I guess that this is a challenge, sort of like the imparfait vs. passe compose question. I generally use lorsque when the condition being met has some type of lead up, e.g., lorsqu'ils arrivent, nous nous asseyerons dans le salon. I tend to use 'quand' when it's two simultaneous actions or some type of instant trigger, e.g., Quand tu as ouvert la porte, tu m'as fait mal.
Just another take. I hope it's helpful.
In the original sentence, I got the impression that when someone arrived, then 'I' would do the dishes, definitely dig=fferent from You arrived while I was doing the dishes. Isn't language fun??
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