topography, of the item  10  of laundry. 
         [0045]    The at least one camera provides a stereoscopic, three-dimensional image of the topography or surface profile of the item  10  of laundry. This is particularly the case when the item  10  of laundry is viewed by a plurality of cameras  14  placed at various viewing angles. By means of the special imaging of the item  10  of laundry using two cameras  14  or more than two cameras  14  set at different viewing angles, it is possible to create a three-dimensional, spatial image and/or surface model in that three-dimensional coordinates are assigned to every point on the surface of the item  10  of laundry. This can be carried out by image processing or further image processing, for example by means of a computer. 
         [0046]    It is sufficient if the at least one camera  14  records an image of the item  10  of laundry or of the pile containing a plurality of items  10  of laundry and this image is analyzed. But it is also conceivable to record images continuously or to record an image at regular intervals, and then to compare these images appropriately. 
         [0047]    After the topography or the surface profile of the item  10  of laundry, of a plurality or, preferably, all of the visible items  10  of laundry in the pile of laundry has been established by electric and/or computational image analysis, it is possible to identify at least one location which is particularly suited for the gripping or separating out of the item  10  of laundry. Such a location is preferably a region where the item  10  of laundry exhibits a large curvature or a large curvature gradient. For example, this can be a fold, a crease, an edge or a corner of the item  10  of laundry. This suitable location is calculated by image analysis of the recorded topography or of the recorded surface profile of the item  10  of laundry using a computer, for example. This can be done such that, for two respectively adjacent points, the angle between two tangents or tangential planes of these points is determined. If this angle is acute or if the tangents do not intersect, one can assume a large curvature or a large curvature gradient. Such a location is then particularly suitable for gripping and/or separating the item  10  of laundry. 
         [0048]    The coordinates of the preferred location on the item  10  of laundry automatically determined by computational image processing are likewise calculated and transferred to the drive, preferably to the high-speed servo axis of the clamp  17  so that the clamp  17  of the gripper can be moved precisely to the calculated, preferred location on the item  10  of laundry. If a plurality of locations on the item  10  of laundry are determined to be suitable for gripping, that location is chosen which can be approached most quickly by the gripper  14 , in particular the one with the shortest travel path. 
         [0049]    In the shown exemplary embodiment, the location that has been derived from the image recorded by the at least one camera  14  represents an arbitrary location on the item  10  of laundry. It is also conceivable that the analysis of the recorded image, in particular of the three-dimensional image, is conducted such that a corner of the item  10  of laundry is identified, with this corner being grasped in a targeted manner by the clamp  17  of the gripping device  15 . 
         [0050]    According to the shown exemplary embodiment, after the clamp  17  of the gripping device  15  has grasped the item  10  of laundry at an arbitrary location that is particularly suited for gripping, it is moved away from the receiving position  12  by means of the clamp  17  moving along the rail  16  and slightly lifted. At the upper end of the rail  16  the item  10  of laundry is recorded by at least one camera  22 , preferably once again as a three-dimensional image. As a result of the appropriate analysis of the surface profile of the item  10  of laundry reproduced in this image, a corner  23  of the item  10  of laundry still hanging on the clamp  17  is identified from the surface profile or topography of the item  10  of laundry as determined by the at least one camera  22  and gripped by a clamp  20  of the transport device  18 . The clamp  17  of the gripping device  15  is subsequently opened so that the item  10  of laundry hangs down by the corner  23  from the clamp  20 . 
         [0051]    Due to the clamp  20  travelling along the rail  19  of the transport device  18 , the item  10  of laundry hanging down from said clamp  20  is moved from the transfer point  21  between the gripping device  15  and the transport device  18  to the reorientation point  25 . Here the lowest point of the item  10  of laundry hanging down from the clamp  20  and the farthest away from the latter is gripped by the stretching clamp  26 . Because the lowest point of the item  10  of laundry is a corner  28  located diagonally opposite to the corner  23 , the stretching clamp  26  necessarily grips the corner  28  of the item  10  of laundry which lies diagonally opposite the upper corner  23 . As a result of the stretching clamp  26  being moved on the track  27  in the feeding direction  29 , the item  10  of laundry is now stretched, preferably only lightly stretched, between the diagonally opposing corners  23  and  28 , with the corners  23  and  28  thereby being drawn apart. Preferably the corners  23  and  28  are drawn apart to the extent that the item  10  of laundry between these corners  23  and  28  is only slightly tautened but not subjected to any appreciable mechanical loads. When the diagonally opposite corners  23  and  28  are drawn apart by the movement of the stretching clamp  26 , the diagonal fold  30  is formed in the item  10  of laundry between these corners  23  and  28 . At the same time, this causes the formation of the other corners  31  and  32  of the item  10  of laundry such that said corners can be clearly registered and imaged by the cameras  22  assigned to the reorientation point  25 . 
         [0052]    By means of an analysis of the image recorded by the cameras  22  or, if applicable, by only one camera  22  of the stretched item  10  of laundry, the positions of the corners  31  and  32  can be determined computationally. Of the corners  31  and  32  thus determined, either a corner  31  or  32  is gripped which can be most easily gripped or, in the case of a rectangular item  10  of laundry, a corner  31  or  32  is gripped which, together with the corner  28  held by the stretching clamp  26 , borders the intended front edge  13  of the item  10  of laundry, namely either a transverse edge or a longitudinal edge. 
         [0053]    As shown in the exemplary embodiment of  FIG. 1 , the clamp  34  grips the corner  32  adjacent to the corner  28  which is part of a transverse edge of the item  10  of laundry. In this case, the item  10  of laundry is fed to the input machine, with the shorter transverse edge being its leading front edge  13 , and deposited on the feed conveyor of the input machine. If the item  10  of laundry is to be fed to the input machine with the longer longitudinal edge as its leading edge, the clamp  34  grips the other corner  31  formed when the item  10  of laundry is stretched out. 
         [0054]    The clamps  33  and  34  of the pair of clamps can be purposefully moved along a preferably straight conveying section  38  to the corners  28  and  32 , wherein the movement of the clamp  34  to the corner  32 , which becomes free or is formed when the item of laundry is stretched, is controlled on the basis of a computational analysis of the three-dimensional image of the item of laundry as recorded by the at least one camera  22  at the reorientation point  25 . 
         [0055]    In the shown exemplary embodiment a second pair of clamps is provided as clamps  35  and  36  above the clamps  33  and  34 . The clamps  35  and  36  receive the front edge  13  at its corners  28  and  32  from the clamps  33  and  34 . The item  10  of laundry which subsequently hangs with its corners  32  and  28  under the clamps  35 ,  36  is now transported along the conveying section  37  in the feed direction  29  to the input machine and is preferably either deposited directly on the feed conveyor of the input machine or transferred by spreading clamps to the input machine. 
         [0056]    At the reorientation point  25 , the at least one camera  22  is also used to determine, in the case of a hemmed item  10  of laundry, on which side of the item of laundry the narrow marginal strips of the item  10  of laundry which form the hem are located. Particularly in the case of table linen the hem side of the item  10  of laundry, i.e. the side on which the folded-over narrow marginal edge of the item  10  of laundry is located, must be fed into a mangle such that the hem side comes into contact with the mangle roller but not with the ironing surface of the mangle trough when it is standing idle. Because it is possible to determine, using the at least one camera  22 , on which side of the item  10  of laundry viewed by the cameras  22  the hem is located, the item  10  of laundry can be fed to the input machine by the selective feeding to the input machine with the corners  28  and  32  hanging on the clamps  33 ,  34  or  35 ,  36  in the correct orientation for mangling. 
         [0057]    If only one pair of clamps, either clamps  33 ,  34  or clamps  35 ,  36 , are provided at the reorientation point  25 , the item  10  of laundry can be also be reoriented, on the basis of the position of the hem as recorded by the at least one camera  22 , by altering the sequence of the clamps  35 ,  36  or  33 ,  34  by having one clamp overtake the other clamp along the conveying section  37  or  38 , for example. 
         [0058]      FIG. 2  shows an apparatus which essentially corresponds to the previously described apparatus and as such the same designation numbers are used to indicate the same parts of the apparatus. In the apparatus of  FIG. 2  a pair of rollers  39  is provided at the transfer point  21 . The pair of rollers  39  has two adjacent, upright rollers  40 , of which only the roller  40  at the front is shown in  FIG. 2 . The two identical rollers  40  can rotate about parallel, vertical axes of rotation  41 . Formed between the rollers  40  is a small gap for the passage of at least one part of the item  10  of laundry. 
         [0059]    In the shown exemplary embodiment the parallel uprights rollers  40  can be driven in opposite directions in such a way that they transport the item  10  of laundry or only a part of it through the gap between the adjacent rollers. It is also conceivable that only one of the two parallel rollers  40  is driven, with the second roller  40  rotating freely when an item  10  of laundry is transported between the rollers  40 . 
         [0060]    The item  10  of laundry is dropped by opening the clamp  17  above the rollers  40 , whereby due to the upright arrangement of the rollers  40  the item  10  of laundry enters the gap between the rollers  40  and is transported transversely through the gap. As soon as the item  10  of laundry has been transported almost completely through the gap between the rollers  40 , with only a rear tip or a rear corner, preferably the corner  28 , still hanging in the gap, this is determined by means of an appropriate detection means and correspondingly the clamp  20  of the transport device  18  is controlled such that it grips the item  10  of laundry at its rear tip or the rear corner, specifically either when its outermost corner or outermost tip is still located in the gap between the rollers or immediately after the rearmost tip or rearmost corner of the item  10  of laundry has left the gap between the rollers  40 . 
         [0061]    It is conceivable to arrange the axes of rotation  41  of the two adjacent rollers  40  at a slightly oblique opposing angle to one another such that a downward tapered and slightly V-shaped gap is created between the rollers  40 . 
         [0062]    It is also conceivable that the gap between the rollers  40  is closed at the bottom by a transverse beam under the rollers  40  or by a transversely directed, horizontal roller located in front of or behind the two parallel rollers  40 . 
         [0063]      FIG. 3  shows a modified version of the apparatus shown in  FIG. 2 . In this modification the pair of adjacent rollers is pivotable. Specifically, the rollers  40  can be pivoted together about their axes of rotation  41  from an initial position with vertical axes of rotation  41  to a position with approximately horizontal axes of rotation  41 . The rollers  40  are pivoted about a horizontal pivoting axis  42  which runs through the axes of rotation  41  of both rollers  40  and is located at a distance below the rollers  40 . In the shown exemplary embodiment the rollers  40  can be pivoted equally by about 90°. 
         [0064]    In the upward pivoted initial position of the rollers  40  the axes of rotation  41  run vertically, but can also run at a slight oblique angle to the vertical. It is in this initial position of the rollers  40  that an item  10  of laundry is dropped from the clamp  17  over the rollers  40 . The item  10  of laundry thereby enters into the gap between the vertical or nearly vertically oriented rollers  40 . The rollers  40  are subsequently pivoted equally in common about their horizontal pivoting axes  42  by approximately 90° so that the rollers  40  reach a horizontal or nearly horizontal position. In this horizontal position the rollers  40  are driven in opposing directions until a rearmost—and due to the pivoting of the rollers  40  into the horizontal position—upper tip or a corner  23  is still located between the rollers  40 , i.e. with a major portion of the item  10  of laundry having just been transported through the rollers  40 . If appropriate, the drive of the rollers  40  can be stopped. The corner  23  of the item  10  of laundry is thereby purposefully located above the rollers  40  in that the corner  23  projects approximately upwards from the gap between rollers  40 . The item  10  of laundry can then be securely gripped by the clamp  20  of the transport device  18  at this corner  23  and taken away. In the process the item  10  of laundry can be drawn out of the gap between the rollers  40 . It is also conceivable to release the item  10  of laundry by opening the gap between the rollers  40  or to move the item  10  of laundry out of the gap by driving the rollers  40  in opposite directions. This can also be performed in such a manner that the rollers  40  are driven to rotate in opposite directions after the corner  23  of the item  10  of laundry has been gripped by the clamp  20 . 
         [0065]    After the item  10  of laundry has been taken away from the two parallel rollers  40  by means of the transport device  18  and thus freeing up the rollers  40 , the latter are pivoted back into their initial vertical position in order to receive a next item  10  of laundry. 
         [0066]    The automated process of finding the corner using the previously described pair of parallel rollers  40  can also be provided at any other locations of the apparatuses shown and described in exemplary fashion in  FIGS. 1 to 3 . It is also conceivable to employ the automated process of finding the corner between two parallel rollers  40  at other sites in the region of the laundry than those shown in  FIGS. 1 to 3 . 
       LIST OF DESIGNATIONS 
       [0000]    
       
           10  laundry article 
           11  conveyor 
           12  receiving position 
           13  front edge 
           14  camera 
           15  gripping device 
           16  rail 
           17  clamp 
           18  transport device 
           19  rail 
           20  clamp 
           21  transfer point 
           22  camera 
           23  corner 
           24  end 
           25  reorientation point 
           26  stretching clamp 
           27  track 
           28  corner 
           29  feed direction 
           30  diagonal fold 
           31  corner 
           32  corner 
           33  clamp 
           34  clamp 
           35  clamp 
           36  clamp 
           37  conveying section 
           38  conveying section 
           39  pair of rollers 
           40  rollers 
           41  axis of rotation 
           42  pivot axis

Technology Classification (CPC): 3