Household dishwasher

Abstract

The invention relates to a domestic dishwasher (1) having a washing container (2) for receiving washing items, an open-loop and closed-loop control device (15) for carrying out a washing program (27) for cleaning the washing items, and a domestic robot (16), the open-loop and closed-loop control device (15) being designed to interrupt the washing program during the execution of the washing program (27), in this way, the domestic robot (16) can interfere with the flushing container (2).

Description

Technical Field

[0001] The invention relates to a household dishwasher. Background Art

[0002] A dishwasher comprises a rinse container in which rinse items can be received for cleaning. During operation of a dishwasher it can happen that after a rinse program has been performed, dirt and / or water residues remain on parts of the rinse items. This can require running the rinse program again or manually cleaning or drying this part of the rinse items.

[0003] DE 10 2020 204 083 A1 describes a computer program product for a robot having a computer for operating a domestic dishwasher, which has a plurality of processing programs, the processing programs including commands which, when the computer program product is executed by the computer, cause the robot to perform the following steps: load dishwasher skills specific to a domestic dishwasher from a memory, and execute at least a part of the loaded dishwasher skills to operate the domestic dishwasher. Summary of the invention

[0004] Against this background, the object of the present invention is to provide an improved domestic dishwasher.

[0005] Therefore, a household dishwasher is proposed, which has a rinsing container for accommodating rinse items, an open-loop and closed-loop control device for executing a rinsing program for cleaning the rinse items, and a household robot, wherein the open-loop and closed-loop control device is configured to: interrupt the rinsing program during execution to allow the household robot to enter the rinsing container.

[0006] By interrupting the rinsing program and allowing the domestic robot to access the rinsing container, it is possible to remove dirt and / or water residues from the rinse items or individual items of the rinse items by means of the domestic robot.

[0007] The rinsing container is preferably rectangular. A plurality of rinsing article receptacles for accommodating rinsing articles can be arranged in the rinsing container. Preferably, a door is pivotably attached to the rinsing container, the door being able to rotate so that the household robot can enter the rinsing container. The open-loop and closed-loop control device is designed to: control a household dishwasher to perform a rinsing program. A plurality of rinsing programs can be stored in the open-loop and closed-loop control device. The open-loop and closed-loop control device can also be designed to: control a household robot or control an open-loop and closed-loop control device of a household robot. The open-loop and closed-loop control device of a household robot can be part of an open-loop and closed-loop control device of a household dishwasher, and vice versa. The rinsing articles can include any number of objects, such as, for example, glasses, plates, bowls, cups, cutlery or the like.

[0008] Preferably, the domestic robot has a movable robot arm. The domestic robot can be arranged so that the robot arm reaches into the rinsing container, for example in order to move or transfer the rinsed items. The domestic robot can be placed in or at the rinsing container. For example, the domestic robot is connected to the rinsing container in a fixed manner. However, this is not absolutely necessary. The domestic robot can also be placed next to the domestic dishwasher. However, the domestic robot can also be mobile. For this purpose, the domestic robot can have a drive device. Thus, the domestic robot can independently change its position relative to the domestic dishwasher, in particular by means of the drive device.

[0009] "Interrupting" a rinse program currently means, in particular, that the rinse program ends after a certain program step, the domestic robot enters the rinse container and then continues the rinse program again. The rinse program can, for example, have a pre-rinse sequence, a cleaning sequence, an intermediate rinse, a rinse sequence and a drying sequence. For example, the domestic robot can enter the rinse container before the drying sequence. The rinse program can also be modified. This can, for example, mean that program steps are added, repeated or not executed.

[0010] According to one embodiment, the domestic robot has a robot arm with a sensor system, in particular a camera, and / or an effector.

[0011] The sensor system can include a camera. However, the sensor system can also include, for example, a LiDAR system (English: Light Detection and Ranging). Preferably, the robot arm carries the sensor system and the effector. The effector can, for example, be a gripper, by means of which an object of the flushing item can be gripped. The effector can be any component suitable for manipulating or moving an individual object of the flushing item.

[0012] According to a further embodiment, the open-loop and closed-loop control device is designed to open a door of the washing container in order to allow the domestic robot to enter the washing container.

[0013] Preferably, a door opening mechanism is assigned to the door. This door opening mechanism can be controlled by an open-loop and closed-loop control device and automatically opens the door once the flushing program is interrupted, so that the domestic robot can enter the flushing container through the opened door. Manual door opening can be omitted.

[0014] According to a further embodiment, the domestic robot is placed inside or outside the washing container.

[0015] The household robot can be mounted inside the flushing container. However, for example, the household robot can also be arranged next to the flushing container. The household robot can be connected to the flushing container in a fixed manner. However, this is not mandatory. For the case where the household robot is arranged inside the flushing container, the household robot is particularly encapsulated in a waterproof manner.

[0016] According to a further embodiment, the domestic robot is designed to position individual objects of the washing items.

[0017] In the present case, “positioning” is understood to mean that the domestic robot is designed to detect the respective position of an object in the washing container. The object may include a glass, a plate, a cup, a pot, a cutlery or the like.

[0018] According to a further embodiment, the domestic robot is designed to: change the orientation of an object.

[0019] For example, the domestic robot can turn or reposition certain objects so that, for example, water residues flow away from the respective object. Presently, the "position" of the respective object is to be understood as the position and orientation of the object in the flushing container.

[0020] According to a further embodiment, the domestic robot is designed to sort objects with respect to their type, with respect to dirt and / or with respect to water residues.

[0021] At present, “type” is understood to mean different objects, i.e., for example, plates, bowls, cups, glasses, cutlery or the like. For example, it is possible to classify them so that, for example, cutlery is less affected by water residues than objects with cavities, such as, for example, bowls. At present, “classification” is understood in particular to mean that the domestic robot is designed to detect and evaluate different objects, for example based on the shape of the object, dirt and / or water residues.

[0022] According to further embodiments, the domestic robot for removing dirt and / or water residues has a mechanical element, a laser device, a compressed air nozzle, a water nozzle, a water extractor and / or a heating element.

[0023] With the aid of mechanical elements, laser devices, compressed air nozzles and water nozzles, dirt can be removed from the corresponding objects. However, with the aid of compressed air nozzles, water extractors or heating elements, water residues can be removed.

[0024] According to a further embodiment, the domestic robot is designed to move and / or rotate an object in order to remove water residues.

[0025] For example, the household robot can grab an object with dirt and / or water residues, for example, by means of the effector of the household robot. Then, the household robot can move and / or rotate the object in the flushing container so that the water residues can flow away from the corresponding object.

[0026] According to a further embodiment, the domestic robot is designed to move and / or lift a rinse product holder that receives objects in order to remove water residues.

[0027] In this case, not a single object but the entire washing article receiving portion is moved and / or lifted by means of the domestic robot. For example, the domestic robot grabs the corresponding washing article receiving portion by means of the effector of the domestic robot for this purpose.

[0028] According to a further embodiment, the rinse item receiving area is divided into a plurality of areas, wherein the areas differ from one another in that objects with different residual water potentials can be accommodated in the different areas.

[0029] In this case, the camera can be advantageously omitted, since the objects are directly sorted into different areas. The "potential" for water residues is currently understood to mean that different objects of the rinsed items can receive different amounts of water. For example, a knife therefore has a significantly lower potential for water residues than a glass.

[0030] According to a further embodiment, the domestic robot is designed to place further objects into the rinsing container after an interruption of the rinsing program.

[0031] This may be necessary, for example, if additional objects are still in use when the flushing program is initially started. Even forgotten items can be placed in the flushing container.

[0032] According to a further embodiment, the open-loop and closed-loop control device is designed to adapt the rinsing program as a function of the additionally introduced objects.

[0033] For example, further cleaning steps and / or intermediate rinses can be added to the rinse program.

[0034] According to a further embodiment, the domestic robot is designed to detect and correct faults that occur in the washing container.

[0035] For example, a rotatably mounted spray arm in the washing container can be blocked by an object that is washing items. The domestic robot can detect this blockage with the aid of its sensor system or receive the blockage as a signal from the domestic dishwasher and detect the interfering object and subsequently remove or reposition it so that the spray arm is no longer blocked.

[0036] According to a further embodiment, the open-loop and closed-loop control device is designed to adapt the rinsing program to the presence of people in the environment of the domestic dishwasher.

[0037] For example, the rinse programs can be adapted so that a domestic dishwasher makes less noise.

[0038] Advantageously, communication is always taking place between the domestic dishwasher and the domestic robot or the external sensor. This communication can take place in different ways, such as, for example, with electrical signals, optical signals, electromagnetic waves, sound or the like. The OSI model (English: Open Systems Interconnection) is used as a reference model. The communication can be based on individual layers or all layers of the OSI model and data can be transmitted continuously or only at certain times.

[0039] Additionally, it is possible that the domestic robot communicates with the domestic dishwasher in the manner explained below. Locally, this can be done via direct communication between the domestic robot and the domestic dishwasher or indirect communication between the domestic robot and the domestic dishwasher, in particular indirect communication from the domestic dishwasher to the robot control or from the robot control to the domestic robot.

[0040] Based on the cloud, this can be done through indirect communication between the household robot and the household dishwasher, in particular from the household dishwasher to the cloud of the robot supplier or from the cloud of the robot supplier to the household robot, through indirect communication between the household robot and the household dishwasher, in particular from the household dishwasher to the cloud of the household dishwasher or from the cloud of the household dishwasher to the household robot, or through indirect communication between the household robot and the household dishwasher, in particular from the household dishwasher to the cloud of the household dishwasher, from the cloud of the household dishwasher to the cloud of the robot supplier or from the cloud of the robot supplier to the household robot.

[0041] In the case of cloud-based communication, it is likewise possible for the connection to be transmitted via a mobile radio unit, in particular on the part of the domestic robot, on the part of the domestic dishwasher or on the part of the domestic robot and on the part of the dishwasher.

[0042] Additionally, it is possible that the data processing can take place locally at the domestic robot, at the robot control unit, at another external control unit or alternatively in the cloud.

[0043] The data to be transmitted can be, for example, sensor data, in particular sensor data of internal sensors of a domestic dishwasher or a domestic robot, such as, for example, current values, motor speeds, camera images or the like, states or error states of the domestic dishwasher and / or the domestic robot, parameters of individual components of the domestic dishwasher and / or the domestic robot, the progress of a rinsing process, information or data about the rinsing process, data required for carrying out one of the described application scenarios by the domestic robot or the domestic dishwasher. The data can include position data, in particular position data of tableware items, maximum forces of effectors of the domestic robot, maximum speeds of the domestic robot, sensor data or the like.

[0044] In principle, it is also possible that the communication originates from the domestic robot. An example is the communication of the domestic robot with a domestic dishwasher due to a request or required sensor data from the domestic dishwasher for carrying out one of the mentioned application cases.

[0045] Other possible embodiments of the domestic dishwasher also include combinations of features or embodiments described above or below with respect to the embodiments that are not explicitly mentioned. Here, those skilled in the art will also add individual aspects as improvements or additions to the corresponding basic form of the domestic dishwasher. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Further advantageous embodiments and aspects of the domestic dishwasher are the subject matter of the exemplary embodiments of the domestic dishwasher described below and of the dependent claims. In addition, the domestic dishwasher is explained in more detail based on preferred embodiments with reference to the attached drawings.

[0047] Figure 1 A schematic perspective view showing an embodiment of a domestic dishwasher;

[0048] Figure 2 A further schematic perspective view showing a domestic dishwasher;

[0049] Figure 3 Different schematic diagrams showing objects that can be contained in a domestic dishwasher;

[0050] Figure 4 Show according to Figure 1 A schematic diagram of a rinsing program of a household dishwasher;

[0051] Figure 5 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0052] Figure 6 A schematic diagram showing objects that can be contained in a domestic dishwasher;

[0053] Figure 7Figures showing various embodiments of a tool that can be attached to a robot arm;

[0054] Figure 8 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0055] Fig. 9 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0056] Fig.10 Show according to Figure 1 A plurality of schematic diagrams of a rinse item receiving portion of a household dishwasher;

[0057] Fig.11 Show according to Fig.10 Another schematic diagram of the flushing item receiving portion;

[0058] Fig.12 Show according to Fig.10 A schematic top view of a flushing article receiving portion;

[0059] Fig.13 Show according to Fig.10 A schematic side view of a flushing article receiving portion;

[0060] Fig.14 Show according to Fig.10 Another schematic diagram of the flushing item receiving portion;

[0061] Fig.15 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0062] Fig.16 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0063] Fig.17 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0064] Fig.18 A plurality of schematic diagrams showing objects that can be contained in a domestic dishwasher;

[0065] Fig.19 A schematic diagram showing different objects that can be accommodated in a domestic dishwasher;

[0066] Fig. 20 Show according to Fig.10 Another schematic top view of the rinse item receiving portion;

[0067] Fig.21 Show according to Fig.10Another schematic top view of the rinse item receiving portion;

[0068] Fig. 22 Show according to Fig.10 Another schematic side view of the flushing item receiving portion;

[0069] Fig.23 A schematic perspective view showing an object that can be accommodated in a domestic dishwasher;

[0070] Fig.24 Show according to Fig.23 Another schematic stereogram of the object;

[0071] Fig.25 Show according to Fig.23 Another schematic stereogram of the object;

[0072] Fig.26 Show according to Fig.23 Another schematic stereogram of the object;

[0073] Fig. 27 Show according to Fig.23 Another schematic stereogram of the object;

[0074] Fig.28 Show according to Fig.23 Another schematic stereogram of the object;

[0075] Fig.29 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0076] Fig.30 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0077] Fig.31 Show according to Figure 4 Another schematic diagram of the flushing procedure;

[0078] Fig.32 Shown for running according to Figure 1 A schematic block diagram of a method for a household dishwasher; and

[0079] Fig.33 Shown according to Figure 1 Schematic diagram of the system of a domestic dishwasher.

[0080] In the figures, identical or functionally identical elements are provided with the same reference symbols unless otherwise indicated. DETAILED DESCRIPTION

[0081] Figure 1A schematic perspective view of an embodiment of a domestic dishwasher 1 is shown. The domestic dishwasher 1 comprises a rinsing container 2 which can be sealed, in particular in a waterproof manner, by means of a door 3. For this purpose, a seal can be provided between the door 3 and the rinsing container 2. The rinsing container 2 is preferably rectangular. The rinsing container 2 can be arranged in the housing of the domestic dishwasher 1. The rinsing container 2 and the door 3 can form a rinsing chamber 4 for rinsing the rinse items.

[0082] Door 3 in Figure 1 3 is shown in the open position of the door. The door 3 can be closed or opened by pivoting about a pivot axis 5 arranged at the lower end of the door 3. The inlet opening 6 of the rinsing container 2 can be closed or opened by means of the door 3. The rinsing container 2 has a bottom 7, a top 8 arranged opposite the bottom 7, a rear wall 9 arranged opposite the closed door 3, and two side walls 10, 11 arranged opposite each other. The bottom 7, the top 8, the rear wall 9 and the side walls 10, 11 can be made of stainless steel sheet, for example. Alternatively, for example, the bottom 7 can be made of a plastic material.

[0083] The domestic dishwasher 1 further comprises at least one rinse product receptacle 12 to 14. Preferably, a plurality of, for example three, rinse product receptacles 12 to 14 can be provided, wherein the rinse product receptacle 12 can be a lower rinse product receptacle or a lower basket, the rinse product receptacle 13 can be an upper rinse product receptacle or an upper basket, and the rinse product receptacle 14 can be a cutlery drawer.

[0084] like Figure 1 It is also shown that the rinse item receptacles 12 to 14 are arranged one above the other in the rinsing container 2. Each rinse item receptacle 12 to 14 can be selectively moved into or out of the rinsing container 2. In particular, each rinse item receptacle 12 to 14 can be pushed into or out of the rinsing container 2 in a push-in direction E and can be pulled out or moved out of the rinsing container 2 in a pull-out direction A opposite to the push-in direction E.

[0085] The domestic dishwasher 1 comprises an open-loop and closed-loop control device 15. The domestic dishwasher 1 can be controlled by means of the open-loop and closed-loop control device 15. For example, different rinsing programs can be performed by means of the open-loop and closed-loop control device 15. The open-loop and closed-loop control device 15 can be placed inside the door 3.

[0086] Figure 2 1 shows another schematic perspective view of a domestic dishwasher 1. The domestic dishwasher 1 has a domestic robot 16. The domestic robot 16 can be placed inside or outside the rinsing container 2. The domestic robot 16 can be installed at the rinsing container 2. However, in contrast to this, the domestic robot 16 can also (e.g. Figure 2) can be arranged next to the flushing container 2. In this case, the domestic robot 16 is not directly connected to the flushing container 2.

[0087] The domestic robot 16 comprises a movable robot arm 17, a sensor system 18 (in particular a camera system) attached to the robot arm 17, and an effector 19 which can be designed as a gripper. Furthermore, an open-loop and closed-loop control device 20 is assigned to the domestic robot 16. The open-loop and closed-loop control device 20 can communicate with the open-loop and closed-loop control device 15. Furthermore, the open-loop and closed-loop control device 20 can also be part of the open-loop and closed-loop control device 15 or vice versa.

[0088] For example, the drying performance of the domestic dishwasher 1 can be improved by means of the domestic robot 16. For this purpose, water residues which are on or in the items to be rinsed or in the items to be rinsed receptacles 12 to 14 after the rinsing or cleaning process can be removed by means of the domestic robot 16. The domestic robot 16 can be located inside or outside the domestic dishwasher 1.

[0089] Various application scenarios are conceivable in which the domestic robot 16 can intervene during the rinse program. For example, it can intervene in the cleaning process itself. This can be done by appropriate dosing of detergent and / or rinse aid, cleaning support or program changes. Alternatively or additionally, it is also possible to intervene in the positioning of objects, in particular rinse items. In this case, corrections to the position of objects, additions of objects or removal of objects can be carried out.

[0090] Alternatively or additionally, intervention in the drying process can be carried out by detecting and removing water residues. Furthermore, automatic error handling can be carried out in such a way that faults are detected and eliminated.

[0091] In some of the above-mentioned application cases, it is necessary to assume that the position of the object is known. Since this can only be achieved conditionally by means of a presetting during the tidying up by the user or by precise positioning by the household robot 16, the sensor system 18 is assumed as an optional prerequisite for this application case. The method explained below can be applied to a plurality of application cases.

[0092] Figure 3 A plurality of objects 21 to 23 to be located and / or classified are shown. Objects 21 to 23 are washing items. For example, object 21 is a plate (dash-dotted line), object 22 is a cup (dotted line) and object 23 is a knife (dashed line). In order to be able to classify and locate objects 21 to 23, it is necessary to evaluate the camera images. This evaluation can be carried out, for example, with the aid of an artificial intelligence solution, for example with the aid of a convolutional neural network.

[0093] exist Figure 3Various methods for detection, localization and segmentation are shown in . It is conceivable to classify objects 21 to 23 in the image, to classify and simultaneously localize them, to distinguish a plurality of objects in the image by means of bounding boxes 24 to 26, and to detect objects 21 to 23 in the image on a pixel basis. It is also conceivable to classify objects 21 to 23 not only on the basis of their appearance, but also on the basis of other features, i.e., for example, on the basis of their degree of dirtiness, or on the basis of whether the contour of the respective object 21 to 23 is susceptible to residual water residues after a rinsing process.

[0094] It is possible to determine the orientation of the respective object 21 to 23 in space with the help of information about the located objects 21 to 23. Optionally, the orientation of the objects 21 to 23 in space can be determined with the help of further information or sensor signals, for example with the help of a 3D camera or a LiDAR system (English: Light Detection and Ranging) and can be assigned to the already located objects 21 to 23. The determination of the orientation in space can also be implemented, for example, with the help of artificial intelligence solutions, for example, with the help of convolutional neural networks. For example, the orientation can be described by a translation and a rotation to a reference point or a reference point coordinate system.

[0095] Figure 4 and Figure 5 Each shows an exemplary rinse program 27 of a domestic dishwasher 1. The rinse program 27 comprises a pre-rinse step 28, a cleaning step 29, an intermediate rinse 30, a rinse step 31 and a drying step 32. In principle, the domestic robot 16 can intervene in the active rinse program 27 at any time.

[0096] A variety of application scenarios are possible. For example, it is possible to carry out a dosage of detergent and / or rinse aid. It is possible to fill the dishwashing detergent and rinse aid during the rinse program 27 in an adaptive manner and thus in accordance with the current degree of soiling of the rinse items. This can take place as a function of the phase of the rinse program 27, as a function of sensor data or when food residues that have not yet been removed are detected, for example, by the sensor system 18 in conjunction with a classification algorithm of the domestic robot 16 (exemplary categories: very heavily soiled rinse items, heavily soiled rinse items, soiled rinse items, clean rinse items). Figure 5 The middle marks the phases in which detergent (dashed box) or rinse aid (dotted box) can be added.

[0097] Another application is cleaning support. For this purpose, the cleaning of the items to be washed can be supported during the washing program 27 by means of the domestic robot 16. This can be done, for example, by the action of mechanical forces supported by the domestic robot 16. The detection of the items to be washed is done as in the generally described method for detecting objects 21 to 23. In addition, other algorithms can be used to classify the parts of the items to be washed according to their contamination.

[0098] Figure 6 An example of this is shown in the figure, which is a classification into clean washware parts or objects 21 (dotted frame), soiled objects 21 (dotted frame) and very heavily soiled objects 21 (dashed frame). In the case of heavily soiled objects 21, it can be assumed that a very long cleaning time is required to remove the soil 33 by the domestic dishwasher 1 or that the soil 33 cannot be removed by the domestic dishwasher 1 alone. In order to prevent this, the soil can also be removed roughly or completely by means of the domestic robot 16.

[0099] Figure 7 Shown is a soiled rinse item. Here, dirt 33 is attached to the previously explained object 21, in particular a dish. The removal of heavy dirt 33 can be carried out, including but not limited to, by mechanical, electromechanical, pneumatic or hydraulic external action. For this purpose, a mechanical element 34, a laser device 35, a compressed air nozzle 36 or a water nozzle 37 can be attached to the robot arm 17 to remove the dirt.

[0100] Figure 8 The flushing program 27 is shown again. Figure 8 In the embodiment, possible stages in which cleaning support can be performed by the household robot 16 are enclosed by small boxes. Thus, cleaning support can be performed during the pre-rinsing process 28, the cleaning process 29 and / or the intermediate rinse 30.

[0101] According to other application cases, it is possible to adapt the rinsing program 27 to the changed conditions due to the changing ambient conditions during the rinsing program 27. An example may be the detection of people in the environment of the domestic dishwasher 1. This can be done, for example, with the aid of the generally described method for detecting objects 21 to 23 or with the aid of additional external sensor data, for example external sensor data of an integrated sensor system 18 of the domestic robot 16.

[0102] If a person is detected, the rinse program 27 can be adapted to this new situation and switched to an extra-quiet mode in order to emit as little noise as possible to the environment. Another example is the adaptation of the rinse program 27 in the presence of a larger group of people. It can be inferred that a large number of rinse items must be present in a short time and that the domestic dishwasher 1 should end the rinse program 27 very quickly.

[0103] During the entire flushing program 27, the possibility of changing the program or adapting the program is possible. Fig. 9 An example can be detected in . The rinse program 27 starts, for example, with the program selection Eco 50° and is extended at time t by the additional selection "Quiet" due to the detection of one or more persons in the immediate vicinity of the domestic dishwasher 1. This additional selection can influence decisive parameters, i.e., for example, reduce the pump speed in order to reduce the noise level emitted by the domestic dishwasher 1. At the same time, it is possible that in the absence of persons, a possible additional option, i.e., for example, "Quiet", can be removed in order to achieve improved and / or faster cleaning.

[0104] Fig.10 The schematic diagram of the rinse item receptacle 12 is shown, in which a bowl-shaped object 38 is accommodated. Fig.10 The left part of the diagram shows the object 38 before the start of the flushing program 27 . Fig.10 The middle part of the diagram shows the object 38 during the flushing procedure 27, and Fig.10 The right part of the diagram shows the object after correction by the household robot 16.

[0105] It is possible to interrupt the rinsing program 27 and to carry out a correction of the object position. This correction of the object position can be carried out in order to be able to optimally clean and / or dry the rinsed items. The time point of the correction can be selected fixedly or adaptively. For this purpose, the generally described method for detecting objects 38, including detecting the orientation, can be used. Based on the orientation data, it can be assessed whether the current position of the object 38 has a positive or negative impact on the rinsing process, or alternatively, it can be detected by object detection and classification whether, for example, rinsing liquid and / or fresh water F or lye is present in the object 38, and thus improved drying can be achieved by correcting the object position.

[0106] If during the flushing process 27 the object 38 is turned over by the hydraulic pressure ( Fig.10 ), this situation can be detected and corrected with the help of the household robot 16 ( Fig.10 This makes it possible to prevent the object 38 from being filled with rinsing liquid and / or fresh water F or, if the object 38 is already filled with rinsing liquid and / or fresh water F, to prevent the object 38 from being emptied again.

[0107] Fig.11 A further schematic illustration of a rinse item receiver 12 is shown, in which two objects 38 , 39 in the form of bowls are accommodated. Fig.11 The left-hand part of FIG. 2 shows the objects 38 , 39 before the start of the flushing program 27 . Fig.11 The middle part of the diagram shows the objects 38, 39 during the flushing procedure 27 and Fig.11 The right part of the diagram shows the objects 38 , 39 after correction by the domestic robot 16 .

[0108] Due to an unfavorable positioning, for example by the user or due to the objects 38, 39 being displaced or sliding due to the flushing process, the objects 38, 39 can cover each other ( Fig.11 The object 38 partially covers the object 39, resulting in a so-called spray shadow 40, which is Fig.11 The middle part of the figure is shown in hatching. The object 38 at least partially covers the jets 41 , 42 directed toward the objects 38 , 39 , so that the jets only partially reach the object 39 .

[0109] like Fig.12 and Fig.13 The correction of the position can be performed, for example, by comparison with a standard pattern 43 for sorting the domestic dishwasher 1 or by means of an optimization algorithm, the aim of which is to optimally position each rinse item part in the domestic dishwasher 1 so that each rinse item part is optimally cleaned and dried, as shown in Fig.14 This can also be done with the aid of a learning algorithm. The optimal placement of objects 38, 39 Fig.14 As shown in the left part of the figure, the non-optimal placement of objects 38 and 39 is respectively Fig.14 The middle and right parts of the figure are shown. Therefore, Fig.14 The method for optimally placing objects 38, 39 ( Fig.14 The left part of the figure) and non-optimally placed objects 38, 39 ( Fig.14 The results of the optimization algorithm for the middle and right parts of the graph.

[0110] It is also possible to intervene during the active rinse program 27 and add various objects 21 to 23, 38, 39. An example for this could be that the user is still using rinse items at the start of the rinse program 27 and that these cannot therefore be put into the domestic dishwasher 1 at this point in time. With the help of the domestic robot 16 it is possible to open the door 3 during the active rinse program 27, add rinse items to the free available surfaces in the respective rinse item receptacles 12 to 14 and then close the door 3 again.

[0111] If there is no longer any free surface in the respective flushing item receptacle 12 to 14, it is also possible to reposition the already arranged flushing items with the aid of an optimization algorithm so that additional flushing items can still be arranged. For this purpose, the previously generally described method for detecting objects 21 to 23, 38, 39 (including detecting the orientation) can be used. The conceivable time period for intervening in the active flushing program 27 is Fig.15Thus, interventions can be made during the pre-rinsing process 28 and during the cleaning process 29.

[0112] In addition, it is possible to adapt the flushing program 27 to this situation as the object conveying is completed. Fig.16 An example of this is shown in FIG. Fig.16 During the intermediate rinse 30 , rinse item parts are added after the rinse program 27 has started, and a second cleaning step 29 is added to the rinse program 27 in order to also optimally clean the added rinse item parts.

[0113] like Fig.17 , a further possibility of actively intervening in the flushing program 27 consists in removing the objects 21 to 23, 38, 39 from the flushing chamber 4. If the domestic robot 16 automatically arranges the flushing items, it is possible to draw conclusions about the current load. If the loading process is carried out manually, it is possible to draw conclusions about the flushing items present by means of the generally described method for detecting the objects 21 to 23, 38, 39 (including detecting the orientation) even after the start of the flushing program 27. The active flushing program 27 is only briefly interrupted for this action and then continued.

[0114] The automatic extraction of an object by the household robot 16 can be triggered, for example, by the user, because he requires a specific object 21 to 23, 38, 39 at a specific time and the object is located in the household dishwasher 1. In this case, the door 3 is opened by the household robot 16, the selected object 21 to 23, 38, 39 is removed and the door 3 is then closed again.

[0115] Another application case is the conscious removal of individual objects 21 to 23, 38, 39 during the rinsing program 27 on the basis of the object properties. The reason for this can be, for example, a temperature limit which, if exceeded, can lead to, for example, undesired, irreversible deformations of the objects 21 to 23, 38, 39. An example can be a plastic cover of a reclosable box which is irreversibly deformed due to excessive temperatures and no longer fits the box in a form-fitting manner. The cover can be removed by means of the domestic robot 16 before a defined temperature range is exceeded, thereby preventing deformation. It is conceivable to consider removing the object at any point in the rinsing program 27, such as at Fig.17 This is indicated by means of a small frame surrounding the flushing program 27.

[0116] In addition, if Fig.18As shown in , it is also possible to detect and eliminate water residues 44 on an object 22 (e.g. a cup). This process is divided into two steps. On the one hand, the water residues 44 are detected and on the other hand, the water residues 44 are removed. In order to detect the water residues 44, three methods are possible in order to detect objects 22 or parts of the rinse product receptacles 12 to 14 that have water residues 44 or are susceptible to water residues 44.

[0117] Firstly, it is possible to detect objects and / or surfaces without water residues ( Fig.18 The middle part of the figure (the double-dashed line frame) and the object and / or surface having the water residue 44 ( Fig.18 It can be proposed that the objects 21 to 23, 38, 39 defined by "water residues" are processed by means of the household robot 16 so that the water residues 44 are mostly or completely removed.

[0118] Secondly, different objects can be classified by means of the algorithm of the generally described method for detecting objects 21 to 23 in an image, for example cups, cutlery, plates or the like, as described in Fig.19 Shown in. Fig.19 The results of a classification algorithm for classifying different objects 21 to 23 are shown. Fig.19 A cup, a plate and a knife are shown in . The result of this classification algorithm can be used to further divide the classified objects 21 to 23 by means of other methods.

[0119] For example, a further classification can be made into two categories, namely objects 21 to 23 with a high potential for water residues 44, i.e., for example, cups, bowls, glasses, spoons or the like, and objects 21 to 23 with a low potential for water residues 44, i.e., for example, plates, knives, forks or the like. This classification can be defined for the first time by means of experimental measurement series, simulations or machine learning algorithms and further optimized and improved in the future. It is now possible to process objects 21 to 23 with a high potential for water residues 44 by means of the household robot 16 so that the water residues 44 are removed.

[0120] Thirdly, a simplified method can be implemented, wherein the sensor system 18 in the form of a camera can optionally be omitted. The prerequisite is that each object 21 to 23, 38, 39 has a defined position and orientation in the rinse item receptacle 12 to 14. This can be achieved, for example, by a predetermined placement of the objects 21 to 23, 38, 39 with the holder. By dividing the respective rinse item receptacle 12 to 14 into different zones 45, 46, such as Fig. 20It is shown that it is feasible, as in the second processing method mentioned above, to divide into two categories, namely, objects 21 to 23, 38, 39 with high potential water residues 44 and objects 21 to 23, 38, 39 with low potential water residues 44, and to use the household robot 16 to process only the objects 21 to 23, 38, 39 with high potential water residues 44, so that the water residues 44 are removed.

[0121] The first area 45 can have different holders 47 for different objects 21 to 23, 38, 39. The second area 46 can be constructed in a classic style with hinged thorns 48, because the objects 21 to 23, 38, 39 accommodated in the second area 46 do not have to be handled by the household robot 16. The first area 45 is suitable for objects 21 to 23, 38, 39 with high potential water residues 44. The second area 46 is suitable for objects 21 to 23, 38, 39 with low potential water residues 44.

[0122] In the second step, if Fig.21 , the removal of water residues 44 is shown. Independently of the process for detecting objects 21 to 23 , 38 , 39 with a high potential for water residues 44 , there is the following process for individually processing objects 21 to 23 , 38 , 39 to remove water residues 44 .

[0123] First, a defined movement of the respective flushing item holders 12 to 14 can be performed. By means of a defined movement of the respective flushing item holders 12 to 14 by the domestic robot 16, it is possible to remove the water residues 44. This can be done, for example, by a pulsed movement of the respective flushing item holders 12 to 14. In this case, the effector 19 of the domestic robot 16 grips the flushing item holders 12 to 14 and moves them so that the water residues 44 flow out of the problematic area (e.g. the bottom of a cup) by the movement and are thus removed, as in Fig.21 Here, the flushing item receiving parts 12 to 14 are moved in the pull-out direction A and / or in the push-in direction E. Here, Fig. 22 The left-hand part of FIG. 1 shows the corresponding flushing item receptacles 12 to 14 in the rest position, and Fig.21 The right-hand partial figure shows the corresponding rinse goods receiving area during its movement by the domestic robot 16 .

[0124] like Fig. 22 A further possibility is shown for removing water residues 44 from objects 21 to 23, 38, 39 by means of a defined movement of the respective flushing item holders 12 to 14. For this purpose, the respective flushing item holders 12 to 14 are gripped at one point by means of the domestic robot 16 and moved upwards by a height h. Fig. 22The left-hand part of FIG. 1 shows the corresponding flushing item receptacles 12 to 14 in the rest position, and Fig. 22 The right-hand part of the diagram shows the rinse product holders 12 to 14 during an upwardly directed movement.

[0125] Alternatively, if Fig.23 and Fig.24 , it is possible to perform a defined movement of the respective object 21 to 23, 38, 39. The respective object 21 to 23, 38, 39 with the high potential water residue 44 is gripped by the effector 19 and by the movement of the object 21 to 23, 38, 39, ie, for example, a 360° rotation ( Fig.23 ) or lateral tilt ( Fig.24 ) is moved to a position where water residues 44 can flow away.

[0126] Furthermore, external influences can be used. The objects 21 to 23, 38, 39 with high-potential water residues 44 can be affected by means of further effectors, ie, for example, compressed air nozzles 36 ( Fig.25 ), absorbent material in the form of cloth 49 ( Fig.26 )、Water absorber 50( Fig. 27 ), a heating element 51 ( Fig.28 ) or the like. The above-mentioned parts 36, 49, 50, 52 can be fixed to the robot arm 17, or can be grasped by the domestic robot 16 before processing.

[0127] In the case of the compressed air nozzle 36, water residues 44 are blown away from the respective objects 21 to 23, 38, 39 by an air jet with excess pressure ( Fig.25 In the case of the use of an absorbent material 49, the water residues 44 are absorbed or wiped off by the absorbent material ( Fig.26 ). With the aid of the water absorber 50, the water residue 44 is sucked in by negative pressure ( Fig. 27 ). With the aid of the heating element 51, the water residue 44 is evaporated ( Fig.28 ).

[0128] like Fig.29 As shown, it is possible to supplement the detection and removal of water residues 44 into an existing rinsing program 27. This can be done in particular during the drying process 32 (dashed box).

[0129] like Fig.30As shown, a further application case is to detect and subsequently eliminate possible faults. For this purpose, the generally described method for detecting objects 21 to 23, 38, 39 (including detecting the orientation) can be used. An example of this is a blockage of the spray arm. Common causes for this can be: the user does not arrange one or more objects 21 to 23, 38, 39 optimally or the objects 21 to 23, 38, 39 are moved by the hydraulic pressure effect caused by the flushing process.

[0130] The domestic robot 16 can detect this situation by means of a combination of a sensor system 18, in particular in the form of a camera system, and a method for detecting objects and resolve this obstruction by correcting the position of the objects 21 to 23, 38, 39. This process for detecting and eliminating a spray arm obstruction can be carried out at the beginning of an active flushing program 27 or also during it.

[0131] Another example is the detection of a blocked screen system, in particular a coarse screen and / or a fine screen, in the interior of a domestic dishwasher 1. This can be caused, for example, by food residues or other objects. The domestic robot 16 can detect this situation by a combination of a sensor system 18 and a method for detecting objects and eliminate the fault by using its effector 19. This process for detecting and eliminating a blocked screen system can be carried out at the beginning of an active rinse program 27 or also during it. Fig.30 As shown, faults can be detected and corrected at any point in time during the active flushing sequence 27 (dashed box).

[0132] The obvious advantage of removing the water residues 44 by the domestic robot 16 is the possibility of intervening in it also during the rinse program 27. For example, it is possible to start the process for removing the water residues 44 immediately after the rinse operation 31 in order to thereby achieve a better drying result, as in Fig.31 This is indicated by means of arrow 52 . Fig.31 An exemplary flushing program 27 is shown with a newly inserted treatment section for removing water residues 44 .

[0133] Fig.32 An exemplary process for detecting and removing water residues 44 in an existing rinsing program 27 is shown. In step S1, the previous rinsing program step is carried out. In step S2, objects 21 to 23, 38, 39 and / or surfaces with water residues 44 are detected. In step S3, water residues 44 are removed. It is then checked whether further water residues 44 are present. If this is not the case, the subsequent rinsing program steps are carried out in step S4, or the rinsing process is terminated. If, in addition, water residues 44 are present, the process returns to step S3 or, alternatively, to step S2.

[0134] Fig.33An abstract illustration of an exemplary system 53 is shown, which is independent of the corresponding method. Dashed boxes / lines represent optional components or connections that do not necessarily have to be present. The system 53 comprises a superordinate control unit 54, a camera system 55 which can be part of a sensor system 18, a camera 56 which can be part of the camera system 55, and a machine learning algorithm 57. In addition, the domestic dishwasher 1 itself is provided with a manipulator in the form of a robot arm 17 with an effector 19 and a sensor system 18, as well as one or more rinse item receptacles 12 to 14 and objects 21 to 23, 38, 39.

[0135] The domestic dishwasher 1 thus offers the possibility of actively intervening in the rinsing program 27 by means of the domestic robot 16. New use cases and / or functions are realized. During the active rinsing program 27, the domestic dishwasher 1 can be operated autonomously by means of the domestic robot 16. Advantageously, minimal involvement of the user in the rinsing process results. There is the possibility of adaptively metering detergent and rinse aid. Advantageously, minimal involvement of the user in the rinsing process results as well as protection of the environment and conservation of resources.

[0136] This results in the possibility of adaptively changing the rinsing program 27 during the rinsing process. This results in the advantage that the noise level of the domestic dishwasher 1 is reduced when people are present. It is possible to optimally position the objects 21 to 23, 38, 39 in the domestic dishwasher 1 or to reposition already positioned objects 21 to 23, 38, 39 for optimal cleaning. This advantageously results in an improved cleaning performance of the domestic dishwasher 1 and / or an optimal or maximum loading.

[0137] The targeted removal of any water residues 44 results in an improvement in the drying performance. Advantageously, this leads to a better drying result, which is visible to the user. A reduction in the drying time results, since the items to be rinsed are less wet with water. The advantage here is that the duration of the rinse program 27 is shortened. During the active rinse program 27, faults in the domestic dishwasher 1 are rectified autonomously by means of the domestic robot 16. Minimal involvement of the user in the rinsing process results as an advantage.

[0138] Although the present invention has been described based on the embodiments, various modifications can be made to the present invention.

[0139] Reference numerals used:

[0140] 1Household dishwasher

[0141] 2 Rinse the container

[0142] 3 doors

[0143] 4. Flushing room

[0144] 5 Pivot axis

[0145] 6 Feed opening

[0146] 7Bottom

[0147] 8 Top

[0148] 9 Back Wall

[0149] 10 Sidewall

[0150] 11Sidewall

[0151] 12 Rinsing item storage area

[0152] 13 Rinsing item storage unit

[0153] 14 Rinsing item storage part

[0154] 15Open-loop and closed-loop control devices

[0155] 16. Home Robots

[0156] 17Robot Arm

[0157] 18 sensor system

[0158] 19 Effectors

[0159] 20 Open-loop and closed-loop control devices

[0160] 21 Objects

[0161] 22 Objects

[0162] 23 Objects

[0163] 24 Bounding Box

[0164] 25 Bounding Box

[0165] 26 Bounding Box

[0166] 27 Flushing procedures

[0167] 28 Pre-rinsing process

[0168] 29Cleaning process

[0169] 30 Intermediate flushing

[0170] 31. Brightening process

[0171] 32Drying process

[0172] 33 Dirt

[0173] 34 elements

[0174] 35 Laser device

[0175] 36 Compressed air nozzle

[0176] 37 Water Nozzles

[0177] 38 Objects

[0178] 39 Objects

[0179] 40 Jet Shadow

[0180] 41 Jet Stream

[0181] 42 Jet Stream

[0182] 43 Standard Mode

[0183] 44 Water residue

[0184] 45 Area

[0185] 46 Area

[0186] 47 holder

[0187] 48 Articulated Lunge

[0188] 49 Materials

[0189] 50 water absorber

[0190] 51 Heating element

[0191] 52 Arrows

[0192] 53 System

[0193] 54Control Unit

[0194] 55 Camera System

[0195] 56 Camera

[0196] 57 Learning Algorithms

[0197] APull-out direction

[0198] E Push direction

[0199] F Rinse with bleach and / or fresh water

[0200] hHeight

[0201] S1 Step

[0202] S2 Step

[0203] S3 Steps

[0204] S4 Step

[0205] t time point.

Claims

1. A domestic dishwasher (1) having a rinsing container (2) for accommodating rinse items, an open-loop and closed-loop control device (15) for executing a rinsing program (27) for cleaning the rinse items, and a domestic robot (16), wherein: The open-loop and closed-loop control device (15) is configured to interrupt the flushing program (27) during the execution of the flushing program in order to allow the domestic robot (16) to enter the flushing container (2).

2. The household dishwasher according to claim 1, characterized in that: The domestic robot (16) has a robot arm (17) having a sensor system (18), in particular a camera, and / or an effector (19).

3. The household dishwasher according to claim 1 or 2, characterized in that: The open-loop and closed-loop control device (15) is configured to open the door (3) of the rinsing container (2) so that the domestic robot (16) can enter the rinsing container (2).

4. A domestic dishwasher according to any one of claims 1 to 3, characterized in that The household robot (16) is located inside or outside the flushing container (2).

5. The domestic dishwasher according to any one of claims 1 to 4, characterized in that The household robot (16) is configured to position individual objects (21, 22, 23, 38, 39) of the flushing items.

6. The domestic dishwasher according to claim 5, characterized in that: The household robot (16) is configured to change the position of the object (21, 22, 23, 38, 39).

7. The domestic dishwasher according to claim 5 or 6, characterized in that: The domestic robot (16) is configured to classify the objects (21, 22, 23, 38, 39) with respect to their type, with respect to dirt (33) and / or with respect to water residues (44).

8. The domestic dishwasher according to claim 7, characterized in that: In order to remove the dirt (33) and / or the water residues (44), the domestic robot (16) has a mechanical element (34), a laser device (35), a compressed air nozzle (36), a water nozzle (37), a water extractor (50) and / or a heating element (51).

9. The domestic dishwasher according to claim 7 or 8, characterized in that: The domestic robot (16) is configured to move and / or rotate the object (21, 22, 23, 38, 39) to remove the water residue (44).

10. A domestic dishwasher according to any one of claims 7 to 9, characterized in that The domestic robot (16) is configured to move and / or lift a rinse item holder (12-14) for receiving the object (21, 22, 23, 38, 39) in order to remove water residues (44).

11. The domestic dishwasher according to claim 10, characterized in that: The rinse item holder (12-14) is divided into a plurality of areas (45, 46), wherein the areas (45, 46) differ from one another in that different areas (45, 46) are able to accommodate objects (21, 22, 23, 38, 39) having different potentials for water residues (44).

12. A domestic dishwasher according to any one of claims 5 to 11, characterized in that The domestic robot (16) is provided to place additional objects (21, 22, 23, 38, 39) into the rinsing container (2) after the rinsing program (27) has been interrupted.

13. The domestic dishwasher according to claim 12, characterized in that: The open-loop and closed-loop control device (15) is provided for adapting the rinsing program (27) as a function of the added objects (21, 22, 23, 38, 39).

14. A domestic dishwasher according to any one of claims 1 to 13, characterized in that The domestic robot (16) is configured to detect and correct faults occurring in the washing container (2).

15. A domestic dishwasher according to any one of claims 1 to 14, characterized in that The open-loop and closed-loop control device (15) is provided for adapting the rinsing program (27) to the presence of a person in the vicinity of the domestic dishwasher (1).

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