Industrial vehicle distance and range measurement device calibration
Processes and systems for calibrating a distance and range measurement device coupled to an industrial vehicle are disclosed. The calibration requires no physical movement of the distance and range measurement device. Instead, actual measurements from the device are used with nominal detection zones and nominal measurements to create modified detection zones to detect objects within the modified detection zones.
1 . A process for calibrating a distance and range measurement device coupled to an industrial vehicle, the process comprising:
determining a nominal detection zone that ends above ground at a zone height, wherein the nominal detection zone is a detection zone when the distance and range measurement device is properly calibrated;
determining a device height of the distance and range measurement device above the ground;
taking a measurement of an emission from the distance and range measurement device at a pitch angle;
reshaping the nominal detection zone to create a modified detection zone based on the zone height, the device height, and the measurement; and
using the modified detection zone to detect objects of interest to the industrial vehicle, wherein when an object is detected below the zone height, the object is ignored.
2 . The process of claim 1 , wherein taking a measurement of an emission from the distance and range measurement device at a pitch angle comprises taking a measurement of the emission from the distance and range measurement device at a yaw angle of zero degrees with reference to a roll axis of the distance and range measurement device.
3 . The process of claim 1 , wherein taking a measurement of an emission from the distance and range measurement device at a pitch angle comprises taking a measurement of the emission from the distance and range measurement device at a yaw angle other than zero degrees with reference to a roll axis of the distance and range measurement device.
4 . The process of claim 1 , wherein reshaping the nominal detection zone to create a modified detection zone based on the nominal height, the device height, and the measurement comprises:
determining that the pitch angle is correct by determining that the measurement is within a pitch tolerance of a length of the nominal detection zone; and
using the nominal detection zone as the modified detection zone if the pitch angle is correct.
5 . The process of claim 1 , wherein reshaping the nominal detection zone to create a modified detection zone based on the nominal height, the device height, and the measurement comprises:
determining that the pitch angle is incorrect by determining that the measurement is outside a pitch tolerance of a length of the nominal detection zone; and
creating the modified detection zone by scaling the measurement based on the nominal height and the device height.
6 . The process of claim 5 , wherein reshaping the nominal detection zone to create the modified detection zone by scaling the measurement based on the nominal height and the device height comprises multiplying the measurement by a difference between one and a ratio of the nominal height to the device height.
7 . The process of claim 5 , wherein reshaping the nominal detection zone to create the modified detection zone by scaling the measurement based on the nominal height and the device height comprises creating the modified detection zone by scaling several measurements based on the nominal height and the device height.