Abstract:
Disclosed systems and methods prevent collisions in a carwash property. Disclosed systems and methods include software that brings together computer vision and machine learning algorithms to track the interaction of vehicles and equipment within the environment of a carwash to improve safety and optimize production.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application, under 35 U.S.C. § 119, claims the benefit of U.S. Provisional Patent Application Ser. No. 62/366,363 filed on Jul. 25, 2016, and entitled “Car Wash Pileups Prevention System,” the contents of which are hereby incorporated by reference herein. 
     
    
     FIELD OF THE DISCLOSURE 
       [0002]    This disclosure relates to systems and methods for avoiding collisions, or pileups, at a carwash. More particularly, this disclosure relates to computer controlled machine vision and machine learning systems and methods that monitor, detect, and respond to events in and around a carwash facility. 
       BACKGROUND 
       [0003]    The exterior carwash industry has moved more and more towards automated systems, and having customers ride through the wash tunnels in their vehicles. Typically, the customer drives on to a conveyor, rides through the wash tunnel, and drives out. Usually, the vehicle should be in neutral, with customer&#39;s hands off the steering wheel during the wash, but sometimes problems arise. For example, if a vehicle has problems during the wash, and jumps a roller on the conveyor, it may collide with another vehicle, or piece of carwash equipment. If no carwash employee notices this, and the conveyor is not stopped, additional vehicles can be involved, causing damaging and expensive pileups. 
         [0004]    Other potentially adverse events may also occur on at a carwash facility. For example, a carwash conveyor is usually either a chain and roller system, or a belt and cleat (or flight) system, and the vehicle&#39;s tires are intended to engage the roller or cleat to propel the vehicle through the wash tunnel. However, an adverse event may occur if the tire “hops” the cleat or roller, meaning that a vehicle that fails to move forward at the rate of the cleat or roller can fall behind its proper location while the cleat or roller is pulled forward under the wheel of the vehicle. This “hopping” may occur for a variety of reasons, such as, the driver applied the brakes stopping their forward motion, the vehicle was placed into park, drive, reverse, or any other gear that would change the vehicle&#39;s motion, the steering wheel was turned causing friction with the track or other wash equipment, vehicle movement was changed by impact with wash equipment, such as grill brushes or mitters, the vehicle&#39;s collision detection system was activated and brakes were automatically applied, the vehicle&#39;s automatic breaking system was activated, or the like. 
         [0005]    Another potentially adverse event may occur if there is an undesired, temporary gain in the vehicle&#39;s forward momentum. A vehicle can pick up speed as it travels through a carwash giving it undesired forward momentum commonly referred to as bounce. For example, bounce may cause a vehicle to temporarily be ahead of its expected position, and then returns to its expected position as momentum is lost and the conveyor catches up to the vehicle. 
         [0006]    Bounce may occur when a combination of factors are present, though not all factors must be present to create bounce. For example, factors creating bounce may be if a vehicle is relatively light in weight in comparison to other vehicles and, therefore, does not have the downward inertia to slow forward movement in the tunnel, if a vehicle rolls forward due to slope of the wash tunnel floor, if a vehicle is pushed forward by the roller, or tunnel equipment, such as brushes, that increase the forward momentum of the vehicle, the driver of a vehicle may apply the break and/or transmission in the wash tunnel in a manner that temporarily delays the vehicle&#39;s forward momentum, resulting in a sudden release of energy when forced forward by the conveyor, the vehicle may have oversized tires which fail to stay in alignment due to friction, and other factors. 
         [0007]    Bounce can result in forward movement capable of causing a collision with the vehicle(s), or equipment, in front of the bouncing vehicle. However, some amount of bounce may be acceptable, and can be accounted for by the disclosed systems and methods. 
         [0008]    Other causes of potentially adverse events may include insufficient distance between vehicles, a failed load-on where the vehicle was loaded improperly onto the conveyor in a manner that cannot safely allow additional vehicles to be loaded on to the conveyor, undesired vehicle-powered forward movement, premature vehicle-powered exit from the wash tunnel, a vehicle obstructing the wash tunnel exit, wash tunnel equipment malfunction, or the like. 
         [0009]    Other drawbacks, disadvantages, or limitations of current systems and methods may also exist. 
       SUMMARY 
       [0010]    Accordingly, systems and methods for enabling a conveyor stop event and otherwise avoid potential damage from an adverse carwash events are disclosed. 
         [0011]    The disclosed collision prevention systems provide superior replacements to the systems that solely implement photoelectric eye activation by, among other things, tracking the entire path of the vehicle instead of one point at the entrance/exit. Likewise, the disclosed collision prevention systems are not limited to tracking within the wash tunnel and, therefore, can augment exit tracking from the wash tunnel exit to the vehicle&#39;s exit from the property. Other advantages and benefits of the disclosed systems and methods also exist. 
         [0012]    Accordingly, disclosed systems include a system having a wash tunnel including a conveyor and wash equipment, at least one vision device having a field of view that includes at least a portion of the wash tunnel, and a central controller including a tracking system, and a wash tunnel control system, and wherein the tracking system communicates with the at least one vision device and the wash tunnel control system to control the conveyor based upon events observed in the field of view. 
         [0013]    In some embodiments, the tracking system further may include a modeling module that creates a model of a wash tunnel path. 
         [0014]    In some embodiments, the tracking system further may include a notification module that provides a notification upon the occurrence of an event. 
         [0015]    In some embodiments, the tracking system further may include a tracking module that tracks motion in the wash tunnel. In further embodiments, the tracking module further includes unique point identification to track motion. In still further embodiments, the tracking module further includes unique point variance over time to track motion. In further embodiments, the tracking module further may include a location module, a measuring module, and a point identification module, and wherein an identified point is located and measured on a path through a defined field of vision. 
         [0016]    In further embodiments, the tracking module further may include a known image module that stores known vehicle images, and wherein the known vehicle images are used to generate a mask template. 
         [0017]    In further embodiments, the tracking module further may include an exclusion module that masks regions in the wash tunnel. 
         [0018]    In further embodiments, the tracking module further may include a machine learning module that excludes regions in the wash tunnel based on prior collected data. 
         [0019]    In further embodiments, the tracking module further may include a location module, a measuring module, a point identification module, and a stereoscopic module that creates stereoscopic vision from the at least one vision device by using location and measurements of an identified point as it progresses through the field of view. 
         [0020]    In some embodiments, the wash tunnel control system controls the operation of the wash equipment based at least in part on communications from the tracking system. 
         [0021]    In some embodiments, the wash tunnel control system controls further may include a drive motor module, an emergency module, a system interface, a trigger module, and a display interface. In further embodiments, the wash tunnel control system controls further may include one or more of an audio interface, a queuing interface, a point-of-sale (POS) interface, or a 3rd party interface. 
         [0022]    In further embodiments, the display interface communicates with at least one indicator that indicates a condition within the wash tunnel. In still further embodiments, the audio interface communicates with at least one indicator that indicates a condition within the wash tunnel. 
         [0023]    Disclosed embodiments also include a method including detecting a vehicle&#39;s entry into a wash tunnel with a first vision device, identifying a point on the vehicle, monitoring the identified point on the vehicle for flow through a field of vision of the first vision device, and filtering the flow through the field of vision against a modeled path through the wash tunnel. 
         [0024]    In some embodiments, the method may further include detecting the vehicle&#39;s entry into a field of vision of a second vision device, monitoring the identified point on the vehicle for flow through the field of vision of the second vision device, and filtering the flow through the field of vision against a modeled path through the wash tunnel. 
         [0025]    In further embodiments, the method may further include verifying a location of the vehicle against the modeled path through the wash tunnel, and if unable to verify, signaling the occurrence of a potentially adverse event. 
         [0026]    In further embodiments, the method may include signaling the occurrence of a potentially adverse event by issuing a stop conveyor signal. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0027]      FIG. 1  is schematic, aerial-view representation of a carwash collision prevention system in accordance with disclosed embodiments. 
           [0028]      FIG. 2  is a schematic representation of systems of a central control computer in accordance with disclosed embodiments. 
           [0029]      FIG. 3  is a schematic representation of modules within a tracking system in accordance with disclosed embodiments. 
           [0030]      FIG. 4  is a schematic illustration of an embodiment of a drive motor module in accordance with the disclosure. 
           [0031]      FIG. 5  is a schematic representation of modules within a wash tunnel control system in accordance with disclosed embodiments. 
           [0032]      FIG. 6  is a schematic illustration of a process flow in accordance with disclosed embodiments. 
       
    
    
       [0033]    While the disclosure is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and will be described in detail herein. However, it should be understood that the disclosure is not intended to be limited to the particular forms disclosed. Rather, the intention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims. 
       DETAILED DESCRIPTION 
       [0034]      FIG. 1  is schematic, aerial-view representation of a carwash collision prevention system  10  in accordance with disclosed embodiments. While a particular layout for system  10  is shown, others are, of course, possible and more, or less, features, drive paths, and equipment may be part of system  10  as would be understood by those of ordinary skill in the art. As shown, one or more vehicles  12  may enter the system  10  through one or more entry lanes  28 . System  10  may include one or more gates  14  to assist with control of vehicle  12  traffic. System  10  may also include one or more input stations  16  that may, among other things, enable users to select wash services, make payments, function as a point-of-sale (POS) device, or the like. As also shown, system  10  may include one or more exit lanes  18  to facilitate vehicle  12  traffic through the system  10 . In some embodiments, an exit lane  18  may be placed near entrance lane(s)  28  to facilitate users that change their mind, unexpectedly exit, or the like, and wish to exit the system  10  without receiving service. 
         [0035]    As also shown, system  10  may include a wash tunnel  20 . As used herein, wash tunnel  20  generally refers to an area where a vehicle  12  can be washed or serviced and is not specifically limited to an enclosed tunnel, but can also include an area that is not enclosed, or not in the form of a tunnel as well as any other system for servicing or washing a vehicle as would be apparent to those of ordinary skill in the art. 
         [0036]    Wash tunnel  20  may comprise a conveyor  21  to facilitate movement of vehicles  12  through the wash tunnel  20 . Conveyor  21  may be a chain and roller conveyor, a belt and cleat conveyor, or any other suitable mechanism for controllably moving vehicles  12  through the wash tunnel  20 . 
         [0037]    System  10  also includes a central controller  22 . Central controller  22  may be any suitable programmable logic controller. For example, central controller  22  may comprise a special purpose logic controller, a general purpose logic controller (e.g., a computer), or the like. Central controller  22  may be located at any suitable location either within wash tunnel  20 , or in a remote office, or other location, with appropriate climate controls, communication systems, and the like. Central controller  22  is configured to control the equipment in wash tunnel  20  (or tunnels  20  for embodiments where there is more than one tunnel  20 ) as described herein. Likewise, while one central controller  22  is shown in  FIG. 1 , the system  10  may have more than one computer, a distributed network of computers, or the like for controlling the wash tunnels  20 . 
         [0038]    As also shown, wash tunnel  20  generally comprises an entrance  23 , an exit  25 , and one or more pieces of wash equipment  24 . Wash equipment  24  may comprise, brushes, sprayers, dispensers, blowers, mitters, or the like, as would be understood by one of ordinary skill in the art. 
         [0039]    System  10  may also include one or more vision devices  26 . Vision devices  26  may comprise any device, or collaboration of devices, capable of capturing the shape, size, motion, or color of a three-dimensional body that can be used as a vision input device for a vehicle tracking system. For example, vision devices  26  may comprise cameras (digital, analog, or analog to digital feed), photoelectric sensors, ultrasonic sensors, LIDAR, RADAR, SONAR, or the like. 
         [0040]    Other components of system  10  may comprise an enter eye such as a photoelectric sensor to trigger the wash cycle. Some systems  10  may also use the same photoelectric sensors to calculate vehicle length and height. As discussed below, a vehicle tracking system  202  may read enter eye data to confirm and/or augment vehicle  12  tracking data. System  10  may also include an exit eye such as a photoelectric transmitter/receiver pair to ensure that vehicles  12  clear the tunnel exit  25  before the next vehicle  12  is moved into place. 
         [0041]    In the following disclosure the operation and function of the central controller  22  is described. In general, central controller  22  may comprise at least one processor and memory storing instructions causing data to be transmitted to one or more connected systems to cause the connected system(s) to selectively change. 
         [0042]    Software or program modules are also described that store and execute instructions, which when executed by one or more data processors of one or more computing systems, causes at least one data processor to perform operations herein. Similarly, computer systems are also described that may include one or more data processors and memory coupled to the one or more data processors. The memory may temporarily or permanently store instructions that cause at least one processor to perform one or more of the operations described herein. In addition, methods can be implemented by one or more data processors either within a single computing system or distributed among two or more computing systems. Such computing systems can be connected and can exchange data and/or commands or other instructions or the like via one or more connections, including but not limited to a connection over a network (e.g. the Internet, a wireless wide area network, a local area network, a wide area network, a wired network, or the like), via a direct connection between one or more of the multiple computing systems, etc. 
         [0043]    One or more aspects or features of the subject matter described herein can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) computer hardware, firmware, software, and/or combinations thereof. These various aspects or features can include implementation in one or more computer programs that are executable and/or interpretable by a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device. 
         [0044]    These computer programs, which can also be referred to programs, software, software applications, applications, components, modules, or code, include machine instructions for a programmable processor, and can be implemented in a high-level procedural language, an object-oriented programming language, a functional programming language, a logical programming language, and/or in assembly/machine language. As used herein, the term “machine-readable medium” refers to any computer program product, apparatus and/or device, such as for example magnetic discs, optical disks, memory, and Programmable Logic Devices (PLDs), used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term “machine-readable signal” refers to any signal used to provide machine instructions and/or data to a programmable processor. The machine-readable medium can store such machine instructions non-transitorily, such as for example as would a non-transient solid-state memory or a magnetic hard drive or any equivalent storage medium. The machine-readable medium can alternatively or additionally store such machine instructions in a transient manner, such as for example as would a processor cache or other random access memory associated with one or more physical processor cores. 
         [0045]    To provide for interaction with a user, one or more aspects or features of the subject matter described herein can be implemented within a computer having a display device, such as for example a cathode ray tube (CRT) or a liquid crystal display (LCD) or a light emitting diode (LED) monitor for displaying information to the user and a keyboard and a pointing device, such as for example a mouse or a trackball, by which the user may provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well. For example, feedback provided to the user can be any form of sensory feedback, such as for example visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including, but not limited to, acoustic, speech, or tactile input. Other possible input devices include, but are not limited to, touch screens or other touch-sensitive devices such as single or multi-point resistive or capacitive track-pads, voice recognition hardware and software, optical scanners, optical pointers, digital image capture devices and associated interpretation software, and the like. 
         [0046]      FIG. 2  is a schematic representation of systems of central controller  22  in accordance with disclosed embodiments. As shown, system  10  may include a tracking system  202 . One example of a tracking system is disclosed in the inventor&#39;s U.S. Pat. No. 8,049,643, titled “Vehicle Tracking System For Vehicle Washing,” which is hereby incorporated herein by reference in its entirety. 
         [0047]      FIG. 3  is a schematic representation of modules within a tracking system  202  in accordance with disclosed embodiments. As shown, tracking system  202  may comprise a modeling module  2002 , a sensor module  2004 , a reporting module  2006 , a statistical module  2008 , a notification module  2010 , and other modules  2012 . 
         [0048]    Among other things, tracking system  202 , via modelling module  2002 , creates a virtual model of vehicles  12 , paths, and progress through wash tunnel  20 . Modelling module  2002  may also create a virtual model of wash tunnel  20  equipment  24 , obstructions, water flow, and other components or conditions. The various modeled components are used to monitor for potentially adverse conditions and to appropriately respond to the same. 
         [0049]    Tracking system  202  may also comprise a sensor module  2004  for, among other things, storage of sensor data (e.g., vision device  26  data) for an adverse event. Tracking system  202  may also comprise a reporting module  2006  for reporting of sensor data for tracking and system  10  optimization. Tacking system  202  may also comprise a statistical module  2008  for statistical remote monitoring of wash tunnel  20  activity to provide a scheme of preventive measures and interventions for system  10  operation. 
         [0050]    Tracking system  202  may also comprise a notification module  2010  for real time notification of system  10  events. For example, notification module  2010  may have a smart vehicle module to identify and notify an operator of the appearance of vehicle  12  with smart feature(s) (e.g., anti-collision automatic braking, or the like) capable of causing an adverse event. Notification module  2010  may communicate with the wash tunnel control system  204  to enact counter measures due to the presence of a smart vehicle  12 . Notification module  2010  may also track and notify when other events occur. For example, notification module  2010  may send an alert through another device (e.g., a smartphone or the like) based upon the occurrence of a wash tunnel  20  event. 
         [0051]    Tracking system  202  may also comprise a tracking module  2014  for communicating with the various vision devices  26 . In addition, tracking module  2014  may use data from a vision device  26 , or collaboration of devices  26 , to identify and interpret data related to the motion of an object (e.g., a vehicle  12 ). 
         [0052]    Embodiments of tracking system  202  may perform one or more roles, including: detection, identify the presence of an object, measurement, measure the dimensions of an object, position, identify the location of an object within a three-dimensional space, speed, calculate the speed of an object passing through a three-dimensional space, calculating the speed of an object using a single vison device  26  for an object moving along a fixed plane, direction, calculate the movement along three axes (x, y, z) of an object passing through a three-dimensional space, acceleration, calculate the acceleration of an object passing through a three-dimensional space, handoff, identify the relative accuracy of motion tracking with relation to a second motion tracker system to delegate responsibility of tracking motion to the tracker with a greater confidence interval, and other roles. 
         [0053]    Embodiments of tracking system  202  may track motion using one or more methods to identify and persistently track an object. For example, tracking module  2014  may identify unique points which can be used as correlative markers for an object (e.g., vehicle  12 ) moving through a three-dimensional space. 
         [0054]    Embodiments of tracking system  202  may also track motion by tracking of unique identification point movement or “flow.” For example, tracking module  2014  may calculate the delta (e.g., variance) of a unique point over a period of time within a field of view. 
         [0055]    Embodiments of tracking system  202  may also track motion by using multiple data sets to create stereoscopic vision from a monocular source (e.g., a single vision device  26 ). For example, tracking by using location and measurements of points as they progress through a field of view in correlation with known distance and size data to create a stereoscopic data set sufficient to calculate the size and shape of a three-dimensional object (e.g., vehicle  12 ). 
         [0056]    Embodiments of tracking system  202  may also track motion by use of a known target within a fixed range to calibrate a field for distortion, or by use of multiple vision devices  26  to verify and refine a data model. 
         [0057]    Embodiments of tracking system  202  may also track motion by use of a known image (e.g., a database of known vehicle  12  images) to generate a mask template. For example, tracking system  202  may use of a set of visual data to extract background information from a second set of visual data. 
         [0058]    Embodiments of tracking system  202  may also track motion by tracking isolation of a moving vehicle  12  through a region using methods of exclusion and inclusion. For example, exclusion may include manual exclusion masking of fixed regions as defined by a coordinate based container, or dynamically excluded regions based on statistical variance (fly away). 
         [0059]    In addition, tracking system  202  may machine learn to exclude regions. For example, exclusion may be based on region matches to background image(s) learned by system  202 , region is invalid for time of day (e.g., too much sun, or the like) learned by system  202 , region is invalid for environmental cause (e.g., fog, soap, water, etc.) learned by system  202 , region is invalid for physical properties (e.g., shape, structures, etc.) learned by system  202 , region is invalid for motion properties (e.g., spinning motion, etc.) learned by system, or the like. Likewise, tracking system  202  may dynamically include regions based on machine learning in a similar fashion. 
         [0060]    Embodiments of tracking system  202  may identify matches known characteristics of a vehicle  12  including: size(s), shape(s), unique point pattern(s), color(s), or the like. Tracking system  202  may also perform vehicle  12  make and model correlations to vehicle(s)  12  within a dictionary of values within a confidence level. 
         [0061]    Embodiments of tracking system  202  may analyze whether a vehicle  12  matches characteristics of a vehicle  12  already identified by a previous vision device  26  within the live data set (e.g., a vehicle  12  currently in wash tunnel  20 ). Tracking system  202  may also handoff a vehicle by a coordinated transfer of the authoritative role of tracking a vehicle  12  from one vision device  26  to another which achieves a higher level of confidence in tracking the vehicle  12 . 
         [0062]    System  10  may also include a wash tunnel control system  204 . The wash tunnel control system  10  is responsible for the normal operation of all standard automatic carwash functions as disclosed herein. Embodiments of the vehicle tracking system  202  may interface with the wash tunnel control system  204 . 
         [0063]    Wash tunnel control system  204  may also include modules for components of the wash tunnel  20 , such as the wash equipment  24 , conveyor  21 , and the like. For example, wash tunnel control system  204  may include a drive motor module  400  ( FIG. 4 ) to control conveyor  21  as it propels vehicles  12  through the wash tunnel  20 . Various embodiments of the drive motor exist and may comprise hydraulic systems in addition to electric systems.  FIG. 4  is a schematic illustration of an embodiment of a drive motor module  400  in accordance with the disclosure. As shown, drive motor module  400  may monitor a drive motor at  402  to monitor and estimate the conveyor  21  speed. Monitoring may be accomplished in any suitable fashion. For example, the speed of the motor may be measured directly, may be measured as a pulse using an inductive pickup on a drive sprocket, may be measured based on hydraulic flow, or other suitable method. In some embodiments, wash tunnel control system  204 , via drive motor control module  400 , can optionally generate an artificial drive motor pulse at  406  when the primary pulse cannot be, or is not convenient to read. If, as a result of the monitoring at  402 , an indication to vary the conveyor  21  speed occurs at  404 , then the wash tunnel control system  204  will signal appropriate systems to cause the drive motor at  410  to vary in accordance with the indication. Actual conveyor  21  speed can vary depending on the pulse calibration, chain lengthening with age and wear, or due to other factors. As indicated at  408 , embodiments of the wash tunnel control system  204  may communicate with the tracking system  202  by communicating the drive motor pulses to confirm and/or augment vehicle tracking data. Other uses for the drive motor pulse data are also possible. 
         [0064]    Embodiments of the wash tunnel control system  204  may also be in communication, via emergency module  412 , with multiple emergency stop buttons located at convenient locations throughout system  10 . For example, stop buttons may be located in the wash tunnel  20 , in an office, at the tunnel entrance  23  or exit  25 , or the like, each button capable or interrupting the wash tunnel&#39;s  20  normal operations. Communications between the tracking system  202  and the wash tunnel control system  204  may trigger a system  10  stop when a potential collision is detected, or the like. 
         [0065]    Wash tunnel control system  204  may also comprise a tunnel control system interface  414  with a network connection for communication over a networking protocol to a system designed to operate as a tunnel control system. The network connection may be an analog to digital connection for communication from a digital device capable of monitoring the analog electric impulses of a tunnel control system  204 , a digital to analog connection for communication with a digital device capable of triggering an analog electric impulse simulating the commands of a tunnel control system  204 , or a combination of the foregoing. 
         [0066]    Wash tunnel control system  204  may also comprise a trigger stop module  416  for initiating an emergency stop of the conveyor  21  by signaling the tunnel control system  204 . Wash tunnel control system  204  may also comprise a display system interface  418  which includes monitoring the vehicle tracking system  202  and producing status information using lights, panel indicators, or displays. Likewise, wash tunnel control system  204  may also comprise an audio system interface  420  for monitoring the vehicle tracking system  202  and producing audible information using bells, sirens, loudspeakers, or buzzers. 
         [0067]    Wash tunnel control system  204  may also comprise a queueing system interface  422  enabling bidirectional communication and control between a vehicle tracking system  202  and a video queueing system as defined in U.S. Pat. No. 8,049,643. 
         [0068]    Wash tunnel control system  204  may also comprise a point of sale (POS) system interface enabling bidirectional communication and control between vehicle tracking system  202  and POS system  206 . Embodiments of wash tunnel control system  204  may also comprise a 3rd party sensor interface  426  for gathering data from a sensor used in the operation of an automatic car wash system. 
         [0069]      FIG. 6  is a schematic illustration of a process flow  600  in accordance with disclosed embodiments. As shown, the process  600  may initiate at  602  when a vehicle  12  enters the system  10 . At  604  detection by a first vision device  26  is accomplished. Optionally, at  606  detection is also made by an enter-eye, if system  10  includes such a device and such information is used to being vehicle modeling  614 . 
         [0070]    At  608  point detection on the vehicle  12  is performed. At  609  flow detection for movement through system  10  is checked. At  610  flow detection is verified and, if flow is not detected, the process returns to point detection at  608 . If flow is detected at  610 , flow filtering is applied at  612 . At  614  vehicle  12  modeling begins and proceeds to flow filtering  612 . 
         [0071]    After flow filtering  612 , vehicle  12  modeling completes at  616 . At  618  detection by the next vision device  26  in system  10  is accomplished. Again, point detection begins at  620  using the subsequent vision device  26  and flow detection begins at  622 . At  624  flow is verified and, once again, if flow is not found point detection  620  is performed again. If flow is verified at  624 , flow filtering is applied at  626 . At  622  a continuity check is performed and proceeds to flow filtering at  626 . At  630  the location of the vehicle  12  is verified. If the location is found to not be correct (e.g.,  FIG. 1 , vehicle  12 A) a stop conveyor  21  command is given as indicated at  634 . In addition, the process returns to attempt detection at the next vision device  26  in the system  10 . Of course, other process flows will vary according to the particularities of a given system  10  as will be apparent to those of ordinary skill in the art. 
         [0072]    Although various embodiments have been shown and described, the present disclosure is not so limited and will be understood to include all such modifications and variations as would be apparent to one skilled in the art. The subject matter described herein can be embodied in systems, apparatus, methods, and/or articles of any desired configuration. The implementations set forth in the foregoing description do not represent all implementations consistent with the subject matter described herein. Instead, they are merely some examples consistent with aspects related to the described subject matter. In particular, further features and/or variations can be provided in addition to those set forth herein. For example, the implementations described above can be directed to various combinations and sub-combinations of the disclosed features and/or combinations and sub-combinations of several further features disclosed above. In addition, the logic flows depicted in the accompanying figures and/or described herein do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Other implementations may be within the scope of the following claims.