WO2023143920A1

WO2023143920A1 - Method and control unit for operating an appliance door for a cleaning appliance, and cleaning appliance

Info

Publication number: WO2023143920A1
Application number: PCT/EP2023/050593
Authority: WO
Inventors: Daniel Carsten
Original assignee: Miele & Cie. Kg
Priority date: 2022-01-28
Filing date: 2023-01-12
Publication date: 2023-08-03
Also published as: BE1030230A1; BE1030230B1

Abstract

The invention relates to a method for operating an appliance door (105) for a cleaning appliance (100). The method comprises a step in which a reflection beam, which represents a portion of a measuring beam reflected in a detection area (120), is received via an interface to a sensor unit (115). Said reflection beam was reflected at least at one reflection point (200) located in the detection area (120) between an inner side (145) of the appliance door (105) and a loading opening (110) of the cleaning appliance (100). The method comprises a step in which a distance between the sensor unit (115) and the reflection point is determined using at least one parameter of the measurement beam and/or the reflection beam, and a step in which a drive signal for driving a drive unit (107) coupled to the appliance door (105) is provided using a comparison of the determined distance with a target distance in order to operate the appliance door (105).

Description

Method and control unit for actuating a device door for a cleaning device and cleaning device

The invention relates to a method and a control unit for actuating a device door for a cleaning device and a cleaning device.

DE 10 2019 114 740 A1 describes a water-bearing household appliance and a method for operating the water-bearing household appliance.

The approach presented here sets itself the task of creating an improved method and an improved control unit for actuating a device door for a cleaning device, as well as an improved cleaning device.

According to the invention, this object is achieved by a method and a control unit for actuating a device door for a cleaning device and a cleaning device with the features of the main claims. Advantageous refinements and developments of the invention result from the following dependent claims.

The approach presented here creates a possibility for contactless door closing. Furthermore, it can advantageously be determined whether an upper basket and/or a lower basket of the cleaning appliance has been pushed in or not.

A method for actuating an appliance door for a cleaning appliance is presented, the method comprising a receiving step, a determining step and a providing step. In the receiving step, a reflection beam is received via an interface to a sensor unit, which represents a portion of a measurement beam reflected in a detection area, the reflection beam being reflected at at least one reflection point arranged in the detection area between an inside of the appliance door and a loading opening of the cleaning appliance. In the determination step, a distance between the sensor unit and the reflection point is determined using at least one parameter of the measurement beam and additionally or alternatively the reflection beam. In the providing step, a control signal for controlling a drive unit coupled to the appliance door is provided using a comparison of the determined distance with a target distance in order to actuate the appliance door.

The method can be carried out in a household appliance as a cleaning device, for example, which can be implemented as a dishwasher, for example. The appliance door can For example, form a device front that can be folded down, for example, in the direction of a footprint. The method can advantageously be used to automate the appliance door and additionally or alternatively to operate it without contact. For this purpose, the cleaning device has the sensor unit, which detects the reflected beam. The sensor unit can advantageously be implemented as a radar sensor, lidar sensor, ultrasonic sensor or, for example, as an infrared sensor. The reflection beam and thus the measurement beam can advantageously be output as a continuous beam, ie continuously. The detection area can advantageously extend from the sensor unit to the appliance door and, for example, cover it over a large area. For example, the detection area can cover half and additionally or alternatively more than 75% of the inner surface of the appliance door. In this way, it can advantageously also be recognized whether or not at least one basket of the cleaning device for receiving items to be cleaned has been pushed completely into the loading opening. This means that the portion of the measuring beam can be reflected at the reflection point if it is not fully inserted. The reflection point is arranged on the basket, for example, so that the reflection point can represent a basket position of the basket. If the basket is fully pushed in, the reflection point can be arranged, for example, on the inner surface of the appliance door and can thus be linked to the target distance. The target distance can advantageously be predetermined and stored, for example, on a storage unit. The target distance can advantageously represent a distance from the sensor unit to the open appliance door.

According to one embodiment, the control signal can be provided in the providing step in order to be able to close the appliance door if the determined distance between the sensor unit and the reflection point is within a tolerance range of the target distance. Advantageously, this allows conclusions to be drawn about a basket position. This means that, for example, the at least one basket of the cleaning device should be pushed completely into the loading opening when the device door is closed. Closing the appliance door in this way can advantageously prevent the appliance door from being closed when the basket is not yet fully retracted, which could possibly cause crockery to break.

Furthermore, in the step of providing, the appliance door can be closed after a reaction time period has elapsed if the determined distance during the reaction time period between the sensor unit and the reflection point is within a tolerance range of the target distance. Advantageously, the reaction time period can be specified, for example between 5 seconds and 10 seconds before the Device door can be closed automatically. For example, it can be concluded that the loading process of the cleaning device has been completed.

The method can include a step of detecting a transit time, which can represent a period of time starting from the emission of the measuring beam to the receipt of the reflection beam, wherein the distance can be determined using the transit time in the determining step. This means that the period of time can indicate a distance to an object that is in the detection area and thus possibly impede a closing process. The object can represent, for example, a part of the user's body or, for example, the at least one basket.

In a recognition step, a gesture of a user can be recognized using a further reflection beam via the interface to the sensor unit, which can represent a portion of a further measuring beam reflected in the detection area, with the further reflection beam reflecting at at least one further reflection point arranged in the detection area became. In the step of providing, the drive unit can be activated in response to the recognized gesture in order to be able to actuate the appliance door, in particular to be able to close the appliance door. The gesture can advantageously include a spatial or temporal sequence of multiple reflection points, such as waving or also, for example, approaching the sensor unit. Advantageously, the gesture can be recognized and processed using an artificial intelligence (AI), which can be trained, for example. With such an embodiment, a reliable and low-error control of the appliance door can be implemented.

According to one embodiment, in the determination step, a further distance between the sensor unit and the further reflection point can be determined using at least one parameter of the further measuring beam and additionally or alternatively the further reflection beam. A movement or a position of an object within a distance range, which can include further distances that are less than two thirds of the target distance, in particular less than half of the target distance, can be recognized as a gesture. The further distance or the further reflection point can represent a position of a hand of the user, for example. Such an embodiment offers the advantage of a reliable distinction between the detection of objects (such as the basket) at the target distance from the sensor versus objects that are at a significantly smaller distance from the sensor, such as an operator's hand.

Furthermore, in the recognition step, the gesture can be recognized as the movement to switch between a first device mode, which represents the closing of the device door, and to be able to switch to a second device mode, which represents the closing of the device door and a subsequent program start of a cleaning program of the cleaning device. Advantageously, the movement can be recognized as a wiping movement, which can be assigned to switching between the device modes, for example. Advantageously, comfort for the user can be improved as a result. The cleaning device can advantageously be ergonomically controlled by the gesture control.

The method can include a step of emitting the measuring beam into the detection area, in particular wherein the step of emitting can be repeated in order to be able to emit the measuring beam as a pulsed measuring beam into the detection area. For example, the measuring beam can be emitted at regular intervals, which advantageously improves the energy balance of the cleaning device and, on the other hand, allows the detection area to be monitored over a longer period with regard to objects located therein.

According to one embodiment, in the step of receiving, the reflection beam can be received as an infrared light beam, radar beam, lidar beam and, additionally or alternatively, as an ultrasonic wave. Advantageously, the method or the steps of the method can be carried out or controlled invisibly for the user, since the infrared light beam, radar beam, lidar beam and additionally or alternatively the ultrasonic wave are not visible to the human eye. Nevertheless, a reliable and precise measurement can be carried out.

In a repeated receiving step, a current reflection beam can be received, which can represent a reflected portion of a current measurement beam and which was reflected at a current reflection point arranged in the detection area. In a repeated step of determining, a current distance between the sensor unit and the current reflection point can be determined using the current reflection beam, and in a repeated step of providing a stop signal can be provided in order to be able to stop the actuated appliance door if the current distance between of the sensor unit and the current reflection point is smaller than the target distance within a tolerance range. This means that the closing process of the appliance door can advantageously be stopped as soon as an obstacle has been detected. The obstacle can, for example, be in connection with a gesture control, which means, for example, a hand of the user. For example, the stop signal can also cause the appliance door to open.

For example, the method can include a step of outputting a status signal after determining the distance to a device mode of the cleaning device and additionally or alternatively to be able to signal the actuation of the appliance door, in particular wherein the control signal can be provided after the status signal has been output. The status signal can advantageously be implemented as an acoustic signal and additionally or alternatively as a visual signal. For example, a tone can be output or, alternatively, a lighting unit, such as an LED, can be controlled. The lighting unit can, for example, light up in different colors and additionally or alternatively flash, so that the device modes can be represented, for example, by different colors and additional or alternative types of lighting.

The approach presented here also creates a control unit that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices. The method and thus the presented approach can also be solved quickly and efficiently by the embodiment variant in the form of a device.

The control unit can be designed to read in input signals and to determine and provide output signals using the input signals. An input signal can represent, for example, a sensor signal that can be read in via an input interface of the control unit. An output signal can represent a control signal or a data signal, which can be provided at an output interface of the control unit. The control unit can be designed to determine the output signals using a processing specification implemented in hardware or software. For example, the control unit can include a logic circuit, an integrated circuit or a software module for this purpose and can be implemented as a discrete component, for example, or be comprised by a discrete component.

A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory, is also advantageous. If the program product or program is executed on a computer or a control unit, then the program product or program can be used to carry out, implement and/or control the steps of the method according to one of the embodiments described here.

Furthermore, a cleaning appliance is presented which has an appliance door for closing a loading opening of the cleaning appliance and a drive unit which is coupled to the appliance door and is designed to actuate the appliance door. Furthermore, the cleaning device has a sensor unit for detecting a portion of a measuring beam that is reflected in a detection area, the sensor unit being located on a device edge of the Cleaning device is arranged, and a control unit in an aforementioned variant, which is connected to the device door and the sensor unit.

The cleaning device can advantageously be implemented as a dishwasher, which can be used as a household appliance, for example. The approach described here can also be used accordingly in connection with a commercial or professional device, for example a medical device such as a cleaning or disinfection device, a small sterilizer, a large-capacity disinfector or a container washing system. The sensor unit can advantageously be aligned in the direction of an inside of the appliance door. The drive unit can be implemented as an electric motor, for example.

According to one embodiment, the sensor unit can have a radar sensor, a lidar sensor, an infrared sensor and additionally or alternatively an ultrasonic sensor. Advantageously, the sensor unit can be designed as such a sensor and can also include a plurality of functions. As a result, the number of sensors required can be reduced and costs can thus be saved. The sensor unit with a single sensor therefore brings savings potential and a lower failure rate of the cleaning device, provided the sensor unit has a long service life.

The sensor unit is preferably arranged on an upper edge of the cleaning device connecting the two side walls of the cleaning device, so that gesture control by the user using the sensor unit is particularly convenient when the door of the cleaning device is open.

An embodiment of the invention is shown purely schematically in the drawings and is described in more detail below. It shows

FIG. 1 shows a schematic front view of a cleaning device according to an exemplary embodiment;

FIG. 2 shows a schematic side view of an exemplary embodiment of a cleaning device;

FIG. 3 shows a schematic front representation of an exemplary embodiment of a cleaning device;

FIG. 4 shows a schematic front representation of an exemplary embodiment of a cleaning device;

FIG. 5 shows a schematic side view of an exemplary embodiment of a cleaning device;

FIG. 6 shows a schematic front representation of an exemplary embodiment of a cleaning device; FIG. 7 shows a flow chart of an exemplary embodiment of a method for actuating a device door for a cleaning device; and

FIG. 8 shows a block diagram of a control unit according to an exemplary embodiment.

FIG. 1 shows a schematic front view of a cleaning device 100 according to an exemplary embodiment. The cleaning device 100 is in the form of a dishwasher, which has a device door 105 for closing a loading opening 110 of the cleaning device 100 . The cleaning appliance 100 has a drive unit 107 which is coupled to the appliance door 105 and is designed to actuate the appliance door 105 .

For example, the drive unit 107 is implemented or can be implemented as an electric motor and is arranged in a floor area of the cleaning device 100 , ie in the area of a standing surface of the cleaning device 100 , merely by way of example. Alternatively, however, it is also conceivable for the drive unit 107 to be positioned elsewhere in the cleaning device 100 .

Furthermore, the cleaning appliance 100 has a sensor unit 115 which is designed to detect a reflected portion of a measuring beam in a detection area 120 . The sensor unit 115 is arranged on a device edge 125 of the cleaning device 100 and only optionally has a lidar sensor, an infrared sensor and/or an ultrasonic sensor. Furthermore, the cleaning appliance 100 has a control unit 130 which is designed to carry out and/or control a method for actuating the appliance door 105, as is described in more detail in FIG. 7, for example. The control unit 130 is electrically connected to the appliance door 105 and the sensor unit 115 . According to this exemplary embodiment, the control unit 130 is arranged on or in a control panel of the cleaning device 100 .

According to this exemplary embodiment, the cleaning device 100 has at least one basket 135, in particular two baskets 135, which are designed to accommodate items 140 to be cleaned, such as dishes. The baskets 135 are implemented, for example, as inserts that are pushed through the loading opening 110 in order to be arranged one above the other in the cleaning device 100 when the cleaning device 100 is in an operational state. The sensor unit 115 is arranged centrally on the device edge 125 and in such a way that the detection area 120 is directed in the direction of the opened device door 105 . This means that the sensor unit 115 is directed towards the floor, so that the detection area 120, for example conical, points to the inside, ie to an inner surface 145 of the appliance door 105, and a potential obstacle can be detected in this area. Furthermore, the cleaning device 100 at the Appliance door 105 has a receiving area 150 which is designed to receive a cleaning agent for cleaning the items to be cleaned 140 .

In other words, a cleaning appliance 100 with a control unit 130 is presented, which is designed to control and/or carry out contactless door closing with rack insertion control using the method mentioned here and described in FIG. For this purpose, for a motorized door closing by means of the drive unit 107, an operation with the door open position is searched for using the sensor unit 115 in order to trigger the door closing process. At the same time, it is ensured that the insertion baskets, which are also described as baskets 135 in simplified form, are pushed completely into the cleaning device 100 . In order to achieve this, the cleaning device 100 has, for example, a user interface (UI) concept designed for the user and, on the other hand, a suitable sensor unit 115 that ensures that the baskets 135 are retracted.

According to this exemplary embodiment, this is achieved by a single sensor, which is described here as sensor unit 115 . In addition, the sensor unit 115 is used to further check whether objects are arranged in the area of the door while the door is being closed, and is designed to recognize simple hand gestures and thereby bring about an intentional interruption of the door closing using the control unit 130 .

The sensor unit 115 is positioned, for example, in such a way that it detects the area in front of the baskets 135 up to the appliance door 105, described as detection area 120, and detects non-contact movements of the hand in the form of gestures in the same detection area 120, with which the door locking mechanism can be triggered.

The sensor unit 115 measures a distance, for example, in order to measure the path in front of the baskets 135 . If one of the baskets 135 is pulled out, it is in the area of the measuring section of the sensor unit 115, that is in the detection area 120, and is recognized. A distance value based on a transit time measurement, for example, is used as a measured value, for example by a pulsed or continuous light signal from a time-of-flight sensor, a lidar sensor or another electromagnetic wave (EM wave), such as a radar sensor, for example an FMCW (frequency modulated continuous wave) radar sensor to measure distances to non-moving objects. At 60 GHz, for example, spatial resolutions of 3 cm are possible. A reflection on the lower edge of the door in the form of a reflected beam also represents a measurement signal, so that simpler infrared sensors without transit time measurement can also be used. When the basket is pulled out, a deviation from the intensity value, which results from the known reflection surface on the inside of the door, is recorded. The sensor unit 115 as an ultrasonic sensor that measures the distance determined by determining the transit time of the transmitted sound waves can also be implemented.

In order to detect the pulled-out baskets in the measuring section in any case, the sensor unit 115 has a beam that is not too sharply focused if it is not guaranteed that the baskets 135 have a reflective surface for the sensor over the entire length, but instead a grid, for example have, through which an overly focused beam could "see through". If the sensor unit 115 has a wider opening angle, gratings are also identified and detected.

If the baskets 135 are completely pushed in, for example, the necessary condition for triggering the automatic door closure is met. In this case, the user has to perform a predefined non-contact gesture in order to trigger the mechanism. This gesture is characterized, for example, by the fact that it is carried out in the detection area 120 of the sensor unit 115 . Such a gesture has characteristic features, for example, which are recorded and evaluated as a measured value and only optionally classified as a gesture by means of a suitable AI algorithm.

An example of this is the use of a time-of-flight sensor, which measures not only the absolute distance but also the intensity of the reflected light. This can be used to recognize various gestures, such as swiping in a certain direction, approach gestures, or holding gestures. Double gestures, such as repeated swiping in the form of a wave, are also recognized. Such information about an executed gesture can also be obtained with, for example, an ultrasonic sensor and a transit time measurement of the transmitted pulse. With an FMCW radar sensor, even more complex gestures can be detected, which are trained using a so-called deep learning algorithm and then recognized. Alternatively, a camera system can also be used if it is positioned accordingly and recognizes the desired gesture for triggering and the position of the baskets 135. The predefined and detected gesture is recorded by sensor unit 115 , for example, and recognized by control unit 130 . For example, the user is given a signal, for example in the form of a blink, as visual feedback for the recognition, so that he can decide whether he has called the function knowingly and leave with the knowledge that his gesture has been recognized. The appliance door 105 is now automatically closed and the cleaning appliance 100 carries out a pre-programmed program if necessary. If, on the other hand, the user has triggered the function unintentionally, for example, and this was signaled by the flashing, the door closing is interrupted at any time when the user puts his hand in the detection area 120 of the sensor unit 115 . The sensor unit 115 is also designed to monitor the position of the baskets 135 and is also used to interrupt the function if it is unintentionally triggered. The detection area 120 can also be monitored with the sensor unit 115 while the door is being closed, so that no unwanted objects can unintentionally get into the washing compartment or the area of the appliance door 105 while the door is being closed. The detection area 120 can also be widened to the lateral area beyond the washing compartment using a suitable sensor system, so that objects can also be detected which approach this area when the appliance door 105 is closed, so that the door closure can be stopped.

According to this exemplary embodiment, the sensor unit 115 is arranged in the center and above the loading opening 110 and a washing area behind it, so that the largest possible field of vision falls on the area of the open appliance door 105, the position of the inserted baskets 135 is checked and the user can make hand gestures in the detection area in a comfortable position 120 can be executed and recognized.

Figure 2 shows a schematic side view of an embodiment of a cleaning device 100. The cleaning device 100 corresponds, for example, to the cleaning device 100 described in Figure 1. Only the representation differs in that the cleaning device 100 according to this embodiment is open and shown in a side view. In Figure 1, the cleaning device 100 is shown frontally and open. According to this exemplary embodiment, too, one of the baskets 135 is pulled out so that it is arranged in the detection area 120 . Since one of the baskets 135 according to this exemplary embodiment is pulled out, it reflects a portion of a measuring beam in at least one reflection point 200 . Because the distance is less than a target distance, no attempt is made to close the appliance door 105. According to this exemplary embodiment, the sensor unit 115 is also arranged in the area of the device edge 125 in such a way that the detection area 120 points in the direction of the inner surface 145 of the opened device door 105 . In other words, the target distance corresponds to a maximum distance of the sensor unit 115 from the inner surface 145 of the appliance door 145 within the detection area 120.

In other words, as in FIG. 1, a dishwasher described here as a cleaning appliance 100 can be seen with the lower basket 135 extended. The sensor unit 115 is arranged in the center above the loading opening and detects the basket 135 in its detection area 120. The control device described as a control unit signals to the user, for example, that the automatic, motorized door closure cannot be activated. Optionally, this is signaled, for example, by one or more LEDs, which can be used, for example, to illuminate the washing area and/or the Wash items are used. They are arranged, for example, on a side wall of the washing compartment and/or in the area of an upper closing edge of the loading opening, which is also referred to as the loading opening. Alternatively, it is conceivable that the LEDs indicate when the user tries to activate the function. For example, multiple flashes, optionally in a first color when activation is successful, and optionally longer lighting in a second color when the function is disabled.

Figure 3 shows a schematic front view of an exemplary embodiment of a cleaning appliance 100. The cleaning appliance 100 corresponds or is at least similar to the cleaning appliance 100 described in one of Figures 1 to 2. Only the position of the baskets 135 is shown differently in this exemplary embodiment, since both baskets 135 of the cleaning appliance 100 are inserted and are therefore not detected in the detection area 120. This means that the cleaning device 100 is in device mode or in another device mode, so that the automated door closing is initiated.

According to this embodiment, both baskets 135 are fully inserted. The sensor unit 115 recognizes this since no object can be recognized in the detection area 120 . This can be signaled to the user in a specific way, for example. It is also possible to trigger the door closure.

Figure 4 shows a schematic front view of an exemplary embodiment of a cleaning device 100. The cleaning device 100 is similar, for example, to the cleaning device 100 described in at least one of Figures 1 to 3. This means that the baskets 135 of the cleaning device 100 shown here are pushed in as in Figure 3. According to this exemplary embodiment, only one object 400 is detected in the detection area 120, in particular a hand of a user who triggers a gesture to switch between the device modes, for example, by a swiping movement and/or the automated closing of the device door 105 by, for example, a waving movement. The gesture is recognized, for example, by received reflection points within a spatial or temporal sequence, as is described in more detail in FIG.

On the edge 125 of the device, the cleaning device 100 only optionally has a lamp unit, which comprises a first lamp element 405 and a second lamp element 410 . According to this exemplary embodiment, the sensor unit 115 is arranged between the lamp elements 405, 410, which are designed, for example, to visually confirm the selected device mode. Alternatively and only optionally, the lamp elements 405, 410 can be used to illuminate the detection area 120 and an area adjacent to the detection area 120. Furthermore, the first lamp element 405 is arranged in a first third of the device edge 125, the Sensor unit 115 in a second third of the device edge 125 and the second lamp element 410 in a third third of the device edge 125. As an alternative to the exemplary embodiment described here, the lamp unit can be implemented as part of the sensor unit 115.

According to this exemplary embodiment, the door closing function is activated. For example, a specific hand gesture is performed by the user. The sensor unit 115 recognizes the gesture and optionally has the option of signaling this to the user in a specific way. For example, visual feedback is given so that the user can be sure that the function has been activated and that they can walk away with a clear conscience. The process of closing the door and starting the program takes place automatically and at the given speed.

The favored measurement principle is implemented using the sensor unit 115 which is implemented or can be implemented as a time-of-flight sensor, which, for example, emits infrared light and detects the reflected light as a reflection beam with a specific aperture angle. The propagation time of the light is measured, from which the distance of the target, ie the object 400, is determined. Distance measurements of baskets 135 and/or grids are also possible due to the opening angle. The sensor unit 115 is set in such a way that baskets 135 that have been pulled out are detected and, when baskets 135 are pushed in, only the distance to the open appliance door 105 is detected.

However, if the sensor unit 115 detects that the detection area 120 is free, the door lock is activated if, for example, a characteristic hand gesture was performed in the detection area 120, which is recognized by a KI algorithm. For example, there are characteristic time curves of the distance and intensity values that indicate swipe or approach gestures. Other motions such as pulling out a basket 135 or other random motions are also recognized and distinguished from the activation gesture.

If the activation gesture is carried out inadvertently, the activation of the door closure is optionally indicated by visual feedback, so that the user has a certain reaction time before the actual door closure begins, in which he can, for example, hold his hand in the detection area 120 in order to stop process.

FIG. 5 shows a schematic side view of an exemplary embodiment of a cleaning device 100. The cleaning device 100 is similar, for example, to the cleaning device 100 described in FIG. 4. Here, too, the baskets are pushed in. Instead is the object 400 is shown, that is to say the hand of the user and thus, for example, a gesture by the user which is recognized in the detection area 120 .

Figure 6 shows a schematic front view of an exemplary embodiment of a cleaning device 100. The cleaning device 100 is similar to the cleaning device 100 described in at least one of Figures 1 to 5. According to this exemplary embodiment, the second lamp element 410 is activated, which merely represents a selected one of the two device modes by way of example. In order to be able to distinguish between the device modes, the lamp elements 405, 410 light up in different colors, for example.

As before, a combination of the basket insertion control and door closing functions with an optional autostart by the described sensor unit 115 is described according to this exemplary embodiment. Gestures to be performed are, for example, swiping to change modes and approaching to start the function.

For example, swipe gestures can be used to switch between the “door closure only” and “door closure and program start” modes. The user recognizes the latter mode, for example, when a status indicator lights up green. This was implemented here by way of example in the form of the second lamp element 410 as a luminous LED. Starting the door closing is called for example and/or optionally with an approach gesture. The approach gesture is accepted only when all baskets 135 are fully inserted.

The status display for the selected mode can alternatively be realized by a light projection on the inside of the device door 105 or by an LED on the device door 105, for example on the dosing device, which is described here as the receiving area 150. In addition, the basket recognition also makes it possible to automatically close the door after a predetermined time has elapsed, when all the baskets 135 have been pushed in completely.

FIG. 7 shows a flow chart of an exemplary embodiment of a method 700 for actuating a device door for a cleaning device. The method 700 is carried out or activated in a cleaning device, for example, as was described in at least one of FIGS. The method 700 comprises a step 705 of receiving, a step 710 of determining and a step 715 of providing. In step 705 of receiving, a reflection beam is received via an interface to a sensor unit, such as a radar sensor, lidar sensor, ultrasonic sensor or infrared sensor. In this case, the reflection beam represents a portion of a measurement beam which is reflected in a detection area and which was output as a continuous beam, for example. The reflection beam was doing at least one in the detection area between an inside, that is, an inner surface, the Device door and a loading opening of the cleaning device arranged reflection point reflected. For example, the detection area covers the loading opening and/or an inner surface of the appliance door over a large area, for example 75% or more. In step 710 of determining, a distance between the sensor unit and the reflection point, for example at an obstacle or which represents a basket position, is determined using at least one parameter of the measurement beam and/or the reflection beam. In step 715 of providing, a control signal for controlling a drive unit coupled to the appliance door is provided using a comparison of the determined distance with a target distance in order to actuate the appliance door. The target distance represents, for example, a maximum distance between the sensor unit and the inner surface of the appliance door.

Only optionally, in step 705 of receiving, the reflection beam is received as an infrared light beam, radar beam, lidar beam and/or as an ultrasonic wave. In a repeated step 705 of receiving, a current reflection beam is received, for example, which represents a reflected portion of a current measurement beam and which was reflected at a current reflection point arranged in the detection area. Furthermore, in a repeated step 710 of determining, a current distance between the sensor unit and the current reflection point is determined using the current reflection beam, and in a repeated step 715 of providing a stop signal is provided in order to stop the actuated appliance door or, for example, a movement of this if the current distance between the sensor unit and the current reflection point is smaller than the target distance within a tolerance range. This means that the door will be stopped from closing if an obstacle has been detected, for example a user's hand. This means that the door closing mechanism can be stopped by the user as required. Also optionally, the control signal is provided in step 715 of providing in order to close the appliance door if the determined distance between the sensor unit and the reflection point is within a tolerance range of the target distance. This occurs, for example, after a reaction time period has elapsed, if the distance determined during the reaction time period between the sensor unit and the reflection point is within a tolerance range of the target distance, so that, for example, the appliance door closes automatically if no further action is taken by the user.

The method 700 also includes a step 720 of emitting the measurement beam into the detection area. In particular, step 720 of transmission is repeated in order to transmit the measurement beam as a pulsed measurement beam into the detection area.

For example, the method 700 includes a step 725 of detecting a transit time, which is a period of time starting from the transmission of the measurement beam to the reception of the Reflection beam represented. In step 710 of determination, the distance is then determined using the transit time.

According to this exemplary embodiment, the method 700 additionally includes a step 730 of recognition, in which a gesture of a user is recognized via the interface to the sensor unit using a further reflection beam. The additional reflection beam represents, for example, a portion of an additional measurement beam that is reflected in the detection area, the additional reflection beam being reflected at at least one additional reflection point arranged in the detection area. In step 715 of providing, the drive unit is consequently activated in response to the recognized gesture in order to actuate the appliance door, in particular to close the appliance door. Also optionally, in step 710 of determining, a further distance between the sensor unit and the further reflection point, for example on a hand of the user, is determined using at least one parameter of the further measuring beam and/or the further reflection beam. For example, a movement or a position of an object within a distance range that includes further distances that are less than two-thirds of the target distance, in particular less than half of the target distance, is recognized as a gesture. For example, the gesture in step 730 of recognition is recognized as a movement in order to switch between a first device mode, which represents the closing of the device door, and a second device mode, which represents the closing of the device door and a subsequent program start of a cleaning program of the cleaning device. The movement is, for example, a swiping movement or a waving movement.

Furthermore, optionally, the method 700 includes a step 735 of outputting a status signal after determining the distance, in order to signal a device mode of the cleaning device and/or the actuation of the device door. The status signal is output, for example, as an acoustic and/or visual signal, for example in the form of a warning tone or in the form of a lit and/or flashing lamp. The drive signal continues to be provided after step 735 of outputting.

FIG. 8 shows a block diagram of a control unit 130 according to an exemplary embodiment. The control unit 130 is implemented, for example, as part of a cleaning device, as was described in at least one of FIGS. The control unit 130 is designed to control or carry out one or more steps of a method for actuating a device door for a cleaning device, as was described in FIG. According to this exemplary embodiment, the control unit 130 has a receiving unit 800 , a determination unit 805 and a providing unit 810 . The Receiving unit 800 is designed to receive a reflection beam 815 via an interface to a sensor unit 115, with reflection beam 815 representing a portion of a measurement beam that is reflected in a detection area. The reflection beam 815 was reflected at at least one reflection point arranged in the detection area between an inside of the appliance door and a loading opening of the cleaning appliance. Determination unit 805 is designed to determine a distance 820 between sensor unit 115 and the reflection point using at least one parameter of measurement beam and/or reflection beam 815 . The provision unit 810 is designed to provide a control signal 825 for controlling a drive unit 107 coupled to the appliance door using a comparison of the determined distance 820 with a target distance in order to actuate the appliance door. For example, the target distance is specified and represents the distance to the open appliance door.

Only optionally, the control unit 130 further includes a transmission unit 830, which is designed to cause the measurement beam 835 to be emitted into the detection area, which is carried out repeatedly in order to emit the measurement beam 835 as a pulsed measurement beam 835 into the detection area. The control unit 130 also optionally includes a detection unit 840 for detecting a transit time, which represents a period of time from the emission of the measurement beam 835 to the reception of the reflection beam 815 before the determination unit 805 determines the distance using the transit time. In addition, according to this exemplary embodiment, the control unit 130 has a recognition unit 845 which is designed to recognize a gesture of a user using a further reflection beam 850 . The further reflection beam 850 represents, for example, a portion of a further measurement beam 852 reflected in the detection area, which was transmitted, for example and only optionally, using the transmitter unit 830, with the further reflection beam 850 being reflected at at least one further reflection point arranged in the detection area. According to this exemplary embodiment, the provision unit 810 then provides the control signal 825 to the drive unit 107 using the recognized gesture 855 in order to actuate the appliance door, in particular to close the appliance door. In addition, determination unit 805 is designed, for example, to determine a further distance 860 between sensor unit 115 and the further reflection point, for example on a hand of the user, using at least one parameter of further measuring beam 852 and/or of further reflection beam 850.

The control unit 130 also optionally has an output unit 865 for outputting a status signal 870 after determining the distance 820 and/or the further distance 860 to a device mode of the cleaning device and/or the actuation of the To signal device door, for example, by means of a visual and / or acoustic signal.

The control unit 130 is also designed to carry out the method repeatedly, so that the receiving unit 800 is designed to receive a current reflection beam 875, for example. The current reflection beam 875 represents, for example, a reflected portion of a current measurement beam and was reflected at a current reflection point arranged in the detection area. Consequently, the determination unit 805 is designed to determine a current distance 880 between the sensor unit 115 and the current reflection point using the current reflection beam 875 . According to this exemplary embodiment, the provision unit 810 is designed to then provide a stop signal 885 in order to stop the actuated appliance door if the current distance between the sensor unit 115 and the current reflection point is smaller than the target distance within a tolerance range.

In other words, the control unit 130 enables automated door closing in a dishwasher. Using the sensor unit 115, the door is closed without contact and/or by means of gestures, and a position detection of the racks or a rack recognition with position determination is made possible.

Claims

patent claims

1. Method (700) for actuating a device door (105) for a cleaning device (100), the method (700) comprising the following steps:

Reception (705) of a reflection beam (815), which represents a portion of a measurement beam (835) reflected in a detection area (120), via an interface to a sensor unit (115), wherein the reflection beam (815) is received at at least one in the detection area (120 ) between an inner side (145) of the appliance door (105) and a loading opening (110) of the cleaning appliance (100) arranged reflection point (200) was reflected;

Determining (710) a distance (820) between the sensor unit (115) and the reflection point (200) using at least one parameter of the measurement beam (835) and/or the reflection beam (815); and

Providing (715) a control signal (825) for controlling a drive unit (107) coupled to the appliance door (105) using a comparison of the determined distance (820) with a target distance in order to actuate the appliance door (105).

2. The method (700) according to claim 1, wherein in step (715) of providing the control signal (825) is provided to close the appliance door (105) when the determined distance (820) between the sensor unit (115) and the Reflection point (200) is within a tolerance range of the target distance.

3. The method (700) according to claim 2, wherein in the step (715) of providing the device door (105) is closed after a reaction time period has elapsed if the determined distance (820) during the reaction time period between the sensor unit (115) and the reflection point ( 200) is within a tolerance range of the target distance.

4. The method (700) according to any one of the preceding claims, with a step (725) of detecting a transit time, which represents a period of time starting from the emission of the measurement beam (835) to the receipt of the reflection beam (815), wherein in step (710 ) of determining the distance (820) is determined using the running time. Method (700) according to one of the preceding claims, with a step (730) of recognizing a gesture of a user using a further reflection beam (850), which represents a portion of a further measuring beam (852) reflected in the detection region (120), via the interface to the sensor unit (115), wherein the further reflection beam (815) was reflected at at least one further reflection point arranged in the detection area (120), and wherein in the step (715) of providing the drive unit (107) is actuated in response to the recognized gesture is to actuate the appliance door (105), in particular to close the appliance door (105). Method (700) according to Claim 5, wherein in the step (710) of determining a further distance (860) between the sensor unit (115) and the further reflection point (850) using at least one parameter of the further measuring beam (852) and/or the further reflection beam (850) is determined, and wherein a movement or a position of an object (400) within a distance range is detected as a gesture, which includes further distances that are less than two thirds of the target distance, in particular are smaller than half of the target distance . The method (700) according to any one of claims 5 to 6, wherein in the step (730) of recognition, the gesture is recognized as the movement to switch between a first device mode, which represents the closing of the device door (105), and a second device mode, which represents the closing of the appliance door (105) and a subsequent program start of a cleaning program of the cleaning appliance (100). Method (700) according to one of the preceding claims, with a step (720) of emitting the measuring beam (835) into the detection area (120), in particular wherein the step (720) of emitting is repeated in order to generate the measuring beam (835) as a pulsed Emit measuring beam in the detection area (120). Method (700) according to any one of the preceding claims, wherein in the step (705) of receiving the reflection beam (815) is received as an infrared light beam, radar beam, lidar beam and/or an ultrasonic wave. Method (700) according to one of the preceding claims, wherein in a repeated step (705) of receiving, a current reflection beam (875) is received, which represents a reflected portion of a current measurement beam and which reflects at a detection area (120) arranged current reflection point was, in a repeated step (710) of determining a current distance (880) between the sensor unit (115) and the current reflection point is determined using the current reflection beam (875), wherein in a repeated step (715) of providing a stop signal (885) is provided to stop the actuated appliance door (105) if the current distance (880) between the sensor unit ( 115) and the current reflection point is smaller than the target distance within a tolerance range.

11. The method (700) according to any one of the preceding claims, with a step (735) of outputting a status signal (870) after determining (710) the distance (820) to a device mode of the cleaning device (100) and / or the actuation to signal the appliance door (105), in particular wherein the control signal (825) is provided after the output (735) of the status signal (870).

12. Control unit (130), which is designed to carry out the steps (705, 710, 715, 720, 725, 730, 735) of the method (700) according to one of the preceding claims in corresponding units (800, 805, 810, 830 , 840, 845, 865) to be executed and/or controlled.

13. Computer program product with program code for carrying out the method (700) according to one of claims 1 to 11, when the computer program product is executed on a control unit (130) according to claim 12.

14. Cleaning device (100), which has the following features: a device door (105) for closing a loading opening (110) of the cleaning device (100); a drive unit (107) coupled to the appliance door (105) and designed to actuate the appliance door (105); a sensor unit (115) for detecting a portion of a measuring beam (835) reflected in a detection region (120), the sensor unit (115) being arranged on a device edge (125) of the cleaning device (100); and a control unit (130) according to claim 11, wherein the control unit (130) is connected to the appliance door (105) and the sensor unit (115).

15. Cleaning device (100) according to claim 14, wherein the sensor unit (115) has a radar sensor, a lidar sensor, an infrared sensor and/or an ultrasonic sensor.