Patent Document ID: 8942850
Application ID: 13582671
Patent Status: 1

Claim One:
1. A method for assisting in the handling of at least a first robotized mobile machine moving in a congested working environment under the control of at least a second robotized mobile machine, the method comprising: modeling a virtual three-dimensional representation of the working environment and of real objects contained therein; determining a target point in the working environment toward which a line of sight of said second robotized mobile machine is oriented; determining a reference point of a position of said second robotized mobile machine; constructing, within said virtual representation, by means of a physics engine, a virtual mechanism extending axially between the target point and the reference point and substantially incorporating a segment connecting these two points to which it is virtually connected by mechanical links; detecting, by means of a physics engine, a collision between said virtual mechanism and a real object in the working environment whose position is found on a basis of said virtual representation; calculating a wrench applied to said virtual mechanism resulting from its collision with said real object, the position of said target point remaining unchanged; determining a new position of said virtual mechanism in the working environment; and determining a new position of said reference point of said second robotized mobile machine, based on the new position of said virtual mechanism, in such a way that the line of sight between said reference point and said target point is free of obstacles.