SELF-CLEANING LINT FILTER FOR COMBINATION WASHING AND DRYING MACHINE

Abstract

An autonomously cleanable lint filter assembly disposed in a closed air loop for a combination washing and drying machine includes a housing disposed upstream of a fan configured to pull airflow through the lint filter assembly from an air outlet of the combination washing and drying machine, two or more mesh filters spaced apart and disposed within the housing, a spring loaded axle extending through the housing and receiving thereabout the two or more mesh filters, three or more drain holes disposed within a lower half of the housing, two or more annular flanges disposed on an inner surface of the housing configured to receive thereon in a reversible face seal mating under force imparted by airflow one of the two or more mesh filters, and at least two spray nozzles disposed within the housing configured to deliver sprays of liquid to one of the two or more mesh filters.

Claims

1) An autonomously cleanable lint filter assembly disposed in a closed air loop for a combination washing and drying machine comprising: a housing disposed upstream of a blower configured to pull an airflow through the lint filter assembly from an air outlet of the combination washing and drying machine; two or more mesh filters spaced apart and disposed within the housing such that an upstream mesh filter of the two or more mesh filters comprises a less dense mesh than a downstream one of the two or more mesh filters in a direction of airflow; an axle configured to extend through a length of the housing between an airflow inlet and an airflow outlet and receive thereabout the two or more mesh filters, the axle being spring loaded at at least one end for bidirectional movement along a longitudinal axis; three drain holes disposed within a lower half of the housing in alignment with three or more volumes partitioned by the two or more mesh filters; two or more annular flanges disposed on an inner surface of the housing and extending inward radially, each of the two or more annular flanges being configured to receive thereon in a reversible face seal mating one of the two or more mesh filters under an application of force imparted by an airflow through the housing; and at least two spray nozzles disposed within the housing adjacent the two or more mesh filters, each of the at least two spray nozzles being configured to deliver a spray of liquid to one of the two or more mesh filters.

2) The autonomously cleanable lint filter assembly of claim 1, further comprising at least one controller in operative communication with the blower and at least one actuator of the at least two spray nozzles, wherein the at least one controller is configured to instruct the at least one actuator to spray liquid upon receiving a signal indicative of completion of a drying cycle and shutdown of the blower.

3) The autonomously cleanable lint filter assembly of claim 2, wherein the at least one controller is configured to instruct the at least one actuator to deliver 200-400 cubic centimeters of water in each of two or more bursts during the drying cycle based on one or more of: receiving a signal indicative of at least one of the blower shutting down at an end of a drying cycle, the blower shutting down periodically at one or more timed intervals during the drying cycle, and a measured airflow velocity within the closed air loop being at or below a threshold value during the drying cycle.

4) The autonomously cleanable lint filter assembly of claim 1, wherein the three or more drain holes are configured to drain a combined spray liquid and lint solution into a collective drain channel disposed along a bottom of the housing, and wherein the collective drain channel drains the combined spray liquid and lint solution into a collective drain outlet.

5) The autonomously cleanable lint filter assembly of claim 4, wherein the collective drain channel comprises an upper channel portion affixed to the housing and a removable lower portion comprising a slanted bottom angled downward toward the collective drain outlet and wherein a grommet is disposed between rims of the upper channel portion and lower channel portion for watertight sealing.

6) The autonomously cleanable lint filter assembly of claim 1, further comprising a pair of hub and spoke assemblies configured to engage the housing at an airflow inlet end and an airflow outlet end, the hub and spoke assemblies being configured to support each end of the axle.

7) The autonomously cleanable lint filter assembly of claim 6, wherein each end of the axle is supported non-rotationally and wherein the two or more mesh filters comprise annular disc filters each one of which is configured to engage a rotational bearing disposed on the axle for spinning freely about the axle under an application of force from a spray of liquid.

8) The autonomously cleanable lint filter assembly of claim 1, further comprising at least one spring disposed in mated engagement with the at least one end of the axle configured to compress under the application of force imparted by the airflow on the two or more mesh filters thereby translating the axle in along its longitudinal axis until the two or more mesh filters engage corresponding faces of the two or more annular flanges in the reversible face seal mating.

9) The autonomously cleanable lint filter assembly of claim 8, wherein the at least one spring is configured to expand in an absence of the application of force imparted by the airflow on the two or more mesh filters thereby translating the axle in along its longitudinal axis in a second direction opposite the direction of airflow until the two or more mesh filters separate from the two or more annular flanges by a distance of at least between about 5 mm and 10 mm.

10) The autonomously cleanable lint filter assembly of claim 8, wherein the two or more mesh filters are affixed to the axle, the axle is supported on either end by linear bearings, and the axle and two or more mesh filters affixed thereto spin passively within the linear bearings under the application of force of an impinging spray on the two or more mesh filters.

11) The autonomously cleanable lint filter assembly of claim 1, wherein the airflow inlet of the housing is lower than the airflow outlet such that the housing is tilted from horizontal at an angle comprising a range of between about 5 to 40 degrees.

12) The autonomously cleanable lint filter assembly of claim 1, wherein the housing comprises a portion of the closed air loop between an air outlet of the combination washing and drying machine and a cold side heat exchanger.

13) The autonomously cleanable lint filter assembly of claim 12, wherein the at least two spray nozzles are configured to deliver the spray of liquid onto the side of each of the two or more mesh filters facing the airflow inlet which receives air from the air outlet of the combination washing and drying machine.

14) The autonomously cleanable lint filter assembly of claim 13, wherein the spray of liquid is configured to impinge on the mesh filter of the two or more mesh filters in an area disposed aside a vertical centerline, the spray of liquid is configured to impinge the mesh filter at least one of on and about a horizontal centerline, and the spray of liquid hits the mesh filter at an angle comprising a range of between about 35 and 55 degrees from the longitudinal axis of the axle.

15) The autonomously cleanable lint filter assembly of claim 1, further comprising at least two fluid conduits extended through openings in the housing, the at least two fluid conduits terminating at the at least two spray nozzles for delivering the spray of liquid to the two or more mesh filters.

16) A method of autonomously cleaning a lint filter disposed in a closed air loop of a combination washer and dryer comprising: receiving at at least one controller one or more sensor signals indicative of an airflow velocity; determining, based on at least one of the received one or more sensor signals and a time interval, lint filter cleaning is required; instructing, based on a determination that lint filter cleaning is required, a fan to shut off airflow within the closed air loop; instructing, following shutting off the fan, two or more spray nozzles to spray two or more mesh filters affixed to a rotatable axle extending through a central axis of an elongated outer housing of the lint filter; and instructing the fan to restart pulling airflow through the closed air loop following a period of spraying.

17) The method of claim 16, further comprising instructing the two or more nozzles to spray fluid on the two or more mesh filters when airflow is reduced by a range of between about 5-15% of an airflow velocity measured at a start of a drying cycle.

18) The method of claim 16, wherein the controller is configured to instruct the fan to stop airflow and spray at a time interval of every between about 9-15 min throughout a drying cycle.

19) The method of claim 18, wherein each incident of spraying imparts a range of 200-300 cubic centimeters of total fluid on the two or more mesh filters.

20) The method of claim 18 wherein each time interval for spraying lasts in a range of between about 5-10 seconds.

21) The method of claim 16, further comprising instructing the fan to stop pulling airflow and instructing the at least two spray nozzles to spray lint off the at least two mesh filters at end of a drying cycle.

22) The method of claim 16, wherein the axle is retained at both ends by rotatable linear bearings disposed in hubs of hub and spoke assemblies radially attached to the outer housing and the axle is spring loaded at one end such that that under application of airflow force, the axle linearly translates and two or more mesh filters affixed thereto compress against annular flanges mounted to an interior of the outer housing to form a reversible seal.

23) The method of claim 22, further comprising three or more drain holes disposed through a bottom of the outer housing, the three or more holes being configured to drain into a collection channel disposed along a bottom of the housing to drain collected lint laded fluid into a drainpipe.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG. 1 depicts a schematic of an example autonomous robotic laundry process line.

[0056] FIG. 2 depicts a schematic of an example autonomous robotic laundry process line including one laundry intake and one laundry output, a plurality of washing and drying robots, and a plurality of folding robots.

[0057] FIG. 3 depicts a schematic of a plurality of autonomous robotic laundry process lines including a plurality of intake processing paths and output processing paths and a plurality of washing and drying robots servicing the plurality intake paths and outputting laundry to the plurality of output processing paths.

[0058] FIG. 4 depicts a schematic example of a system for controlling an autonomous robotic laundry process line including a plurality of self-cleaning lint filters.

[0059] FIG. 5 depicts a front perspective view of a schematic example of an autonomous combination washing and drying robot and associated closed air loop and air cooling and heating heat exchangers for use in conjunction with a system including a centralized heat pump, for washing and drying laundry in accordance with the process lines of FIGS. 1-3 and system of FIG. 4.

[0060] FIG. 6 depicts a rear perspective view of the autonomous combination washing and drying robot of FIG. 5.

[0061] FIG. 7 depicts a side cross section schematic of an implementation of inputs and outputs and sensors measuring process parameters within a closed air loop of an individual autonomous washing and drying device.

[0062] FIG. 8 depicts a schematic example of at least one centralized controller in operative communication with a plurality of autonomously operating combination washing and drying robots each including a dedicated heat exchanger, a centralized heat pump servicing on demand each one the plurality of dedicated heat exchangers, and a self-cleaning lint filter.

[0063] FIG. 9A depicts a front perspective view of an implementation of an autonomous washing and drying robot angled upward in a vertically upright orientation for autonomous loading.

[0064] FIG. 9B depicts a front perspective view of the autonomous washing and drying robot of FIG. 9A angled in a vertically downward orientation for autonomous unloading.

[0065] FIG. 10 depicts a front perspective view of the autonomous washing and drying robot of FIGS. 9A-B with a door attached, the robot being angled with its spin axis substantially horizontal for autonomous washing and drying.

[0066] FIG. 11 depicts a cross section schematic of an implementation of a dual stage, self-cleaning lint filter assembly disposed in a closed air loop of a combination washing and drying machine.

[0067] FIG. 12 depicts a perspective view of a portion of the dual stage lint filter assembly of FIG. 12 with a lint filter housing removed.

[0068] FIG. 13A depicts a cross section schematic of an implementation of a dual stage filter for use in a closed air loop of a combination washing and drying machine with mesh filters in a closed face seal position.

[0069] FIG. 13B depicts the dual stage filter of FIG. 13A with the mesh filters in an open, passively spinning position under an application of force from sprays of rinse liquid.

[0070] FIG. 14 depicts a planar view schematic of an alternate implementation of rinse liquid spray nozzles of the filter of FIG. 13B.

[0071] FIG. 15 depicts a front view of a schematic of the mesh filters of FIGS. 11, 13B, and 14 depicting a target impact area of a rinse liquid on a mesh filter.

[0072] FIG. 16 depicts a cross section schematic of an implementation of a self-cleaning filter assembly comprising mesh basket filter for use in a closed air loop of a combination washing and drying machine.

[0073] FIG. 17 depicts a see-through side view rendering of the implementation of the filter assembly of FIG. 16.

[0074] FIG. 18 depicts an end view of the filter assembly rendering of FIG. 17.

[0075] FIG. 19A depicts a cross section schematic of an alternate implementation of a self-cleaning filter assembly comprising a spring loaded, truncated cone-shaped mesh basket filter disposed in a closed air loop of a combination washing and drying machine, the mesh filter basket being in a sealed position.

[0076] FIG. 19B depicts the filter assembly of FIG. 19A with the spring loaded, truncated cone-shaped mesh basket filter in an unsealed, free-spinning position.

[0077] FIG. 20 depicts an example method of autonomously cleaning a lint filter in a closed air loop of a combination washer and dryer.

DETAILED DESCRIPTION

[0078] This disclosure relates to autonomous robotic devices, systems, and methods for handling residential loads of laundry and energy efficiencies associated with the drying process.

[0079] The systems and assemblies described herein with regard to implementations comprise features dedicated to reducing energy and resource consumption while effectively and efficiently laundering loads of residential laundry across a plurality of washing and drying robots serviced by a centralized heat pump. At each washing and drying robot, a fan circulates a closed loop of process air, drawing moist, warm air from the drum of the washing and drying robot. The moist, warm air passes through a self-cleaning lint filter before entering a cold side heat exchanger. The cold side heat exchanger lowers the temperature of the air below the dew point to remove water through condensation, and then the air, drawn by a blower, passes through a hot heat exchanger where it is reheated and returned to the drum to continue drying one or more laundry articles disposed within the drum. The system comprises a closed air loop such that heated process air used in the drying cycle is not vented to ambient and instead is pulled through a series of local heat exchangers such that energy from the process air is reclaimed for reuse by a central heat pump. The system comprises a controller and one or more sensors configured to monitor air temperature, humidity, and airflow velocity within the closed air loop. Upon at least one of reaching a timed interval during a drying process, reaching the end of a drying process, and receiving a sensor signal indicative of airflow restriction, the controller is configured to initiate automated cleaning of the lint filter one or more times in a drying cycle to prevent air restriction and associated energy inefficiencies. Not having to start and stop a combination washing and drying robot for a long period of time to manually clean a lint filter preserves the energy efficiencies and load balancing achieved with the use of local heat exchangers and facility wide heat pumps servicing a plurality of combination washing and drying robots.

[0080] As shown in FIG. 1, in implementations of the system, a process line 100a comprises a plurality of autonomous robots configured to operate in series without human intervention to process and transport dirty laundry through the cleaning process, and fold and repackage the clean laundry for return to a household. In one implementation, the process line 100a 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 in the load of dirty household laundry can be non-uniform in type, size, shape, color, and fabric. For example, the plurality of deformable laundry articles can include items commonly laundered in homes, such as sheets, towels, tablecloths, and adult and children'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, or loads, for washing. In implementations, the separating and sorting robot 3000 is configured to intelligently batch the separated each one of the deformable laundry articles with one or more other articles according to a programmed sorting algorithm based, for example, on criteria including at least one of material color, material type, customer washing preference, water temperature requirements, and load size. 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 in the process line 100a.

[0081] 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 return to the customer. In implementations, the shipping container is a reusable container. 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.

[0082] Implementations of the process line 100a 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 100b can include a cluster 4002 comprising a plurality of washing and drying robots 4000a-n, wherein n represents a total number of robots in the cluster 4002. (Throughout the description herein n is used to indicate a non-determinative number of units greater than two (2) and is not intended to be limited to the number of elements shown in figures with a limited number of elements.) In implementations, a cluster 4002 comprises a plurality of combination (e.g., dual purpose, single drum) washing and drying robots 4000a-n ranging between about 3 to 500 washing and drying robots 4000a-n. In implementations, a cluster 4002 comprises between about 6 to 24 washing and drying robots 4000a-n. In implementations, a cluster 4002 comprises around 6 washing and drying robots 4000a-n. In implementations, a cluster 4002 comprises around 12 washing and drying robots 4000a-n. In implementations, each washing and drying robot 4000, 4000a-n comprises a single tub for sequential washing and drying of a single load of laundry without having to remove the load of laundry therein.

[0083] Additionally or alternatively, in implementations, the autonomous process line 100b includes a plurality of washing and drying robots 4000a-n shared by two or more sets of automated intake robots 2000 and dirty laundry separating and sorting robots 3000 and two or more sets of clean laundry separating robots 5000, repositioning robots 6000, folding robots 7000, and packing robots 8000. Additionally or alternatively, the process line 100b can include a plurality of folding robots 7000a-n (where n represents a count of robots greater than 1) configured to receive spread apart and/or repositioned clean laundry articles from one or more repositioning robots 6000. In implementations, having the number of folding robots 7000a-n exceed a number of repositioning robots can prevent a process bottleneck at the folding step. In implementations, having one repositioning robot 6000 delivering spread laundry articles to at least 2 folding robots results in a throughput time savings in a range of between about 30% to 50% over a one-to-one pairing of a repositioning robot 6000 to a single folding robot 7000. Additionally or alternatively, in implementations, a plurality of folding robots 7000a-n can be stacked, or tiered, to reduce overall floor space (e.g., floor 10) occupancy of the process line 100, 100a-b within a facility. Additionally, two or more of the robots in a process line 100, 100a-b (collectively referred to hereinafter as the process line 100) can be combined in a single module in alternate implementations.

[0084] In other implementations, as shown in FIG. 3, the autonomous process line 100c includes a cluster 4002 of combination washing and drying robots 4000a-n shared by two or more sets of automated intake robots 2000a-b and dirty laundry separating and sorting robots 3000a-b and two or more sets of clean laundry separating robots 5000a-b, repositioning robots 6000a-b, folding robots 7000a-b, and packing robots 8000a-b. In implementations, the plurality of washing and drying robots 4000a-n comprises one or more clusters 4002 of washing and drying robots 4000a-n accessing shared services (e.g., water, air, washing chemicals, etc.) delivered to each cluster 4002.

[0085] In implementations, one or more of the robots 2000-9000 in the process line 100, 100a-c are configured to communicate over wired connections or wireless communication protocols. For example, in implementations, one or more robots in a process line 100, 100a-c can communicate with another one or more robots in the process line 100a-c over a wired BUS, LAN, WLAN, 4G, 5G, LTE, Ethernet, BLUETOOTH, or other IEEE 801.11 standard.

[0086] Referring to FIG. 4, an example of a communication and interoperative control system 200 of operatively connected robots is shown. FIG. 4 depicts a schematic implementation of a portion of an automated robotic process line 100, 100a-c. A washing and drying robot 4000 is in operative communication with a dirty laundry separating and sorting robot 3000 configured to provide sorted and batched loads of dirty deformable laundry articles to the washing and drying robot 4000 for 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 3000, 4000, 5000 includes a controller 3005, 4005, 5005 configured to operate the associated robot.

[0087] For example, in implementations, the washing and drying robot 4000 includes a controller 4005. The controller 4005 includes a processor 4015 in communication with a memory 4010, a network interface 4020, and a sensor interface 4025. The processor 4015 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 4010 contains any of a variety of software applications, data structures, files and/or databases. In one implementation, the controller 4005 includes dedicated hardware, such as single-board computers, application specific integrated circuits (ASICs), and field programmable gate arrays (FPGAs).

[0088] A network interface 4020 is configured to couple the controller 4005 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 4020 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 4020 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 4005 can transmit data via the network interface 4020 using a variety of security protocols including, for example, TLS, SSL or VPN. In implementations, the network interface 4020 includes both a physical interface configured for wireless communication and a physical interface configured for wired communication. According to various embodiments, the network interface 4020 enables communication between the controller 4005 of the washing and drying robot 4000 and at least one of the plurality of robots 2000, 3000, 5000, 6000, 7000, 8000, 9000 of the process line 100, 100a-c.

[0089] Additionally or alternatively, the network interface 4020 is configured to facilitate the communication of information between the processor 4015 and one or more other devices or entities over the network 230. For example, in implementations, the network interface 4020 is configured to communicate with a remote computing device such as a computing terminal 205 (alternatively referred to herein as CPU 205), database 235, server 240, smartphone 245, and server farm 250. In implementations, the network interface 4020 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 4020 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.

[0090] In some implementations 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., 2.5G, 2.75G, 3G, 4G, 5G cellular standards) and/or Long-Term Evolution (LTE) technology or GSM/EDGE and UMTS/HSPA technologies for high-speed wireless communication.

[0091] Although the controller 4005 of a washing and drying robot 4000 is described herein in particular, one or more of the plurality of robots 2000, 3000, 5000, 6000, 7000, 8000, 9000 of the process line 100 includes similar components having similar functionality.

[0092] Returning to FIGS. 1-3, implementations of a process line 100, 100a-c for washing and drying one or more loads of dirty laundry are shown. In implementations, a large-scale, autonomous laundry facility includes a plurality of autonomous washing and drying robots 4000, 4000a-n arranged in one or more clusters 4002. The plurality of washing and drying robots 4000a-n intake process water, output grey water after washing loads of laundry, intake heated process air to dry the loads of laundry and output cool, humid air. The intake air can be heated using a centralized heat pump configured to provide heated and cooled fluid to heat exchangers within each closed air loop of each washing and drying robot 4000 of a plurality of washing and drying robots 4000a-n for an indirect fluid to air heat transfer. Each closed air loop comprises at least one lint filter assembly 4900 disposed in line with the closed air loop for entrapping lint from the airflow from the drum to prevent deposition and buildup of lint on a cold side heat exchanger.

[0093] As shown in FIGS. 5-6, each drying machine, for example a combination washing and drying robot 4000 has a separate, dedicated closed air loop 4320 extending between an air exhaust outlet 4260 disposed adjacent a rear end 4217 of the tub and drum assembly 4200 and an air inlet 4315 of a sealed washing and drying robot 4000. In implementations, an orifice through the door defines the air inlet 4315 to which an inlet duct 4262 attaches. The closed air loop 4320 comprises sections of conduit (e.g., air ducts), heat exchangers, a lint filter assembly, and a sealed drum of the robot 4000 for circulating and treating process air, such as implementations of the closed air loop 4320 described in U.S. Patent Publication No. US20230265599, entitled AUTONOMOUS LAUNDRY HEAT PUMP SYSTEMS AND METHODS OF USE, herein incorporated by reference in its entirety. The exhaust air AE from the robot 4000 is dewatered by being cooled below the desired dew point in a local cold side heat exchanger 4526, and then reheated to the intake temperature to be heated, dehumidified air AH by a local heated side heat exchanger 4527. The heated, dehumidified air is then reintroduced to the robot 4000 from the local heated side heat exchanger 4527 via an inlet duct 4262. The air for each washing and drying robot 4000 is circulated through the closed air loop 4320 by a dedicated blower, for example variable speed fan 4530, which may be placed either between the cold side heat exchanger 4526 and heated side heat exchanger 4527 or between the heated side heat exchanger 4527 and the drum 4205 of the washing and drying robot 4000. In implementations, the water condensed from the exhaust air AE can be drained from a condensate outlet 4535 disposed in an exhaust duct 4325 for directing the condensed moisture out of the exhaust duct 4325, and in implementations, the condensed water can be redirected by conduit (not shown) extending from the condensate outlet 4535 to a local (e.g., within or adjacent the facility housing the robot 4000) water treatment system for recycling and reuse in subsequent washing cycles. Additionally or alternatively, the condensed water can be redirected by conduit to a drain connected to municipal sewer lines. In implementations, the condensate outlet 4535 comprises a shared drain with one or more rinse drains of a lint filter assembly 4900 disposed in the closed air loop.

[0094] In implementations, the cold side heat exchanger 4526 comprises a plurality of segments of tube-fin heat exchangers, and as air flows through the cold side heat exchanger 4526, a fluid-to-air heat transfer occurs at the fins. The process air travels though the closed air loop 4320 to the cold side heat exchanger 4626 and moisture condensed therein falls under gravity to the condensate outlet 4535 where it exits the exhaust duct 4325. In implementations, the condensed water runs along the fins as it descends, entrapping and removing lint in the process. In implementations, the at least one controller 4005, 205 is configured to stop the fan 4830 for one or more periods in a range of between 10-120 seconds (e.g., 10 seconds, 20 seconds, 30 seconds, 40 seconds, 50 seconds, 60 seconds, 70 seconds, 80 seconds, 90 seconds, 100 seconds, 110 seconds, 120 seconds) to allow condensation to drain from cold side heat exchanger 4526. Additionally, in implementations, the fins and tubes of the cold side heat exchanger 4526 comprise a surface coating that reduces adhesion force and allows drops of condensation to flow off and down to the condensation outlet 4535.

[0095] In the implementation of FIGS. 5-6, the exhaust air AE exits adjacent the rear end 4217 of the washing and drying robot 4000, and the intake air AH enters the front end 4212 of the washing and drying robot 4000. In implementations, the air exhaust outlet 4260 is located on a top surface of the tub 4215 adjacent the rear end 4217 and the air inlet 4315 is located at or near a center of the door 4300 such that airflow through the drum 4205 is diagonal. Although any front-to-back and back-to-front airflow will dry a load of wet laundry disposed within the drum 4205, a diagonal airflow ensures effective mixing of the air in the drum 4205 so that a load of one or more deformable laundry articles disposed therein dries uniformly, with no concentrated hot spots or cold spots. By avoiding a narrow, direct air path through the drum 4205, deformable articles throughout the drum are heated and therefore dried efficiently, avoiding longer drying cycles associated with less distributed heating throughout the drum 4205.

[0096] In implementations, as shown in the schematic side view cross section of a closed air loop 4320 in FIG. 7, the airflow A (hereinafter alternatively referred to as process air 4910 and airflow 4910) within the closed air loop 4320 can be reversed. In this implementation, the order of the heated side heat exchanger 4527 and inlet duct 4262 and cold side heat exchanger 4625 and exhaust duct 4325 are swapped such that heated air AH enters an inlet 4315 at or adjacent the rear end 4217 of the robot 4000 and exhaust air AE exits an outlet 4260 disposed through the front end 4212 of the robot 4000 (e.g., a bore 4315 in a door 4300 configured to selectively seal the drum 4205).

[0097] As shown in FIGS. 5-6 and 7, the fan 4530 disposed in the closed air loop 4320, 4320 is configured to draw process air 4910 (collectively, the airflow comprising arrows AE, AH, and A) from the drum 4205, through the lint filter assembly 4900, the cold side heat exchanger 4526, heated side heat exchanger 4527, and into the air inlet 4315, 4315 of the drum 4205. In implementations, as shown in FIGS. 5-6, a condensate outlet 4535 is disposed in the exhaust duct 4325 for directing the condensed moisture out of the exhaust duct 4325. In implementations, the condensate outlet 4535 comprises a shared outlet from the lint filter 4900 and combines to drain through the condensate outlet 4535 with rinse liquid and lint exiting the lint filter assembly 4900. In implementations, as will be described subsequently in detail with regard to FIG. 7, one or more air sensors disposed in the closed air loop are configured to measure at least one characteristic of process air in at least one of the exhaust duct 4325, 4325 and inlet duct 4262, 4262 and output a signal indicative of the at least one air characteristic to at least one controller 205, 4005 of the system 400 for autonomously controlling at least one of timing of rinsing of the filter assembly 4900 and process parameters including air temperature, humidity, and airflow rate.

[0098] As will be described subsequently in detail with regard to the schematic controls diagram of FIGS. 8, in implementations, an energy efficient automated laundry system 400 comprises a plurality of combination washing and drying robots 4000, 4000a-n (hereinafter alternatively referred to as a cluster 4002 of washing and drying robots 4000a-n), such as the implementation shown in FIGS. 5-6. In implementations, an energy efficient automated laundry system 400 comprises between about 3-500 washing and drying robots 4000, 4000a-n, each comprising a single drum 4205 disposed within a tub configured to sequentially wash and dry loads of laundry. As shown in FIGS. 5, 6, and 9A-10, each washing and drying robot 4000 is an autonomously operating machine comprising a selectively sealed tub opening 4210 in a front end 4212 of the tub and drum assembly 4200 for receiving the load of laundry introduced from an automated infeed, a moveable door 4300 configured for selectively sealing the opening 4210, an air inlet 4315, 4315, and an air outlet 4260, 4260. Subsequently, for clarity, the air inlet 4315 and an air exhaust outlet 4260 will be referred to as shown in FIGS. 5-6, but in all implementations described herein, the airflow of process air through the closed loop 4320 (and the order of the cold side heat exchanger 4526 and heated side heat exchanger 4527) can be reversed as previously described. In implementations, the combination washing and drying machine 4000 comprises implementations described in U.S. Pat. No. 11,535,977, entitled Autonomous Laundry Washing and Drying Devices, Systems, and Methods of Use, herein incorporated by reference in its entirety.

[0099] Turning now to lint mitigation in the closed air loop 4230, as depicted in at least FIGS. 5-7, during the drying cycle each washing and drying machine 4000 intakes hot process air through inlet 4315, 4315, and exhausts cool humid process air through outlet 4260, 4260. In implementations, the exhausted process air passes through one or more lint removal devices, such as a lint filter 4900, disposed in the closed air loop 4230 to prevent lint in exhausted humid air from clogging the heat exchangers 4526, 4527.

[0100] As shown in FIGS. 5-7 and 11-15, implementations of an autonomously cleanable lint filter assembly 4900 disposed in a closed air loop 4230 for a combination washing and drying machine 4000 comprise a housing 4905 disposed upstream of a fan 4530 (e.g., a blower) configured to pull an airflow 4910 through the lint filter assembly 4900 from an air outlet 4260 of the combination washing and drying machine 4000. As shown in FIG. 11, the housing comprises a conduit 4324 sized and shaped to facilitate continuous airflow through the closed air loop 4230 without any neckdowns or other restrictions. In implementations, the housing comprises a conduit manufactured of at least one of stainless steel, galvanized steel, PVC, polycarbonate, and acrylic. In implementations, the housing 4905 comprises a larger cross-sectional area than the exhaust duct 4325 of the closed air loop 4230 such that two or more mesh filters 4915a-b disposed within the housing 4905 are of a large enough surface area to accumulate lint 4907 without impeding airflow velocity in the absence of periodic cleaning throughout a drying process cycle. In implementations, the cross-sectional surface area of the housing 4905 comprises a range of between about 300-400 square centimeters. In implementations, the housing comprises a geometric cross section comprising at least one of a circle, an ellipse, a square, a rectangle, a parallelogram, a triangle, a hexagon, an octagon, and a polyhedron with more than 5 sides. In implementations, as shown in FIG. 11, the housing 4905 comprises a cylindrical shape forming a continuous portion of the exhaust duct 4325 extending between the air outlet 4260 of the combination washing and drying machine 4000 and a cold side heat exchanger 4526.

[0101] In implementations, as shown in FIG. 11, the housing 4905 is configured to be secured, directly or indirectly via one or more shock absorbing rubber spacers, to a frame 4100 or a pivot support 4140a-b of a combination washing and drying machine that tilts upward for automated filling and downward for automated emptying, as shown in FIGS. 9A-B. Securing the filter assembly 4900 to the frame maintains the filter assembly in a fixed position relative to the air outlet 4260 of the combination washing and drying machine 4000 such that the exhaust duct maintains a fixed routing from the air outlet 4260 to the cold side heat exchanger 4526 when the combination washing and drying machine is rotated to a washing position, as shown in FIG. 10. Alternatively, securing the filter assembly 4900 to a pivot support 4140a-b isolates the filter assembly 4900 from vibrations associated with washing and drying cycles of the combination washing and drying machine 4000, thereby reducing any associated wear on the lint filter assembly 4900.

[0102] As shown in the full assembly view of FIG. 11 and in the partial assembly view of FIG. 12, in implementations, the filter assembly 4900 further comprises two or more mesh filters 4915a-b spaced apart. In implementations, the two or more mesh filters comprise the same mesh density. In implementations, the two or more mesh filters 4915a-b are disposed within the housing 4905 such that an upstream mesh filter 4915a of the two or more mesh filters comprises a less dense mesh 4920a than the mesh 4920b of a downstream mesh filter 4915b of the two or more mesh filters, where downstream refers to the direction of airflow 4910, as indicated by the arrows into an inlet end 4927 and out of an outlet end 4928 of the housing 4905. Increased mesh density reduces airflow. A multi-stage filter, such as the two-stage filter assembly 4900 of FIGS. 11 and 12, is configured to filter out both larger and smaller fibers of lint 4907. The less dense mesh 4920a entraps larger fibers and allows smaller fibers of lint 4907 to pass therethrough, and the denser mesh 4920b entraps the smaller fibers preventing them from exiting the lint filter 4900 and coating the cold side heat exchanger 4526, impeding proper heat exchange. In implementations, the upstream mesh filter 4915a and downstream mesh filter 4915b comprise one of the mesh sizes listed in Table A:

TABLE-US-00001 TABLE A Example mesh dimensions Size Opening Size Open Area Wire Diameter 16 16 0.045 (1143 m) 51% 0.018 18 18 0.039 (990.6 m) 48% 0.017 28 28 0.0257 (652.78 m) 52% 0.01 40 40 0.015 (381 m) 36% 0.01 150 150 0.0041 (104.14 m) 38% 0.0026 250 250 0.0024 (60.96 m) 36% 0.0016

[0103] For example, in implementations, the upstream mesh filter 4915a comprises a less dense mesh 4920a comprising a grid having openings in a range of between about 350 m to 1150 m and the downstream mesh filter 4915b comprises a relatively denser mesh 4920b comprising a grid having openings in a range of between about 50 m to 110 m. In implementations, the upstream mesh filter 4915a comprises a less dense mesh 4920a comprising a 4040 grid having openings of about 381 m and the downstream mesh filter 4915b comprises a relatively denser mesh 4920b comprising a 150150 grid having openings of about 104 m.

[0104] The two or more mesh filters 4915a-b are spaced apart within the filter assembly 4900 thereby delineating volumes on either side of each of the mesh filters. For example, as shown in the implementation of FIG. 11, a filter assembly 4900 comprises two mesh filters 4915a-b defining three volumes 4922a-c within the housing 4905. Alternatively, in implementations, the filter assembly 4900 can comprise a single lint filter with a relatively denser mesh and at least one controller can be configured to rinse the filter with greater frequency to prevent reduction in airflow. Additionally, in implementations, the filter assembly 4900 comprises an axle 4925 configured to extend through a length of the housing between an airflow inlet 4927 and an airflow outlet 4928 and receive thereabout the two or more mesh filters 4915a-b. In implementations, the axle 4925 is spring loaded at at least one end for bidirectional movement along a longitudinal axis LA, as indicated by double arrow 4929. In implementations, the axle 4925 is spring loaded at both ends. In implementations, the axle 4925 is spring loaded at one end and at least the opposite end is supported by a bushing, such as a linear bushing (not shown). Additionally or alternatively, in implementations, the axle 4925 is spring loaded at one end for bidirectional movement along a longitudinal axis LA, as indicated by double arrow 4929 and both ends of the axle 4925 are disposed on linear bearings 4926, 4926a-b disposed within each hub 4966, 4966a-b of a pair of hub and spoke assemblies 4967a-b disposed at either end of the housing 4905.

[0105] In implementations, as shown in FIGS. 11 and 13A-B, the filter assembly 4900 comprises two or more annular flanges 4930a-b disposed about an inner surface of the housing 4905. The two or more annular flanges 4930a-b extend inward, radially toward a central longitudinal axis LA of the housing 4905 by a distance of between about 1.3-2.5 cm (e.g., 0.5 inch to 1 inch). The two or more annular flanges 4930a-b are disposed adjacent the two or more mesh filters 4915a-b. Each one of the two or more annular flanges 4930a-b is configured to receive thereagainst in a reversible face seal mating (e.g., a breakable seal during rinsing, in the absence of force F.sub.A imparted by airflow 4910) an adjacent one of the two or more mesh filters 4915a-b. In implementations, the reversible face seal is impervious to air and lint so that lint laden air passes only through each of the two or more mesh filters 4915a-b, entangling and entrapping the lint fibers 4907 in the mesh 4220a-b. Additionally or alternatively, in implementations the two or more annular flanges 4930a-b are curved, contoured, and/or inclined to receive thereon a matching curved, contoured, and/or inclined outer rim portion of the two or more mesh filters 4915a-b in a nested engagement. Additionally or alternatively, the filter assembly 4900 comprises at least one of an annular seal 4931, 4931a-b (e.g. a compressible rubber seal) disposed on the annular flange 4930a-b and a hydrophobic coating to discourage lint 4907 from accumulating around the annular flange 4930a-b.

[0106] In implementations, as shown in FIGS. 11, 13B, and 14, the filter assembly 4900 comprises at least two spray nozzles 4935a-b disposed within the housing 4905 adjacent the two or more mesh filters 4915a-b, each of the at least two spray nozzles 4935a-b being configured to deliver a spray of liquid 4940a-b to one of the two or more mesh filters 4915a-b. Each spray of liquid 4940 rinses the lint 4907 from the mesh 4920, 4920a-b of the two or more lint filters 4915a-b, and the liquid and lint falls to a bottom of the housing 4905 where the rinsed off lint 4907 drains from the housing through one or more drain holes 4945, 4945a-c in the housing 4905. In implementations, as shown in FIG. 11, the housing comprises three or more drain holes 4945a-c disposed within a lower half (e.g.. vertically lower half) of the housing 4905. In implementations, the three or more drain holds 4945a-c are configured to be selectively sealed to maintain airflow through the housing 4905 without forcing air into a fluid drain outlet 4535. In implementations, the housing 4905 comprises one drain trough or channel 4947 along the bottom of the housing 4905 configured to receive lint laden water from the drain holes 4945a-c and channel the collective lint laden water into a drain outlet 4535.

[0107] In implementations, the collective channel 4947 is removable from the housing 4905 for at least one of servicing, cleaning, and replacement. The collective channel 4947 further comprises a gasket disposed between a mating rim of the channel 4947 and the housing for an airtight, watertight seal. Additionally or alternatively, in implementations, as shown in FIG. 11, The channel comprise an upper channel portion 4947a and a lower channel portion 4947b. The upper channel portion 4947 is affixed to the housing 4905 and the lower channel portion is removable from the upper channel portion for at least one of servicing, cleaning, and replacement. A gasket 4948 is disposed between the upper channel portion 4947a and the lower channel portion 4947b for an airtight, watertight seal. Implementations, the waterproof, hydrophobic channel 4947 is manufactured by at least one of 3D printing (e.g., stereolithography (SLA), selective laser sintering (SLS), Digital Light Processing (DLP)), cast urethane, fused deposition modeling (FDM) with an applied never wet coating, silicone molding, and injection molding.

[0108] In implementations, the three or more drain holes 4945a-c through which lint laden fluid enters the collective channel 4947 are round. In implementations, they are oval shaped. Additionally or alternatively, in implementations, the three or more drain holes are oblong. Each one of the three or more drain holes 4945a-c aligns with the three or more volumes 4922a-c partitioned by the two or more mesh filters 4915a-b.

[0109] In implementations, the three or more drain holes 4945 drain into the collective channel 4947 configured to route the effluent to a water treatment system for cleaning and recycling for reuse of the liquid component by one or more of the combination washing and drying robots 4000, 4000a-n. The lint laden water can be output to and treated by a water treatment system 4048 (FIG. 7) to remove lint and other contaminants as low volume solid waste and the water reused as process water. In implementations, the spray liquid ejected by the at least two spray nozzles 4935a-b comprises tap water. In implementations, the spray liquid comprises recycled process water from the washing cycle of one or more of the washing and drying machines 4000 in a cluster 4002. Additionally, in implementations, the drain outlet 4535 into which the three or more drain holes 4945 drain comprises a condensate outlet for receiving and routing the condensation exiting the cold side heat exchanger 4526.

[0110] In implementations, as shown in FIGS. 11, 13A-B, and 14, the airflow inlet 4927 of the housing 4905 is lower than the airflow outlet 4928 such that the housing 4905 is tilted at an angle . In implementations, the angle of tilt angle comprises range of between about 5 to 40 degrees from horizontal. In implementations, the angle of tilt angle comprises a range of between about 10 to 30 degrees from horizontal. In implementations, the angle of tilt angle comprises a range of between about 15 to 20 degrees from horizontal. The tilted housing 4905 enables rinsed off lint 4907 to fall under gravity to the bottom of the housing 4905. In implementations, the rinsed off, wet lint falls under gravity without sliding down the mesh 4920a-b of the two or more mesh filters 4915a-b and resting in a collective, wet clump on the mesh 4920a-b. Additionally, in implementations, an interior surface of the housing 4905 comprises a hydrophobic coating that enables the rinsed of lint to slide down the housing toward the one or more drains 4945, 4045a-c to be rinsed down a collective drain outlet 4535.

[0111] In implementations, the collective drain outlet 4535 has a diameter between about 0.5 inch to 4 inches. In implementations, the collective drain outlet 4535 has a diameter of between about 0.75 inch or greater. Additionally, in implementations, the filter assembly 4900 comprises one or more additional nozzles (not shown) configured to spray liquid at at least one of a lower wall portion adjacent the outlet 4535 and the outlet 4535 to facilitate at least one of the removal and de-clumping of any lint 4907 rinsed from the two or more mesh filters 4915a-b. Additionally or alternatively, in implementations, periodically (e.g., at a rate of between about 10-30 minutes, e.g., mid-cycle and at the end of the drying cycle, e.g., one third of the way through a drying cycle and two thirds of the way through the drying cycle, etc.) throughout the drying process, the fan 4830 will shut off and stop the airflow 4910 for a pause ranging between about 30 seconds to two minutes to enable any moisture in the cold side heat exchanger 4526 to condense and fall through the exhaust duct 4325 near the outlet end 4928 of the filter housing 4905. Simultaneously, the two or more spray nozzles 4935 can spray rinse liquid on the two or more mesh filters 4915a-b. This lessens the amount of lint 4907 accumulating between rinses and ensures maximum fluid flow through the collective drain outlet 4535 to assist with preventing the rinsed off lint from clogging the drain outlet 4535. Additionally, this intermittent process prevents pooling near the one or more drain holes 4945a-c.

[0112] In implementations, as shown in FIG. 13B, the at least two spray nozzles 4935a-b are configured to deliver sprays of liquid 4940a-b from an air outlet side of the two or more mesh filters 4915a-b. By spraying the mesh 4920a-b from the non-linted side (e.g., from the airflow outlet end 4928 of the housing 4905), the lint 4907 entrapped in the mesh 4920a-b of the two or more mesh filters 4915a-b is pushed off the mesh 4920a-b instead of being at least one of pushed through and adhered to the mesh under the force of spray liquid 4940, 4940a-b. In implementations, the spray liquid 49040 comprises a fluid (e.g., tap water and/or process water) delivered with a water pressure between about 30-45 psi at a distance between the spray nozzle to a mesh filter 4915, 4915a-b of between about 20-50 mm. In implementations, each of the at least two spray nozzles 4935a-b is disposed at vertical distance above the axle 4925 in a range of between about 20-50 mm.

[0113] In implementations, a spray of liquid 4940a-b is at least one of flat fan shaped and conical shaped. As shown in FIG. 11 and FIG. 14, an implementation of the filter assembly 4900, 4900 comprises at least two fluid conduits 4950a-b, a-b extending through sealed, air-tight and liquid-impervious openings in the housing 4905, 4905. The at least two fluid conduits 4950a-b, a-b terminate at the at least two spray nozzles 4935a-b, 4935a-b for delivering the respective sprays of liquid 4940a-b. 4940a-b to the two or more mesh filters 4915a-b, 4915a-b. In implementations, as shown in FIG. 11, the at least two fluid conduits are connected to the at least two spray nozzles 4935a-b by tubing 4951a-b configured to deliver the spray fluid to the nozzles 4915a-b. Alternatively, in implementations, as shown in FIG. 13B, the axle 4925 comprises a conduit of at least one of stainless steel, galvanized steel, brass, PVC, and copper configured to route spray liquid to at least two fluid conduit spokes 4950a-b extending from the axle 4925 adjacent the two or more mesh filters 4915a-b. The at least two fluid conduit spokes 4950a-b terminate in the at least two spray nozzles 4935a-b for delivering the spray liquid 4940, 4940a-b to the two or more mesh filters 4915a-b.

[0114] As shown in FIG. 15, a spray of liquid 4940 is configured to impinge on a mesh filter 4915 of the two or more mesh filters 4915a-b in an area 4955 disposed aside a vertical centerline 4960. In implementations the area 4955 comprises a region centered about a horizontal centerline 4962 of the mesh filter 4915 and extending no greater than 50 percent of a filter height 4965 above and below the horizontal centerline 4962. In implementations the spray of liquid 4940 is configured to impinge the mesh filter 4915 at least one of on and about a horizontal centerline 4962. Additionally, in implementations, as shown in FIGS. 13B and 14, the spray of liquid 4940a-b, a-b is configured to hit the mesh filter 4915, 4915a-b, a-b at an angle comprising a range of between about 35 to 55 degrees from the longitudinal axis LA of the axle 4925, 4925. The angled spray of liquid 4940a-b, a-b impinges on the mesh filter 4915, 4915a-b, a-b with a force the peels the entrapped lint 4907 from the mesh 4920a-b.

[0115] In implementations, as shown in FIGS. 11-15, the two or more mesh filters 4915a-b comprise annular disc filters. Additionally, or alternatively, the outside geometry of the two or more mesh filters 4915a-b comprises at least one of a circle, an ellipse, a square, a rectangle, a parallelogram, a triangle, a hexagon, an octagon, and a polyhedron with more than 5 sides. In implementations comprising a non-rotating axle 4925, each one of the two or more mesh filters 4915a-b is configured to engage a rotational bearing disposed about the axle 4925, 4925 so that the two or more mesh filters can spin under the application of a spray 4940. In implementations, the rotational bearing comprises a ceramic bearing. In implementations, each rotational bearing is disposed on the air outlet side of each of the two or more mesh filters 4915a-b, a-b to prevent lint fibers 4907 from entering and impeding the rotational bearing. Alternatively, in implementations, the two or more mesh filters 4915a-b are statically mounted to the axle 4925, 4925 by shaft collars 4918, 4918a-b and the axle 4925 is configured, under the application of a spray 4940, to spin in linear rotary bearings disposed at least about either end of the axle 4925, 4925.

[0116] In implementations, as shown in FIGS. 11 and 12, the filter assembly 4900 comprises a pair of hub and spoke assemblies 4967a-b configured to engage the housing 4905 at an airflow inlet end 4927 and an airflow outlet end 4928. In implementations, the two or more filters 4915a-b can be affixed to the axle 4925 (e.g., with flanged locking collars or shaft collars 4918, 4918a-b) and the ends of the axle 4925 engage linear bearings that enable rotational movement about the longitudinal axis LA as well as bi-directional movement along the longitudinal axis LA. Alternatively, in implementations, the hub and spoke assemblies 4967a-b can be configured to support each end of the axle 4925 non-rotationally about the longitudinal axis LA of the axle 4925 and the two or more lint filters 4915a-b can be configured to rotate about the axle 4925. As described previously with regard to implementations as shown in FIGS. 11-13A-B, the filter assembly 4900 comprises at least one spring 4970 disposed in mated engagement (e.g., with a shaft collar 4971) at at least one end of the axle 4925. As shown in FIG. 13A, the at least one spring 4970 is configured to compress under an application of force F.sub.A imparted by the airflow 4910 on the two or more mesh filters 4915a-b thereby translating the axle 4925 in along its longitudinal axis LA until the two or more mesh filters 4915a-b engage corresponding faces of the two or more annular flanges 4930a-b in the reversible face seal mating. (Spray nozzles 4935a-b are intentionally omitted from the schematic of FIG. 13A for clarity.)

[0117] As shown in FIG. 13B, the at least one spring 4970 is configured to expand in an absence of an application of force F.sub.A imparted by the airflow 4910 on the two or more mesh filters 4915a-b. When the at least one spring 4970 expands, the axle moves laterally (e.g., translates) along its longitudinal axis in a second direction opposite the direction of airflow 4910 until the two or more mesh filters 4915a-b separate from the two or more annular flanges 4930a-b by a distance of at least between about 3 mm to 10 mm. As shown in FIG. 15, the two or more mesh filters 4915a-b, when distanced from their respective annular flanges 4930a-b are configured to spin passively in the example direction indicated by directional arrows (e.g., in a counterclockwise (CCW) direction) under the application of force of an impinging spray 4940, 4940a-b. In implementations, the axle 4925 spins with both the two or more mesh filters 4915a-b affixed thereto by, for example, shaft collars 4918a-b. Alternatively, in implementations, the axle 4925 is non rotationally constrained and the two or more mesh filters 4915a-b rotate about the non-rotating axle 4925 on rotational bearings. The at least one spring 4970 therefore is configured to displace the two or more mesh filters 4915a-b from their respective annular flanges 4930a-b so that they are idly free floating and free to spin under the application of force from the spray of liquid. No actuators are required to spin the two or more mesh filters 4915a-b, and by spinning, the mesh filters 4915a-b are fully cleaned by the stationary spray of liquid 4940, 4940a-b impinging upon the mesh 4920, 4920a-b in the target area 4955. Alternatively, in implementations, the direction of the spring load force FS and the face seal can be reversed.

[0118] In implementations, as shown in the controls schematic of FIG. 8, the spray of liquid 4940, 4940a-b, a-b is actuated by at least one controller, such as at least one of the controller 4005 of a combination washing and drying device and a centralized controller 205 in operative communication with the controllers 4005a-n of a plurality of combination washing and drying devices 4000a-n. In implementations, at least one controller 205, 4005 is in operative communication with the fan 4830 and at least one actuator 4917a-n of the at least two spray nozzles 4935a-b. The at least one controller 205, 4005 is configured to instruct the at least one actuator 4917a-n to spray liquid upon receiving a signal indicative of completion of a drying cycle and shutdown of the fan 4830 (e.g., blower). Additionally or alternatively, in implementations, the at least one controller 205, 4005 is configured to instruct the at least one actuator 4917a-n to deliver an amount of rinse liquid in bursts at points in drying cycle based on receiving a signal indicative of at least one of the fan 4830 shutting down at an end of a drying cycle, the fan (e.g., blower) shutting down (e.g., pausing operation) periodically at one or more timed intervals during the drying cycle, and a measured airflow velocity being at or below a threshold value during the drying cycle. As shown in FIGS. 7-8 and 13A-B, in implementations, the filter assembly 4900 comprises at least one sensor 4925a-b comprising at least one of an airflow velocity sensor, a temperature sensor, and a humidity sensor disposed within at least one of the housing 4905 and one or more portions of a closed air loop exhaust duct 4325 adjacent the housing 4905.

[0119] Additionally or alternatively, in implementations, the at least one controller 205, 4005 is configured to actuate the at least two spray nozzles 4935a-b at regular intervals, shutting down the fan 4830 and pausing airflow during a rinse burst so that fluid is not introduced into the airflow 4910. In implementations, the at least two spray nozzles 4935a-b eject two or more bursts of rinse liquid throughout a drying cycle. In implementations, the at least two spray nozzles 4935a-b eject bursts of spray at time intervals in a range of between about every 9-15 minutes during a drying cycle and at the end of a drying cycle, with each burst (e.g., spray time interval) lasting in a range of between about 5-10 seconds. In implementations, the at least two spray nozzles eject a total maximum volume in a range of 5000-7000 cubic centimeters throughout the duration of a complete drying cycle and approximately between about 200-400 cubic centimeters combined during each rinse burst. In implementations, the at least one controller 205, 4005 is configured to delay restarting the fan for a period of between about 10-30 seconds following a rinse burst to allow water to drain from the housing 4905 before reintroducing airflow therethrough.

[0120] Additionally or alternatively, in implementations, each duration of a spray burst is comprised of 10-20 pulses of spray (e.g., 10-20 pulses of spray over a period of between 5-10 seconds). During a pulse, a spray nozzle 4935, 4935a-b opens for 0.5 seconds and then closes. Because force of spray diminishes over time the longer a control valve of a spray nozzle 4935, 4935a-b remains open, pulsing produces a longer period of maximum force impinging a spray 4940 of fluid upon a mesh filter 4915, 4915a-b thereby more effectively facilitating lint removal. Pulsing sprays 4940 of rinse fluid (e.g., water) uses less volume than spraying continuously and has the advantage of eliminating or reducing puddling in the drain outlet 4535 and/or the low point of the tilted housing 4905.

[0121] Additionally, in implementations, the lint filter assembly 4900 further comprises two or more air nozzles (not shown) configured to provide air that is at least one of dry and heated to the at least two mesh filters 4915a-b to dry them with bursts of air following rinsing. Drying the at least two mesh filters 4915a-b prevents lint from sticking to the a wet mesh and clogging it more quickly to block airflow. Drying the at least two mesh filters 4915a-b also prevents the addition of humidity into the process air airflow 4910 exiting the lint filter assembly 4900. In implementations, the at least one controller can actuate the nozzles periodically to provide bursts of air in a range of between about every 9-15 minutes. In implementations, the at least two spray nozzles 4935a-b are configured alternately to spray fluid and direct airflow toward the at least two 4915a-b mesh filters. In implementation, the two or more air nozzles are in addition to the at least two spray nozzles 4935a-b and similarly constructed, angled, and mounted within the housing. 4905.

[0122] In implementations, the drain outlet 4535 is in fluid communication with a trap (e.g., a J-trap) to prevent any disruption of airflow through the housing 4905. Additionally, in implementations, the trap is configured to be filled with water during airflow to prevent air from entering the drain outlet 4535. Alternatively, in implementations, the three or more drain holes 4945a-c are selectively sealed, and the at least one controller 205, 4005 is configured to instruct an actuator 4919a-n of one or more selectively movable valves (not shown) to expose the three or more drain holes 4945a-c to drain a combined spray liquid and lint solution. In implementations, the combined spray liquid and lint solution drains into a collective drain outlet 4535 disposed through at or adjacent a lowest point of the housing 4905 or drains first into a collective conduit 4947 (e.g., a channel, a trough, a drainpipe, etc.) in fluid communication with the three or more selectively sealed drains holes 4925a-c. In implementations, the one or more selectively movable valves comprise three or more valves, each one of which is aligned with the three or more selectively sealed drain holes 4945a-c such that the drains are intermittently uncovered to drain effluent and otherwise sealed to prevent any disruption of airflow through the housing 4905.

[0123] Additionally, in implementations, the at least one controller 205, 4005 is configured to rinse the collective drain outlet 4535 with additional water routed from at least one of process water and condensation routed from a cold side heat exchanger 4526 disposed in line with the closed air loop downstream from the filter assembly 4900. In implementations, at least one of the centralized controller 205 and a local controller 4005 is configured to instruct a rinse actuator 4417 of the system to periodically deliver process water to the fins of the cold side heat exchanger 4526 to remove accumulated lint. The lint laden water can be output to and treated by the water treatment system 4048 to remove lint and other contaminants as low volume solid waste and the water reused as process water. Additionally or alternatively, in implementations, each cold side heat exchanger 4526 can be augmented with a cold water mist. Incoming water directly or indirectly via the circulating fluid cooled by the heat pump 4800 may be sprayed or atomized into the exhaust air stream in the exhaust duct 4325. The mist cools the exhaust air and also encourages condensation by nucleating water droplets in the humid exhaust air. Lint is trapped in condensate and drains away through the condensate outlet 4535. The linty condensate would then be processed by the water recycling system to remove lint, and the cleaned and sanitized water recirculated to either the mist generator or the washers for a wash cycle.

[0124] Turning now to FIGS. 16-18, in implementations an autonomously cleanable lint filter assembly 4900 disposed in a closed air loop 4320 for a combination washing and drying machine 4000 comprises a mesh basket filter 4915. In implementations, the filter assembly 4900 comprises a housing 4905 disposed upstream of a blower (e.g. fan 4530) configured to pull an airflow through the filter assembly 4900 from an air outlet 4260 of the combination washing and drying machine 4000. In implementations, the mesh basket filter 4915 comprises a grooved ring 4972 disposed about at its mouth configured to engage three or more wheels 4974a-d to spin about a longitudinal axis LA. As airflow 4910 enters the inlet end 4927 of the housing 4905, lint is deposited on the outer surface of the mesh basket filter 4915. The filter assembly 4900 comprises at least one spray nozzle 4935 disposed within the interior of the basket. In implementations, the at least one spray nozzle 4935 comprises a conduit supplied by a rinse liquid source external to the housing 4905. In implementations, the at least one spray nozzle 4935 comprises a plurality of apertures 4936a-f along a length extending parallel to a longitudinal axis LA of the mesh basket filter 4915. The plurality of apertures 4936a-f are spaced apart along the length of the at least one spray nozzle 4925 such that a plurality of sprays of liquid 4940a -f combine to spray the entire height H of the mesh basket filter 4915, as shown in FIG. 17. As the mesh basket filter 4915 spins on the three or more wheels 4974a-d, the entire surface of the mesh basket filter 4915 is rinsed free of lint fibers. In implementations, the housing 4905 comprises at least one drain hole disposed within a bottom of the housing 4905 configured to receive therethrough a combination of lint and rinse liquid (e.g., water). As shown in FIGS. 16 and 18, in implementations, the at least one spray nozzle 4935 can be offset by an offset distance DO from a center C coincident with a longitudinal axis of the mesh basket filter 4915. The force of the plurality of sprays of liquid 4940a-f imparts the rotational force on the mesh basket filter 4915 causing it to spin. Additionally or alternatively, in implementations, the three or more wheels 4974a-d comprise driven wheels in operable communication with at least one controller 205, 4005 for driving the mesh basket filter 4915 to rotate during the rinsing process.

[0125] Turning now to FIGS. 19A-B, in implementations an autonomously cleanable lint filter assembly 4900 disposed in a closed air loop 4320 for a combination washing and drying machine 4000 comprises a mesh basket filter 4915 and at least one drain hole (not shown) disposed within a lower half of the housing configured to receive therethrough a combination of lint and rinse liquid. In implementations, the filter assembly 4900 comprises a housing 4905 disposed upstream of a blower (e.g., a fan 4530) configured to pull an airflow 4910 through the filter assembly 4900 from an air outlet 4260 of the combination washing and drying machine 4000. In implementations, the filter assembly 4900 comprises an axle 4925 configured to extend through and engage an end of the mesh basket filter 4915. In implementations, the axle 4925 is spring loaded by a spring 4970 disposed at at least one end for moving the mesh basket filter 4915 laterally bidirectionally along a longitudinal axis LA of the axle 4925.

[0126] In implementations, the filter assembly 4900 comprises an annular seal 4930 disposed about an airflow outlet 4928 of the housing 4905 configured to receive thereon a rim 4916 about an opening of the mesh basket filter 4915 to form an impervious face seal thereon. The mesh basket filter 4915 is configured to move bidirectionally along the longitudinal axis LA to form a face seal impervious to lint in the presence of an airflow.

[0127] In implementations, the filter assembly 4900 comprises at least one spray nozzle (not shown) disposed at least one of within and through the housing 4905 configured to deliver a spray of rinse liquid (not shown) covering a length of the mesh basket filter 4915. In implementations, the mesh basket filter 4915 is configured to spring apart from the annular seal 4930 and rotate about the axle 4925 in an absence of a force F.sub.A imparted by the airflow 4910 (e.g., when the fan 4830 is turned off and airflow has stopped flowing through the housing 4905). The mesh basket filter 4915 is configured to spin (e.g., rotate about the longitudinal axis LA) under a force applied by the spray of rinse liquid. In implementations, an impingement area of the spray of rinse liquid on the mesh basket filter 4915 is offset from a vertical centerline (e.g., longitudinal axis LA) of the mesh basket filter 4915. In implementations, the at least one spray nozzle is disposed with an interior cavity of the mesh basket filter 4915, and the spray of rinse liquid therefore is applied from a non-linted side of the mesh basket filter 4915. In implementations, the at least one spray nozzle and associated fluid conduit is disposed through the housing 4905 at a height above the mesh basket filter 4915. In implementations, the mesh basket filter 4915 comprises a shape that is at least one of conical and cylindrical. In implementations, the mesh basket filter 4915 comprises a truncated cone shape. Cylindrical filters are easy to manufacture, and easy to clean because of the uniformity of shape and distance from a spray nozzle. Conical lint filters present less disruption to the air flow path, especially when partially clogged with lint, and therefore present more efficient utilization of the mesh surface.

[0128] Referring now to FIG. 20, any of the examples and implementations described previously with regard to autonomously cleanable lint filter assembly 4900 disposed in a closed air loop for a combination washing and drying machine are applicable to implementations described herein with regard to a method 1100 of autonomously cleaning a lint filter assembly 4900 disposed in a closed air loop for a combination washing and drying machine 4000.

[0129] In implementations, the method 1100 is configured to be executed autonomously by the at least one controller 4005, 205. As previously described with regard to implementations, one or more controllers (e.g., the controller 4005, remote terminal controller 205) is configured to be in operative communication with one or more sensors 4705, 4710, 4715, 4720, 4725, 4730, 4060 disposed at one or more locations comprising at least one of the air inlet 4315, 4315 of each one of the washing and drying machines 4000a-n, the air outlet 4260 of each one of the washing and drying machine, the filter assembly 4900 and the inlet of the at least one heat pump 4800. The one or more sensors 4705, 4710, 4715, 4720, 4725, 4730, 4060 are configured to measure at least one air characteristic such as temperature, air flow velocity, air flow volume, moisture content, and air pressure, and output a signal indicative of at least one air characteristic to the at least one controller 4005a-n, 205.

[0130] In implementations, the method 1100 comprises S1105 receiving at at least one controller one or more sensor signals indicative of an airflow velocity within the closed loop, and S1110 determining, based on at least one of the received one or more sensor signals and a time interval, lint filter cleaning is required. The method 1100 comprises S1115 instructing, based on a determination that lint filter cleaning is required, a fan to shut off airflow within the closed air loop and S1120 instructing, following shutting off the fan, two or more spray nozzles to spray two or more mesh filters affixed to a rotatable axle extending through the central axis of an elongated outer housing of the lint filter. The method 1100 comprises S1125 instructing the fan to restart pulling airflow through the closed air loop following a period of spraying.

[0131] The method 1100 further includes S1130 determining whether the drying cycle has ended based on a received signal (e.g., motor controls) and/or monitoring time elapsed and S1135 instructing the fan to shut off airflow with the closed air loop before S1140 instructing the two or more spray nozzle 4935a-b to spray the two or more mesh filters.

[0132] In implementations, the method 1100 comprises instructing the two or more spray nozzles 4935a-b to spray fluid on the two or more mesh filters 4915a-b when airflow is reduced by a range of between about 5-15% of an airflow velocity as measured at a start of a drying cycle.

[0133] In implementations, the at least one controller 4005, 205 is configured to instruct the fan to stop airflow 4910 and instruct the at least two spray nozzles 4935 to spray repeatedly at a time interval of between about 9-15 min throughout a drying cycle. Each incident of spraying imparts a range of 200-300 cubic centimeters of total fluid on the two or more mesh filters 4915a-b and each time interval for spraying lasts in a range of between about 5-10 seconds.

[0134] In implementations, the axle 4925 is retained at both ends by rotatable linear bearings 4926a-b disposed in hubs of hub and spoke assemblies 4967a-b radially attached to the outer housing 4905 and the axle 4925 is spring loaded at one end such that that under application of airflow force FA, the axle linearly translates and two or more mesh filters 4915a-b affixed thereto compress against annular flanges 4930 mounted to an interior of the outer housing 4905 to form a reversible seal. As previously described with regard to implementations, the outer housing 4905 comprises three or more drain holes disposed through a bottom of the outer housing, the three or more holes 4945a-c being configured to drain into a collection channel 4947 disposed along a bottom of the housing to drain collected lint laded fluid into a drain outlet 4535.

[0135] As previously introduced, the system 400 comprises at least one controller (e.g., controller 205, controller 4005) in operative communication with the one or more air sensors 4705, 4710, 4715, 4720, 4725, 4730, 4060, the heat exchangers 4526, 4527, and the heat pump 4800. In implementations, the at least one controller 205, 4005 is configured to receive the output signal of the one or more air sensors and analyze the at least one air characteristic associated with the one or more air sensors. In implementations, the at least one air characteristic comprises one or more of air temperature, air flow rate, and air humidity. The controller is configured to determine, based on the analysis, whether the at least one air characteristic is within a range of values for at least one of air temperature, air flow, and air humidity, and adjust, in response to determining that at least one air characteristic is not within a range of values, one or more controls for at least one of air temperature, air flow, and air humidity at the one or more locations of the system. The one or more controls can vary depending on measured parameters and/or their rate of change at various stages of a drying cycle. Additionally or alternatively, in response to determining at least one air characteristic is not within a range of values, the at least one controller 205, 4005 is configured to instruct an actuator of one or more spray nozzles to automatically clean the lint filter 4900, which will be described subsequently with regard to implementations.

[0136] Returning to FIG. 8, a fully autonomous control system 400 includes a centralized controller 205, or CPU, in operative communication with a processor 4835 of the centralized heat pump 4800, local controllers 4005a-n of a plurality of washing and drying robots 4000a-n, and each dedicated heated side heat exchanger 4527a-n, cold side heat exchanger 4526a-n and fan 4530a-n of each of the plurality of associated closed air loops 4320, 4320a-n. For simplicity, the following example explanations will describe each element of one of the plurality of combination washing and drying robots 4000a-n without using alphabetical identifiers. It should be understood that each element operates similarly among all of the plurality of washing and drying robots 4000a-n.

[0137] The local controller 4005 of each washing and drying robot 4000, is in operative communication with the at least one heater drive 4410, at least one tilt drive 4415, and at least one spin motor drive 4420 of each one of the plurality of autonomous washing and drying machines 4000a-n. Additionally, the controller 4005 is in operative communication with a valve and/or pump actuator 4418 for controlling the application of heated fluid from the heat pump 4800 to the respective heated side heat exchanger 4527, a valve and/or pump actuator 4419 for controlling the application of cooling fluid from the heat pump 4800 to the respective cold side heat exchanger 4526, a fan drive 4416, at least one drive of the heat pump, one or more air sensors, a rinse spray actuator 4917 of the lint filter assembly 4900, and a drain valve actuator 4914 of the lint filter assembly 4900.

[0138] At least one controller 205, 4005 is configured to receive the output signal of the one or more air sensors 4705, 4710, 4715, 4720, 4725, and 4730 disposed at one or more dedicated locations within the closed air loop 4320. Based on the received output signal(s), the controller 4005 analyzes the at least one air characteristic associated with the one or more air sensors, and determines, based on the analysis, whether the at least one air characteristic at the associated location within the air loop 4320 is within a range of values for at least one of air temperature, air flow, and air humidity. The at least one controller 205, 4005 is configured to adjust autonomously, in response to determining at least one air characteristic is not within a range of target values, one or more controls (e.g., drivers) for at least one of air temperature, air flow, and air humidity at the one or more locations of the system 400. Additionally or alternatively, in implementations, the centralized controller 205 is in operative communication with the local controller 4005 and the centralized controller 205 is configured to perform some or all of the above described controls functions.

[0139] Each washing and drying robot 4000, 4000a-n in the cluster 4002 is in operative communication with at least one of their respective controllers 4005a-n and the at least one centralized controller 205 (e.g., CPU 205, FIG. 4) via a wired or wireless network 230 (e.g., network 230, FIG. 4). In implementations, as shown in the system schematic of FIG. 8, each one of the plurality of washing and drying robots 4000, 4000a-n comprises a heater drive 4410, a pivot drive 4415, and a spin motor drive 4420 configured to instruct a drive motor rotate the drum 4205 about a spin axis 4231. The drum 4205 is configured to rotate about the spin axis 4231 during washing and drying, either in a continuous direction of rotation or in an alternating pattern of clockwise and counterclockwise rotation about the spin axis to prevent entanglement of laundry articles and promote uniform drying. In implementations, as shown in FIGS. 9A-10, the pivot drive 4415 is configured to instruct a pivot motor 4115 to tip the drum from a vertical laundry loading position (FIG. 9A) to a substantially horizontal washing and drying cycle position (FIG. 10) to an inverted clean laundry dumping position (FIG. 9B) at the end of a washing and drying cycle.

[0140] Taking FIGS. 7 and 8 together, each one of the plurality of washing and drying robots 4000a-n comprises a network interface 4020a-n configured to communicate data and sensor signals to at least one of the respective processors 4015a-n and the at least one controller 4005a-n, 205 (via a wireless or wired communication network 230) for processing. The sensor signals comprise output signals from at least one of one or more air flow sensors 4715a-n, one or more sensors measuring at least one of temperature and humidity (e.g., RH, relative humidity) 4705a-n, 4710a-n, 4720a-n, 4725a-n, 4730a-n, one or more pressure sensors 4745a-n, one or more encoders 4435a-n, and one or more accelerometers 4310a-n, as shown in the side view schematic implementation of a closed air loop in FIG. 7. The sensor signals are routed to the at least one of the respective processors 4015a-n and the at least one controller 4005a-n, 205 via the sensor interface 4025a-n of each one of the plurality of washing and drying robots 4000a-n.

[0141] The at least one controller 4005, 205 can control the air flow rate based on temperature and humidity of the exhaust air. In implementations, as shown in FIG. 7, one or more of an airflow sensor (e.g., sensor 4725 can measure airflow parameters alternatively or in addition to measuring temperature and humidity) and one or more of temperature and humidity sensors 4720, 4730 can be disposed in the air vent hose 4325 (e.g., exhaust duct), in close proximity to the door 4300 and within the stream of cooled, humid air exhausted from the drum 4205. In implementations, at least one humidity sensor is disposed downstream of the lint filter assembly 4900 so that it doesn't get clogged with lint, and is disposed in a place where water (either condensate from the cold heat exchanger 4326 or rinse water from the lint filter spray nozzles 4925a-b) does not accumulate on the sensor. The controller 4005 receiving signals from one or more of these sensors can then control fan speed, a power level of an optional auxiliary heater 4605, and pump rates and valve positions of the heating and cooling supply conduits 4520a, 4515a supplying heated and cold fluid to the heated side heat exchanger 4527 and cold side heat exchanger 4526 to maintain values within one or more temperature, humidity, and flow rate ranges.

[0142] As shown in FIGS. 7 and 12, in implementations, one or more sensors 4705, 4710, 4715, 4720, 4725, 4730, 4060 are disposed at one or more locations comprising at least one of the air inlet 4315, 4315 of each one of the washing and drying machines 4000a-n, the air outlet 4260 of each one of the washing and drying machine, the filter assembly 4900 and the inlet of the at least one heat pump 4800. The one or more sensors 4705, 4710, 4715, 4720, 4725, 4730, 4060 are configured to measure at least one air characteristic such as temperature, air flow velocity, air flow volume, moisture content, and air pressure, and output a signal indicative of at least one air characteristic to the at least one controller 4005a-n, 205. In implementations, the one or more sensors comprise at least one of semiconductor, bimetallic, or resistive temperature sensors, polymer or wet bulb humidity sensors, mechanical, hot wire, and pitot tube air velocity sensors.

[0143] Although the preceding implementations comprise a centralized heat pump and centralized heating and cooling systems for use with a plurality of combination washing and drying robots 4000a-n, the centralized heat pump and centralized heating and cooling systems can be configured for use with a plurality of standalone drying machines. Additionally or alternatively, the plurality of standalone drying machines can be manually operated machines rather than autonomous robots.

[0144] In implementations, any of the preceding lint filter assemblies for use with a plurality of tilting combination washing and drying robots 4000a-n can be configured for use with a plurality of stationary, non-tilting combination washing and drying machines. Additionally or alternatively, the plurality of stationary, non-tilting combination washing and drying machines can be manually operated machines rather than autonomous robots.

[0145] Although the closed air loop 4320 is described herein with regard to implementations as being dedicated to a single washing and drying robot, in alternative implementations, the closed air loop could be shared among a drum pair or small drum cluster. For example, the heat pump 4800 closed air loop 4320 could be serving one drum while a paired drum is washing. In implementations, a closed air loop can be local to a single washing and drying robot 4000, a plurality of washing and drying robots 4000a-n, and a cluster 4002 of washing and drying robots.

[0146] 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.

[0147] 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.

[0148] 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.