Operation method of a gripping device for separating laundry from a pile of laundry

Abstract

The present invention relates to a method of operation of a gripping device (1) for detaching laundry from a laundry pile (5). The gripping device (1) comprises a suction nozzle unit (2) for sucking up laundry on the laundry pile (5). The suction nozzle unit (2) comprises a nozzle assembly consisting of at least one nozzle. The suction nozzle unit (2) comprises a device for generating a vacuum at an opening (6) of the suction nozzle unit (2). The gripping device (1) comprises gripping elements (3, 4) which are cooperatively closed so as to grip the laundry in the closed state. In the present invention, when the suction of the laundry starts, the distance (X) (201) from the opening (6) of the suction nozzle unit (2) to the laundry pile (5) is greater than "0". The gripping elements (3, 4) close when the laundry is sucked up by the suction nozzle unit (2) such that the opening (6) of the suction nozzle unit (2) is covered by the laundry. When the gripping elements (3, 4) close, the laundry is only partially lifted from the laundry pile (5).

Description

Technical Field

[0001] According to the preamble of claim 1, the present invention relates to a method of operating a gripping device for separating laundry from a pile of laundry.

Background Art

[0002] Such a method is known from EP 771746 A1.

[0003] When separating laundry from a pile of laundry, from the perspective of process reliability, it is important to almost avoid gripping a plurality of laundry items simultaneously. Another important aspect is the cycle time required to perform the gripping operation. This is particularly applicable to industrial laundries where commercial laundry is processed as a whole. This processing particularly includes the washing process. In the laundry sorting process, it is important to separate the laundry within the process so that the laundry can be individually evaluated.

[0004] Known gripping devices have a suction nozzle unit for sucking up laundry on a pile of laundry. The suction nozzle unit has a nozzle assembly consisting of at least one nozzle. The suction nozzle unit has a device for generating a vacuum at the opening of the nozzle unit.

[0005] The gripping device has a plurality of gripping elements, and the gripping elements cooperate to close so as to grip the laundry in a closed state.

[0006] In the subject matter of EP 771746 A1, the suction nozzle unit can move relative to the gripping elements within the gripping device, so that the distance from the suction nozzle unit to the pile of laundry can change from a first position to a second position with respect to the distance from the gripping elements to the pile of laundry. In the first position, the distance from the suction nozzle unit to the pile of laundry is shorter than the distance from the gripping elements to the pile of laundry. In the second position, the distance from the suction nozzle unit to the pile of laundry is longer than the distance from the gripping elements to the pile of laundry.

[0007] The gripping process starts with a first step in which the suction nozzle unit generates a vacuum and opens the gripping element, starting from a first position, a second step of moving to a second position, and a third step of closing the gripping element, and is executed in this order.

[0008] Known gripping devices operate according to known solutions by lowering the suction nozzle unit onto the laundry pile such that the suction nozzle unit contacts the laundry pile. The vacuum is generated at this position and the suction nozzle unit moves away from the laundry pile with respect to the gripping element. Such a procedure is also described in U.S. Patent No. 3,092,263 A. In this document, the suction nozzle unit is lowered onto the laundry pile and thus comes into contact with this laundry pile. It is described that when a vacuum is generated, the laundry is sucked up when it comes into contact with the opening of the suction nozzle unit. It is further described that when the suction nozzle unit is lifted, the laundry is lifted from the laundry pile. When the laundry is completely lifted from the laundry pile and freely suspended, the laundry passes through a light barrier when lifted. Immediately after the light barrier has been completely passed through, the gripping device closes above this light barrier and mechanically holds the laundry. This is intended to mean that the laundry (which is a towel) is held by the gripping device at a defined position at one corner. Due to the disordered laundry pile, the position of the suction nozzle unit on the surface of the towel is statistically distributed during the suction process. If the position of the suction nozzle unit does not exist at the center with respect to the surface of the towel, the towel will hang down from the suction nozzle unit, and one corner will hang lower than the other corners. When this (lowest hanging) corner passes through the light barrier, the light barrier is finally released again. By closing the gripping device at this moment, it is possible to ensure that the gripping device grips only one corner that is hanging lowest at that time. If the towel hangs down "symmetrically" downward, there is the option of switching off the vacuum without closing the gripping device. In that case, the towel falls onto the laundry pile and a new gripping process can be carried out.

Prior Art Documents

Patent Documents

[0009]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0010] The object of the present invention is to propose a method for improving the separation of laundry from a laundry pile.

Means for Solving the Problems

[0011] To achieve this object, the method according to claim 1 includes the following steps. To operate a gripping device that separates the laundry from the pile of laundry, the gripping device has a suction nozzle unit that sucks up the laundry on the pile of laundry. The suction nozzle unit has a nozzle assembly consisting of at least one nozzle. The suction nozzle unit has a device that generates a vacuum at the opening of the suction nozzle unit. The gripping device has a plurality of gripping elements, and the gripping elements can cooperate to close so as to grip the laundry in a closed state.

[0012] In the present invention, when the suction of the laundry starts, the distance (X) from the opening of the suction nozzle unit to the pile of laundry is greater than "0". When the laundry is sucked up by the suction nozzle unit so that the opening of the suction nozzle unit is covered by the laundry, the gripping elements close. When the gripping elements close, the laundry is only partially lifted from the pile of laundry.

[0013] The distance X can be in the range of several centimeters, for example, 1 centimeter to 20 centimeters, preferably 1 centimeter to 10 centimeters, particularly preferably 1 centimeter to 5 centimeters, and particularly preferably 1 centimeter to 4 centimeters.

[0014] Maintaining the distance X from the opening of the suction nozzle unit to the pile of laundry at a first position, and thus also maintaining it in the first step, has been shown to improve the reliability of the process. Therefore, unintentionally gripping a plurality of laundries does not occur very often.

[0015] This advantage can be explained by the fact that when the vacuum and suction flow of the suction nozzle unit act on the pile of laundry, only the laundry at the upper part of the pile of laundry is more reliably lifted compared to the case where the suction nozzle unit is in direct contact with the pile of laundry.

[0016] This can be explained as follows. First, air is sucked in. The upper laundry is lifted until it reaches the nozzle. The lower laundry is "inside the laundry stack". When the laundry is lifted, the pressure at the top of the laundry becomes lower than the pressure at the bottom of the laundry. Since there is a vacuum above the laundry stack, this acts on the upper laundry. This acts only within a limited range on the next laundry only. The pressure above the laundry in the pile of laundry that is not "on top" should only be slightly reduced by the suction nozzle because air should flow through the fiber products of the upper laundry.

[0017] Positioning the suction nozzle at a certain distance X above the laundry stack means that in most cases (compared to lifting multiple laundries when the suction nozzle is "placed on top"), only one laundry is reliably lifted.

[0018] It has also been shown to be advantageous if the laundry is already gripped by the gripping element when the laundry has not yet been completely lifted out of the pile of laundry. If the laundry is partially under other laundry in the pile, if the suction nozzle unit is lifted only by the vacuum generated, the vacuum may not be sufficient to pull the laundry away from the pile of laundry. Therefore, it has been shown to be advantageous for the laundry to be lifted out of the pile of laundry when the laundry is gripped by the gripping element and the gripping element is lifted.

[0019] Advantageously, only the suction nozzle unit can be used to first lift the laundry slightly after suction. This ensures that the accidentally sucked-in laundry (in addition to the lifted item) falls back down before the gripping element closes. As explained, the gripping element closes before the laundry is completely lifted out of the pile of laundry.

[0020] In the embodiment according to claim 2, after generating a vacuum with the suction nozzle unit at a distance X from the pile of laundry, if it is identified that the laundry has not been sucked up, an error handling routine is executed. During this error routine process, the distance (X) is shortened and / or a stronger vacuum is formed. This occurs until the suction of the laundry is identified.

[0021] This is advantageous for adjusting the process parameters, for example, when the laundry in the pile of laundry is entangled with each other so that (initially) the laundry in the pile of laundry cannot be lifted from the pile of laundry. Another reason is that it is also conceivable that the pile of laundry contains (at least some) laundry made of high specific gravity fiber products. A stronger vacuum is also required to (partially) lift such laundry.

[0022] This stronger vacuum can be achieved by generating a stronger vacuum inside the suction nozzle unit. The distance (X) between the opening of the suction nozzle unit and the pile of laundry can also be shortened.

[0023] Alternatively or additionally, the further error routine according to claim 3 may be designed such that when it is identified that the laundry has not been sucked up, the gripping element is closed so as to grip the upper part of the pile of laundry. Then, the vacuum can be switched off. If necessary, the gripping element needs to be lowered before closing so that when closing, the gripping element grips the upper part of the pile of laundry. After closing the gripping element, the gripping element grips and lifts the upper part of the pile of laundry. Then, by opening the gripping element at the lifted position, the lifted upper part of the pile of laundry is dropped onto the pile of laundry.

[0024] Thereby, by loosening the pile of laundry, when subsequently separating the laundry, there is a possibility that the laundry that was previously entangled in the pile of laundry can be sucked up again.

[0025] If necessary, in order to facilitate the release of the lifted laundry, the gripping element can perform an oscillating motion at the lifted position before opening.

[0026] Claim 4 relates to an embodiment of the method that, when it is identified that after one piece of laundry is lifted by the suction nozzle unit, a plurality of pieces of laundry are gripped by the gripping element, performs the following steps. First, lift the gripping element to a position where the gripped laundry is lifted from the pile of laundry. At this lifted position, open the gripping element so that the gripped laundry falls onto the pile of laundry.

[0027] Advantageously, this procedure can also be used to separate these pieces of laundry from each other so that entangled pieces of laundry can be individually gripped in subsequent gripping processes.

[0028] In an embodiment of the method according to claim 5, the suction nozzle unit and the gripping element are movable relative to each other, so that the distance (X) from the suction nozzle unit to the pile of laundry can vary with respect to the distance from the gripping element to the pile of laundry. This variation can occur from a first position to a second position. At the first position, the distance from the opening of the suction nozzle unit to the pile of laundry is shorter than the distance from the gripping element to the pile of laundry. At the second position, the distance from the opening of the suction nozzle unit to the pile of laundry is longer than the distance from the gripping element to the pile of laundry. The gripping process is at the first position, generating a vacuum in the suction nozzle unit and opening the gripping element as a first step, and after lifting the laundry, a second step of moving to the second position, where at the second position, the suction nozzle unit in the gripping device moves away from the pile of laundry with respect to the gripping element, the second step, and closing the gripping element as a third step.

[0029] In an embodiment of the method according to claim 6, The gripping element closes by rotation around the center of rotation. the length of the gripping element starting from the center of rotation of the rotational movement is longer than the length of the suction nozzle unit starting from the center of rotation of the rotational movement of the gripping element. After the laundry is lifted by the suction nozzle unit, the gripping element is closed by a rotational movement.

[0030] In the embodiment according to claim 6, the gripping element has a length sufficient to grip the laundry lifted by the suction nozzle unit "below" the opening of the suction nozzle unit when closed. Advantageously, since the suction nozzle unit no longer needs to be movable relative to the gripping element within the gripping device, the design of the gripping device can be simplified compared to the embodiment according to claim 5. In the embodiment according to claim 6, if necessary, before the gripping element closes, the entire gripping device is lifted from the pile of laundry so that the gripping element closes above the pile of laundry. Since the gripping element only grips the laundry lifted by the suction nozzle unit, when the gripping device is lifted, the laundry is lifted from the pile of laundry.

[0031] In the embodiment according to claim 7, after switching the device on to generate a vacuum, the device is operated at a first power level. After identifying that the laundry has been lifted, the device is operated at a second power level, which is lower than the first power level.

[0032] The advantage of this is that the laundry can be lifted at the first (higher) power level. When it is identified that the laundry has been lifted so as to cover the opening of the suction nozzle unit, the power level is advantageously reduced. This low power level during operation of the device has been shown to be sufficient to hold the laundry in a position covering the opening of the suction nozzle unit.

[0033] By reducing the power level, it is advantageously prevented that the laundry located below the upper laundry to be gripped individually is lifted.

[0034] If another piece of laundry has already been accidentally lifted, lowering the power level of the device that generates the vacuum may advantageously ensure that the laundry falls again.

[0035] When a device for generating a vacuum has an electric motor, the power absorbed by the electric motor is defined by the voltage applied to the terminals of the electric motor and the mechanical load opposing the movement of the electric motor. In this case, the power level is reduced by reducing the voltage applied to the terminals of the electric motor.

[0036] In the embodiment according to claim 8, the speed change of the drive unit of the device for generating a vacuum, the power consumption of the drive unit of the device for generating a vacuum, the change in air flow rate when switching the device on, the pressure change in the nozzle unit, and visual evaluation By evaluating one or more of the variables, the laundry being sucked up is identified.

[0037] The evaluation of the speed change of the drive unit of the device for generating a vacuum is useful as long as the air flow rate decreases when sucking up the laundry so that the opening of the suction nozzle unit is covered. This leads to a decrease in the speed of the device for generating a vacuum. This decrease in speed can be evaluated.

[0038] When the opening of the suction nozzle unit is covered with laundry, the power consumption of the device for generating a vacuum increases. When such a sudden increase in power consumption is detected, it can also be estimated that the laundry has been sucked up.

[0039] When the device for generating a vacuum has an electric motor, the two described effects occur. Since the passing air is opposed by a higher flow resistance, when the air flow rate decreases, the speed of the electric motor decreases. For this reason, when a constant voltage is applied to the terminals of the electric motor, a higher power consumption of the electric motor is caused.

[0040] It is also possible to analyze the change in air flow rate when switching the device on. This change in air flow rate occurs directly in relation to the laundry covering the opening of the suction nozzle.

[0041] It is also possible to evaluate the pressure change within the suction nozzle unit. This can also be used to detect whether the opening of the suction nozzle unit is covered by the laundry.

[0042] The evaluation of all these measurement variables indicates that when the switch of the vacuum generating device is switched on when the opening of the suction nozzle unit is on top of the laundry pile, the adjustment of the power level of the vacuum generating device in the sense of claim 3 functions better. The sudden change in each measurement variable is due to the fact that immediately after switching on the vacuum generating device, the opening of the suction nozzle unit is still empty and the corresponding amount of air flows through the opening of the suction nozzle unit. When the laundry is sucked up and covers the opening of the suction nozzle unit, a sudden change in each variable is caused. This sudden change can be identified with high certainty and a short time delay.

[0043] Visual evaluation is also possible. This visual evaluation can be constituted by a light barrier located inside the suction nozzle unit under the suction nozzle unit or near the opening of the suction nozzle unit. Visual evaluation can also be constituted by being able to identify whether the laundry covers the opening of the suction nozzle unit by image evaluation by photographing the entire area with a camera.

[0044] In the embodiment according to claim 9, the power level at which the device for generating a vacuum within the suction nozzle unit operates depends on the identification of the type of textile product of the laundry within the laundry pile.

[0045] In the case of textile products with a high specific gravity, the power level can be set higher than in the case of textile products with a low specific gravity.

[0046] The type of textile product can be identified by tagging the laundry in the laundry pile with an RFID chip. By analyzing the RFID chip in addition to other data, it is possible to identify whether the proportion of the textile product is high or low. It can also be used to identify whether the textile product is quite dense or has holes through which air can pass.

[0047] It is also possible to identify the type of textile product by providing a camera and evaluating the laundry pile.

[0048] In the embodiment according to claim 10, when the gripping element is closed, the device for generating a vacuum is switched off.

[0049] This is natural because the individual laundry items are kept separated by the gripping element. Next, this laundry can be lifted to a position further away from the laundry pile. In this case, the generation of vacuum by the suction nozzle unit is not required.

[0050] In the embodiment of the method according to claim 11, the shape and position of the laundry pile are detected. Based on the shape and position of the laundry pile, the desired position of the opening of the suction nozzle unit is determined such that when it reaches this desired position, the opening of the suction nozzle unit is at a distance (X) from the laundry pile. The gripping device moves to this target position and executes the first step.

[0051] It has been found useful to position the gripping device above the highest point of the laundry pile to execute this method. The upper laundry is less likely to be partially under other laundry items in the laundry pile. This makes it easier for the laundry to be sucked up from the laundry pile and then lifted when the separation is executed.

[0052] When the shape and position of the laundry pile are detected, a target position at a distance X above the highest point of the laundry pile can also be defined.

[0053] Identifying such a target position of the opening of the suction nozzle unit has a great advantage in increasing the cycle frequency. When the laundry is grasped and pulled away, the laundry is lifted from the pile of laundry by moving the gripping device away from the pile of laundry. When this laundry is placed, the gripping device must be repositioned relative to the pile of laundry so that it can pull away and grip the next piece of laundry. Since the position of the opening of the suction nozzle should be at a distance X from the pile of laundry, this positioning cannot be achieved simply by moving the gripping device towards the pile of laundry until it hits the pile of laundry. Once the target position is determined, based on the current position of the opening of the suction nozzle unit, the trajectory of the optimal movement procedure to reach the target position can be determined. Similarly, the speed profile along this trajectory can be defined such that the gripping device moves along the trajectory at the highest possible speed and is simultaneously braked at an appropriate timing before reaching the target point, so that the opening of the suction nozzle unit is braked and stopped when the target position is reached.

[0054] Exemplary embodiments of the present invention are shown in the drawings.

Brief Description of the Drawings

[0055]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Best Mode for Carrying Out the Invention

[0056] Figures 1 to 4 show the representation of the gripping device 1 having the suction nozzle unit 2 and the gripping elements 3, 4 on the laundry pile 5 in different positions and operating states.

[0057] Figure 1 shows the gripping device 1 arranged on the laundry pile 5. It can be seen that the distance X between the opening 6 of the suction nozzle unit 2 and the laundry pile 5 is greater than "0".

[0058] In the representation of Figure 1, it can be seen that air flows in from the opening 6 of the suction nozzle unit 2, is sucked up from the side surface of the suction nozzle unit 2, and flows between the opening 6 of the suction nozzle unit 2 and the laundry pile 5.

[0059] It can be seen that the gripping elements 3, 4 are opened.

[0060] In the representation of Figure 1, the device for generating a vacuum in the suction nozzle unit 2 is operating. As a result, air is sucked up and flows between the laundry pile 5 and the opening 6 of the suction nozzle unit 2 and into the opening 6 of the suction nozzle unit 2. Therefore, a vacuum is generated.

[0061] In this first position, the opening 6 of the suction nozzle unit 2 is closer to the laundry pile 5 than the gripping elements 3, 4. In the illustrated exemplary embodiment, this is due to the fact that the two gripping elements 3, 4 are already opened and protrude laterally at an upper position above the opening 6 of the suction nozzle unit 2.

[0062] Figure 2 shows a situation similar to that of Figure 1, but differs in that, as a result of the vacuum, the laundry at the top of the laundry pile 5 is sucked up until it covers the opening 6 of the suction nozzle unit 2.

[0063] The gripping device 1 shown in FIGS. 1 to 4 relates to an embodiment in which the suction nozzle unit 2 in the gripping device 1 can move in a direction perpendicular to the gripping elements 3, 4. This is represented by the arrow 301 in FIG. 3.

[0064] By lifting the suction nozzle unit 2 of the gripping device 1, the sucked laundry is lifted further away from the pile of laundry.

[0065] The two arrows 302, 303 indicate the rotational movement of the two gripping elements 3, 4 when closing. It can be seen that the two gripping elements 3, 4 are closed over the pile of laundry 5. It is also advantageous for the sucked laundry to be positioned between them before the gripping elements 3, 4 close as the suction nozzle unit 2 moves upward relative to the gripping elements 3, 4.

[0066] Furthermore, the relative movement of the suction nozzle unit 2 with respect to the gripping elements 3, 4 within the gripping device 1 ensures that the gripping elements 3, 4 close under the opening 6 of the suction nozzle unit 2.

[0067] FIG. 4 shows the gripping device 1 in a position where it grips the laundry as the suction nozzle unit 2 within the gripping device 1 moves upward and the gripping elements 3, 4 are closed. It can be seen that the device for generating a vacuum is switched off. The laundry is held only by the closed gripping elements 3, 4.

[0068] Referring to FIGS. 3 and 4, it can be explained that for the implementation of the present invention, it is not absolutely necessary for the suction nozzle unit 2 in the gripping device 1 to be able to move upward relative to the gripping elements 3, 4 (i.e., the movement corresponding to arrow 301 is not absolutely necessary). As shown in FIG. 4, the assignment of the position of the suction nozzle unit 2 to the rotation center 401 of the gripping elements 3, 4 can also be carried out statically. Therefore, the gripping elements 3, 4 close under the opening 6 of the suction nozzle unit 2. When the two gripping elements 3, 4 rotate to the positions shown in FIGS. 1 and 2 when open, as shown in FIG. 4, even if the suction nozzle unit 2 is (statically) positioned far above the inside of the gripping device 1, the two gripping elements 3, 4 are located above the opening 6 of the suction nozzle unit 2. With such an embodiment, it is also possible to position the opening 6 of the suction nozzle unit 2 at a distance X above the laundry pile 5, and nevertheless, the gripping elements 3, 4 are farther away from the laundry pile 5 than the opening 6 of the suction nozzle unit 2. This embodiment corresponds to the second alternative embodiment according to claim 1 for carrying out the second step.

[0069] FIG. 5 shows a block diagram representing the procedure of the method according to the present invention.

[0070] The cycle of this method starts with function block 501. The suction nozzle unit is at a position a certain distance X away from the top of the laundry pile. Switch on the device that generates a vacuum.

[0071] In function block 502, after a certain time has elapsed, check whether the laundry has been sucked up so as to cover the opening of the suction nozzle unit. This cycle can be executed by evaluating one of the variables described in relation to claim 3.

[0072] If it is identified that the laundry has not been sucked up even after a certain period of time, according to the expression of functional block 503, the suction nozzle unit can be positioned closer to the laundry pile (shortening the distance X), and / or the power of the device that generates vacuum can be increased.

[0073] When the laundry has been sucked up, according to functional block 504, the power of the device that generates vacuum can be decreased.

[0074] According to functional block 505, the suction nozzle unit is retracted with respect to the gripping element. If the length of the gripping element according to claim 1 in the second alternative embodiment of the second step is sufficiently longer than the length of the suction nozzle unit, in the subsequent step of functional block 506, the entire gripping device can also be lifted from the laundry pile so that the gripping element closes over the laundry pile.

[0075] According to functional block 506, the gripping element is closed and the drive unit for generating vacuum is switched off.

Claims

1. A method of operating a gripping device (1) for separating laundry from a pile of laundry (5), wherein the gripping device (1) has a suction nozzle unit (2) for sucking up laundry on the pile of laundry (5), the suction nozzle unit (2) has a nozzle assembly consisting of at least one nozzle, the suction nozzle unit (2) has a device for generating a vacuum at an opening (6) of the suction nozzle unit (2), the gripping device (1) has a plurality of gripping elements (3, 4), and in a method of operating the gripping device (1), the gripping elements (3, 4) cooperate to close so as to grip the laundry in a closed state, when suction of the laundry starts, a distance (X) from the opening (6) of the suction nozzle unit (2) to the pile of laundry (5) is greater than "0", as a first-stage operation, the laundry is sucked up by the suction nozzle unit (2) to the height of the suction nozzle unit (2) such that the opening (6) of the suction nozzle unit (2) is covered by the laundry, and then as a second-stage operation, the gripping elements (3, 4) are closed, when the gripping elements (3, 4) are closed, the laundry is lifted only partially from the pile of laundry (5), the suction nozzle unit (2) has its suction force adjusted according to the type of the laundry, the suction nozzle unit (2) and the gripping elements (3, 4) are movable relative to each other such that the distance (X) from the suction nozzle unit (2) to the pile of laundry (5) can change from a first position to a second position with respect to the distance from the gripping elements (3, 4) to the pile of laundry (5), at the first position, the distance (X) from the opening (6) of the suction nozzle unit (2) to the pile of laundry (5) is shorter than the distance from the gripping elements (3, 4) to the pile of laundry (5), at the second position, the distance from the opening (6) of the suction nozzle unit (2) to the pile of laundry (5) is longer than the distance from the gripping elements (3, 4) to the pile of laundry, The gripping process comprises a first step of generating a vacuum in the suction nozzle unit (2) and opening the gripping elements (3, 4) at the first position A second step of moving to the second position after sucking up the laundry, wherein at the second position, the suction nozzle unit (2) in the gripping device (1) moves away from the peak (5) of the laundry with respect to the gripping elements (3, 4); A third step of closing the gripping elements (3, 4); The method is characterized by being executed by these steps.

2. When a vacuum is generated in the suction nozzle unit without the sucking up of the laundry being identified, until the sucking up of the laundry is identified, the distance (X) is shortened and / or a stronger vacuum is formed. The method according to claim 1, characterized by the above.

3. When it is identified that the laundry cannot be sucked up, the gripping elements (3, 4) are closed so as to grip the upper part of the peak (5) of the laundry, next, after gripping the upper part of the peak (5) of the laundry, the gripping elements (3, 4) are lifted, and then, by opening the gripping elements (3, 4) at the lifted position, the lifted upper part of the peak (5) of the laundry is dropped onto the peak of the laundry. The method according to claim 1 or 2, characterized by the above.

4. After one piece of laundry is sucked up by the suction nozzle unit (2), when it is identified that a plurality of pieces of laundry are gripped by the gripping elements, the gripping elements (3, 4) are lifted to a position where the gripped laundry is lifted from the peak of the laundry, and by opening the gripping elements (3, 4) at this lifted position, the gripped laundry is dropped onto the peak (5) of the laundry. The method according to claim 1 or 2, characterized by the above.

5. The gripping elements are closed by rotation around the rotation center (401), the length of the gripping elements (3, 4) starting from the rotation center (401) of the rotational movement is longer than the length of the suction nozzle unit (2) starting from the rotation center (401) of the rotational movement of the gripping elements (3, 4), after the laundry is sucked up by the suction nozzle unit (2), the gripping elements (3, 4) are closed by a rotational movement (401). The method according to claim 1 or 2, characterized by the above.

6. After switching on the device to generate a vacuum, the device is operated at the first power level (201), after it is identified that the laundry has been sucked up, the device is operated at the second power level (204). The method according to claim 1 or 2, characterized in that the second power level is lower than the first power level.

7. The speed change of the driving part of the device for generating a vacuum, The power consumption of the driving part of the device for generating a vacuum, The change in air flow rate when switching the device on, The pressure change in the suction nozzle unit (2), and Visual evaluation Identifying the laundry being sucked up (202) by evaluating one or more of the variables, characterized in that the method according to claim 1 or 2.

8. The power level at which the device for generating a vacuum in the suction nozzle unit (2) operates depends on the identification of the type of textile product of the laundry in the laundry pile (5), characterized in that the method according to claim 1 or 2.

9. When the gripping elements (3, 4) are closed (206), switching off the device for generating a vacuum, characterized in that the method according to claim 1 or 2.

10. Detecting the shape and position of the laundry pile (5), By the shape and the position of the laundry pile (5), determining the desired position of the opening (6) of the suction nozzle unit (2), so that when reaching this desired position, the opening (6) of the suction nozzle unit (2) is at a distance (X) from the laundry pile (5), Moving the gripping device (1) to this target position and performing the first step, characterized in that the method according to claim 1.

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