CPC D06F 89/023 (2013.01) | 32 Claims |
1. A device for autonomously folding a deformable article, comprising:
a rotatable platform configured to receive the deformable article on a surface thereof;
at least one elongation in operable communication with at least one elongation drive, the at least one elongation configured to
raise and lower from the surface of the rotatable platform,
move parallel to the surface, and
fold the deformable article at one or more fold lines,
a table drive configured to engage the rotatable platform and rotate the rotatable platform about a central axis such that the at least one elongation aligns with one fold line of the one or more fold lines for the deformable article;
at least one sensor configured to detect a position and an orientation of the deformable article on the rotatable platform, the at least one sensor comprising one or more cameras calibrated at a fixed position and orientation relative to the platform; and
at least one controller in operable communication with the at least one elongation drive, the table drive, and the at least one sensor.
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