System having domestic appliance, method for operating domestic robot, and computer program product

Abstract

The invention relates to a system (100) having a domestic appliance (1), in particular a water-conducting domestic appliance, and having a domestic robot (16) having a robot controller (21), the robot controller (21) is configured to control the domestic robot (16) in accordance with specific installation information about the domestic appliance (1) in such a way that the domestic robot automatically implements at least one of a plurality of installation links of an installation flow during a first commissioning of the domestic appliance (1).

Description

Technical Field

[0001] The invention relates to a system having a domestic device. The invention also relates to a method and a computer program product for operating a domestic robot. Background Art

[0002] After the household appliance is purchased and delivered, it is installed and debugged on site by the purchaser (user) and / or by a technician. However, such installation and / or debugging may place high demands on the user and / or technician.

[0003] DE 10 2020 204 083 A1 describes a computer program product for a robot having a computer for operating a household dishwasher, the computer program product comprising instructions which, when the computer program product is executed by the computer, cause the robot to perform the following steps: loading specific dishwasher techniques for a household dishwasher from a storage device and executing a portion of the loaded dishwasher techniques to operate the household dishwasher. Summary of the Invention

[0004] Against this background, one object of the present invention is to improve the commissioning of domestic appliances.

[0005] According to a first aspect, a system is provided having a household appliance, in particular a water-conducting household appliance, and a household robot having a robot controller. The robot controller is configured to control the household robot based on specific installation information about the household appliance, so that the household robot automatically performs at least one installation step of a plurality of installation steps of an installation process during initial commissioning of the household appliance.

[0006] Since the home robot automatically, preferably fully automatically, performs the installation process for the home appliance, the user of the home appliance no longer needs to be involved in the installation process. This has the advantage of preventing human error during the installation process and simultaneously improving user safety during the installation process. Furthermore, resources are saved because a service technician does not need to be present at the user's site for the installation process of the home appliance.

[0007] The household appliance is in particular a water-conducting household appliance or a household cooking appliance. Examples of water-conducting household appliances include a household dishwasher, a household refrigerator, a household washing machine, etc. Examples of household cooking appliances include a household stove, a household oven, a household microwave oven, etc. Particularly preferably, the household appliance is a household dishwasher.

[0008] In particular, initial commissioning is carried out on-site at the user's location after the appliance is delivered. Initial commissioning includes, in particular, erecting the appliance after delivery, removing its packaging, installing it, and / or establishing all necessary structural connections, such as installing electrical wiring or establishing a water connection. Initial commissioning can also include all subsequent steps required to operate the appliance so that the user can use it. These steps include, for example, switching on the appliance by operating a button on the appliance with the aid of a household robot, selecting a program, particularly a rinse program, with the robot, filling the appliance with substances required for operating the appliance, such as salt or detergent, and / or setting the water hardness in the appliance with the aid of the robot. The individual steps of initial commissioning can also correspond to and / or supplement individual installation steps of the installation process.

[0009] The term "automatically" includes the terms "semi-automatically" and "fully automatically". The term "semi-automatically" means in particular that the household robot is designed to assist the user and to perform assistive actions in collaboration with the user. The term "fully automatically" means in particular that the household robot is designed to perform one or more installation steps completely independently without the need for user intervention.

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

[0011] A household robot is a technical device that is used, in particular, to reduce frequently repetitive tasks for the user. The household robot preferably has a movable robotic arm with a sensor system and effectors. The robotic arm is driven, in particular, by a motor.

[0012] The domestic robot can be arranged such that, when the domestic appliance is configured as a domestic dishwasher, the robot arm can reach into the washing container of the domestic dishwasher in order to, for example, move or displace the rinsed goods within the interior of the domestic dishwasher. The domestic robot can be configured both on a stationary, immovable platform and on a non-stationary, movable or mobile platform and can be fixedly mounted on the platform.

[0013] Furthermore, the domestic robot can also be designed without a movable robotic arm with an effector. In this case, the domestic robot can in particular have a sensor system and / or a user interface unit. In this case, the domestic robot can be designed on a mobile, non-stationary platform and fixedly mounted on it. If the domestic robot is designed on a non-stationary, movable platform, regardless of whether it has a movable robotic arm, it can have a travel drive. Thus, the domestic robot can, in particular, independently change its position relative to the household appliance with the aid of the travel drive and autonomously travel around the household appliance.

[0014] The effector is in particular a gripper, by means of which, for example, a processing tool and / or a packaging of a household appliance can be gripped.

[0015] If the household appliance is a household dishwasher, the gripper can also pick up the items to be washed as long as the dishwasher door is open. The gripper can be designed as a two-finger gripper, a three-finger gripper, and / or a suction gripper. The effector is particularly designed to manipulate or move various objects in the interior of the household appliance or on the housing of the household appliance.

[0016] The sensor system can include both internal and external sensor systems. The internal sensor system is particularly designed to control the domestic robot itself, for example, a motor current sensor or a rotation angle sensor of a motor that moves the robot arm. Preferably, the internal sensor system is arranged in the housing of the domestic robot and is invisible to the user. The external sensor system includes, for example, a camera system. The external sensor system is particularly designed to measure or detect the environment of the domestic robot. The external sensor system can also include a force-torque sensor for detecting the movement and / or force of the effector.

[0017] The camera system comprises in particular a camera, a video camera and / or a plurality of cameras or video cameras. In addition, the sensor system can also comprise a LiDAR system (light detection and ranging). Preferably, the movable robotic arm carries the sensor system and the effector.

[0018] According to another embodiment, the robot controller is designed to receive the specific installation information at least from an internal storage unit of the household robot, and / or is designed to detect identification details of the household appliance or the packaging of the household appliance and determine the device type of the household appliance based on the detected identification details, and based on the determined device type the robot controller is designed to receive the specific installation information of the determined device type from a storage unit outside the household robot.

[0019] The internal memory unit is designed in particular as a read-only memory or ROM.

[0020] Identification details include, for example, the outline of the household appliance, the outline of the packaging of the household appliance, various packaging materials, various materials of the household appliance, the article number of the household appliance, a barcode, a QR code, and / or an NFC tag on the household appliance and / or on the packaging of the household appliance. Furthermore, identification details can also be placed in the interior of the household appliance, for example, in the flushing product receptacle in the interior of the household appliance or on the packaging.

[0021] The packaging of the household appliance can be located not only on the housing of the household appliance but also within the interior of the household appliance, for example completely or partially surrounding the flushing product receptacle within the interior. The packaging can include polystyrene, paper, cardboard, and / or plastic components. If the packaging is located within the interior of the household appliance, the household robot is designed to first remove the packaging from the housing, then open the door of the household appliance, and then remove the packaging from the interior by controlling the robotic arm.

[0022] The robot controller is preferably designed to compare the detected identification details with specific details of a database for determining the device type, such as an external storage unit. The identification details are detected in particular by recording at least one image using a camera system.

[0023] The robot controller is particularly designed to detect the identification details on all visible sides of the household appliance. If the identification details are not visible, the robot controller is preferably designed to control the household robot so that it moves, rotates and / or tilts the household appliance until the identification details can be detected.

[0024] The device type of a domestic appliance includes, in particular, the manufacturing number and / or the model designation of the respective domestic appliance.

[0025] The external storage unit is designed, for example, as a database or a cloud with storage devices.

[0026] According to another embodiment, the specific installation information of each installation link of the plurality of installation links includes all corresponding motion sequences of the domestic robot for implementing the respective installation link.

[0027] This embodiment has the same advantages as the above-described system according to the first aspect.

[0028] The installation process can be divided into the following individual installation links or steps: erection of the household appliance, removal of packaging material or packaging of the household appliance, control of the delivery scope, establishment of all required structural connections, such as power supply, water supply and water discharge, installation of the required components on the housing of the household appliance, installation of the household appliance in the set position, alignment of the household appliance, in particular alignment between existing furniture parts and / or commissioning of the household appliance.

[0029] The components in the "Installation of Required Components on the Housing of the Household Appliance" installation step can be flow elements and / or thermal insulation elements, for example, in the form of steam balloons, which can be placed or installed between the household appliance and existing furniture pieces. These components can also include furniture plates with screws, with which the household appliance is attached to or connected to existing furniture pieces. The installation process can particularly include an installation step that follows the "Alignment of the Household Appliance" installation step, i.e., a stage in which, after alignment, the household appliance is securely fastened and connected to the surrounding existing furniture pieces.

[0030] Each of the multiple installation steps in the installation process can be considered a single installation process with multiple installation steps. For example, the aforementioned installation step "removing the packaging material of the household appliance" can be considered a separate installation process. Here, this separate installation process includes the installation steps of "removing the packaging material on the housing of the household appliance," "removing the packaging material on the bottom and cover of the household appliance," and "removing the packaging material from the interior of the household appliance."

[0031] The household robot is particularly designed to determine a current installation step and its progress based on a previously performed installation step, which is stored, for example, in an external or internal memory unit of the household robot. The current installation step and / or its progress can be determined by comparing current sensor values, such as camera images, with reference values, such as reference images stored in an internal or external memory unit.

[0032] Preferably, the robot controller is designed to calculate in real time the corresponding motion sequences of trajectory planning with start coordinates and target coordinates of the domestic robot for each installation link based on the current position of the domestic robot, the robotic arm and / or the effector, or to call these motion sequences by comparison with previously calculated motion sequences with reference points stored in an internal or external storage unit.

[0033] The specific installation information is particularly designed as operating instructions and / or installation instructions. The specific installation information can also include, for one or more installation steps, target coordinates of the component to be installed of the household appliance, one or more steps, for example, that the component to be installed can be installed using a household robot (or according to a preferred arrangement if a step does not work), and / or object-specific information, such as the maximum gripping force of the effector and / or the weight of the object.

[0034] If determining the appliance type is impossible, for example because the identification details are obscured, it is still possible to begin with at least one installation step, such as "removing the packaging material of the household appliance," since different appliance types are likely to have very similar or identical packaging materials. The robot controller is then specifically designed to re-detect the identification details of the household appliance or its packaging and, based on the detected identification details, determine the appliance type of the household appliance. This detection and determination can be repeated at periodic intervals until the robot controller has determined the appliance type of the household appliance. Once the appliance type has been determined, the household robot can then perform further installation steps, such as "establishing all necessary structural connections."

[0035] Furthermore, corresponding installation steps, such as "removing the packaging material of a household appliance" from the household robot, can also be performed statically or dynamically, preferably independently of the determination of the appliance type of the household appliance. Statically performing in this context means, in particular, that the household robot has already stored the corresponding motion sequences for performing the corresponding installation steps in its internal storage unit and can perform these motion sequences independently of the determined appliance type. The household robot can already have all currently specific installation information for all current household appliances stored in advance. Dynamically performing in this context means, in particular, that the household robot can scan the (packaged) household appliance with the aid of its sensor system, such as a camera system, independently of the determination of the appliance type and, based on this, can calculate the motion sequences required for performing the corresponding installation steps.

[0036] According to another embodiment, the robot controller is designed to locate and pick up at least one processing tool within the activity radius of the household robot based on specific installation information, wherein the robot controller is designed to fully automatically implement the at least one installation link by applying the at least one processing tool to at least one installation link of the multiple installation links.

[0037] According to another embodiment, the robot controller is designed to locate and pick up corresponding processing tools from multiple specific processing tools within the activity radius of the household robot based on the specific installation information of each installation link, wherein the robot controller is designed to implement the installation process fully automatically by applying the corresponding specific processing tools to the corresponding installation link.

[0038] This embodiment has the following technical effect: the household robot fully automatically performs the installation process for the household appliance, eliminating the need for the user to participate in the installation process. This has the advantage of preventing human error during the installation process and simultaneously improving user safety during the installation process. Furthermore, resources are conserved, as the installation process of the household appliance does not require the presence of a service technician at the user's site.

[0039] In this embodiment, in particular the specific installation information is stored locally on an internal storage unit of the domestic robot.

[0040] The domestic robot is designed in particular to locate a specific processing tool using a camera system and to grip it using an effector designed as a gripper. The positioning can be carried out in particular using an algorithm based on artificial intelligence using machine learning.

[0041] Examples of processing tools are: a cutting tool, such as a knife, which can be used to remove packaging material, such as a film, one or more screwdrivers, which can be used to align and / or install a household appliance, and a wrench, which can also be used to align a household appliance.

[0042] The activity radius is, in particular, the radius within which the domestic robot can still move and perform actions, such as gripping with an effector.

[0043] Using this embodiment, the robot controller is designed, for example, to select a knife as a processing tool when implementing the installation step "removing packaging material of the household appliance", or to select one or more screwdrivers as processing tools when implementing the installation step "aligning the household appliance".

[0044] According to another embodiment, the household robot also has a user interface unit, wherein the robot controller is designed to guide the user of the household appliance by outputting specific installation information to the user with the aid of the user interface unit, so as to semi-automatically implement the installation process through an installation process, in particular through at least one or more installation links.

[0045] This has the advantage that, when semi-automatically performing the installation process, the household robot can guide or lead the user through each installation step. This improves user-friendliness for older users and / or users with physical limitations and improves the user's installation success rate. This is particularly helpful when the user fails to perform a specific installation step and the household robot then provides the user with specific installation information or instructs the user on how to perform the installation step.

[0046] The user interface unit represents the interface between a user, preferably a person, and the domestic robot. The user interface unit can be mounted on the domestic robot and can be configured as a loudspeaker, a microphone, a (touch) display, a projector, in particular a holographic projector, and / or a laser for displaying information.

[0047] If the household robot determines, by comparison with an internal or external storage unit, that it is unable to perform one or more corresponding installation steps using its currently installed effector, the household robot can still output guidance and / or orientation assistance in the form of specific installation information to the user via the user interface unit and thereby guide the user through the installation process. For example, the household robot determines that the household robot is unable to perform the installation step if it determines that multiple cameras are required but the household robot is only equipped with one camera, or if the result of an algorithm for estimating the weight of an object to be lifted using an effector exceeds the maximum permissible weight of the effector.

[0048] According to another embodiment, the robot controller is designed to implement corresponding auxiliary actions to assist the user in implementing the installation process based on the specific installation information in at least one or more installation links with the help of the at least one processing tool or the multiple processing tools and / or the user interface unit.

[0049] The auxiliary action can be to transmit the next pending installation link or the action instructions therein to the user through the user interface unit. The term "transmit" can be referred to as pre-reading, displaying and / or rendering of the auxiliary action.

[0050] A domestic robot can have multiple user interface units, for example a speaker, a projector and a touch display simultaneously.

[0051] According to further embodiments, the assistance activity can be designated as an installation assistance, wherein the domestic robot is designed to locate the components and / or processing tools required for installing the domestic appliance and provide them to the user, as a final installation assistance, wherein the domestic robot is designed to position the domestic appliance in a desired area in cooperation with the user, and / or as an alignment assistance, wherein the domestic robot is designed to provide the user with an optimal alignment of the domestic appliance for alignment in the desired area. Further assistance activities are conceivable depending on the respective installation step to be performed.

[0052] The required parts can be different cables, screws, screwdrivers, wrenches and / or levels, among others.

[0053] The final installation aid occurs, in particular, when the domestic robot itself is unable to exert the force required to move the domestic appliance into the designated area, in particular into the correct position. The required force can therefore be divided. For example, the user presses the domestic appliance in the left area and the domestic robot in the right area.

[0054] Instructions to this can be output or displayed to the user by the user interface unit. In addition, the current movement and / or position of the household device can be monitored by the camera system of the household robot and other instructions can be issued or displayed to the user, such as requiring greater or less force assistance by the user.

[0055] When assisting with alignment, the domestic robot is particularly designed to detect the current position of the domestic appliance and / or the position of the robot arm (effector position) with the aid of sensors, such as a camera system. Furthermore, in this case, the domestic robot is preferably designed to detect, with the aid of its sensor system, the optimal alignment of the domestic appliance in relation to adjacent existing furniture pieces and / or the optimal installation depth of the domestic appliance in relation to adjacent existing furniture pieces. The display and / or reproduction of possible correction instructions to the user can also be implemented via the user interface unit. The alignment assistance can also include an installation step in which the domestic appliance and the existing adjacent furniture piece are jointly aligned horizontally and vertically relative to one another using a spirit level as a processing tool, so that the domestic appliance and the existing adjacent furniture piece are leveled or "leveled" with one another.

[0056] Furthermore, the domestic robot is particularly designed to detect objects (e.g., door panels, furniture panels, or walls) using a camera system in combination with an object recognition unit and to project useful details of the installation process onto these objects for the user. For example, holes in the furniture panels of a door or a household appliance are displayed to the user using a laser or a projector, for example, to facilitate correct alignment of the object and / or the household appliance.

[0057] According to a further embodiment, the robotic controller is designed to detect the presence of at least one user in the vicinity of the domestic appliance and at least one gesture of the present user during the automated implementation of the installation process.

[0058] This embodiment has the advantage that undesired collisions with the user during the installation process are prevented, thereby increasing safety during the installation process for both humans and machines.

[0059] This recognition can be carried out with the aid of a camera system and algorithms provided for this purpose (object recognition, gesture recognition).

[0060] According to a further embodiment, the robot controller is designed to determine after at least one automatically performed assembly step whether at least one automatically performed assembly step was performed incorrectly.

[0061] The robot controller is designed to detect an incorrectly performed installation step after at least one partially or fully automatically performed installation step. After detecting the incorrectly performed installation step, the robot controller is particularly designed to notify a user of the detected incorrectly performed installation step via a user interface unit.

[0062] This embodiment has the following technical effect: incorrectly installed components of a household appliance can be identified by the user during the installation process. This can then be indicated to the user, allowing the user to replace the incorrectly installed component. This has the advantage of identifying and limiting human errors during the installation process, thereby identifying malfunctions in the household appliance early. Consequently, damage or accidents to the user and / or the household appliance during subsequent operation of the household appliance can be limited or prevented, thereby improving user safety.

[0063] The robot controller is particularly designed to identify incorrectly performed installation steps by comparing an image captured by the domestic robot's camera system (actual image) with an image stored as a reference image (target image) in an internal or external storage unit. If a deviation is detected in this comparison, an incorrectly performed installation step is present. Furthermore, the domestic robot can be designed to output correction recommendations to the user via the user interface unit for correcting the incorrectly performed installation step.

[0064] According to another embodiment, the system also has a remote control unit, wherein the robot controller also has a data transmission unit, wherein the remote control unit is designed to transmit remote control information having the specific installation information to the data transmission unit of the household robot, wherein the remote control unit is designed to control the robot controller based solely on the remote control information to automatically implement at least one installation link or the installation process of the household appliance.

[0065] This embodiment has the technical effect of controlling the household robot by the remote control unit in such a way that the household robot performs the installation process fully automatically and remotely. This has the advantage that the household robot only receives the remote control information remotely and cannot obtain the remote control information provided by its robot controller or the household robot's internal storage unit. This can assist older and / or limited users, or enable the installation process to be performed even if no user is present at home.

[0066] The term "based only on remote control information" means, in particular, that the robot controller uses only control information or control data sent from the remote control unit and does not use control information or control data stored locally in the internal storage unit of the household robot to automatically implement at least one installation link.

[0067] In this case, the automatic execution can preferably be fully automatic. The execution can also be semi-automatic.

[0068] Preferably, during the transmission of remote control information and during remote control, an active communication connection, in particular a bidirectional communication connection, for example via WLAN, Bluetooth, or radio, is permanently present between the domestic robot and the remote control unit. Thus, remote control information or remote control data is transmitted from the domestic robot to the remote control unit and vice versa. The remote control data may include, for example, sensor data, camera data, position data, information from an external storage unit, trajectory coordinates, and / or start and target coordinates.

[0069] The terms "remote control" or "remote control" do not in particular mean that the home appliance and the remote control unit are spatially separated or that there is a predetermined distance between them.

[0070] Furthermore, just one installation step or even the entire installation process can be carried out fully automatically and remotely controlled.

[0071] The remote control unit can be designed as a remote control for users of the household robot and / or household appliances or as a computer-based system for remotely controlling the installation process. The computer-based system is in particular cloud-based. In addition, the computer-based system can be based on algorithms based on artificial intelligence and machine learning that are trained using training data and / or user data and are thus continuously improved. Machine learning includes in particular "learning by demonstration." In this case, a person performs the installation process, and the robot controller uses the sensor system of the household robot to detect this execution. The household robot then learns from this execution and, after a certain period of learning, can also perform the installation process fully automatically.

[0072] For example, a household robot receives an image using its sensor system and sends it to the cloud. Based on the image or its image data, the cloud can then calculate which installation step to perform next. This instruction for the next installation step to be performed can then be transmitted to the robot controller via a data transmission unit in the form of a remote control message containing specific installation information for the installation step to be performed. The robot controller then performs the next installation step to be performed solely based on this remote control message.

[0073] According to a further embodiment, the robot controller is designed to monitor the installation process of a domestic appliance and thereby identify when a maximum threshold value of a parameter of the domestic robot is exceeded during the installation process, wherein the robot controller is designed to interrupt the installation process when an exceeding of the maximum threshold value is identified.

[0074] This has the advantage that faults, problems or obstacles related to the movement of the domestic robot can be identified and reduced in advance during the installation process. As a result, damage or accidents to the user and / or the domestic appliance can be limited or prevented during the subsequent operation of the domestic appliance, thereby increasing safety for the user.

[0075] In particular, the robot controller is designed to detect, during the installation process, the exceeding of maximum threshold values ​​for parameters of components of the domestic robot.

[0076] The components of the domestic robot can be internal or external. The internal components of the domestic robot are preferably located in the housing of the domestic robot and are, for example, motors for effectors or force-torque sensors that can be mounted on or in the housing of a robot arm. The external components can be mounted on the outside of the domestic robot and include camera systems and / or effectors.

[0077] A parameter of a component of a domestic robot is, for example, the motor current of a motor of an effector, wherein the motor is a component in this case. Furthermore, a parameter can be a torque value of a force-torque sensor.

[0078] According to a further embodiment, the robot controller is designed to detect damage at or in the domestic appliance.

[0079] Furthermore, the robot controller can also be designed to detect damage by comparing the actual image recorded by the domestic robot with a target image stored in an internal or external storage unit.

[0080] The comparison is, in particular, a target-actual comparison of sensor values, such as camera images. The target data or the target camera images can be stored in an internal or external storage unit. Transport damage can preferably be configured as anomalies detected in the actual data or the actual camera images.

[0081] Damage can include, for example, transport damage to the domestic appliance and / or defective or deformed parts or components.

[0082] This embodiment has the advantage that, after detecting a defective or deformed component, it can be replaced by the domestic robot, the user can be warned of the damage by means of a user interface unit, and / or customer service can be automatically engaged. Thus, damage not caused by the user can be advantageously detected, evaluated, and directly used as information for a return or customer service process.

[0083] The household robot is preferably designed to evaluate the detected damage and determine its effects. For example, if a hole is detected in the rinse container when the household appliance is configured as a household dishwasher, the rinse container must be replaced. In particular, the household robot is designed to perform this replacement. The household robot can also notify customer service so that the replacement can be performed. For example, if the evaluation results in a scratch as a detected damage, the household robot can first draw the user's attention to the scratch and then provide customer service based on the user's evaluation.

[0084] In the case of returns, the household robot can be designed to prepare the household appliance for shipment and / or assist the user in shipping through different shipping assistance behaviors, or to guide or direct the user through a shipping and / or packaging process with different shipping sections.

[0085] According to a second aspect, a method for operating a domestic robot having a robot controller is provided. The robot controller performs the following steps:

[0086] The domestic robot is controlled based on specific installation information about a household appliance, in particular a water-conducting household appliance, so that during the first commissioning of the household appliance, the domestic robot automatically performs at least one installation step of the household appliance among multiple installation steps of the installation process.

[0087] The technical effects and advantages described for the proposed system according to the first aspect are also applicable to the proposed method according to the second aspect.

[0088] Furthermore, the embodiments and features described with reference to the proposed system according to the first aspect are applicable mutatis mutandis to the proposed method according to the second aspect.

[0089] According to a third aspect, a computer program product is proposed, comprising instructions which, when the program is executed by a computer, cause the computer to perform the aforementioned method according to the second aspect.

[0090] The computer program product, for example, a computer program device, can be provided or supplied, for example, as a storage medium, such as a memory card, a USB stick, a CD-ROM, a DVD, or also in the form of a downloadable file from a server in a network. This can be carried out, for example, by transmitting a corresponding file containing the computer program product or computer program device in a wireless communication network.

[0091] The embodiments and features described for the proposed system according to the first aspect apply correspondingly to the proposed computer program product according to the third aspect.

[0092] Other possible embodiments of the present invention also include combinations not explicitly mentioned of features or embodiments described above or below with respect to the embodiments. Here, those skilled in the art can also add individual aspects as improvements or supplements to the corresponding basic forms of the present invention.

[0093] Further advantageous embodiments and aspects of the invention are the subject matter of the dependent claims and of the exemplary embodiments of the invention described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Figure 1A schematic perspective view showing an embodiment of a household appliance;

[0095] Figure 2 A schematic perspective view of a system with a household appliance and with an embodiment of a household robot is shown;

[0096] Figure 3 A schematic perspective view of a system with a household appliance and with a further embodiment of a household robot is shown;

[0097] Figures 4A-4C Schematic perspective views showing the household appliance during different packaging states;

[0098] Figure 5 Show the basis Figure 2 A schematic perspective view of an embodiment of a system of FIG.

[0099] Figure 6 Show the basis Figure 2 A schematic perspective view of another embodiment of the system;

[0100] Figure 7 Show the basis Figure 2 A schematic perspective view of another embodiment of the system;

[0101] Figure 8 Show the basis Figure 2 A schematic perspective view of another embodiment of a household robot;

[0102] Figure 9-11 Show respectively according to Figure 2 Schematic stereoscopic views of various assistive behaviors of household robots;

[0103] Figure 12 Show the basis Figure 2 A schematic perspective view of another embodiment of the system;

[0104] Figures 13A-13C Shows the basis associated with the user Figure 2 A schematic perspective view of the system; and

[0105] Figure 14 Shown for running according to Figure 2 Schematic block diagram of the method of a household robot. DETAILED DESCRIPTION

[0106] In the figures, identical or functionally identical elements are provided with the same reference symbols unless otherwise indicated.

[0107] Figure 1A schematic perspective view shows an embodiment of a household appliance 1, particularly a water-conducting household appliance, such as a household dishwasher. In another embodiment (not shown), the water-conducting household appliance is, for example, a refrigerator. The household dishwasher 1 includes a rinsing container 2, which can be closed, particularly in a watertight manner, by a door 3. To this end, a sealing device can be provided between the door 3 and the rinsing container 2. The rinsing container 2 is preferably a cuboid. The rinsing container 2 can be arranged in the housing of the household dishwasher 1. The rinsing container 2 and the door 3 can form a rinsing chamber 4 for rinsing items to be rinsed.

[0108] exist Figure 1 The central door 3 is shown in its open position. The door 3 can be closed or opened by pivoting about a pivot axis 5 provided at the lower end of the door 3. The door 3 can be used to close or open the filling opening 6 of the rinsing container 2. The rinsing container 2 has a bottom 7, a lid 8 arranged opposite the bottom 7, a rear wall 9 arranged opposite the closed door 3, and two side walls 10 and 11 arranged opposite each other. The bottom 7, lid 8, rear wall 9, and side walls 10 and 11 can be made, for example, of stainless steel sheet metal. Alternatively, the bottom 7 can be made of a plastic material, for example.

[0109] The domestic dishwasher 1 further comprises at least one rinse product container 12 to 14. Preferably, a plurality of rinse product containers 12 to 14, for example three, can be provided, wherein the rinse product container 12 can be a lower rinse product container or a lower basket, the rinse product container 13 can be an upper rinse product container or an upper basket, and the rinse product container 14 can be a cutlery drawer.

[0110] like Figure 1 As further shown, the rinse product receptacles 12-14 are arranged one above the other in the rinsing container 2. Each rinse product receptacle 12-14 can be selectively moved into or out of the rinsing container 2. In particular, each rinse product receptacle 12-14 can be pushed into or moved into the rinsing container 2 along an insertion direction E and can be pulled out or moved out of the rinsing container 2 along a withdrawal direction A, counter to the insertion direction E.

[0111] The domestic dishwasher 1 comprises a control and regulating device 15. The domestic dishwasher 1 can be controlled by means of the control and regulating device 15. For example, different rinse programs can be implemented by means of the control and regulating device 15. The control and regulating device 15 can be arranged in the door 3.

[0112] Figure 2 A schematic perspective view of a system 100 is shown, which has Figure 1The household appliance 1 is designed as a household dishwasher and has a household robot 16 with a robot controller 21. The household robot 16 comprises a movable robot arm 17, a sensor system 18, in particular a camera system, attached to the robot arm 17, a user interface unit 22 and an effector 19, which can be designed as a gripper. Figure 1 The domestic robot 16 is arranged outside the domestic appliance 1. The domestic robot 16 is designed to reach into the opened domestic dishwasher 1 using its robot arm 17 and its effector 19.

[0113] exist Figure 2 A domestic dishwasher 1 is shown with a door 3, a cover 8 and side walls 10 (see also Figure 1 ). In addition, the household robot 16 is arranged on a platform 27, which is Figure 2 The device is configured in a fixed position and cannot move.

[0114] The robot controller 21 is configured to control the domestic robot 16 based on specific installation information regarding the domestic dishwasher 1, so that the domestic robot automatically performs at least one installation step from a plurality of installation steps of the installation process during the initial commissioning of the domestic dishwasher 1. The specific installation information for each installation step in the plurality of installation steps includes the entire corresponding movement sequence of the domestic robot 16 for performing the corresponding installation step. Furthermore, the robot controller 21 is designed to determine, after at least one automatically performed installation step, whether the at least one automatically performed installation step was performed incorrectly.

[0115] Figure 3 A schematic perspective view of a system 100 with a further embodiment of a domestic appliance 1 and a domestic robot 16 is shown. Figure 3 In the embodiment, the domestic robot 16 is arranged on a mobile and non-stationary platform 27 and also does not have a robot arm 17 (see Figure 2 ). In addition, the household robot 16 has a drive (not shown) and four wheels 20, wherein Figure 3 20. The domestic robot can thereby automatically change its position relative to the domestic appliance 1, in particular by means of a drive.

[0116] Figures 4A-4C Schematic perspective views of the household appliance 1 during different packaging states are shown when performing the installation process of "removing the packaging material of the household appliance 1". Figures 4A-4C The household appliances 1 each have an identification detail 24. The identification detail 24 is, for example, an article number or a barcode.

[0117] exist Figure 4A1 shows the domestic appliance 1 in a state in which it is still completely packaged and surrounded by the packaging material 23. Figure 4B In the case of a household robot 16 (refer to Figure 2 、 Figure 5-12 or Figures 13A-13C ) The installation step "Removing the packaging material on the sides of the housing of the household appliance 1" is carried out fully automatically. Figure 4C In addition to the packaging material 23 on the bottom 7 of the household appliance 1 (see Figure 1 All packaging materials 23 except for the above have been removed by the household robot 16. Figure 4C Also shown in Figure 4B The sensor system 18 of the household robot 16, which is not shown in the figure, is designed as a camera system. Figure 4C The triangle shown in FIG is the scanning or detection area of ​​the camera system of the domestic robot 16, with the help of which the robot controller 21 (see Figure 2-12 or Figures 13A-13C ) is designed to detect identification details 24 of the household appliance 1 or the packaging of the household appliance 1 by controlling the camera system and determine the device type of the household appliance 1 based on the detected identification details 24. Then, based on the determined device type, the robot controller 21 is designed to receive specific installation information for the determined device type from a storage unit external to the household robot 16. In an embodiment, the robot controller 21 is designed to receive specific installation information from an internal storage unit of the household robot 16.

[0118] Figure 5 Show the basis Figure 2 A schematic perspective view of an embodiment of the system 100 is provided. Figure 5 In the embodiment, the robot controller 21 is designed to locate and pick up at least one processing tool 25 within the activity radius of the household robot 16 based on specific installation information. Here, the robot controller 21 is designed to fully automatically implement the at least one installation link by applying the at least one processing tool 25 to at least one installation link in the multiple installation links. If the installation link is "removing the packaging material 23 (refer to Figures 4A-4C )”, the processing tool 25 is a knife or a cutting tool.

[0119] exist Figure 5 In the embodiment, the robot controller 21 is further designed to locate and pick up a corresponding processing tool 25 from a plurality of specific processing tools within the activity radius of the household robot 16 based on the specific installation information for each installation link. The robot controller 21 is designed to fully automatically implement the installation process by applying the corresponding specific processing tool to the corresponding installation link. Since a plurality of different specific processing tools are provided, Figure 5 The corresponding processing tools are indicated by the corresponding squares within the reference numeral 25 .

[0120] Figure 6 Show the basis Figure 2 Schematic perspective view of another embodiment of the system 100. Here, the system 100 also has a remote control unit 26. In addition, Figure 6 In the embodiment, the robot controller 21 has a data transmission unit.

[0121] exist Figure 6 In the embodiment, the remote control unit 26 is designed to transmit remote control information with specific installation information to the data transmission unit of the household robot 16 via the communication connection LINK. Figure 6 In the embodiment of the present invention, the remote control unit 26 is bidirectionally constructed, which is shown by the two arrow ends of the communication connection LINK. Here, the remote control unit 26 is designed to control the robot controller 21 based only on the remote control information to automatically implement at least one installation link or the installation process of the household appliance 1.

[0122] Figure 7 Show the basis Figure 2 Schematic perspective view of another embodiment of the system 100. Figure 7 In the embodiment, the robot controller 21 is designed to monitor the installation process of the domestic appliance 1 and to detect when a maximum threshold value of a parameter of the domestic robot 16 is exceeded during the installation process. When the maximum threshold value is detected to be exceeded, the robot controller 21 is then designed to interrupt the installation process. Figure 7 In , the parameter is the motor current value of the effector 19 of the household robot 16. Figure 7 In FIG. 1 , the effector 19 grasps an object O, such as a metal rod.

[0123] also, Figure 7 A rectangle with a current-time coordinate system is shown. In the current-time coordinate system, the motor current I of the effector 19 is indicated on the x-axis, the time t is indicated on the y-axis, and the maximum permissible motor current I is shown as a dashed line MAX. When the effector 19 is moved with the object O, the robot controller 21 now recognizes that the motor current I is exceeded (see Figure 7 , reference numeral MAX2).

[0124] Figure 8 Show the basis Figure 2 Schematic stereoscopic view of a further embodiment of a household robot 16.

[0125] exist Figure 8In the embodiment of the present invention, the robot controller 21 is designed to carry out a setpoint-actual comparison. Here, the robot controller 21 is designed to detect the screws with the aid of the camera system 18 and store them as actual data O_IST. The robot controller 21 is then designed to compare the actual data O_IST with the setpoint data O_SOLL stored in an internal storage unit of the domestic robot 16, which is stored in the internal storage unit. Figure 8 The configuration is in the robot controller 21. Since the screw of the actual data O_IST is larger than the screw of the rated data O_SOLL, the screw of the actual data O_IST does not correspond to the screw that should be given to the user BEN as an auxiliary action (see Figure 9 、 10 Therefore, the robot controller 21 is designed to output information to the user BEN by means of the user interface unit 22 configured as a microphone that the screw of the actual data O_IST is not a correct screw.

[0126] In other words, the robot controller 21 is designed to guide the user BEN of the household appliance 1 by outputting specific installation information (for example, the screw of the actual data O_IST is not the correct screw) to the user BEN with the help of the user interface unit 22, so as to semi-automatically implement the installation process.

[0127] Figure 9-11 Show respectively according to Figure 2 Schematic three-dimensional view of various auxiliary behaviors of the household robot 16. Here, the robot controller 21 is respectively designed to use at least one processing tool 25 (see Figure 5 ) or multiple processing tools and / or user interface unit 22 (see Figure 2 、 Figure 3 or Figure 8 ) Implement corresponding auxiliary behaviors to assist user BEN.

[0128] exist Figure 9 1 shows a system 100 having a household appliance 1 and a household robot 16. The user BEN performs the installation step of "installing the required components on the housing of the household appliance". The auxiliary behavior performed by the household robot 16 corresponding to this installation step is installation assistance.

[0129] In the case of installation assistance, the domestic robot 16 is designed to locate and provide the user BEN with the components required to install the domestic appliance 1, such as the correct screws. Figure 8The result is that the household robot 16 determines the correct screw from the rated data O_SOLL and provides the screw to the user BEN so that the user can further perform the installation step of "installing the required components on the housing of the household appliance".

[0130] exist Figure 10 In the example, system 100 includes a household appliance 1, a household robot 16, and a user BEN. The user BEN and the household robot 16 perform the installation step of "installing the household appliance in a reserved location." The assistance action performed by the household robot 16 corresponding to this installation step is the final installation assistance.

[0131] In accordance with Figure 10 In the case of the final installation assistance, the domestic robot 16 is designed to cooperate with the user BEN to position the domestic appliance 1 in the set area by distributing the required force. Figure 10 In the embodiment, the user BEN pushes the household appliance 1 in the left area of ​​the household appliance 1 and the household robot 16 pushes it in the right area of ​​the household appliance 1, whereby the household appliance 1 is moved in the direction R and is thus positioned in the reserved area between the existing furniture pieces M.

[0132] exist Figure 11 In FIG, the system 100 includes a household appliance 1 and a household robot 16. The installation step "aligning the household appliance" is implemented by the household robot 16. The auxiliary behavior performed by the household robot 16 corresponding to the installation step is alignment assistance.

[0133] In accordance with Figure 11 In the case of alignment assistance, the domestic robot 16 is designed to align the domestic appliance 1 in a reserved area, in particular according to the optimal installation position EP and with the existing furniture piece M (see Figure 9 、 Figure 10 、 Figure 13B or Figure 13C ) between the alignment, the user BEN is presented with the optimal alignment of the household appliance 1. In this case, the robot controller 21 is designed to use a user interface unit 22 (see Figure 2 or Figure 3 ) Project the optimized installation position EP onto the home appliance 1 so that the user BEN has information about where the optimized installation position EP of the home appliance 1 is located. Figure 11 In the embodiment, the optimal installation position EP is proposed such that the domestic appliance 1 is leveled horizontally with the existing adjacent furniture pieces M.

[0134] Figure 12 Show the basis Figure 2Schematic perspective view of another embodiment of the system 100. Here, the robot controller 21 is designed to detect damage SCH on the domestic appliance 1, here in Figure 12 The middle is the damage on door 3 (see Figure 1 ).

[0135] Figures 13A-13C Shows the basis associated with user BEN Figure 2 Schematic perspective view of system 100.

[0136] exist Figure 13A In the embodiment, the robot controller 21 is designed to scan or detect the household appliance 1 and the surrounding environment of the household appliance 1 by means of a camera system during the automatic implementation of the installation process. Figure 13B The robot controller 21 detects the user BEN around the home appliance 1. Figure 13C The robot controller 21 detects the arm AR of the existing user BEN, that is, the posture of the existing user BEN. Therefore, in the event of a collision between the household robot 16 and the existing user BEN, the robot controller 21 can sound an alarm or display a warning.

[0137] Figure 14 A schematic block diagram of a method for operating a domestic robot 16 is shown, wherein the domestic robot has a Figure 2 Robot controller 21. According to Figure 14 The method includes step S10. Step S10 includes controlling the household robot 16 (see Figure 1-3 , 4A-4C, 5-7, 9-11, 12 or 13A-13C), so that the household robot automatically implements the installation link of the household appliance 1 in the multiple installation links of the installation process during the first commissioning of the household appliance 1. Alignment alignment alignment alignment alignment

[0138] Although the invention has been described above with reference to exemplary embodiments, it can be modified in many different ways.

[0139] Reference Signs List

[0140] 1Household equipment

[0141] 2. Rinse the container

[0142] 3 doors

[0143] 4Flushing chamber

[0144] 5 pivot axis

[0145] 6 loading opening

[0146] 7Bottom

[0147] 8 cover

[0148] 9 Back Wall

[0149] 10 side walls

[0150] 11 sidewalls

[0151] 12 flushing storage part

[0152] 13 flushing storage part

[0153] 14 flushing storage part

[0154] 15 Control and regulation devices

[0155] 16. Home Robots

[0156] 17 robotic arm

[0157] 18-sensor system

[0158] 19 Effectors

[0159] 20 rounds

[0160] 21Robot controller

[0161] 22 user interface units

[0162] 23 Packaging materials

[0163] 24 logo details

[0164] 25 processing tools

[0165] 26 remote control units

[0166] 27 Platform

[0167] 100 systems

[0168] A Extraction direction

[0169] AR Arm

[0170] BEN users

[0171] EInsert direction

[0172] EP installation location

[0173] IMotor current

[0174] LINK communication connection

[0175] MAX maximum value

[0176] MAX2 exceeds the maximum value

[0177] M furniture pieces

[0178] O object

[0179] O_IST actual data

[0180] O_SOLL Rating Data

[0181] R direction

[0182] S10 method steps

[0183] SCH injury

[0184] t time.

Claims

1. A system (100) comprising a household appliance (1), in particular a water-conducting household appliance, and comprising a household robot (16) having a robot controller (21), wherein: The robot controller (21) is configured to control the household robot (16) based on specific installation information about the household appliance (1), so that the household robot automatically implements at least one installation link of multiple installation links of the installation process during the first commissioning of the household appliance (1).

2. The system according to claim 1, wherein: The domestic robot (16) further comprises a robot arm (17) with a sensor system (18), in particular a camera system, and / or an effector (19).

3. The system according to claim 1 or 2, characterized in that The robot controller (21) is designed to receive the specific installation information at least from an internal storage unit of the household robot (16), and / or the robot controller is designed to detect identification details (24) of the household appliance (1) or the packaging of the household appliance (1) and determine the device type of the household appliance (1) based on the detected identification details (24), and based on the determined device type the robot controller is designed to receive the specific installation information for the determined device type from a storage unit outside the household robot (16).

4. The system according to any one of claims 1 to 3, characterized in that The specific installation information for each installation link in the plurality of installation links includes all corresponding motion sequences of the household robot (16) for implementing the corresponding installation link.

5. The system according to any one of claims 1 to 4, characterized in that The robot controller (21) is designed to locate and pick up at least one processing tool (25) within the activity radius of the household robot (16) based on the specific installation information, wherein the robot controller (21) is designed to fully automatically implement the at least one installation link by applying the at least one processing tool (25) to at least one installation link among the multiple installation links.

6. The system according to claim 5, characterized in that The robot controller (21) is designed to locate and pick up a corresponding processing tool (25) from a plurality of specific processing tools within the activity radius of the household robot (16) based on the specific installation information for each installation link, wherein the robot controller (21) is designed to fully automatically implement the installation process by applying the corresponding specific processing tool to the corresponding installation link.

7. The system according to any one of claims 1 to 6, characterized in that The household robot (16) also has a user interface unit (22), wherein the robot controller (21) is designed to guide the user of the household appliance (1) to complete the installation process, in particular to complete the at least one installation link or the multiple installation links, by outputting specific installation information to the user with the help of the user interface unit (22), so as to semi-automatically implement the installation process.

8. The system according to claim 7, characterized in that The robot controller (21) is designed to perform a corresponding auxiliary action to assist the user based on the specific installation information when implementing the installation process with the help of the at least one processing tool or the multiple processing tools and / or the user interface unit (22) during the at least one installation link or the multiple installation links.

9. The system according to claim 7 or 8, characterized in that During the automatic implementation of the installation process, the robotic controller (21) is designed to recognize the presence of at least one user around the domestic appliance (1) and at least one gesture of the user.

10. The system according to any one of claims 1 to 9, characterized in that After at least one automatically performed installation step, the robot controller (21) is designed to determine whether the at least one automatically performed installation step was performed incorrectly.

11. The system according to any one of claims 1 to 10, characterized in that: Remote control unit (26), Wherein, the robot controller (21) further comprises a data transmission unit, The remote control unit (26) is designed to transmit remote control information having the specific installation information to the data transmission unit of the household robot (16), and the remote control unit (26) is designed to control the robot controller (21) based solely on the remote control information to automatically implement at least one installation step or the installation process of the household device (1).

12. The system according to any one of claims 1 to 11, characterized in that The robot controller (21) is designed to monitor the installation process of the domestic appliance (1) and to identify when a maximum threshold value of a parameter of the domestic robot (16) is exceeded during the installation process, wherein the robot controller (21) is designed to interrupt the installation process when it is identified that the maximum threshold value is exceeded.

13. The system according to any one of claims 1 to 12, characterized in that The robot controller (21) is designed to detect damage on or in the domestic appliance (1).

14. A method for operating a domestic robot (16) having a robot controller (21), the robot controller performing the following steps: The household robot (16) is controlled (S10) based on specific installation information about a household appliance (1), in particular a water-conducting household appliance, so that the household robot automatically performs at least one installation step of a plurality of installation steps of an installation process of the household appliance (1) during the first commissioning of the household appliance (1).

15. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method according to claim 14.

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