Loading a dishwasher basket

Abstract

A method (200) for loading a dishwasher (105) with an extendable dish rack (110) comprises the steps of sensing (210) a dish item (150) to be placed in the dishwasher (105); determining (210) a physical parameter of the dish item (150); determining (225) a storage location in the dish rack (110) based on the physical parameter; and placing (235) the dish item (150) at the storage location. The physical parameter includes a mass of the dish item (150); and the storage location is determined such that, after the dish item (150) has been placed, the center of gravity (155) of the dish rack (110) is approximately close to a predetermined area (160).

Description

[0001] The present invention relates to the loading of a dish basket of a dishwasher. In particular, the invention relates to the loading of the dish basket by means of a loading robot.

[0002] A loading robot is designed to load dishes into a dishwasher. The dishwasher includes a dish rack that can be pulled out horizontally from the dishwasher's housing for access. The loading robot can pick up a dish and place it in the rack. Once the rack is full or there are no more dishes to add, the rack can be pushed back into the housing.

[0003] Especially when the loading robot is not used in an industrial environment where dishes are relatively uniform, but rather in a household where a wide variety of dishes are expected, finding an optimal arrangement of dishes in the dish rack can be difficult. Incorrect loading can lead to unsatisfactory cleaning results. Furthermore, the dishwasher can be subjected to mechanical stress, potentially causing the dish rack or its pull-out mechanism to age or break prematurely.

[0004] One of the problems underlying the present invention is to provide an improved technique for loading a dishwasher basket. The present invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0005] A dishwasher includes a pull-out dish rack. The dish rack can be pulled out horizontally from the dishwasher's housing. A dishwasher is typically a household appliance, usually a private household.

[0006] According to a first aspect of the present invention, a method for loading such a dishwasher comprises the steps of detecting a dish to be placed in the dishwasher; determining a physical parameter of the dish; determining a storage location in the dish basket based on the physical parameter; and placing the dish at the storage location. The physical parameter includes a mass of the dish, and the storage location is determined such that, after the dish has been placed, the center of gravity of the dish basket is at least approximately located in a predetermined area.

[0007] The area is defined in relation to the dish rack and is positioned so that the dish rack does not tilt relative to the dishwasher when it is pulled out of or pushed into the dishwasher. A pull-out mechanism between the dish rack and the dishwasher can include, in particular, a telescopic rail or a roller extension. In this way, the dish rack can be loaded so that its load is as even as possible, thus reducing the risk of tilting. The predetermined area can be located essentially in the center of the dish rack in the longitudinal and / or transverse direction.

[0008] In another embodiment, the predetermined area can be located close to a handle where force can be applied to pull the dish rack out or push it in. The area can be relatively small, with the storage location chosen so that the center of gravity is as close as possible to the predetermined area. If the area has a certain size, the loading can be arranged so that the center of gravity is as close as possible to the area, preferably within it. Furthermore, an attempt can be made to center the center of gravity within the area.

[0009] Choosing the right size for the loading area reflects the robustness of the dishwasher. If it's a highly robust appliance, the area can be larger to tolerate some deviation of the center of gravity from an ideal position. Conversely, if the appliance is more delicate, the designated area can be smaller, requiring more precise control over the center of gravity's position.

[0010] The dishwasher can have multiple dish baskets, and the process can be carried out with each of the dish baskets or across multiple dish baskets.

[0011] In another embodiment, several pieces of tableware are collected; the placement locations for the tableware are determined such that the center of gravity after placement lies within, or at least approximates, the predetermined area. For example, two pieces of tableware can be placed successively in the dish rack so that they are opposite each other with respect to their center of gravity. This does not affect the position of the center of gravity on the dish rack. A corresponding process can be carried out with three, four, or more pieces of tableware. Naturally, the tableware can also be placed collectively so that, after all pieces of tableware have been placed, the center of gravity is closer to, or even more precisely centered in, the predetermined area than before the tableware was placed.It is acceptable that, during the process of placing several pieces of tableware, the center of gravity may temporarily shift away from the predetermined area.

[0012] In one embodiment, the physical parameters of several dishes to be inserted are estimated based on non-contact scanning. A physical parameter of the dish can be measured during the insertion process.

[0013] Estimation can be based, for example, on generic or individual recognition of the dishware. In addition to mass, dimensions, material, or shape can be determined. In one embodiment, a model of the dishware is available from which parameters can be derived. Such a determination can be considered an estimate, as it differs from a measurement. The measurement can be performed later, for example, when the dishware is handled by a loading robot. Metrological determination can be more precise and, above all, more reliable than estimation. For example, the mass of the dishware can be determined in a two-step process. The estimation provides sufficient accuracy for quickly selecting a dishware, while the measurement provides sufficient accuracy for precisely determining and controlling the center of gravity of the dish rack.

[0014] Extending this idea, an estimated parameter is assigned an estimation accuracy. If the parameter cannot be estimated precisely, or if the probability of the estimated parameter being correct is low, then the estimation accuracy is also low. With a high estimation accuracy, the physical parameter of the dish can be estimated with a high probability or high accuracy. A dish with a low estimation accuracy can be placed in the dish basket before a dish with a high estimation accuracy. By measuring the mass of the dish during placement, the initially imprecise determination of the physical parameter can be improved. As further dishes are placed in the dish basket, their associated physical parameters are known with increasing accuracy, allowing for progressively better control over the position of the center of gravity.

[0015] In another embodiment, the placement location is determined based on the position of the dish basket's center of gravity before the dish is placed inside. For example, the dish basket may already be partially loaded before the dish is to be automatically inserted. In this case, the center of gravity of the partially loaded dish basket can be determined. For this purpose, the dish basket can be scanned, particularly without contact, and the dishes placed inside can be detected and their masses estimated. Alternatively, dishes can be detected and their masses determined from previous measurements. In this way, the center of gravity of the dish basket can be determined, at least approximately, even if the dish basket was manually loaded by a person. The determined center of gravity can be maintained by placing the remaining dish if it is located close to the predetermined area.Conversely, the center of gravity can be adjusted towards the desired area by selecting the placement of the dish item to match the location of the determined center of gravity and the predetermined area. It is generally preferable to avoid rearranging dishes within the dish basket as much as possible.

[0016] It is still preferred that a dish be placed in the dish basket only if doing so does not exceed a predetermined maximum load. If a dish is too heavy to comply with the predetermined maximum load, it cannot be placed in the dish basket. The maximum load can be determined based on the sum of the masses of all dishes placed in the dish basket. Optionally, the mass of the empty dish basket can also be taken into account.

[0017] The choice of a storage location and / or the position of the dish at that location can be determined based on several criteria. Different objectives can be prioritized in this process.

[0018] For example, dishes can be placed in the dish rack not only according to their mass but also according to their shape. It is particularly preferred that the position of the dish at the rack be determined in such a way that water can drain off the dish as freely as possible when the dish is placed in that specific position. For example, a container can be placed in the dish rack with its opening facing downwards.

[0019] In another embodiment, a characteristic of the dishwasher can be taken into account when choosing the placement location. For example, a dish can be specifically placed in an area where a water jet is generated during a cleaning cycle. The arrangement can depend on the shape or material of the dish. For example, a delicate dish can also be specifically placed outside an area where a water jet is generated during cleaning.

[0020] The placement of dishes can be determined based on a dishwasher loading parameter. This loading parameter can include a predetermined center of gravity area, a maximum load, and / or the geometry of a dish rack. The loading parameter can be provided by the dishwasher and evaluated by an automated loading robot. In another embodiment, the loading parameter can be retrieved from an external source that maintains loading parameters for different dishwashers. A loading parameter can be part of a data set containing further information about the dishwasher's capabilities. Such a data set is also referred to as a "skill." The skill can also include executable code that allows for the determination or control of predetermined aspects of the dishwasher.

[0021] In a further embodiment of the invention, the dish rack is inserted into the dishwasher, and any tilting of the rack is detected. In this case, a dish placed in the rack can be repositioned. By repositioning the dish, the center of gravity can be changed to correct the tilting. Repositioning can involve finding a new place for a previously placed dish within the rack. Alternatively, the dish can also be removed from the rack.

[0022] Tilting can be determined using a force sensor attached to a device designed to insert the dish rack into the dishwasher. Alternatively, tilting can also be determined non-contact, for example, based on a camera image. In both cases, it is preferred that a type of tilting is identified that allows conclusions to be drawn about the direction in which the center of gravity of the dish rack should be shifted to reduce or, ideally, eliminate the tilting.

[0023] According to a further aspect of the present invention, a loading robot for loading dishes into a dishwasher with an extendable dish basket comprises a device for detecting a dish to be placed in the dishwasher; a processing device for determining a physical parameter of the dish and for determining a placement location for the dish in the dish basket based on the physical parameter, wherein the physical parameter comprises a mass of the dish and the placement location is determined such that a center of gravity of the dish basket is approximated to a predetermined area after the dish has been placed; and a manipulator for placing the dish at the placement location.

[0024] The processing equipment may be configured to partially or completely execute a method described herein. For this purpose, the processing equipment may be electronic and may, for example, include a programmable microcomputer or microcontroller. The method may be in the form of a computer program product containing program code. The computer program product may also be stored on a computer-readable data carrier. Features or advantages of the method may be transferred to the equipment and vice versa.

[0025] The loading robot may include a force or torque sensor connected to the manipulator; wherein the loading robot is configured to determine a mass of a dish item picked up by means of the manipulator based on a measurement from the force or torque sensor.

[0026] The device for detecting the dishware can include a force or torque sensor. In another embodiment, the device includes, for example, a camera, a radar sensor, or a LiDAR sensor to scan the dishware without contact. Based on this scanning, automatic dishware recognition can be performed. For a detected dishware, a physical parameter, in particular its mass, can be estimated. The mass can be determined more precisely during handling of the dishware using the force or torque sensor.

[0027] According to yet another embodiment of the present invention, a system comprises a loading robot described herein and a dishwasher with a pull-out dish rack. In one embodiment, the dishwasher is configured to provide a loading parameter for the dish rack. The dishwasher can include one or more sensors, such as one or more weight sensors and / or a camera. The dishwasher can cooperate with the loading robot to promote optimized loading of dishes into the dishwasher. For example, the dishwasher can provide the loading robot with data from the one or more sensors.

[0028] Non-limiting embodiments of the invention are now described in more detail with reference to the accompanying figures, in which: Fig. 1. a system; and Fig. 2. Present a flowchart of a process.

[0029] Fig. Figure 1 shows a system 100, which can be arranged, in particular, in a household. The system 100 comprises a dishwasher 105 with one or more extendable dish racks 110 and a control device 115; as well as a loading robot 120 separate from the dishwasher 105. The loading robot 120 is preferably configured to move on a floor surface in a household and to perform a predetermined task in the household, which in particular includes loading and / or unloading the dishwasher 105. In other embodiments, the loading robot 120 can also be mobile in a different way, for example, by walking. In yet another embodiment, the loading robot 120 can also be fixed in place.

[0030] To load the dishwasher 105 with dishes, the loading robot 120 can have a manipulator 125, which is implemented here by way of example as an arm with a gripper. A sensor 130 is preferably provided on the manipulator 125 to determine a force or torque. Furthermore, the loading robot 120 preferably includes a processing unit 135, a scanning unit 140, and optionally a communication unit 145.

[0031] The loading robot 120 can grasp a dish item 150, for example, a plate as shown, using the manipulator 125 and place it in the dish basket 110. The dish item 150 can, in particular, comprise part of a cookware set, a dinnerware set, or a set of cutlery. Furthermore, the dish item 150 can include another cooking utensil such as a ladle or a spatula. The mass of the dish item 150 can be determined based on sensor signals from the sensor 130 when the dish item 150 is picked up by the manipulator 125. This can occur, in particular, while handling the dish item 150, for example, while placing the dish item 150 in the dishwasher 105.

[0032] One or more dishware items 150 can be detected by the scanning device 140 before being touched by the manipulator 125. The scanning device 140 can, in particular, comprise a camera, a stereo camera, a time-of-flight (TOF) camera, or a depth camera. Based on the scan, one or more dishware items 150 can be detected, and physical parameters associated with the dishware items 150 can be determined. A dishware item 150 can then be selected, and a storage location and / or position for the dishware item 150 in the dish basket 110 can be determined. Subsequently, the dishware item 150 can be moved to the designated storage location and position by the manipulator 125 and placed on the dish basket 110.

[0033] The storage location is preferably determined such that a center of gravity 155 of the dish rack 110 is brought into an advantageous position. This can particularly include bringing the center of gravity 155 close to, within, and / or centering it in a predetermined area 160. This prevents the dish rack 110 from tilting when inserted into the dishwasher 105 after it has been filled with dishes in the extended position. A technique described in this respect can be used particularly for an upper dish rack 110 and / or a cutlery drawer, which, in the extended position, are held only by an internal mechanism. However, the technique can also be implemented for a lower dish rack 110, which, in the extended position, may be supported by a door or flap of the dishwasher 105.

[0034] The area 160 for a dish basket 110 can be predefined for the dishwasher 105. To make a definition of the area 160, and possibly another parameter describing an advantageous loading of a dish basket 110, available to the loading robot 120, the loading robot 120 can communicate with the dishwasher 105. The dishwasher 105 can provide the corresponding parameters in a predefined format.

[0035] Alternatively, the charging robot 120 can request the aforementioned parameters from an external entity 165. An identification of the dishwasher 105 can be used as a parameter. In another embodiment, the dishwasher 105 and the charging robot 120 are registered with the external entity 165 for a shared household and can exchange relevant parameters in this way.

[0036] Fig.Figure 2 shows a flowchart of a procedure 200 for loading a dish basket 110 of a dishwasher 105.

[0037] In step 205, loading parameters for the dish rack 110 can be obtained from the dishwasher 105 or from the external location 165 and provided to the loading robot 120. In step 210, dishware 150 to be placed in the dishwasher 105 can be scanned. The dishware 150 can be arranged, for example, in a basket, a tub, or on a surface. Based on the scan, a dishware 150 can be identified and an associated physical parameter determined. The physical parameter can, in particular, include a mass and preferably a shape and / or a dimension of the dishware 150.

[0038] In step 215, a dish rack 110 of the dishwasher 105 can be scanned. Dishes 150 placed in the dish rack 110 can be detected and their physical parameters assessed. The center of gravity 155 of the dish rack 110 can be determined based on the masses and locations of the detected dishes 150. Furthermore, the load of the dish rack 110 can be determined.

[0039] In step 220, a dish item 150 to be placed in the dishwasher 105 can be selected. In step 225, a storage location for the selected dish item 150 can be determined in one of the dish baskets 110 of the dishwasher 105. The storage location is preferably determined such that, after placing the dish item 150 – and possibly after placing further dish items 150 – the center of gravity 155 of the dish basket 110 is as close as possible to or within the area 160.

[0040] In step 230, the selected dish item 150 can be picked up by the manipulator 125 and moved towards the dish rack 110. Based on measurements from the sensor 130, a physical parameter of the dish item 150 can be determined more precisely. This parameter can include, in particular, its mass. Optionally, the placement location can be further improved depending on the now more accurately determined mass.

[0041] In step 235, the dish item 150 can be placed at the designated storage location in the dish basket 110 of the dishwasher 105.

[0042] Steps 220 to 235 can be repeated several times to place multiple items of dishes 150 in the dish basket 110. This loop can terminate when the dish basket 110 is full, there are no more items of dishes 150 to be placed in it, or the maximum load capacity of the dish basket 110 has been reached.

[0043] In step 240, the dish basket 110 can be pushed back into the housing of the dishwasher 105. For this purpose, the loading robot 120 can attach the manipulator 125 to a predetermined point on the dish basket 110 and exert a corresponding force on the dish basket 110.

[0044] During the insertion of the dish rack 110, it can be determined in step 245 that the dish rack 110 is jammed against the dishwasher 105. The insertion process can then be aborted, and the dish rack 110 can optionally be pulled out of the dishwasher 105. In step 250, the load in the dish rack 110 can be adjusted to counteract the jamming. This can be done by changing the position of a dish 150 within the dish rack 110, or by removing a dish 150 from the dish rack 110. Afterward, step 240 can be attempted again. Reference sign 100 System 105 dishwashers 110 Dish basket 115 Control device 120 charging robots 125 Manipulator 130 Sensor 135 Processing unit 140 scanning device 145 Communication device 150 pieces of tableware 155 Focus 160 area 165 external position 200 procedures 205 Loading parameters of the dishwasher basket Scan 210 pieces of tableware, estimate physical parameters 215 Scan dish basket, detect partial load Select 220 pieces of tableware 225 Determine storage location 230 Grab dishware, determine physical parameters 235 Place dishware Insert 240 dish basket 245 Dishwasher basket jammed? Adjust 250 load

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