Computer-implemented method, method and computer program product

Abstract

The invention relates to a computer-implemented method (30, 60, 100) for determining a security configuration of a security system (12) for a machine (10) having a dangerous location (18), the method comprising the following steps: providing a virtual model of the machine (10) in a virtual environment; simulating the ability to reach a hazardous location (18) of the machine (10) in a virtual environment based on a plurality of three-dimensional geometries, where the plurality of geometries have at least two different sizes; determining reachability of the hazardous location (18) based on the ability to reach the hazardous location (18); and determining a security configuration on the basis of the reachability of the determined hazardous location (18). The invention also relates to a method (50) for designing a safety system (12) for a machine (10).

Description

[0001] The invention relates to a computer-implemented method for determining a safety configuration of a safety system for a machine. Furthermore, the invention relates to a method for configuring a safety system for a machine. Furthermore, the invention relates to a corresponding computer program product.

[0002] The current focus of industry development is to increase the flexibility of production processes to better adapt to customer requirements. To achieve this, the industry is moving from static production lines to reconfigurable, modular production cells that can be adapted to meet specific requirements.

[0003] Reconfigurable production lines require that the machines and systems involved are equally adaptable and able to be modified as needed. However, this flexibility brings new challenges to safety engineering. Every time a machine is modified, it is necessary to reassess whether the risks associated with the machine have changed and whether this requires a reorganization of the safety equipment. In Europe, for example, this requirement is outlined in the Machinery Directive (CE), which mandates regular risk assessments throughout the life of the machine.

[0004] However, in order to fully utilize the benefits of flexible and adaptable machine arrangements, it is preferred to automate the risk assessment process or allow safety engineers to assist computers in the assessment. Automatic or assisted risk assessment is based on a virtual model of the machine and the safety technology used. The model can be used to simulate changes and estimate safety precautions before the system is modified. Automatic or assisted risk assessment (hereinafter referred to as automated risk assessment) can provide appropriate recommendations for safety engineers and help minimize risks according to standards. Therefore, regular risk assessments can be performed in a structured, fast and at least partially automated manner, particularly when the automated risk assessment can utilize real runtime data. An example of such a concept is shown in EP 3 702 855 A1.

[0005] For CE certification, a hazard analysis of the machine must be performed according to the EN ISO 12100 standard. The EN ISO 12100 standard develops basic terminology and methods and establishes general principles for risk assessment and risk reduction to help designers build safe machinery. An important aspect of the analysis is the estimation of hazardous locations or hazardous points on the machine that pose a potential hazard to people. Hazardous locations can be, for example, mechanical, thermal or electrical hazardous locations. Mechanical hazardous locations are, for example, areas in the machine that may pose a hazard to people due to their surface contours, such as edges or sharp points. Electrical hazardous locations are, for example, areas or components in the machine that are live or energized when the machine is running. Thermal hazardous locations are, for example, areas or components in the machine that may generate heat during machine operation. It should be understood that the technician may be aware of other types of hazardous locations in addition to the hazardous locations mentioned here.

[0006] In particular, certification involves identifying hazardous locations on a machine, checking their accessibility to people and, if necessary, protecting them with suitable safety measures. Until now, CE certification has been performed manually by inspectors. In particular, inspectors previously manually analyzed test samples based on their own judgement regarding hazardous locations, determined their accessibility and, if necessary, determined suitable safety measures.

[0007] Various technical safety measures can be taken to protect hazardous areas. In particular, a safety system can be provided to protect certain hazardous locations on the machine. The safety system can, for example, have sensors, cameras, edge protectors or barriers that can be used to protect hazardous locations.

[0008] The EN ISO 13857 standard specifies safety distances to prevent the human body, especially the upper and lower limbs, from reaching hazardous areas. To determine the accessibility of hazardous areas on machines, inspectors used to manually check whether the machine complies with the safety distances to prevent reaching hazardous positions according to the EN ISO 13857 standard and whether any further safety measures are required.

[0009] In this context, the object is to specify a method with which the safety of a machine can be improved. In particular, the object is to specify a method with which the protection of hazardous locations of a machine can be improved.

[0010] According to a first aspect of the present disclosure, the object is solved by a computer-implemented method for determining a safety configuration of a safety system for a machine having a hazardous location, the method comprising the following steps:

[0011] -Provide a virtual model of the machine in a virtual environment;

[0012] - simulating the accessibility of a hazardous location of a machine in a virtual environment based on a plurality of three-dimensional geometric shapes, wherein the plurality of geometric shapes have at least two different sizes;

[0013] - determining the accessibility of the hazardous location based on a simulation of the accessibility of the hazardous location; and

[0014] -Determine safety configuration based on specific accessibility of hazardous locations.

[0015] According to a second aspect of the present disclosure, there is provided a method for setting a safety system for a machine, the method comprising the following steps:

[0016] - determining a safety configuration for a safety system of a machine by a method according to the first aspect of the present disclosure; and

[0017] -Configuring the security system based on the determined security configuration.

[0018] According to a third aspect of the present disclosure, a computer program product is provided, which includes a computer program, and the computer program includes program code means for performing the method according to the first aspect of the present invention when the computer program is executed on a computer. In addition, a computer program product including instructions can also be provided, and the instructions cause the computer to perform the steps of the method according to the first aspect of the present invention when the program is executed by the computer.

[0019] Advantageously, the method is implemented using a processing unit or a control device, which can be a general-purpose computer or a special-purpose computer, in which an appropriate computer program or computer program product is stored and executed, which is configured and arranged for determining a safety configuration for a safety system for a machine or for configuring a safety system for a machine according to the aforementioned method.

[0020] The method is used to protect a machine having at least one hazardous location. At least one hazardous location means that the machine can have one hazardous location or multiple hazardous locations. A hazardous location can be, for example, a mechanical, electrical or thermal hazardous location. At least one hazardous location of the machine is predetermined or known in advance. For example, the exact location or area of ​​the hazardous location can be determined in advance by a person, in particular an inspector, or by analyzing the machine or a virtual model of the machine by means of a computer-implemented process or program.

[0021] Using the disclosed method, for a hazardous location, in particular for each hazardous location of a machine, accessibility is determined. When determining accessibility, it is in particular determined whether and how the hazardous location is reachable or reachable. Based on the accessibility, appropriate safety measures can then be taken to protect the respective hazardous location. In particular, a safety configuration for a safety system of the machine is defined for appropriate protection.

[0022] The accessibility analysis of hazardous locations is performed using a virtual model of the machine in a virtual environment. The virtual environment may include a computer-generated three-dimensional space, which may also be referred to as a virtual space. Objects may be modeled, textured, and animated using the virtual environment. For example, the virtual environment may be created on a computer using an appropriate software program, particularly a graphics engine.

[0023] A virtual model of the machine is provided or generated in a virtual environment. The virtual model may be a 3D model of the machine. In particular, the virtual model may be a design model or a CAD (computer-aided design) model. The virtual model of the machine is in particular based on 3D data of the machine, based on which the virtual model can be generated in the virtual environment and thus made available.

[0024] In order to obtain information about the accessibility of hazardous locations, the accessibility of hazardous locations of a machine is simulated in a virtual environment based on a plurality of three-dimensional geometric shapes. Therefore, the plurality of geometric shapes include at least two, in particular three or more geometric shapes. A three-dimensional geometric shape is a 3D object with a defined shape and size. The plurality of geometric shapes include at least two different sizes. Preferably, the plurality of geometric shapes may have two or more groups. The geometric shapes in each group have the same size, in particular the same shape. However, the groups differ from each other in the shape and size of the geometric form. In other words, each group has a plurality of geometric shapes of different sizes, in particular shapes. For example, the plurality of geometric shapes may include one or more geometric shapes of a first size (corresponding to the first group), one or more geometric shapes of a second size (corresponding to the second group), and one or more geometric shapes of a third size (corresponding to the third group). Alternatively, each of the plurality of geometric shapes may have a different size.

[0025] For example, the geometric shape can be a sphere, a cylinder or a tube. The size of the geometric shape preferably corresponds to the volume of the geometric shape or the extension of the geometric shape in a certain spatial direction. In the case of a sphere, the size is defined by the radius or diameter. For example, in the case of a cylinder, the size can be defined by the length and / or the radius.

[0026] The size of the geometric shapes may be particularly adapted to the size of parts of the human body (e.g., body, arms, hands, fingers and fingertips). The plurality of geometric shapes is preferably a plurality of spheres of different sizes (i.e., different diameters). In particular, the diameter of the sphere may be 100 cm to 200 cm (roughly corresponding to the average body size), wherein such a sphere may be referred to as a body sphere.

[0027] The diameter of the sphere can also be 4 cm to 12 cm, preferably 5 cm to 10 cm, in particular (roughly corresponding to the average arm thickness) 7 cm, wherein such a sphere can be referred to as an arm sphere. A plurality of geometric shapes can include several arm spheres. For example, a plurality of geometric shapes can include three, four, five or more arm spheres. In particular, the number of arm spheres can be selected so that the product of the number of arm spheres and the diameter is 40 cm to 100 cm, preferably 50 cm to 80 cm, in particular (roughly corresponding to the average arm length) 60 cm or 70 cm.

[0028] The diameter of the sphere can also be 5 cm to 15 cm, in particular 10 cm (roughly corresponding to the average hand thickness), wherein such a sphere can be called a hand sphere. The plurality of geometric shapes can include several hand spheres. For example, the plurality of geometric shapes can include three, four, five or more hand spheres. In particular, the number of hand spheres can be selected so that the product of the number of hand spheres and the diameter is 5 cm to 20 cm, preferably 7 cm to 15 cm (roughly corresponding to the average hand length).

[0029] The diameter of the sphere may also be 0.5 cm to 15 cm, preferably 1 cm to 2 cm, in particular 1.5 cm (approximately corresponding to the thickness of a finger), wherein such a sphere may be referred to as a finger sphere. The plurality of geometric shapes may include several finger spheres. For example, the plurality of geometric shapes may include three, four, five or more finger spheres. In particular, the number of finger spheres may be selected such that the product of the number of finger spheres and the diameter is 5 cm to 15 cm, preferably 7 cm to 10 cm, in particular 8 cm (approximately corresponding to the length of an average finger).

[0030] Preferably, the plurality of geometric shapes include a body sphere, one or more arm spheres, and one or more finger spheres. In particular, the plurality of geometric shapes may also include one or more hand spheres. Alternatively, the plurality of geometric shapes may include a body sphere, one or more arm spheres, and one or more hand spheres.

[0031] In order to simulate the accessibility of the hazardous location, the arrangement of one or more of the geometric shapes around the hazardous location is simulated. For this purpose, the arrangement of a geometric shape or a combination of geometric shapes can be considered. For example, it is possible to simulate where one or more of the geometric shapes can be located around the hazardous location. "Arrangeable" means that the geometric shape is freely arranged in space and is not located in or overlapped with a part of the machine. If a geometric shape or a combination of geometric shapes can be arranged in such a way that it is directly adjacent to the hazardous location, the hazardous location can be reached by the geometric shape.

[0032] The simulation may be limited to a specific area around the hazardous location. For the purpose of the simulation, corresponding geometric shapes may be generated at different locations in the virtual environment, in particular in a specific area around the hazardous location. It may then be determined for each location whether the geometric shape can be arranged at that location. Alternatively, it may also be possible to generate a geometric shape at only one location in the virtual environment, in particular in a specific area around the hazardous location, and then to move the geometric shape around in the virtual environment accordingly.

[0033] Based on the simulation of reachability, the next step is to determine the reachability of the hazardous location. In particular, it is determined whether and how the hazardous location is reachable. For example, if the hazardous location cannot be reached by any geometric shape or by any specific combination of geometric shapes, then the hazardous location is unreachable. If the hazardous location can be reached by a geometric shape or by a specific combination of geometric shapes, then the hazardous location is reachable by that geometric shape or by that specific combination of geometric shapes.

[0034] Based on the determined accessibility of the hazardous location, the next step is to determine a corresponding safety configuration for the safety system of the machine.

[0035] The safety system can have various safety devices to protect dangerous locations on the machine. The safety device can be a physical safety device such as an edge protector, a barrier, a marking, etc. or a sensing device such as a sensor, a light barrier, a camera, etc. The physical safety device can be used to protect the dangerous location by arranging the physical safety device accordingly to make it more difficult to enter the dangerous location or to prevent entry into the dangerous location. The sensing safety device can be used to protect the dangerous location by using the sensing safety device to monitor the area around the dangerous location, i.e., the safety zone. The area can be defined, for example, by a safe distance from the dangerous location. The sensing safety device can be connected to the control device of the safety system. If a person is detected entering the monitoring area or in the monitoring area, appropriate safety measures can be taken. For example, the safety device or the control device of the safety system can be configured to send an optical or acoustic alarm signal or shut down the machine if a person is detected entering the monitoring area or in the monitoring area.

[0036] The safety configuration of the safety system thus defines the arrangement and / or configuration of one or more safety devices of the safety system. The safety configuration may be defined by one or more parameters. The parameters of the safety configuration thus determine the arrangement and / or configuration of one or more safety devices. In other words, the parameters of the safety configuration thus determine the safety measures for protecting the hazardous location.

[0037] If it has been determined that the hazardous location is inaccessible, no safety measures are needed to protect the hazardous location. In this case, the safety configuration is determined in such a way that none of the arrangements and / or configurations of one or more safety devices of the safety system are configured to protect the hazardous location.

[0038] If it has been determined that the hazardous location is accessible, the required safety measures depend on how the hazardous location is accessible, in particular by which geometry or which combination of geometries. In particular, the safety configuration may be determined in such a way that the arrangement and / or configuration of one or more safety devices of the safety system are configured to protect the hazardous location according to the specified accessibility. For example, a fine mesh finger guard may be installed directly around the hazardous location or a coarse mesh entry guard may be installed a little further away.

[0039] Depending on the specific safety configuration of the safety system, the safety system can then be set accordingly to protect dangerous locations of the machine when these locations are accessible. Safety measures are implemented to prevent people from harming themselves in dangerous locations or to make it more difficult for people to harm themselves in dangerous locations. In various embodiments, the machine is started and operated with the safety system set in this way. In particular, the machine can be configured to handle and / or package and / or transport objects after being put into operation. For example, in some embodiments, the machine may include a machine tool and / or a robot and / or a conveying mechanism such as a conveyor belt, each of which poses a danger to people during operation.

[0040] The proposed method thus provides a method for automatically determining the accessibility of a hazardous location. In particular, the proposed method can be used to automatically determine whether and how a hazardous location is reachable. Thus, the proposed method allows CE certification to be performed automatically. The reachability analysis can also be performed using only design data of the machine, such as CAD data. Compared to manual CE certification, the proposed method provides the advantage that the determination can be performed quickly, reliably and in particular (e.g. based on a CAD design model) at an early stage in the development process.

[0041] Furthermore, the proposed method determines appropriate protection or safety measures based on the specific accessibility of the hazardous location. To this end, the proposed method determines a safety configuration of the safety system based on the specific accessibility of the hazardous location. The safety system can then be configured according to the specific safety configuration to protect the machine. This improves the safety of the machine. In particular, the proposed method improves the detection and protection of hazardous locations on the machine.

[0042] Thus, the objectives set out at the outset were fully achieved.

[0043] In a first refinement, in the simulation step, the geometric shapes are used to continuously determine corresponding areas in the virtual environment in which the corresponding geometric shapes can be arranged around the hazardous location.

[0044] "One by one" means that the area for the first geometric shape is first determined, then another area for another geometric shape is determined, etc. In particular, the area can be determined according to the size of the geometric shape in descending or ascending order. The area of ​​the corresponding geometric shape is the following area in the virtual environment, which includes in particular all possible arrangements of the geometric shape around the dangerous position. In particular, the determination of where the corresponding geometric shape can be arranged around the dangerous position in the virtual environment can be limited to a specific area of ​​the virtual environment, preferably to the immediate area of ​​the dangerous position (for example, within 3m of the dangerous position). In other words, the possible (especially all possible) arrangements (positions / orientations) of the geometric shape in the virtual environment (outside the virtual model) and preferably in a limited area are determined for the corresponding geometric shape, wherein the possible (especially all possible) arrangements then cover or define the corresponding area of ​​the geometric shape. The area for the corresponding geometric shape can be determined, for example, by scanning the virtual environment (or a limited area of ​​the virtual environment) with the help of the corresponding geometric shape (change or motion simulation of the position and / or orientation of the geometric shape) and determining where the geometric shape can be located in the virtual environment or in the limited area of ​​the virtual environment. The area to be determined is then the area covered by all specific possible arrangements.

[0045] In a further development, the subsequent region is determined in such a way that, starting from a previously determined region around the hazardous location, a corresponding geometric shape can be arranged in this region.

[0046] "Starting from..." means that a subsequent geometric shape overlaps or is directly adjacent to at least one of the previous specific areas. In other words, first, a corresponding area is determined for a first geometric shape, wherein the geometric shape can be arranged around the hazardous location in the virtual environment or in a limited area of ​​the virtual environment. Then, for each subsequent geometric shape, starting from at least one of the previously determined areas, it is determined where the geometric shape can be arranged in the virtual environment or in a limited area of ​​the virtual environment, wherein these arrangements of subsequent geometric shapes then define corresponding areas. In this way, arrangements of combinations of geometric shapes can be simulated.

[0047] In a further development, in the simulation step a first area is determined in the virtual environment around the hazardous location, in which first area a first geometric shape can be arranged around the hazardous location, preferably within a defined area.

[0048] As previously explained, a first area is determined for a first geometric shape of a plurality of geometric shapes. This determines where in the virtual environment the first geometric shape can be arranged within a defined area. The first area is then an area covered by all certain possible arrangements of the first geometric shape. The defined area is preferably a sub-area of ​​the virtual environment. The hazardous location is preferably located in the defined area (in particular in the middle of the defined area). For example, the first geometric shape can be a sphere. The defined area can, for example, be an envelope such as a surface surrounding the virtual model, in particular a sphere. Alternatively, the first area can also be defined as an area where the first geometric shape can be arranged directly adjacent to the virtual model of the machine.

[0049] In a further development, a second area is determined in the virtual environment around the hazardous location, in which second area a second geometric shape can be arranged around the hazardous location starting from the first area.

[0050] A plurality of geometric shapes has a second geometric shape. In other words, this determines where the second geometric shape can be arranged in the virtual environment starting from the first area. The second area is then the area covered by all certain possible arrangements of the second geometric shape. Preferably, the second geometric shape is smaller than the first geometric shape. For example, the first geometric shape can be a body sphere, and the second geometric shape can be an arm sphere.

[0051] In a further development, a third area is determined in the virtual environment around the hazardous location, in which third area a third geometric shape can be arranged around the hazardous location starting from the first area and / or the second area.

[0052] A plurality of geometric shapes has a third geometric shape. In other words, this determines where the third geometric shape can be arranged in the virtual environment starting from the first area and / or the second area. The third area is then an area covered by all certain possible arrangements of the third geometric shape. Preferably, the third geometric shape is smaller than the first and second geometric shapes. For example, the first geometric shape may be a body sphere, the second geometric shape may be an arm sphere, and the third geometric shape may be a finger sphere. In particular, after determining the third area for other smaller geometric shapes (e.g., for finger spheres and / or fingertip spheres), more areas may be determined based on at least one of the previously determined areas.

[0053] In another refinement, the regions are determined one after the other in descending order of the size of the geometric shapes.

[0054] In particular, the first geometry by means of which the first area is determined is then the largest geometry of the plurality of geometries. Each additional area is then determined using the next smaller geometry. In this way, it can be determined in particular whether a hazardous location can be reached from the outside to the inside via a combination of geometries arranged in descending order.

[0055] In a further development, a subsequent region is only determined if none of the previously determined regions is directly adjacent to the hazardous location.

[0056] Once a hazardous location has been reached by a certain geometric shape, in particular if the corresponding area is directly adjacent to the hazardous location, the subsequent (smaller) geometric shape no longer needs to be taken into account. It is therefore advantageous to determine the area of ​​the subsequent geometric shape only if the area of ​​the previous (larger) geometric shape is not directly adjacent to the hazardous location. In particular, the second area is determined only if the first area is not directly adjacent to the hazardous location. Correspondingly, the third area is determined only if the first area and the second area are not directly adjacent to the hazardous location.

[0057] In another refinement, in the step of determining the reachability of the hazardous location, the hazardous location is determined to be reachable if one of the determined areas is directly adjacent to the hazardous location.

[0058] As soon as one of the designated areas is directly adjacent to the hazardous location, it is indicated that the hazardous location has been reached by the corresponding geometry of the area. The hazardous location is therefore reachable. If none of the designated areas is directly adjacent to the hazardous location, the hazardous location cannot be reached by any geometry. The hazardous location is therefore inaccessible. In the step of determining the reachability, in particular geometric shapes or combinations of geometric shapes by which the hazardous location is reachable can be determined. If one of the designated areas is directly adjacent to the hazardous location, the hazardous location is reachable by corresponding geometric shapes, in particular by a combination of geometric shapes from the first (largest) geometry to the geometry of the area directly adjacent to the hazardous location.

[0059] In a further alternative development, in the simulation step a first region in the virtual environment around the hazardous location is determined in which the first geometric shape can be arranged directly adjacent to the hazardous location.

[0060] The plurality of geometric shapes comprises a first geometric shape. In particular, the first geometric shape may be that one of the plurality of geometric shapes which may be arranged directly adjacent to the hazardous location. This first geometric shape is then used to determine a first area around the hazardous location, in which the first geometric shape may be arranged directly adjacent to the hazardous location. Starting from this first area, further areas with larger geometric shapes may then be determined. In this way, it may be determined from the inside out whether the hazardous location can be reached by a combination of geometric shapes. For example, the first geometric shape may be a finger sphere.

[0061] In a further development, a second area is determined in the virtual environment around the hazardous location, in which second area a second geometric shape can be arranged around the hazardous location starting from the first area.

[0062] A plurality of geometric shapes has a second geometric shape. In other words, this determines where the second geometric shape can be arranged in the virtual environment starting from the first area. The second area is then the area covered by all certain possible arrangements of the second geometric shape. Preferably, the second geometric shape is larger than the first geometric shape. For example, the first geometric shape can be a finger sphere, and the second geometric shape can be an arm sphere.

[0063] In a further development, a third area is determined in the virtual environment around the hazardous location, in which third area a third geometric shape can be arranged around the hazardous location based on the first area and / or the second area.

[0064] The plurality of geometric shapes has a third geometric shape. In other words, this determines where the third geometric shape can be arranged in the virtual environment starting from the first area and / or the second area. The third area is then the area covered by all certain possible arrangements of the third geometric shape. Preferably, the third geometric shape is larger than the first and second geometric shapes. For example, the first geometric shape may be a finger sphere, the second geometric shape may be an arm sphere, and the third geometric shape may be a body sphere.

[0065] In a further development, the regions are determined one after the other in ascending order of the size of the geometric shapes.

[0066] In particular, the first geometric shape based on which the first area is determined is not then the largest geometric shape of the plurality of geometric shapes. Each additional area is then determined using the next larger geometric shape. In this way, it can be determined in particular whether a hazardous location can be reached from the inside out via a combination of geometric shapes arranged in ascending order.

[0067] In another refinement, subsequent regions are determined only if every preceding region can be determined.

[0068] The area can only be determined if the corresponding geometric shape can be arranged. The first area can be determined if the first geometric shape can be arranged directly adjacent to the hazardous location. Starting from at least one of the already determined areas, each additional area, in particular the second area and the third area, can be determined if the corresponding geometric shape can be arranged. For example, the second area is only determined if the first area is determinable. Correspondingly, the third area is only determined if the first area and the second area can be determined.

[0069] If all areas starting from the first area up to the area of ​​the largest geometric shape can be determined, the hazardous location can be reached with this combination of geometric shapes. If not all areas can be determined (especially if the area of ​​the largest geometric shape cannot be determined), the hazardous location cannot be reached with this combination of geometric shapes. In particular, in this case a new first geometric shape can be determined (the next smaller geometric shape of the previous first geometric shape). Then, starting from the new first geometric shape, the areas can be determined one after another in ascending order of the size of the geometric shapes. If there are no smaller shapes anymore, this means that the hazardous location is unreachable.

[0070] In another refinement, whether the corresponding geometric shapes can be arranged directly adjacent to the hazardous location is determined one by one in descending order of size of the geometric shapes, whereby the geometric shapes that can be arranged directly adjacent to the hazardous location are determined as the first geometric shapes.

[0071] In this way, it is possible to determine whether one of the plurality of geometric shapes can be placed directly adjacent to the hazardous location, and if so, it is possible to determine which geometric shape is the largest geometric shape that can be placed at the hazardous location. If none of the geometric shapes can be arranged directly adjacent to the hazardous location, the hazardous location cannot be reached using any of the geometric shapes. In particular, in this case, no area directly adjacent to the hazardous location can be determined (i.e., the first area cannot be determined). In this case, the hazardous location is unreachable. However, if one of the geometric shapes can be arranged directly adjacent to the hazardous location, this geometric shape is determined as the first geometric shape. In particular, the first geometric shape that can be arranged directly adjacent is determined as the first geometric shape.

[0072] In another refinement, in the step of determining the reachability of the hazardous location, if all areas to be determined can be determined, it is determined that the hazardous location is reachable.

[0073] In particular, starting from a first geometric shape, a zone is determined for each of these shapes in ascending order of size. If a zone cannot be determined because no geometric shape can be arranged directly adjacent to the hazardous location or because a subsequent (larger) geometric shape cannot be arranged directly adjacent to a previously determined zone, the hazardous location is unreachable. In other words, the hazardous location is reachable only if, starting from the first zone, all subsequent zones, in particular zones determined based on the largest geometric shape, can be determined. Since the first zone of the first geometric shape is directly adjacent to the hazardous location, the hazardous location is reachable via the first geometric shape, in particular via a combination of geometric shapes from the first geometric shape to the largest geometric shape.

[0074] In another refinement, the plurality of geometric shapes includes a plurality of spheres.

[0075] Spheres have a geometric configuration that can be simulated relatively easily in a virtual environment. In particular, due to their spherical symmetry, the calculation of the arrangement or distance of spheres in a virtual environment is easier than for more complex (less symmetrical) objects. In this way, simulation time can be shortened.

[0076] In a further development, the safety configuration defines, if the hazardous location is accessible, the arrangement and / or configuration of safety devices of the safety system and / or the arrangement of a safety zone around the hazardous location and / or a safety distance to the hazardous location.

[0077] Therefore, if it has been determined that the hazardous position is accessible, the safety configuration defines one or more measures for protecting the hazardous position. The measure is the arrangement and / or configuration of the safety device. The arrangement of the safety device preferably defines the position, orientation, shape and / or size of the safety device. Physical and sensory safety devices as described above can be used as safety devices. The configuration of the safety device defines how to set the safety device to protect the corresponding hazardous position. For example, the sensory safety device can be configured to monitor an area defined by a safety distance or a safety zone. The safety zone or safety distance defines an area that a person should not or must not enter or reach. Therefore, the area is an area to be monitored or protected. The corresponding safety device of the safety system can be used to perform monitoring or protection. The safety configuration defined by the parameters is then used to configure the safety system accordingly. In other words, the safety configuration is used to configure the safety device according to the safety configuration. The arrangement and / or configuration of the safety device and the definition of the safety zone and / or safety distance are therefore used to protect a specific mechanical hazardous position. In particular, the safety measure, i.e., the safety configuration, depends on how the hazardous position is accessible, i.e., by which geometry or which combination of geometry can the hazardous position be reached. For example, if the hazardous location is accessible via a large sphere (e.g., a body sphere), the hazardous location may need to be protected differently than if the hazardous location is accessible via a small sphere (e.g., a finger sphere). In this way, if the hazardous location is accessible, it can be appropriately protected.

[0078] In another refinement, when configuring the security system, security devices of the security system are arranged and / or configured based on the security configuration.

[0079] The safety device is arranged and configured in such a way that it can protect or monitor at least one corresponding hazardous location of the machine. For example, a sensor safety device can be configured in such a way that it monitors the area to be monitored around the hazardous location. The physical safety device must be configured and arranged in such a way that the physical safety device protects the hazardous location, i.e., makes it more difficult for a person to enter the hazardous location or prevents a person from entering the hazardous location. In this way, the protection of the machine is achieved accordingly.

[0080] In another refinement, when configuring the safety system, a safety zone or a safety distance may be configured based on the safety configuration, wherein the safety zone or the safety distance is monitored or protected by a safety device of the safety system.

[0081] For example, a sensing safety device configured to monitor a safety zone or a safety distance may be provided. In addition, a physical safety device configured to protect a safety zone or a safety distance may also be provided. In particular, the safety configuration may also define several safety zones or safety distances for several hazardous locations, wherein one or more sensing safety devices are configured (i.e., arranged and configured accordingly) to monitor the safety zone and / or the safety distance to the hazardous location. In this way, protection of the machine is achieved accordingly.

[0082] It is understood that the features mentioned above and those yet to be explained below can be used not only in the combination indicated in each case but also in other combinations or on their own, without departing from the scope of the present invention.

[0083] Examples of implementations of the invention are shown in the drawings and are explained in more detail in the following description.

[0084] Figure 1 A schematic diagram showing a machine and a safety system for protecting the machine;

[0085] Figure 2 Two exemplary views showing arrangements of safety devices for protecting or monitoring hazardous locations;

[0086] Figure 3 A schematic representation of a first embodiment of a method for determining a safety configuration for a safety system of a machine is shown;

[0087] Figure 4 A schematic representation of an embodiment of a method for configuring a safety system for a machine is shown;

[0088] Figure 5 shows a schematic representation of a second embodiment of a method for determining a safety configuration for a safety system of a machine;

[0089] Figure 6 shows a schematic representation of a third embodiment of a method for determining a safety configuration for a safety system of a machine;

[0090] Figure 7 Shown is the Figure 6 Schematic representation of a method step for determining a first geometric shape in a method of;

[0091] Figure 8 Shown is the Figure 6Schematic representation of the method steps of determining reachability starting from a first geometric shape in the method shown;

[0092] Fig. 9 Shown using the Figure 5 An exemplary representation of a method for determining reachability of a first hazardous location;

[0093] Fig.10 Shown using the Figure 6 An exemplary representation of a method for determining reachability of a first hazardous location;

[0094] Fig.11 Shows the use of Figure 5 determining an exemplary representation of the reachability of a second hazardous location by the method; and

[0095] Fig.12 Shown using the Figure 6 An exemplary representation of a method for determining reachability of a second hazardous location.

[0096] Figure 1 A machine 10 and a safety system 12 are shown. The machine 10 has at least one hazardous location 18, such as a mechanical, electrical or thermal hazardous location. The safety system 12 is used to secure / protect the machine 10, in particular to protect the hazardous location 18. The safety system 12 has one or more safety devices 14, 16. The safety devices 14, 16 may be physical safety devices 14 (e.g., barriers, edge protectors, markings, etc.) and / or sensory safety devices 16 (e.g., sensors, cameras, etc.). The hazardous location 18 may be protected by means of the safety devices 14, 16.

[0097] Figure 2 Two examples (A) and (B) of protecting a machine hazardous location 18 by means of safety devices 14 , 16 are shown. Figure 2 These examples serve as examples of safety configurations for the safety system 12 . The safety configuration defines the arrangement and / or configuration of the safety devices 14 , 16 of the safety system 12 .

[0098] In a first example (A), a physical security device 14, such as a barrier, is disposed at a certain safety distance 22 from a mechanical hazardous location 18 of a machine 10. The physical security device 14 makes access to the mechanical hazardous location 18 more difficult or prevents access to the mechanical hazardous location 18.

[0099] In the second example (B), a sensing safety device 16, such as a camera or an optical sensor, is arranged in such a way that it monitors a safety zone 20 around a mechanical hazardous location 18 of the machine 10. The sensing safety device 16 is configured to detect when a person enters the safety zone 20 and / or is present in the safety zone 20. For example, if the sensing safety device 16 detects this, a safety-related action (alarm, machine shutdown, etc.) may be triggered.

[0100] Figure 3 A first embodiment of a method 30 for determining a safety configuration of a safety system 12 for a machine 10 is shown, wherein the machine 10 has at least one hazardous location 18. The method 30 may be computerized. In particular, the steps of the method 30 may be performed by means of a computer. Therefore, the method 30 is a computer-implemented method.

[0101] In a first step 32 of the method 30 , a virtual model of the machine 10 is provided in a virtual environment.

[0102] In a further step 34 of the method 30 , the accessibility of the hazardous location 18 of the machine 10 in the virtual environment is determined based on a plurality of three-dimensional geometric shapes, wherein the plurality of geometric shapes have different sizes.

[0103] Preferably, the plurality of geometric shapes comprises a plurality of spheres. The size of the spheres can be adapted to the dimensions of a human body (body sphere, arm sphere, finger sphere).

[0104] In particular, step 34 simulates whether the hazardous location can be reached by one of the plurality of geometries or by a combination of geometries of the plurality of geometries.

[0105] For example, geometric shapes can be used to continuously determine corresponding areas in the virtual environment in which corresponding geometric shapes can be arranged around hazardous locations, wherein subsequent areas are determined in such a way that corresponding geometric shapes can be arranged around hazardous locations in the area based on previously determined areas.

[0106] A combination of geometries (eg, toward the hazardous location (method 1) or away from the hazardous location (method 2)) may be used to determine the accessibility of the hazardous location.

[0107] According to method 1, for example, it is determined whether a dangerous location can be reached from the outside via a combination of geometric shapes. To this end, first, a first area is determined in a virtual environment around the dangerous location, in which a first geometric shape can be arranged in a defined area around the dangerous location. Here, the first geometric shape is the largest geometric shape. Then, other areas of other geometric shapes are determined one by one in descending order of the size of the geometric shapes.

[0108] For example, a second area is determined in the virtual environment around the dangerous location, in which a second geometric shape can be arranged around the dangerous location starting from the first area, wherein the second geometric shape is smaller than the first geometric shape. Then, a third area is determined in the virtual environment around the dangerous location, in which a third geometric shape can be arranged around the dangerous location starting from the first area and / or the second area, wherein the third geometric shape is smaller than the second geometric shape and the first geometric shape.

[0109] On the other hand, according to method 2, it is determined whether a combination of geometric shapes can be arranged outward starting from the hazardous location.

[0110] To this end, firstly, a first area is determined in the virtual environment around the hazardous location, in which the first geometric shape can be arranged directly adjacent to the hazardous location. The first geometric shape is thus one of a plurality of geometric shapes that can be arranged at the hazardous location. Then, further areas are determined one after another in ascending order of the size of the geometric shapes.

[0111] For example, a second area is determined around the virtual environment of the dangerous location, in which a second geometric shape can be arranged starting from the first area around the dangerous location, wherein the second geometric shape is larger than the first geometric shape. Then, a third area is determined in the virtual environment around the dangerous location, in which a third geometric shape can be arranged around the dangerous location starting from the first area and / or the second area, wherein the third geometric shape is larger than the second geometric shape and the first geometric shape.

[0112] In a further step 36 of method 30 , the accessibility of hazardous location 18 is determined based on a simulation of the accessibility of hazardous location 18 .

[0113] If the hazardous location can be reached by a geometric shape or by a combination of connected geometric shapes among a plurality of geometric shapes, then the hazardous location is reachable. If the hazardous location cannot be reached by a geometric shape or by a combination of connected geometric shapes among a plurality of geometric shapes, then the hazardous location is inaccessible.

[0114] According to method 1, if one of the designated areas is directly adjacent to the hazardous location, it is determined that the hazardous location is reachable. According to method 1, if it can be determined that there is no area directly adjacent to the hazardous location, the hazardous location is unreachable.

[0115] According to method 2, if all the areas to be determined can be determined, it is determined that the dangerous position is reachable. If not all the areas to be determined can be determined, the dangerous position is not reachable.

[0116] In a further step 38 of the method 30, a safety configuration is then determined based on the determined accessibility of the hazardous location 18. The safety configuration defines the arrangement and / or arrangement of the safety devices 14, 16 of the safety system 12 and / or the arrangement of the safety zone 20 around the hazardous location 18 and / or the safety distance 22 to the hazardous location 18 if the hazardous location 18 is accessible.

[0117] In particular, the safety measures may depend on how the hazardous location 18 is accessible, i.e., by which geometry or which combination of geometries. For example, if the hazardous location is accessible by a large sphere (e.g., a body sphere), the hazardous location may need to be protected differently than if the hazardous location is accessible by a small sphere (e.g., a finger sphere). In this way, if the hazardous location is accessible, it may be appropriately protected. For example, the number of sensors, the size of the safety zone to be monitored, or the size of the barrier may be determined based on the size of the geometry by which the hazardous location 18 is accessible.

[0118] Figure 4 An embodiment of a method 50 for configuring a safety system 12 for a machine 10 is shown.

[0119] In a first step 52 of the method 50, a safety configuration for the safety system 12 of the machine 10 is determined. Figure 3 The method 30 determines a safety configuration for the safety system 12 of the machine 10 .

[0120] In another step 54 of the method 50, the security system 12 is configured based on a security configuration defined by at least one specific parameter. When configuring the security system 12, the safety devices 14, 16 of the security system 12 may be arranged and / or configured based on the security configuration. Furthermore, when configuring the security system 12, a safety zone 20 or a safety distance 22 may be set based on the security configuration, wherein the safety zone 20 or the safety distance 22 is monitored or protected by means of the safety devices 14, 16 of the security system 12.

[0121] Figure 5 A second embodiment of a method 60 for determining a safety configuration of a safety system 12 for a machine 10 is shown, wherein the machine 10 has at least one hazardous location 18. The method 60 may be computerized. In particular, the steps of the method 60 may be performed by means of a computer. Therefore, the method 60 is a computer-implemented method.

[0122] In a first step 62 of the method, a virtual model of the machine 10 is provided in a virtual environment. Thereafter, a step 64 is performed.

[0123] In step 64 of method 60, a first area is determined in which a first geometric shape of the plurality of three-dimensional geometric shapes can be arranged in a defined area around hazardous location 18. The first geometric shape is a largest geometric shape of the plurality of three-dimensional geometric shapes.

[0124] In step 66 of method 60, it is determined whether the first area is directly adjacent to the hazardous location 18. If the first area is directly adjacent to the hazardous location 18, the next step 78 is performed. If the first area is not adjacent to the hazardous location 18, step 68 is performed.

[0125] In step 68 of method 60, a further area is determined for a next smaller geometric shape of the plurality of three-dimensional geometric shapes, in which the next smaller geometric shape can be arranged starting from at least one of the previously determined areas, in particular starting from the last determined area. The next smaller geometric shape is the largest geometric shape that has not yet been used to determine an area.

[0126] In step 70 of method 60, it is determined whether the area determined in step 68 is directly adjacent to hazardous location 18. If the area determined in step 68 is directly adjacent to hazardous location 18, then step 78 is performed. If the area determined in step 68 is not directly adjacent to hazardous location 18, then step 72 is performed.

[0127] In step 72 of method 60, it is determined whether there is still a next smaller geometric shape in the plurality of three-dimensional geometric shapes. If there is a next smaller geometric shape, step 68 is repeated for the next smaller geometric shape. If there is no next smaller geometric shape, step 74 is performed.

[0128] In step 74 of method 60 , because there is no directly adjacent area to the hazardous location, it is determined that the hazardous location is unreachable. Thereafter, step 76 is performed.

[0129] In step 76 of method 60 , the safety configuration of the safety system is determined such that it does not include any safety measures for protecting hazardous location 18 .

[0130] In a further step 78 of the method 60, it is determined that the hazardous location 18 is reachable because one of the determined areas is directly adjacent to the hazardous location 18. Preferably, it is determined that the hazardous location 18 is reachable by means of the geometry of the area. In particular, it can be determined that the hazardous location 18 is reachable by a combination of geometric shapes starting from the largest geometric shape to the geometric shape whose area is directly adjacent to the hazardous location 18. Thereafter, step 80 is performed.

[0131] In a further step 80 of method 60, a safety configuration of the safety system is determined such that it includes safety measures for protecting hazardous location 18. In particular, the safety measures may depend on how the hazardous location is accessible, ie via which geometry or combination of geometries.

[0132] Method 60 substantially corresponds to method 30 and implements method 1 for determining the reachability and accessibility of hazardous location 18. In particular, step 62 corresponds to step 32. Furthermore, steps 64 to 72 are examples of using step 34 of method 1. Furthermore, steps 74 and 78 are examples of using step 36 of method 1. Furthermore, steps 76 and 80 are examples of step 38.

[0133] Figure 6 A third embodiment of a method 100 for determining a safety configuration of a safety system 12 for a machine 10 is shown, wherein the machine 10 has at least one hazardous location 18. The method 100 may be computerized. In particular, the steps of the method 100 may be performed by means of a computer.

[0134] In a first step 102 of the method 100 , a virtual model of the machine 10 is provided in a virtual environment.

[0135] In a further step 104 of method 100 , a first geometric shape of the plurality of three-dimensional geometric shapes is determined, which geometric shape can be arranged directly adjacent to hazardous location 18 . Figure 7 Method steps 130 to 140 are shown for determining the first geometry in step 104 .

[0136] In step 130 , the largest geometric shape among the plurality of geometric shapes is selected as the geometric shape.

[0137] In step 132, it is determined whether the selected geometric shape can be placed directly adjacent to the hazardous location 18. If the selected geometric shape can be placed directly adjacent to the hazardous location 18, step 138 is performed. If the selected geometric shape cannot be placed directly adjacent to the hazardous location 18, step 134 is performed.

[0138] In step 134, it is determined whether there is a next smaller geometric shape of the selected geometric shape in the plurality of geometric shapes. If there is a next smaller geometric shape of the selected geometric shape, step 136 is performed. If there is no next smaller geometric shape of the selected geometric shape, step 140 is performed.

[0139] The next smaller geometric shape is determined as the new selected geometric shape in step 136. Step 132 is then performed again using the new selected geometric shape.

[0140] In step 138 , a selected geometric shape which can be arranged directly adjacent to hazardous point 18 is determined as a first geometric shape.

[0141] In step 140 , no geometric shape is determined as the first geometric shape because none of the plurality of geometric shapes can be arranged at the hazardous location 18 .

[0142] In a further step 106 of the method 100, it is determined whether a first geometry could be determined in step 104 (see steps 138 and 140). Once the initial geometry has been determined, step 108 is performed. If the first geometry could not be determined, step 120 is performed.

[0143] In a further step 108 of method 100 , accessibility of hazardous location 18 is determined based on the first geometric shape. Figure 8 Shown is the Figure 6 Method steps 150 to 162 of determining reachability in step 108 of method 100 .

[0144] In step 150, it is determined whether the first geometric shape is the largest geometric shape among the plurality of geometric shapes. If the first geometric shape is the largest geometric shape among the plurality of geometric shapes, step 160 is performed. If the first geometric shape is not the largest geometric shape among the plurality of geometric shapes, step 152 is performed.

[0145] In step 152 , a first region is determined in which a first geometric shape can be arranged directly adjacent to the hazardous location 18 . Thereafter, step 154 ​​is performed.

[0146] In step 154, it is determined whether the next larger geometric shape of the plurality of three-dimensional geometric shapes can be arranged starting from at least one of the previously determined regions, in particular starting from the last determined region. If the next larger geometric shape can be arranged, step 156 is performed. If the next larger geometric shape cannot be arranged, step 162 is performed.

[0147] In step 156 , a corresponding area is determined for the next larger geometric shape, in which the next larger geometric shape can be arranged starting from at least one of the previously determined areas, in particular starting from the last determined area. Thereafter, step 158 is performed.

[0148] In step 158, it is determined whether there is a next larger geometric shape among the plurality of geometric shapes (particularly for geometric shapes that have not yet been determined). If there is a next larger geometric shape, step 154 ​​is performed again. If there is no next larger geometric shape, step 160 is performed.

[0149] In step 160 , it is determined that the hazardous location can be reached starting from the first geometry, since all areas (to be determined) can be determined.

[0150] In step 162 , it is determined that the hazardous location cannot be reached starting from the first geometry, since not all areas (to be determined) can be determined.

[0151] In a further step 110 of the method 100, it is determined whether all areas can be determined in step 162 (ie whether the hazardous location can be reached starting from the first geometry). When all areas have been determined, step 116 is performed. If not all areas can be determined, step 112 is performed.

[0152] In another step 112 of the method 100, it is determined whether there is a next smaller geometric shape of the first geometric shape in the plurality of geometric shapes. If there is a next smaller geometric shape, step 114 is performed. If there is no next smaller geometric shape, step 120 is performed.

[0153] In a further step 114 of the method 100, the next smaller geometry is determined as a new first geometry. Then, step 108 is performed again with the new first geometry. Before performing step 108 again, it is preferably first determined whether the new first geometry can be arranged directly adjacent to the hazardous location.

[0154] In a further step 116 of the method 100, it is determined that the hazardous location 18 is reachable, since all areas starting from the first geometric shape can be determined. Preferably, it is determined that the hazardous location 18 is reachable by means of the first geometric shape. In particular, it can be determined that the hazardous location 18 is reachable by a combination of geometric shapes starting from the largest geometric shape to the first geometric shape. Thereafter, step 118 is performed.

[0155] In a further step 118 of method 100, a safety configuration of the safety system is determined such that it includes safety measures for protecting hazardous location 18. In particular, the safety measures may depend on how the hazardous location is accessible, ie via which geometry or combination of geometries.

[0156] In another step 120 of the method 100 , it is determined that the hazardous location is inaccessible. Thereafter, step 122 is performed.

[0157] In a further step 122 of method 100 , a safety configuration of the safety system is determined such that it does not include any safety measures for protecting hazardous location 18 .

[0158] Method 100 substantially corresponds to method 30 and implements method 2 for determining the reachability and accessibility of hazardous locations 18. In particular, step 102 corresponds to step 32. Furthermore, steps 104 to 114 are examples of using step 34 of method 2. Furthermore, steps 116 and 120 are examples of using step 36 of method 2. Furthermore, steps 118 and 122 are examples of step 38.

[0159] Figures 9 to 12 Method 1 and Method 2 are described using the example of a first (reachable) hazardous location 188 and a second (unreachable) hazardous location 210 of a machine 186. To simulate reachability, three spheres 180, 182, 184 with different diameters are used as multiple three-dimensional geometric shapes in both methods. Sphere 180 has the largest diameter. Sphere 184 has the smallest diameter. Sphere 180 can be a body sphere. Sphere 182 can be an arm sphere. Sphere 184 can be a finger sphere.

[0160] Fig. 9 Method 1 (particularly Figure 5 An example of how method 60) can be used to determine whether the first hazardous location 188 is reachable.

[0161] First, a first area 190 is determined in which the spheres 180 can be arranged in a defined area around the first hazardous location 188. Then, a second area 192 is determined in which the spheres 182 can be arranged starting from the first area 190. Then, a third area 194 is determined in which the spheres 184 can be arranged starting from the first area 190 and / or the second area 192.

[0162] exist Fig. 9 In the example shown, the third area 194 is directly adjacent to the first hazardous location 188. Therefore, the first hazardous location 188 can be reached via the combination of the balls 180, 182, 184. Therefore, the first hazardous location 188 is reachable.

[0163] Fig.10 Method 2 (particularly Figure 6 An example of how method 100) can be used to determine whether the first hazardous location 188 is reachable.

[0164] First, a first area 200 is determined, in which the sphere 184 can be arranged directly adjacent to the first hazardous location 188. Then, a second area 202 is determined, in which the sphere 182 can be arranged starting from the first area 200. Then, a third area 204 is determined, in which the sphere 180 can be arranged starting from the first area 200 and / or the second area 202.

[0165] exist Fig.10 In the example of , each of the three areas 200, 202, 204 can be determined. Therefore, the first dangerous position 188 can be reached via the combination of the spheres 180, 182, 184. Therefore, the first dangerous position 188 is reachable.

[0166] Fig.11 Method 1 (particularly Figure 5 An example of how method 60) can be used to determine whether the second hazardous location 210 is reachable.

[0167] First, a first area 190 is determined in which the spheres 180 can be arranged in a defined area around the first hazardous location 188. Then, a second area 192 is determined in which the spheres 182 can be arranged starting from the first area 190. Then, a third area 194 is determined in which the spheres 184 can be arranged starting from the first area 190 and / or the second area 192.

[0168] exist Fig.11 In the example shown, the third area 194 is not directly adjacent to the second hazardous location 210. Therefore, the second hazardous location 210 is not reachable via the combination of the spheres 180, 182, 184. Therefore, the second hazardous location 210 is not reachable.

[0169] Fig.12 Method 2 (particularly Figure 6 An example of how the method 100) can be used to determine whether the second hazardous location 210 is reachable.

[0170] First, a first area 200 is determined in which the sphere 184 can be arranged directly adjacent to the second hazardous location 210. Then, a second area 202 is determined in which the sphere 182 can be arranged starting from the first area 200. However, since the sphere 180 cannot be arranged starting from the first area 200 or the second area 202, the third area 204 cannot be determined for the sphere 180.

[0171] exist Fig.12 In the example of , each of the three areas 200, 202, 204 cannot be determined because the third area 204 cannot be determined. Therefore, the second hazardous location 210 is not reachable via the combination of the spheres 180, 182, 184. Therefore, the second hazardous location 210 is not reachable.

[0172] Figures 13 to 16Methods 1 and 2 are described using the example of a third (reachable) hazardous location 228 and a fourth (unreachable) hazardous location 250 of a machine 226. To simulate reachability, both methods use seven spheres 220, 222', 222", 222"', 224', 224", 224"' with different diameters as multiple three-dimensional geometric shapes. Spheres 222', 222", 222"' have the same diameter. Spheres 224', 224", 224"' have the same diameter. Spheres 220 have the largest diameter. Spheres 224', 224", 224"' have the smallest diameter. For example, sphere 220 may represent a body sphere. For example, spheres 222', 222", 222"' may represent arm spheres. For example, spheres 224', 224", 224"' may represent finger spheres.

[0173] Fig.13 Method 1 (particularly Figure 5 An example of how method 60) can be used to determine whether the third hazardous location 228 is accessible.

[0174] First, a first area 230 is determined, in which the sphere 220 can be arranged in a defined area around the third hazardous location 228. Then, an area 232' is determined, in which the sphere 222' can be arranged starting from the area 230. Then, an area 232", is determined, in which the sphere 222". can be arranged starting from the area 232'. Then, an area 232"' is determined, in which the sphere 222" can be arranged starting from the area 232"'. Then, an area 234' is determined, in which the sphere 224' can be arranged starting from the area 232"'. Then, an area 234", is determined, in which the sphere 224" can be arranged starting from the area 234'. Then, an area 234"' is determined, in which the sphere 224" can be arranged starting from the area 234'. Then, an area 234"' is determined, in which the sphere 224" can be arranged starting from the area 234"'. Then, an area 234"' is determined, in which the sphere 224"' can be arranged starting from the area 234"'.

[0175] exist Fig.13 In the example of , the last area 234'" is directly adjacent to the third dangerous position 228. Therefore, the third dangerous position 228 can be reached via the combination of the spheres 220, 222', 222", 222'", 224', 224", 224'". Therefore, the third dangerous position 228 is reachable.

[0176] Fig.14 Method 2 (particularly Figure 6 An example of how the method 100 of can be used to determine whether the third hazardous location 228 is reachable.

[0177] First, a first area 240' is determined, in which the sphere 224'" can be arranged directly adjacent to the third hazardous position 228. Then, an area 240' is determined, in which the sphere 224'" can be arranged starting from the area 240'. Then, an area 240'"' is determined, in which the sphere 224'" can be arranged starting from the area 240'. Then, an area 242' is determined, in which the sphere 222'" can be arranged starting from the area 240'. Then, an area 242'" is determined, in which the sphere 222'" can be arranged starting from the area 242'. Then, an area 242'" is determined, in which the sphere 222'" can be arranged starting from the area 242'. Then, an area 242'"' is determined, in which the sphere 222'" can be arranged starting from the area 242'. Then, an area 244 is determined, in which the sphere 220 can be arranged starting from the area 242'"'.

[0178] exist Fig.14 In the example of , each of the three areas 240', 240", 240"', 242', 242", 242"', 244 can be determined. Therefore, the third dangerous position 228 can be reached via the combination of the spheres 220, 222', 222", 222"', 224', 224", 224"'. Therefore, the third dangerous position 228 is reachable.

[0179] Fig.15 Method 1 (particularly Figure 5 An example of how method 60) can be used to determine whether the fourth hazardous location 250 is reachable.

[0180] First, a first area 230 is determined, in which the sphere 220 can be arranged in a defined area around the fourth hazardous location 250. Then, an area 232' is determined, in which the sphere 222' can be arranged starting from the area 230. Then, an area 232", is determined, in which the sphere 222". can be arranged starting from the area 232'. Then, an area 232"' is determined, in which the sphere 222" can be arranged starting from the area 232"'. Then, an area 234' is determined, in which the sphere 224' can be arranged starting from the area 232"'. Then, an area 234", is determined, in which the sphere 224" can be arranged starting from the area 234'. Then, an area 234"' is determined, in which the sphere 224" can be arranged starting from the area 234'. Then, an area 234"' is determined, in which the sphere 224" can be arranged starting from the area 234'. Then, an area 234"' is determined, in which the sphere 224"' can be arranged starting from the area 234"'.

[0181] exist Fig.15In the example of , the last area 234'" is not directly adjacent to the fourth hazardous position 250. Therefore, the fourth hazardous position 250 is not reachable via the combination of spheres 220, 222', 222", 222'", 224', 224", 224'". Therefore, the fourth hazardous position 250 is inaccessible.

[0182] Fig.16 Method 2 (particularly Figure 6 An example of how the method 100) can be used to determine whether the fourth hazardous location 250 is reachable.

[0183] First, a first area 240' is determined, in which a sphere 224'" can be arranged directly adjacent to the fourth hazardous location 250. Then, an area 240' is determined, in which a sphere 224'" can be arranged starting from the area 240'. Then, an area 240'"' is determined, in which a sphere 224'" can be arranged starting from the area 240'. Then, an area 242' is determined, in which a sphere 222'" can be arranged starting from the area 240'". Then, an area 242'"' is determined, in which a sphere 222'" can be arranged starting from the area 242'. Then, an area 242'"' is determined, in which a sphere 222'" can be arranged starting from the area 242'. However, because the sphere 220 cannot be arranged starting from the area 242'"', (compared to Fig.14 In contrast to the example in ), area 244 cannot be determined for sphere 220.

[0184] exist Fig.16 In the example of , because the last area 244 cannot be determined for the sphere 220, each of the three areas 240', 240", 240"', 242', 242", 242"', 244 cannot be determined. Therefore, the fourth dangerous position 250 is not reachable via the combination of the spheres 220, 222', 222", 222"', 224', 224", 224"'. Therefore, the fourth dangerous position 250 is unreachable.

Claims

1. A computer-implemented method (30, 60, 100) for determining a safety configuration of a safety system (12) for a machine (10), the machine having a hazardous location (18), the method comprising the steps of: - providing a virtual model of the machine (10) in a virtual environment; - simulating the accessibility of the hazardous location (18) of the machine (10) in the virtual environment based on a plurality of three-dimensional geometric shapes, wherein the plurality of geometric shapes have at least two different sizes; - determining the accessibility of the hazardous location (18) based on a simulation of the accessibility of the hazardous location (18); and - determining the safety configuration based on a specific accessibility of the hazardous location (18).

2. The method according to claim 1, wherein: In the step of simulating based on the geometric shapes, areas are continuously determined in the virtual environment in which corresponding geometric shapes can be arranged around the hazardous location (18).

3. The method according to claim 2, wherein: The subsequent area is determined in such a way that a corresponding geometric shape can be arranged in this area starting from the previously determined area around the hazardous location (18).

4. The method according to any one of claims 1 to 3, wherein: In the simulation step, a first area around the hazardous location (18) is determined in the virtual environment, in which first area a first geometric shape can be arranged in a defined area around the hazardous location (18).

5. The method according to claim 4, wherein: A second area around the dangerous position (18) is determined in the virtual environment, in which second area a second geometric shape can be arranged starting from the first area around the dangerous position (18), in particular, a third area around the dangerous position (18) is determined in the virtual environment, in which third area a third geometric shape can be arranged starting from the first area and / or the second area around the dangerous position (18).

6. The method according to claims 2 to 5, wherein: The regions are determined one after another in descending order of the sizes of the geometric shapes.

7. The method according to claims 2 to 6, wherein: The subsequent area is only determined if none of the previously determined areas is directly adjacent to the hazardous location (18).

8. The method according to any one of claims 2 to 7, wherein: In the step of determining the accessibility of the hazardous location (18), the hazardous location (18) is determined to be accessible when one of the determined areas is directly adjacent to the hazardous location (18).

9. The method according to any one of claims 1 to 3, wherein: In the simulation step, a first area around the hazardous location (18) is determined in the virtual environment, in which first area a first geometric shape can be arranged directly adjacent to the hazardous location (18).

10. The method according to claim 9, wherein: A second area around the dangerous position (18) is determined in the virtual environment, in which second area a second geometric shape can be arranged starting from the first area around the dangerous position (18), in particular, a third area around the dangerous position (18) is determined in the virtual environment, in which third area a third geometric shape can be arranged starting from the first area and / or the second area around the dangerous position (18).

11. The method according to any one of claims 2, 3, 9 and 10, wherein: The regions are determined one after another in ascending order of the sizes of the geometric shapes.

12. The method according to any one of claims 2, 3 and 9 to 11, wherein: The subsequent regions are determined only if each preceding region is determinable.

13. The method according to any one of claims 9 to 12, wherein: It is determined in descending order of the sizes of the geometric shapes whether the corresponding geometric shapes can be arranged directly adjacent to the hazardous location (18), wherein the geometric shape that can be arranged directly adjacent to the hazardous location (18) is determined as the first geometric shape.

14. The method according to any one of claims 2, 3 and 9 to 13, wherein: In the step of determining the accessibility of the dangerous location, if all areas to be determined are determinable, the dangerous location (18) is determined to be reachable.

15. The method according to any one of claims 1 to 14, wherein: The plurality of geometric shapes is a plurality of spheres.

16. The method according to any one of claims 1 to 15, wherein: The safety configuration defines the arrangement and / or configuration of the safety devices (14, 16) of the safety system (12) and / or the arrangement of a safety zone around the dangerous location (18) and / or a safety distance to the dangerous location (18) when the dangerous location (18) is accessible.

17. A method (50) of providing a safety system (12) for a machine (10), comprising the steps of: - determining (52) a safety configuration of the safety system (12) for the machine (10) by means of a method according to any one of claims 1 to 16; as well as - configuring (54) the security system (12) based on the determined security configuration.

18. The method according to claim 17, wherein: When configuring the safety system (12), safety devices (14, 16) of the safety system (12) are arranged and / or configured based on the determined safety configuration.

19. The method according to claim 17 or 18, wherein: When configuring the safety system (12), a safety area (20) or a safety distance (22) is configured based on the determined safety configuration, wherein the safety area (20) or the safety distance (22) is monitored or protected by a safety device (14, 16) of the safety system (12).

20. A computer program product comprising a computer program having program code means for performing the method according to any one of claims 1 to 16 when the computer program is executed on a computer.

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