Patent Publication Number: US-11639573-B2

Title: Laundry treating appliance with imaging control

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of U.S. patent application Ser. No. 16/145,949, filed Sep. 28, 2018, now U.S. Pat. No. 10,829,886, issued Nov. 10, 2020, which is a continuation of U.S. patent application Ser. No. 15/046,033, filed Feb. 17, 2016, now U.S. Pat. No. 10,113,263, issued Oct. 30, 2018, which is a continuation of U.S. patent application Ser. No. 14/022,132, filed Sep. 9, 2013, now U.S. Pat. No. 9,279,213, issued Mar. 8, 2016, which is a continuation of U.S. patent application Ser. No. 12/388,605, filed Feb. 19, 2009, now U.S. Pat. No. 8,528,229, issued Sep. 10, 2013, all of which are incorporated herein by reference in their entirety. 
    
    
     BACKGROUND 
     Laundry treating appliances, such as clothes washers, clothes dryers, refreshers, and non-aqueous systems, may have a configuration based on a rotating drum that defines a treating chamber in which laundry items are placed for treating. The laundry treating appliance may have a controller that implements a number of pre-programmed cycles of operation. The user typically manually selects the cycle of operation from the given pre-programmed cycles. Each pre-programmed cycle may have any number of adjustable parameters, which may be input by the user or may be set by the controller. The controller may set the parameter according to default values, predetermined values, or responsive to conditions within the treating chamber. 
     BRIEF DESCRIPTION 
     In one aspect, the disclosure relates to a laundry treating appliance, comprising a laundry treating chamber, an imaging device operably coupled with at least a portion of the laundry treating chamber, the imaging device adapted to capture multiple images of at least a portion of the laundry treating chamber, the multiple images defining image data that is representative of laundry in the laundry treating chamber, the imaging device adapted to output the image data, and a controller operably coupled to the imaging device and adapted to receive the output, and determine a condition of the laundry based on the image data to define a determined condition. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings: 
         FIG.  1    is a front perspective view of a laundry treating appliance in the form of a clothes dryer with a treating chamber according to one embodiment of the invention. 
         FIG.  2    is a partial perspective view of the dryer of  FIG.  1    with portions of the cabinet removed for clarity according to one embodiment of the invention. 
         FIG.  3    is second partial perspective view of the dryer of  FIG.  1    with portions of the cabinet removed for clarity according to one embodiment of the invention. 
         FIG.  4    is a schematic side view of the dryer of  FIG.  1    having an imaging system for imaging the treating chamber according to one embodiment of the invention. 
         FIG.  5    is a schematic representation of a controller for controlling the operation of one or more components of the clothes dryer of  FIG.  1    according to one embodiment of the invention. 
         FIG.  6    is a flow chart illustrating a method for capturing and analyzing images of the treating chamber according to a second embodiment of the invention. 
         FIG.  7    is a schematic representation of a grid for analyzing an image of the treating chamber according to the second embodiment of the invention. 
         FIG.  8    is a schematic representation of an image of the treating chamber illustrating a tumbling motion condition according to the second embodiment of the invention. 
         FIG.  9    is a flow chart illustrating a method for capturing an image of the treating chamber and estimating load parameters based on the captured image according to a third embodiment of the invention. 
         FIG.  10    is a flow chart illustrating a method for determining if a condition of concern exists in the treating chamber and applying a corrective action according to a fourth embodiment of the invention. 
         FIG.  11    is a schematic representation of an image of the treating chamber illustrating a satelliting motion condition according to a fifth embodiment of the invention. 
         FIG.  12    is a schematic representation of an image of the treating chamber illustrating a sliding motion condition according to a sixth embodiment of the invention. 
         FIG.  13    is a flow chart illustrating a method for altering the speed of rotation of a dryer drum to obtain a desired amount of tumbling according to a seventh embodiment of the invention. 
     
    
    
     DETAILED DESCRIPTION 
       FIG.  1    illustrates one embodiment of a laundry treating appliance in the form of a clothes dryer  10  according to the invention. While the laundry treating appliance is illustrated as a clothes dryer  10 , the laundry treating appliance according to the invention may be any appliance which performs a cycle of operation on laundry, non-limiting examples of which include a horizontal or vertical axis clothes washer; a combination washing machine and dryer; a tumbling or stationary refreshing/revitalizing machine; an extractor; a non-aqueous washing apparatus; and a revitalizing machine. The clothes dryer  10  described herein shares many features of a traditional automatic clothes dryer, which will not be described in detail except as necessary for a complete understanding of the invention. 
     As illustrated in  FIG.  1   , the clothes dryer  10  may include a cabinet  12  in which is provided a controller  14  that may receive input from a user through a user interface  16  for selecting a cycle of operation and controlling the operation of the clothes dryer  10  to implement the selected cycle of operation. 
     The cabinet  12  may be defined by a front wall  18 , a rear wall  20 , and a pair of side walls  22  supporting a top wall  24 . A door  26  may be hingedly mounted to the front wall  18  and may be selectively moveable between opened and closed positions to close an opening in the front wall  18 , which provides access to the interior of the cabinet. 
     A rotatable drum  28  may be disposed within the interior of the cabinet  12  between opposing stationary rear and front bulkheads  30  and  32 , which collectively define a treating chamber  34 , for treating laundry, having an open face that may be selectively closed by the door  26 . Examples of laundry include, but are not limited to, a hat, a scarf, a glove, a sweater, a blouse, a shirt, a pair of shorts, a dress, a sock, a pair of pants, a shoe, an undergarment, and a jacket. Furthermore, textile fabrics in other products, such as draperies, sheets, towels, pillows, and stuffed fabric articles (e.g., toys), may be dried in the clothes dryer  10 . 
     The drum  28  may include at least one lifter  36 . In most dryers, there are multiple lifters. The lifters  36  may be located along the inner surface of the drum  28  defining an interior circumference of the drum  28 . The lifters  36  may facilitate movement of the laundry within the drum  28  as the drum  28  rotates. 
     As illustrated in  FIG.  2   , the dryer  10  may also be provided with a light source  33  in either the rear or front bulkheads  30 ,  32  for illuminating the contents of the treating chamber  34 . 
     Still referring to  FIG.  2   , an air flow system for the clothes dryer  10  according to one embodiment of the invention will now be described. The air flow system supplies air to the treating chamber  34  and then exhausts air from the treating chamber  34 . The supplied air may be heated or not. The air flow system may have an air supply portion that may be formed in part by an inlet conduit  38 , which has one end open to the ambient air and another end fluidly coupled to an inlet grill  40 , which may be in fluid communication with the treating chamber  34 . A heating element  42  may lie within the inlet conduit  38  and may be operably coupled to and controlled by the controller  14 . If the heating element  42  is turned on, the supplied air will be heated prior to entering the drum  28 . 
     Referring to  FIG.  3   , the air supply system may further include an air exhaust portion that may be formed in part by an exhaust conduit  44  and lint trap  45 , which are fluidly coupled by a blower  46 . The blower  46  may be operably coupled to and controlled by the controller  14 . Operation of the blower  46  draws air into the treating chamber  34  as well as exhausts air from the treating chamber  34  through the exhaust conduit  44 . The exhaust conduit  44  may be fluidly coupled with a household exhaust duct  47  or exhausting the air from the drying chamber to the outside. 
     Referring now to  FIG.  4   , the clothes dryer  10  may optionally have a dispensing system  48  for dispensing treating chemistries, including without limitation water or steam, into the treating chamber  34 , and thus may be considered to be a dispensing dryer. The dispensing system  48  may include a reservoir  54  capable of holding treating chemistry and a dispenser  50  that fluidly couples with the reservoir  54  through a dispensing line  58 . The treating chemistry may be delivered to the dispenser  50  from the reservoir  54  and the dispenser  50  may dispense the chemistry into the treating chamber  34 . The dispenser  50  may be positioned to direct the treating chemistry at the inner surface of the drum  28  so that laundry may contact and absorb the chemistry, or to dispense the chemistry directly onto the laundry in the treating chamber  34 . The type of dispenser  50  is not germane to the invention. A chemistry meter  52  may electronically couple, wired or wirelessly, to the controller  14  to control the amount of treating chemistry dispensed. 
     As is typical in a clothes dryer, the drum  28  may be rotated by a suitable drive mechanism, which is illustrated as a motor  64  and a coupled belt  66 . The motor  64  may be operably coupled to the controller  14  to control the rotation of the drum  28  to complete a cycle of operation. Other drive mechanisms, such as direct drive, may also be used. 
     The clothes dryer  10  may also have an imaging device  70  to image the treating chamber  34  and/or anything within the treating chamber  34 . Exemplary imaging devices  70  may include any optical sensor capable of capturing still or moving images, such as a camera. One suitable type of camera is a CMOS camera. Other exemplary imaging devices include a CCD camera, a digital camera, a video camera or any other type of device capable of capturing an image. That camera may capture either or both visible and non-visible radiation. For example, the camera may capture an image using visible light. In another example, the camera may capture an image using non-visible light, such as ultraviolet light. In yet another example, the camera may be a thermal imaging device capable of detecting radiation in the infrared region of the electromagnetic spectrum. The imaging device  70  may be located on either of the rear or front bulkhead  30 ,  32  or in the door  26 . It may be readily understood that the location of the imaging device  70  may be in numerous other locations depending on the particular structure of the dryer and the desired position for obtaining an image. There may also be multiple imaging devices, which may image the same or different areas of the treating chamber  34 . 
     The clothes dryer  10  may also have an illumination source  72 . The type of illumination source  72  may vary. In one configuration, the illumination source  72  may be a typical incandescent dryer light which is commonly used to illuminate the treating chamber  34 . Alternatively, one or more LED lights may be used in place of an incandescent bulb. The illumination source  72  may also be located behind the rear bulkhead  30  of the drum  28  such that the light shines through the holes of the air inlet grill  40 . It is also within the scope of the invention for the clothes dryer  10  to have more than one illumination source  72 . For example, an array of LED lights may be placed at multiple positions in either bulkhead  30 ,  32 . 
     The illumination source  72  may be located on the same side of the drum  28  as the imaging device  70 , as illustrated in  FIG.  4   , or located on a different side of the drum  28 . When the illumination source  72  is located on the same side of the drum  28  as the imaging device  70 , the imaging device  70  may detect the light that may be reflected by the drum  28  and the laundry load. Image analysis may then be used to separate the drum  28  from the laundry load. When the illumination source  72  is located on a side of the drum  28  opposite the imaging device  70 , the imaging device  70  detects only the light from the illumination source  72  that is not blocked by the laundry load. At any instant in time, a given location in an image will be dark or light depending on whether or not laundry is present at that location. 
     The illumination generated by the illumination source  72  may vary, and may well be dependent on the type of imaging device  70 . For example, illumination may be infrared if the imaging device  70  is configured to image in the infrared spectrum. Similarly, the illumination may be visible light, if the imaging device  70  is configured to image the visible spectrum. 
     As illustrated in  FIG.  5   , the controller  14  may be provided with a memory  80  and a central processing unit (CPU)  82 . The memory  80  may be used for storing the control software that may be executed by the CPU  82  in completing a cycle of operation using the clothes dryer  10  and any additional software. The memory  80  may also be used to store information, such as a database or table, and to store data received from the one or more components of the clothes dryer  10  that may be communicably coupled with the controller  14 . 
     The controller  14  may be communicably and/or operably coupled with one or more components of the clothes dryer  10  for communicating with and controlling the operation of the component to complete a cycle of operation. For example, the controller  14  may be coupled with the heating element  42  and the blower  46  for controlling the temperature and flow rate through the treatment chamber  34 ; the motor  64  for controlling the direction and speed of rotation of the drum  28 ; and the dispensing system  48  for dispensing a treatment chemistry during a cycle of operation. The controller  14  may also be coupled with the user interface  16  for receiving user selected inputs and communicating information to the user. 
     The controller  14  may also receive input from various sensors  84 , which are known in the art and not shown for simplicity. Non-limiting examples of sensors  84  that may be communicably coupled with the controller  14  include: a treating chamber temperature sensor, an inlet air temperature sensor, an exhaust air temperature sensor, a moisture sensor, an air flow rate sensor, a weight sensor, and a motor torque sensor. 
     The controller  14  may also be coupled with the imaging device  70  and illumination source  72  to capture one or more images of the treating chamber  34 . The captured images may be sent to the controller  14  and analyzed using analysis software stored in the controller memory  80  to determine a motion condition of the laundry. The controller  14  may use the determined motion condition to set one or more operating parameters of at least one component with which the controller  14  is operably coupled with to complete a cycle of operation. The determined motion condition of the laundry may include at least one of tumbling, rolling (also called balling), sliding, satelliting (also called plastering) and any combination thereof. 
     The terms tumbling, rolling, sliding and satelliting are terms of art that may be used to describe the motion of some or all of the items forming the laundry load. However, not all of the items forming the laundry load need exhibit the motion for the laundry load to be described accordingly. 
     A brief description of each motion will be useful in understanding the term. Tumbling is a condition in which the laundry may be lifted by the rotating drum from a lower position, generally near or at the bottom of the drum, to a raised position, above the lower position, where the laundry is no longer being lifted by the drum and falls within the drum, generally toward the bottom of the drum. While falling, the laundry may be exposed to any drying air and/or treatment within the drum. The falling may spread out the laundry, increasing its effective surface area, to expose a greater portion of the laundry to any drying air and/or treatment being applied. This phenomenon may increase the rate at which the laundry dries and maximize the interaction between the laundry and the treatment. Examples of treatments that may be applied include steam, mist or a chemistry treatment. 
     Rolling is a condition in which the laundry may not be lifted by the drum as the drum rotates, such as occurs during tumbling, but rolls or rotates while part of the laundry may still be in contact with the drum lifter. In this condition, a frictional force may be present that causes the laundry to move in a rolling or folding manner with little or no motion above its horizontal position in the drum. Rolling may occur with laundry items that are too large or heavy to be lifted by the drum or when a laundry item becomes entangled with another item. Because the laundry remains concentrated near the bottom of the drum, exposure of the laundry to the drying air and/or treatment may be minimized. This may result in incomplete drying of the laundry and non-uniform application of the treatment. 
     Sliding is another condition in which the laundry may not be lifted by the drum as the drum rotates, such as occurs during tumbling, but may remain at or near the bottom of the drum. Sliding differs from rolling in that the laundry does not move in a rolling or folding manner, rather, it slides off the inner surface of the drum as the drum rotates, generally exposing the same face of the laundry to the drying air and/or treatment. This may result in incomplete drying of the laundry and non-uniform application of the treatment. 
     Satelliting is a condition in which the laundry may be held by centrifugal force against the inner surface of the drum as the drum rotates. When satelliting occurs in a clothes dryer, exposure of the laundry to the drying air and/or treatment may be minimized, because the laundry remains at a fixed location relative to the drum, which may result in incomplete drying of the laundry and non-uniform application of the treatment. 
     The previously described clothes dryer  10  provides the structure necessary for the implementation of the method of the invention. Several embodiments of the method will now be described in terms of the operation of the clothes dryer  10 . The embodiments of the method function to automatically determine the motion state of the laundry and control the operation of the clothes dryer  10  based on the determined motion state. 
     The motion state of the laundry may be determined by using the imaging device  70  to obtain one or more images over time of the contents of the drum  28  as it is rotating. For some motion states, a single image may be all that needs to be analyzed. For other motion states, multiple images over time may need to be analyzed. The motion state of the laundry may then be used to control the operation of the clothes dryer  10 . 
     Controlling the operation of the clothes dryer  10  based on the determined motion state may include setting at least one parameter of a cycle of operation including a rotational speed of the drum  28 , a direction of rotation of the drum  28 , a temperature in the treating chamber  34 , an air flow through the treating chamber  34 , a type of treating chemistry, an amount of treating chemistry, a start or end of cycle condition and a start or end cycle step condition. 
     Setting a start or end of cycle condition may include determining when to start or end a cycle of operation. This may include signaling the controller  14  to immediately start or end a cycle of operation or setting a time at which to start or end a cycle of operation. 
     Setting a start or end of cycle step condition may include determining when to start a step or phase within a given operating cycle or when to end a step within a given operating cycle. This may include signaling the controller  14  to immediately transition from one cycle step to another or setting a time at which to transition from one step to another within a given operating cycle. Examples of cycle steps include rotation with heated air, rotation without heated air, treatment dispensing and a wrinkle guard step. 
     For laundry treating appliances other than clothes dryers, parameters of a cycle of operation that may be set based on the determined motion state may also include a rotational speed of an agitator, a direction of agitator rotation, and a wash liquid fill level. 
     Referring to  FIG.  6   , a flow chart of one method  100  of determining the motion of a load of laundry is shown in accordance with the present invention. The motion determining method  100  may be executed by the controller  14  during a drying or treatment cycle of the clothes dryer  10 . The sequence of steps depicted is for illustrative purposes only, and is not meant to limit the motion determining method  100  in any way as it is understood that the steps may proceed in a different logical order or additional or intervening steps may be included without detracting from the invention. 
     The method  100  starts with assuming that the user has loaded the clothes dryer  10  with one or more articles to form the laundry load and closed the door  26 . The method  100  may be initiated automatically when the user closes the door  26  or at the start of a user selected operating cycle. Step  104  is an optional step in which the controller  14  obtains an initial image of the laundry load without rotation of the drum. While not germane to this invention, the initial image may be used to determine load parameters such as the volume of the load or fabric type of the load, for example. 
     In the next step  106 , a counter Image Count is set to 0 and rotation of the drum  28  is initiated at  108 . The speed of rotation of the drum  28  may be increased until it reaches a predetermined speed of rotation. The predetermined speed of rotation may be determined by the controller  14  based on the selected operating cycle and the operating parameter settings. When the drum speed reaches the predetermined speed, the image time may be set to 0 at step  110  and the imaging device  70  may capture an image of all or some portion of the treating chamber  34 . The captured image may be sent to the controller  14  for image analysis using software that is stored in the memory  80  of the controller  14 . 
     It is also within the scope of the invention for the imaging device  70  to have a memory and a microprocessor for storing information and software and executing the software, respectively. In this manner, the imaging device  70  may analyze the captured image data and communicate the results of the analysis with the controller  14 . 
     In step  114 , analyzing the image may include separating the load image from the background, i.e. the dryer drum  28 , in the image captured in step  112 . Any suitable method may be used to separate the load from the background in the image. There are several methods for separating the load image from the background depending on the illumination configuration, drum properties and the load. Once the load image is separated from the background, an image of the treating chamber  34  may be created wherein each pixel in the image indicates the presence or absence of the load. The image separation techniques may also be used to separate one load item from another. 
     For example, in the case of an illumination configuration where the illumination source  72  may be located on the same side of the drum  28  as the imaging device  70 , techniques such as edge detection, color segmentation and deviation from a known background image may be used to separate the load from the background. Edge detection may be calculated using known methods. Color segmentation involves separating the individual items in a load from each other and separating the load from the background based on differences in the saturation, hue and luminance of objects in the image. The surface of the dryer drum  28  may also contain optically detectable features to aid in the separation of the load from the background image of the drum  28 . 
     In the case of an illumination configuration in which the load may be back lit from an illumination source  72  located on a portion of the drum  28  opposite from the imaging device  70 , separation of the load from the background may be more simplified. The areas in which a load is present will appear black or dark in the image, since light from the illumination source  72  is blocked by the load. In places where the load is not present, the light from the illumination source may be detected by the imaging device  70 . 
     Regardless of how the load image is separated from the background in step  114 , the images captured by the imaging device  70  may be used to obtain information relating to the shape and location of the laundry load relative to the drum  28 . For example, the image may be used to calculate the area, perimeter, center of mass, radius and major or minor axis of the load using known methods. The image may also be used to determine the motion of the load relative the drum  28 . One method for determining the position or motion of the load is to build a segmentation map from the captured image of the treating chamber  34 . 
     A segmentation map may be created by dividing the image space into fixed segments and then determining the fraction of the area of each segment in which the load is present. The load position at any instant in time may be characterized by the percent coverage of the load in each segment. The percent coverage is the percentage of pixels in the image where the load is present. The position of the load at a given instant in time may be determined by the percent coverage in each segment at that instant in time. The motion of the load may be determined by integrating the percent coverage over multiple revolutions of the drum  28 . 
     The segmentation map created in step  114  may be stored in the memory associated with the imaging device  70  or with the controller  14 . The stored segmentation maps may be used to create a database from which a load motion segmentation map may be determined by integrating the percent coverage of each segment over time as described above. 
     In the next step  120 , the controller  14  determines if the image count equals the target count. If the image count is less than the target count, the image count may be increased by 1 in step  122 . If the elapsed time in step  124  is determined to be equal to or greater than one divided by the imaging rate, the method returns to step  112  and steps  112  through  120  may be repeated. 
     The target image count in step  120  may be selected such that a sufficient number of images may be captured and analyzed to determine the motion condition of the load. The image rate may be selected such that a predetermined number of images may be captured within a predetermined amount of time. The predetermined amount of time for capturing images for analysis may be set such that the motion condition may be determined and corrected, if necessary, within a suitable amount of time to avoid or minimize undesirable conditions such as sliding, rolling and satelliting of the load. 
     If the image count equals the target count, then the load motion condition may be determined in step  126  by integrating the percent coverage in each segment of each segmentation map created in step  114  from the images treating chamber  34 . The integrated percent coverage in each segment may be used to create an integrated segmentation map wherein the value in each segment correlates to the amount of time laundry is present in that segment. The determined integration segmentation map may be analyzed using pattern recognition techniques to determine if the segmentation map corresponds to a known motion condition. Pattern recognition may be used to determine if all of the load or some part of the load is exhibiting a motion state consistent with a known condition. 
     In step  128 , the determined load motion condition may be used by the controller  14  to set one or more parameters of a cycle of operation including a rotational speed of the drum  28 , a direction of rotation of the drum  28 , a temperature in the treating chamber  34 , an air flow through the treating chamber  34 , a type of treating chemistry, an amount of treating chemistry, a start or end of cycle condition and a start or end cycle step condition. 
     In addition to setting one or more parameters of a cycle of operation based on the determined load motion condition, the controller  14  may also use information received from one or more sensors  84 . For example, the controller  14  may use information relating to the motor torque to estimate the size of the load and set one or more operating parameters based on the estimated load size and the determined load motion condition. 
       FIG.  7    illustrates an example of a segmentation map  130  for a horizontal axis dryer  10  with the imaging device  70  located near the horizontal axis of the drum  28  on the rear bulkhead  30 , as illustrated in  FIG.  4   . As illustrated in  FIG.  7   , the image of the treating chamber  34  may be divided into 17 segments extending from the periphery of the drum  28  into the center of the treating chamber  34 . The location, number, shape and size of the segments may vary depending on a variety of factors, including, without limitation, the motion condition(s) being monitored, the shape of the drum  28  and the location of the imaging device  70 . While the grid  130  is illustrated having a generally circular shape, the captured image and applied grid are not limited to any regular or irregular shape. 
       FIG.  8    illustrates an example of an integrated segmentation map  132  for a clothes dryer  10  having a drum  28  rotating counter clockwise wherein the load is exhibiting a tumbling condition. The segmentation map  132  may be created by integrating the percent coverage in each segment of the image over time. The “x” in each segment symbolizes the percent coverage of the load in each segment; the larger and more numerous the “x”, the larger the percent coverage. The “x” is used for visual understanding. However, in practice, the “x” may be a numerical value stored in the memory  80  of the controller  14 , with the magnitude of the numerical value indicating the percentage coverage in the corresponding segment. 
     As may be seen in the integrated segmentation map  132 , the load is spending most of its time at the bottom of the drum  28 , the middle of the treating chamber  34  and partly up the right side of the drum  28 . This percent coverage pattern is consistent with a tumbling condition for a drum  28  rotating counter clockwise, wherein the load may be lifted into the air by the rotation of the drum  28  and then falls back to the bottom of the drum  28 . 
       FIG.  9    illustrates a method  200  for obtaining the initial image data in step  104  of method  100 . The initial image is an optional step and may be used by the controller  14  to determine parameters of the load such as the size or fabric type of the load. The initial imaging method  200  may be executed by the controller  14  prior to the start of a drying or treatment cycle of the clothes dryer  10 . 
     The method  200  starts with assuming that the user has loaded the clothes dryer  10  with one or more articles to form the laundry load and closed the door  26 . The method  200  may be initiated automatically when the user closes the door  26  or at the start of a user selected operating cycle. The controller  14  first sets a counter Rotation Count to 0 in step  204 . 
     In the next step  206 , the controller  14  may capture an image of the load to determine the load parameters for completing the cycle of operation. The load parameters may be determined in step  208  and combined with load parameters previously determined from the image data or determined elsewhere in step  212 . For example, the cycle and parameter settings selected by the user through the user interface  16  may be combined with the parameters determined from the image data. 
     In the next step  214 , the controller  14  may determine if the rotation count has reached the target count. If it has not reached the target rotation count, then the drum  28  may be rotated one or more times and the rotation count is increased by 1 in steps  218  and  220 . The method  200  then starts again at step  206  and repeats steps  206  through  214  until the rotation count equals the target count in step  214 . 
     Once the rotation count reaches the target count in step  214 , the controller may estimate the load parameters for completing a cycle of operation in step  216 . Examples of load parameters that may be estimated using method  200  include the size of the load, fabric type and the color of the load. 
       FIG.  10    illustrates a method  300  for automatically determining the motion state of the laundry and controlling the operation of the clothes dryer  10  based on the determined motion state. The load motion condition may be determined in step  304  according to steps  104  through  126  of the method  100  or based on another method. 
     The determined load motion condition may be analyzed to determine if it corresponds to a condition of concern in step  306 . This determination may include taking into account other load conditions, such as the fabric type and load size, which may be determined using the method  200  or based on sensor readings from one or more sensors  84  associated with the dryer  10 . 
     If the motion state indicates a condition of concern in step  306 , the controller  14  may control the operation of the clothes dryer  10  depending on the determined condition to apply one or more corrective actions. The control of the clothes dryer  10  may include setting at least one operating parameter of a cycle of operation including a rotational speed of the drum  28 , a direction of rotation of the drum  28 , a temperature in the treating chamber  34 , an air flow through the treating chamber  34 , a type of treating chemistry, an amount of treating chemistry, a start or end of cycle condition and a start or end cycle step condition. 
     In step  306 , a condition of concern that requires corrective action may be based on determining an absolute or relative amount of the laundry load that is exhibiting a particular motion condition. This may include determining that a motion condition, such as sliding, rolling or satelliting, requires corrective action when any part of the laundry is exhibiting the condition. Alternatively, it may be determined in step  306  that a condition of concern exists only if all of the load is exhibiting the condition. 
     A predetermined threshold may also be set for a given motion condition wherein if it is determined that some part of the laundry load above the threshold is exhibiting a condition of concern, corrective action is taken. The threshold for determining when a motion condition requires corrective action may vary depending on the size and fabric type of the load, the determined motion condition, the cycle and one or more operating parameters of the cycle. 
     Once it is determined that a condition of concern requiring corrective action is occurring, a corrective action may be applied to the clothes dryer  10  in step  308 . A new load motion condition may be determined in step  310  to determine if the corrective action applied in step  308  had its intended effect. The new load motion condition may be determined in a manner similar to step  304  to determine whether or not the condition was corrected and a condition of concern requiring corrective action is no longer taking place. 
     If it is determined in step  314  that the condition was not corrected, the controller  14  may determine if other correction options are available and one or more of these options may be applied in step  308  and the process may be repeated until the condition is corrected. If it is determined in step  316  that no other correction options are available, the controller  14  may stop the operating cycle and notify the user using an audible signal or a visual signal through the user interface  16 . 
     Alternatively, the controller  14  may implement corrective actions until the condition is reduced to within an acceptable range. If the condition cannot be corrected or reduced to within an acceptable range, the controller  14  may notify the user of a condition requiring attention through an audible or visual signal, such as an indicator light on the user interface  16 , for example. The controller  14  may move to step  318  in the method  300  if all of the pre-determined corrective actions for a given condition have been tried, after a pre-determined number of corrective actions have been tried or after a pre-determined amount of time has elapsed since the condition of concern was identified in step  306 . 
     One example of a condition of concern that may be determined using the imaging device  70  is satelliting of the load. Satelliting may often occur when small loads are placed in the treating chamber  34 . When satelliting occurs, some or all of the items of the load do not tumble, but adhere to the wall of the drum  28  or the lifters  36 . As a result of satelliting, the items of the load may not interact with the air applied for drying the load or any other treatment such as a chemical or steam treatment. This may lead to incomplete and/or inconsistent drying of the load or non-uniform application of the treatment. 
       FIG.  11    illustrates an example of an integrated segmentation map  330  for a small load that may be determined using steps  104  through  126  of the method  100  illustrated in  FIG.  6   . The segmentation map  330  may be utilized according to the method  300  to determine if a condition of concern is occurring and appropriate corrective measures may be applied as illustrated in  FIG.  10   . The “x” in each segment symbolizes the integrated percent coverage of the load in each segment over time; the larger the “x”, the larger the percent coverage. As may be seen in  FIG.  11   , the load is mostly located in the outer segments around the periphery of the drum  28 , consistent with satelliting of the load. 
     While the map  330  illustrates a satelliting condition in which all of the load is plastered against the periphery of the drum  28 , a range of satelliting conditions may exist ranging from a single item in the load to the entire load. For example, a single item in the load may be experiencing a satelliting condition while the remainder of the load is experiencing some other condition, such as tumbling, that may or may not require corrective action. 
     Alternatively, it may be determined that some relative amount of the laundry load is satelliting, for example, 15% of the load, while the remaining 85% of the load is experiencing a different motion condition. The threshold for determining the absolute or relative amount of satelliting that requires a corrective action may vary depending on the determined condition, the size and type of the load, the cycle and one or more operating parameters of the cycle. 
     As illustrated in method  300 , the controller  14  may control the operation of the clothes dryer  10  to affect one or more corrective actions in step  308  consistent with the determined satelliting condition. Examples of corrective action that may be taken to correct a satelliting condition include: slowing down the rotational speed of the drum  28 ; stopping the rotation of the drum  28  and restarting the rotation in a reverse direction; stopping the rotation of the drum  28  and restarting the rotation in the same direction. The controller  14  may implement successive corrective actions until the condition is corrected or may notify the user if the condition cannot be corrected. 
     Another example of a condition of concern is rolling of the load. Rolling is a condition that may occur with large loads, such as bed sheets or blankets. Rolling is a condition in which the load is not lifted and tumbled by the rotation of the drum  28 , but rather the load stays near the bottom of the drum  28 . Rolling may result in the load not being dried completely or uniformly, which may lead to longer drying times. In addition, the load may become tangled, requiring the user to untangle the load and possibly restart the drying cycle. 
       FIG.  12    illustrates an example of an integrated segmentation map  340  for a load of laundry that may be determined using steps  104  through  126  of the method  100  illustrated in  FIG.  6   . The segmentation map  330  may be utilized according to the method  300  to determine if a condition of concern is occurring and appropriate corrective measures may be applied as illustrated in  FIG.  10   . The “x” in each segment symbolizes the integrated percent coverage of the load in each segment over time; the larger and more numerous the “x”, the larger the percent coverage. As may be seen in  FIG.  12   , the load is mostly located at the bottom of the drum  28 , consistent with the condition of rolling or balling up of the load. 
     The map  340  is just one illustration of a rolling condition. A variety of rolling conditions may occur, producing a variety of integrated segmentation maps. The controller software may be programmed to differentiate between the different possible rolling conditions and determine which rolling conditions warrant corrective action. The threshold for determining what amount of rolling requires a corrective action may vary depending on the determined condition, the size and type of the load, the cycle and one or more operating parameters of the cycle. 
     As illustrated in method  300 , the controller  14  may control the operation of the clothes dryer  10  to affect one or more corrective actions in step  308  consistent with the determined rolling condition. Examples of corrective action that may be taken to correct a rolling condition include: reversing the direction of rotation of the drum  28  and oscillating the direction of rotation of the drum. The controller  14  may implement successive corrective actions until the condition is corrected or may notify the user if the condition cannot be corrected. 
     Another example of a condition of concern is sliding. Sliding is a condition in which the laundry is not lifted by the lifters  36  as the drum rotates, but rather slide off the lifter  36 , exposing generally the same surface area as the drum  28  rotates. Sliding may result in the load not being dried uniformly, which may lead to longer drying times and non-uniform application of a treatment. 
     An integrated segmentation map may be determined using steps  104  through  126  of the method  100  illustrated in  FIG.  6    to determine the existence of a sliding condition. The segmentation map may be utilized according to the method  300  to determine if a sliding condition of concern is occurring and appropriate corrective measures may be applied as illustrated in  FIG.  10   . Examples of corrective action that may be taken to correct a sliding condition include: reversing the direction of rotation of the drum  28  and increasing the speed of rotation of the drum  28 . As illustrated by method  300 , the controller  14  may implement successive corrective actions until the condition is corrected or may notify the user if the condition cannot be corrected. 
     Another example of a condition of concern that may be determined using steps  104  through  126  of the method  100  is blocking of the air inlet  45  that fluidly connects the treating chamber  34  with the exhaust conduit  44 . Blocking of the air inlet  45  may lead to diminished air flow, longer drying times or incomplete drying of the load. The method  100  may be used to determine a segmentation map having segments corresponding to the positions in front of the air inlet  45 . 
     The segmentation map may be analyzed using the method  300  as illustrated in  FIG.  10    to determine if the load is moving past the air inlet  45  or if one or more items of the load is stationary with respect to the air inlet  45  for some pre-determined length of time. If the controller  14  determines that one or more items of the load is stationary with respect to the air inlet  45 , the controller  14  may determine that the air inlet  45  is blocked and corrective action is required. 
     As illustrated in method  300 , the controller  14  may control the operation of the clothes dryer  10  to affect one or more corrective actions in step  308  consistent with the determined blockage condition. Examples of corrective action that may be taken to correct blockage of the air inlet  45  include: stopping the blower  46  while continuing to rotate the drum  28  and restarting the blower  46  when it is determined that the blockage is no longer present; or stopping both the drum  28  and the blower  46  and restarting both when it is determined that the blockage is no longer present. 
       FIG.  13    illustrates a method  400  according to another embodiment of the invention for determining an amount of tumbling in the clothes dryer  10  and setting the speed of rotation of the drum  28  to achieve a desired amount of tumbling. The amount of tumbling may be determined using steps  104  through  126  of the method  100  illustrated in  FIG.  6   , or some other method. Tumbling may be a desired condition in a clothes dryer because it may lead to decreased drying times and more uniform application of a treatment. 
     According to method  400 , in step  402  the amount of tumbling may be determined according to method  100 , for example, by obtaining an integrated segmentation map. The integrated segmentation map may be analyzed using pattern recognition techniques or one or more functions to determine the absolute or relative amount of tumbling in the dryer drum  28 . For example, an absolute determination of load tumbling may include determining that all of the load is tumbling and a tumbling condition exists or that a tumbling condition does not exist if any part of the load is not tumbling. Determining a relative amount of tumbling may include determining an amount of the load that is experiencing a tumbling condition relative to the entire load. 
     The determined amount of tumbling may then be compared to a desired amount of tumbling in step  406 . The desired amount of tumbling may be determined automatically by the controller  14  based on the cycle of operation and/or one or more operating parameters. The operating parameters may be set by the user or determined automatically according to the method  200  or some other method. Examples of operating parameters that may be used to determine the desired amount of tumbling include the size and fabric type of the load. 
     If the determined amount of tumbling does not equal the desired amount of tumbling or does not fall within an acceptable range of a desired amount of tumbling, the speed of rotation of the drum  28  may be changed in step  408 . The speed of the drum  28  may be increased or decreased depending on the difference between the determined amount of tumbling and the desired amount of tumbling. For example, if the determined amount of tumbling is higher than the desired amount of tumbling, the speed of the drum  28  may be decreased. 
     Once the drum  28  reaches the new speed set in step  408 , an updated amount of tumbling may be determined in step  412  and analyzed to determine if the new amount of tumbling corresponds to the desired amount of tumbling. Steps  408 - 414  may be repeated until the determined amount of tumbling equals the desired amount of tumbling or falls within an acceptable range of desired tumbling. In this manner, the speed of rotation of the drum  28  may be controlled to provide the desired amount of tumbling for a given load of laundry based on conditions within the treating chamber  34 . The method  400  may be used one or more times throughout the course of an operating cycle to adjust the speed of the drum  28  to provide the desired amount of tumbling. 
     While the invention has been specifically described in connection with certain specific embodiments thereof, it is to be understood that this is by way of illustration and not of limitation. Reasonable variation and modification are possible within the scope of the forgoing disclosure and drawings without departing from the spirit of the invention which is defined in the appended claims. For example, the sequence of steps depicted in each method described herein is for illustrative purposes only, and is not meant to limit the disclosed methods in any way as it is understood that the steps may proceed in a different logical order or additional or intervening steps may be included without detracting from the invention.