System and method for connection of service lines to trailer fronts by automated trucks

A method for guiding a robotic arm on an AV truck, adapted to connect a pneumatic line to a gladhand on the trailer front hitched thereto, comprising the steps of:

• generating pointclouds, at different stages of motion of the robotic arm with a first 3D sensor located adjacent to an end of the robotic arm, in which the end includes a tool for interacting with the gladhand;
• providing an occlusion map of the trailer front;
• updating the occlusion map based upon the pointclouds of the first 3D sensor to add and remove voxels therefrom;
• and
• guiding the robot arm based upon the updated occlusion map, including providing the robot arm with motion commands while tracking movement of the robotic arm, based upon motion feedback therefrom.

A device that guides a robotic arm on an AV truck, adapted to connect a pneumatic line to a gladhand on the trailer front hitched thereto, comprising:

• a first 3D sensor that generates pointclouds, at different stages of motion, located adjacent to an end of the robotic arm, the end carrying a tool for interacting with the gladhand;
• an occlusion map of the trailer front;
• a map update process that, based upon the pointclouds of the first 3D sensor, updates the occlusion map to add and remove voxels therefrom;
• and
• a robot arm control process that, based upon motion commands provided to the robotic arm while tracking movement of the robotic arm based upon position feedback therefrom, guides the robotic arm based upon the updated occlusion map.