US 12,246,457 B2
System and method for connection of service lines to trailer fronts by automated trucks
Jarvis A. Schultz, Golden, CO (US); Matthew S. Johannes, Arvada, CO (US); William L. Spies, II, Westminster, CO (US); Daniel R. Wahl, Chicago, IL (US); and Lawrence S. Klein, Bend, OR (US)
Assigned to Outrider Technologies, Inc., Brighton, CO (US)
Filed by Outrider Technologies, Inc., Brighton, CO (US)
Filed on Apr. 26, 2022, as Appl. No. 17/729,305.
Application 17/729,305 is a continuation in part of application No. 16/282,258, filed on Feb. 21, 2019, granted, now 11,429,099.
Claims priority of provisional application 62/715,757, filed on Aug. 7, 2018.
Claims priority of provisional application 62/681,044, filed on Jun. 5, 2018.
Claims priority of provisional application 62/633,185, filed on Feb. 21, 2018.
Prior Publication US 2022/0371199 A1, Nov. 24, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 5/007 (2013.01); B25J 9/1664 (2013.01)] 35 Claims
OG exemplary drawing
 
1. A system 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:
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 guides the robotic arm based upon the updated occlusion map, in which the robot arm motion control process provides motion commands to the robotic arm while tracking movement of the robotic arm based upon position feedback therefrom.