Industrial vehicle distance and range measurement device calibration

A process for calibrating a distance and range measurement device on an industrial vehicle, the process comprising:

• determining a correct roll angle of the distance and range measurement device by iteratively performing, until the roll angle of the distance and range measurement device is determined to be correct:
• taking a first measurement of an emission from the distance and range measurement device at a first yaw angle relative to a roll axis of the distance and range measurement device;
• taking a second measurement of the emission from the distance and range measurement device at a second yaw angle relative to the roll axis, wherein the second yaw angle is within an angular tolerance of the first yaw angle but in an opposite direction of the first yaw angle from the roll axis;
• determining that the roll angle is incorrect when a difference between the first measurement and the second measurement is not within a roll tolerance;
• determining a roll adjustment direction based on the first measurement and the second measurement if the roll angle is incorrect;
• adjusting the distance and range measurement device relative to the roll axis in the roll adjustment direction if the roll angle is incorrect;
• and
• determining that the roll angle is correct when the difference between the first measurement and the second measurement is within the roll tolerance;
• determining a virtual emission length based on a length of a scan field of the emission from the distance and range measurement device, a height that the scan field is above a floor, and an angle of the distance and range measurement device with respect to a pitch axis of the distance and range measurement device;
• and
• determining a correct pitch angle of the distance and range measurement device by iteratively performing, until the pitch angle of the distance and range measurement device is determined to be correct:
• taking a third measurement of the emission from the distance and range measurement device at a third angle with respect to the pitch axis of the distance and range measurement device;
• determining that the pitch angle is incorrect when a difference between the third measurement and the virtual emission length is not within a pitch tolerance;
• determining a pitch adjustment direction based on the third measurement and the virtual emission length;
• adjusting the distance and range measurement device relative to the pitch axis in the pitch adjustment direction by an amount of a pitch adjustment magnitude;
• and
• determining that the pitch angle is correct when the difference between the third measurement and the virtual emission length is within a pitch tolerance.

A process for calibrating a distance and range measurement device on an industrial vehicle, the process comprising:

• determining a correct roll angle of the distance and range measurement device by iteratively performing, until the roll angle of the distance and range measurement device is determined to be correct:
• taking a first measurement of an emission from the distance and range measurement device at a first yaw angle relative to a roll axis of the distance and range measurement device;
• taking a second measurement of the emission from the distance and range measurement device at a second yaw angle relative to the roll axis, wherein the second yaw angle is within an angular tolerance of the first yaw angle but in an opposite direction of the first yaw angle from the roll axis;
• determining that the roll angle of the distance and range measurement device is incorrect when a difference between the first measurement and the second measurement is not within a roll tolerance;
• determining a roll adjustment direction based on the first measurement and the second measurement if the roll angle of the distance and range measurement device is incorrect;
• and
• displaying, on a display device of the industrial vehicle, an indication of the roll adjustment direction if the roll angle of the distance and range measurement device is incorrect;
• receiving an indication that the distance and range measurement device has been adjusted;
• and
• determining that the roll angle of the distance and range measurement device is correct when the difference between the first measurement and the second measurement is within the roll tolerance;
• determining a virtual emission length based on a length of a scan field of the emission from the distance and range measurement device, a height that the scan field is above a floor, and an angle of the distance and range measurement device with respect to a pitch axis of the distance and range measurement device;
• and
• determining a correct pitch angle of the distance and range measurement device by iteratively performing, until the pitch angle of the distance and range measurement device is determined to be correct:
• taking a third measurement of the emission from the distance and range measurement device at a third angle with respect to the pitch axis of the distance and range measurement device;
• determining that the pitch angle of the distance and range measurement device is incorrect when the third measurement is not within a pitch tolerance of the virtual emission length;
• determining a pitch adjustment direction based on the third measurement and the virtual emission length;
• displaying, on a display of the industrial vehicle, an indication of the pitch adjustment direction;
• receiving an indication that the distance and range measurement device has been adjusted;
• and
• determining that the pitch angle of the distance and range measurement device is correct when the third measurement is within the pitch tolerance of the virtual emission length.