Computer-implemented method, method, computer program product

Abstract

The present invention relates to 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 dangerous location (18), comprising the following steps: providing a virtual model of the machine (10) in a virtual environment; simulating the capability of reaching the dangerous location (18) of the machine (10) in the virtual environment on the basis of a plurality of three-dimensional geometrical shapes, wherein the plurality of geometrical shapes have at least two different sizes; determining the accessibility of the dangerous location (18) on the basis of the capability of reaching the dangerous location (18); and determining the safety configuration on the basis of the determined accessibility of the dangerous location (18). The present invention also relates to a method (50) for designing a safety system (12) for a machine (10).

Description

Computer-implemented method, method, computer program product

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

[0002] The current focus of industrial development is on making production processes more flexible in order to adapt them to specific customer needs. This involves a shift from static production lines to reconfigurable, modular production units that can be redesigned according to requirements.

[0003] Reconfigurable production lines require that the machines and systems involved are equally adaptable and can change accordingly and This flexibility, however, presents new challenges for safety technology, since every modification to a machine requires a reassessment of whether the risk posed by the machine has changed, possibly necessitating a re-orientation of the safety-related equipment. In Europe, for example, this requirement is normatively established by the Machinery Directive (CE), which stipulates regular risk assessments throughout the entire service life of a machine.

[0004] In order to still be able to take advantage of flexible and adaptable machine configurations, there are temptations to automate the risk assessment process itself or to have a safety engineer assist in the risk assessment using a computer. The basis of automatic or assisted risk assessment is virtual models of the machine and virtual models of the safety technology used. Using these models, changes can be simulated and the safety precautions tested and verified before the system is actually modified. Automatic or assisted risk assessment, referred to below as automated risk assessment, can provide the safety engineer with appropriate recommendations and assist in risk minimization in accordance with standards.A regular risk assessment can be carried out in a structured, rapid, and at least partially automated manner, especially if the automated risk assessment can draw on 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 machinery must be conducted according to the EN ISO 12100 standard. The EN ISO 12100 standard defines the basic terminology and methodology and provides general guidelines for risk assessment and risk reduction to assist designers in producing safe machinery. An important aspect of the analysis is the evaluation of hazard points or hazardous locations on a machine that have the potential to endanger people. Hazard points can be, for example, mechanical, thermal, or electrical hazards. Mechanical hazard points are, for example, areas of the machine that, due to their surface contours, may pose a hazard to people, such as edges or points. Electrical hazard points Examples of hazardous locations are areas or parts of the machine that are live or live during operation. Thermal hazards are areas or parts of the machine where heat can develop during operation. It is understood that other types of hazards may be known to a person skilled in the art beyond those listed here.

[0006] In particular, certification involves identifying hazard points on a machine, checking their accessibility for humans, and, if necessary, securing them with appropriate protective measures. Previously, CE certification was performed manually by an inspector. In particular, the test specimen was manually analyzed by an inspector at their own discretion for hazard points, determining the accessibility of the hazard points, and, if necessary, determining appropriate protective measures.

[0007] Various technical protective measures can be implemented to safeguard hazardous areas. In particular, a safety system can be provided to protect specific hazardous areas of the machine. The safety system can, for example, incorporate sensors, cameras, edge protection, or barriers to secure the hazardous areas.

[0008] The EN ISO 13857 standard specifies safety distances to prevent the human body, particularly the upper and lower limbs, from reaching hazardous areas. To determine the accessibility of a machine's hazardous areas, an inspector previously manually checked whether the machine complied with the safety distances to prevent the human body from reaching hazardous areas in accordance with EN ISO 13857, and whether additional protective measures were necessary.

[0009] Against this background, the objective is to provide a method by which the safety of a machine can be improved. In particular, the objective is to provide a method by which the protection of hazardous points on a machine can be improved.

[0010] According to a first aspect of the present invention, this object is achieved by a computer-implemented method for determining a safety configuration of a safety system for a machine, wherein the machine has a hazard point, comprising the following steps: Providing a virtual model of the machine in a virtual environment; Simulating the accessibility of the hazard point of the machine 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 hazard point based on the simulation of the accessibility of the hazard point; and Determine the safety configuration based on the determined accessibility of the hazard location.

[0011] According to a second aspect of the present invention, there is provided a method for setting up a safety system for a machine, comprising the following steps: Determining a safety configuration of the safety system for the machine by means of the method according to the first aspect of the invention; and Setting up the security system based on the specific security configuration.

[0012] According to a third aspect of the present invention, a computer program product is provided with a computer program having program code means for carrying out a method according to the first aspect of the invention when the computer program is executed on a computer. Furthermore, a computer program product may be provided which comprises instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to the first aspect of the invention.

[0013] Advantageously, the novel method is implemented using a processing unit or a control device, which may be a general-purpose computer or a special-purpose computer, wherein an appropriate computer program or computer program product is stored and executed, wherein the computer program or computer program product is designed and configured to determine the safety configuration of the safety system for the machine or to set up the safety system for the machine according to the aforementioned methods.

[0014] The new methods are used to safeguard a machine that has at least one hazard point. "At least one hazard point" means that the machine can have one or more hazard points. The hazard points can be, for example, mechanical, electrical, or thermal hazard points. The at least one hazard point of the machine is predetermined or known in advance. For example, the exact location or area of ​​the hazard point can be determined in advance by a human, in particular by an inspector, or by means of a computer-implemented method or program by analyzing the machine or a virtual model of the machine.

[0015] Using the new procedure, the accessibility of a hazard point, specifically each hazard point, on the machine will first be determined. When determining accessibility, it is particularly important to determine whether and how the hazard point is accessible or reachable. Depending on the accessibility, appropriate protective measures can then be implemented to safeguard the respective hazard point. In particular, a safety configuration of a safety system for the machine is defined to ensure appropriate safeguarding.

[0016] The analysis of accessibility to the hazard point is carried out using a virtual model of the machine in a virtual environment. The virtual environment It encompasses a computer-generated, three-dimensional space, which can also be referred to as a virtual space. Using the virtual environment, objects can be modeled, textured, and animated. A virtual environment can be created on a computer, for example, using appropriate software programs (especially a graphics engine).

[0017] The virtual model of the machine is provided or generated in the virtual environment. The virtual model is a 3D model of the machine. The virtual model can, in particular, be a design model or a CAD (computer-aided design) model. A virtual model of the machine is based, in particular, on 3D data of the machine, which can be used to generate and thus provide the virtual model in the virtual environment.

[0018] In order to obtain information about the accessibility to the hazard point, the accessibility of the hazard point of the machine is simulated in the virtual environment based on a plurality of three-dimensional, geometric shapes. The plurality of geometric shapes thus has 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 have at least two different sizes. Preferably, the plurality of geometric shapes can have two or more groups. The geometric shapes of a group have the same size, in particular the same shape. The groups, however, differ from one another in terms of the shape and size of the geometric shapes. In other words, each group has a number of geometric shapes in a different size, in particular shape.For example, the plurality of geometric shapes may include one or more geometric shapes of a first size (corresponding to a first group), one or more geometric shapes of a second size (corresponding to a second group), and one or more geometric shapes of a third size (corresponding to a third group). Alternatively, each geometric shape of the plurality of geometric shapes may have a different size.

[0019] The geometric shapes can be, for example, spheres, cylinders, or tubes. The size of the geometric shape preferably corresponds to the volume of the geometric shape or the extension of the geometric shape in a specific spatial direction. For a sphere, the size is defined in particular by the radius or diameter. For a cylinder, the size can be defined, for example, by the length and / or radius.

[0020] The size of the geometric shapes can, in particular, be adapted to the dimensions of body parts of the human body (e.g., body, arm, hand, 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 a sphere can be 100 cm to 200 cm (roughly corresponding to an average body height), whereby such a sphere can be referred to as a body sphere.

[0021] The diameter of a sphere can also be 4 cm to 12 cm, preferably 5 cm to 10 cm, in particular 7 cm (approximately corresponding to an average arm thickness), whereby such a sphere can be referred to as an arm sphere. The plurality of geometric shapes can have multiple arm spheres. For example, the plurality of geometric shapes can have three, four, five or more arm spheres. The number of arm spheres can in particular be selected such that the product of the number and the diameter of the arm spheres is 40 cm to 100 cm, preferably 50 cm to 80 cm, in particular 60 cm or 70 cm (approximately corresponding to an average arm length).

[0022] The diameter of a sphere can also be 5 cm to 15 cm, in particular 10 cm (roughly corresponding to an average hand thickness), whereby such a sphere can be referred to as a hand sphere. The plurality of geometric shapes can comprise multiple hand spheres. For example, the plurality of geometric shapes can comprise three, four, five, or more hand spheres. The number of hand spheres can in particular be selected such that the product of the number and the diameter of the hand spheres is 5 cm to 20 cm, preferably 7 to 15 cm (roughly corresponding to an average hand length).

[0023] The diameter of a sphere can also be 0.5 cm to 1 cm, preferably 1 cm to 2 cm, in particular 1.5 cm (approximately corresponding to the thickness of a finger), whereby such a sphere can be referred to as a finger sphere. The plurality of geometric shapes can have a plurality of finger spheres. For example, the plurality of geometric shapes can have three, four, five or more finger spheres. The number of finger spheres can in particular be selected such that the product of the number and the diameter of the finger spheres is 5 cm to 15 cm, preferably 7 cm to 10 cm, in particular 8 cm (approximately corresponding to an average finger length).

[0024] Preferably, the plurality of geometric shapes comprises a body sphere, one or more arm spheres, and one or more finger spheres. In particular, the plurality of geometric shapes may additionally comprise one or more hand spheres. Alternatively, the plurality of geometric shapes may comprise a body sphere, one or more arm spheres, and one or more hand spheres.

[0025] To simulate the accessibility of the hazard point, an arrangement of one or more of the geometric shapes around the hazard point is simulated. For this purpose, the arrangement of one geometric shape or a combination of geometric shapes can be considered. For example, one or more of the geometric shapes can be simulated to see where they can be arranged around the hazard point. “Arrangable” means that a geometric shape is arranged freely in space and is not located in or overlapping with a component of the machine. The hazard point can be reached with a geometric shape if a geometric shape or a combination of geometric shapes can be arranged so that it is adjacent to the hazard point.

[0026] The simulation can be limited to a specific area around the hazard point. For the simulation, the respective geometric shape can be generated at different positions in the virtual environment, in particular in the specific area around the hazard point. For each position, it can then be determined whether the geometric shape can be arranged at this position. Alternatively, the geometric shape can also be generated at only one position in the virtual environment, in particular in the specific area around the hazard point, and then moved accordingly in the virtual environment.

[0027] Based on the accessibility simulation, the accessibility of the hazard point is next determined. Specifically, it is determined whether and how the hazard point is accessible. If, for example, the hazard point cannot be reached using any of the geometric shapes or any specific combination of geometric shapes, the hazard point is inaccessible. If the hazard point can be reached using a geometric shape or a specific combination of geometric shapes, the hazard point is accessible using this geometric shape or this specific combination of geometric shapes.

[0028] Based on the determined accessibility of the hazard point, an appropriate safety configuration of the safety system for the machine is next determined.

[0029] The safety system can comprise various protective devices for safeguarding hazardous points on the machine. These protective devices can be, for example, physical protective devices such as edge guards, barriers, markings, and the like, or sensor-based devices such as sensors, light grids, cameras, and the like. A physical protective device can be used to safeguard a hazardous point by making access to it more difficult or impossible through the appropriate arrangement of the physical protective device. A hazardous point can be safeguarded by using a sensor-based protective device to monitor an area, i.e., a safety zone, around the hazardous point using the sensor-based protective device. The area can be defined, for example, by a safety distance from the hazardous point.The sensor-based protective devices can be connected to a control device of the security system. If it is detected that a person is entering or is present in the monitored area, appropriate protective measures can be taken. For example, the protective device or the control device of the security system can be configured to emit a visual or acoustic alarm signal. to switch off the machine if it is detected that a person enters or is in the monitored area.

[0030] A safety configuration of the safety system thus defines the arrangement and / or configuration of one or more protective devices of the safety system. The safety configuration can be defined by one or more parameters. A parameter of the safety configuration thus determines the arrangement and / or configuration of one or more protective devices. In other words, a parameter of the safety configuration thus determines a protective measure for securing the hazardous location.

[0031] If it has been determined that the hazardous location is inaccessible, no protective measure is necessary to safeguard the hazardous location. In this case, the safety configuration is determined such that no arrangement and / or configuration of one or more protective devices of the safety system is established to safeguard the hazardous location.

[0032] If it has been determined that the hazard point is accessible, the required protective measure depends on how the hazard point is accessible, in particular with which geometric shape or combination of geometric shapes. The safety configuration can be determined in particular such that the arrangement and / or configuration of one or more protective devices of the safety system for safeguarding the hazard point are set up according to the determined accessibility. For example, a fine-mesh finger guard can be installed directly around the hazard point, or a coarse-mesh access guard can be installed somewhat further away.

[0033] Depending on the specific safety configuration of the safety system, the safety system can then be configured to protect the hazardous areas of the machine when the machine is accessible. A protective measure is implemented to prevent or make it more difficult for a person to be injured at the hazardous areas. In the preferred embodiments, the The machine is commissioned and operated with the safety system thus configured. In particular, the machine can be configured to process and / or package and / or transport objects after commissioning. For example, in some embodiments, the machine can include a machine tool and / or a robot and / or a conveying mechanism, such as a conveyor belt, each of which poses a hazard to persons during operation.

[0034] The new, proposed procedure thus provides a method for the automated determination of accessibility to a hazard point. In particular, the new procedure can be used to automatically determine whether and how a hazard point is accessible. Using the new procedure, CE certification can thus be carried out automatically. Furthermore, it is possible to perform the accessibility analysis based solely on the machine's design data, such as CAD data. Compared to manual CE certification, the proposed procedure offers the advantage that the determination can be carried out quickly, reliably, and, in particular, at an early stage in the development process (e.g., based on a CAD design model).

[0035] Furthermore, the proposed method determines appropriate protective or safeguarding measures based on the determined accessibility of the hazardous points. To this end, the proposed method determines a safety configuration of the safety system based on the determined accessibility to the hazardous point. The safety system can then be configured according to the determined safety configuration to safeguard the machine. This improves the safety of the machine. In particular, the new proposed method improves the detection and safeguarding of hazardous points on a machine.

[0036] The task posed at the beginning is thus completely solved.

[0037] In a first embodiment, in the simulation step, a corresponding area in the virtual Environment in which the respective geometric shape can be arranged around the hazard point.

[0038] “Successively” means that first an area is determined for a first geometric shape, then another area for a further geometric shape, and so on. In particular, the areas can be determined in descending or ascending order of the size of the geometric shapes. The area of ​​the respective geometric shape is an area in the virtual environment which in particular includes all possible arrangements of the geometric shapes around the hazard point. In particular, the determination of where the respective geometric shape can be arranged in the virtual environment around the hazard point can be restricted to a specific area of ​​the virtual environment, preferably to the immediate vicinity of the hazard point (for example within 3 m of the hazard point). In other words, possible (in particularall possible) arrangements (position / orientation) of the geometric shape in the virtual environment (outside the virtual model) and preferably within the restricted area are determined, whereby the possible (in particular all possible) arrangements then cover or define the corresponding area of ​​the geometric shape. The area for the respective geometric shape can, for example, be determined by scanning (the variation of the position and / or orientation of the geometric shape or motion simulation) of the virtual environment (or a restricted area of ​​the virtual environment) using the respective geometric shape, whereby it is determined where the geometric shape can be arranged in the virtual environment or in the restricted area of ​​the virtual environment. The area to be determined is then the area covered by all determined possible arrangements.

[0039] In a further embodiment, a subsequent area is determined in such a way that in this area the respective geometric shape can be arranged around the hazard point starting from the previously determined areas.

[0040] “Starting from” means that a subsequent geometric shape overlaps or adjoins at least one of the previously determined areas. In other words, for a first geometric shape, the corresponding area is first determined where the geometric shape can be arranged in the virtual environment or in the restricted area of ​​the virtual environment around the hazard point. Then, for each subsequent geometric shape, it is determined where this geometric shape can be arranged in the virtual environment or in the restricted area of ​​the virtual environment, starting from at least one of the previously determined areas. These arrangements of the subsequent geometric shape then define the corresponding area. In this way, the arrangement of a combination of geometric shapes can be simulated.

[0041] In a further embodiment, in the simulation step, a first region in the virtual environment around the hazard point is determined, in which a first geometric shape can be arranged around the hazard point, preferably within a defined region.

[0042] As already explained above, the first region is determined for the first geometric shape of the plurality of geometric shapes. In this case, it is determined where the first geometric shape can be arranged in the virtual environment within the defined region. The first region is then the region covered by all determined possible arrangements of the first geometric shape. The defined region is preferably a partial region of the virtual environment. The hazard point is preferably located in the defined region (in particular in the center of the defined region). For example, the first geometric shape can be a sphere. The defined region can, for example, be an envelope such as a surface, in particular a sphere, that surrounds the virtual model.Alternatively, the first area can also be defined as the area in which the first geometric shape can be arranged adjacent to the virtual model of the machine.

[0043] In a further embodiment, a second area is determined in the virtual environment around the hazard point, in which a second geometric shape can be arranged starting from the first area around the hazard point.

[0044] The plurality of geometric shapes comprise the second geometric shape. In other words, it is determined 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 determined 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.

[0045] In a further embodiment, a third area is determined in the virtual environment around the hazard point, in which a third geometric shape can be arranged starting from the first and / or the second area around the hazard point.

[0046] The plurality of geometric shapes have the third geometric shape. In other words, it is determined where the third geometric shape can be arranged in the virtual environment starting from the first region and / or the second region. The third region is then the region covered by all determined possible arrangements of the third geometric shape. Preferably, the third geometric shape is smaller than the first geometric shape and the second geometric shape. For example, the first geometric shape can be a body sphere, the second geometric shape an arm sphere, and the third geometric shape a finger sphere. In particular, after determining the third region, further regions can be determined for further, smaller geometric shapes (for example for a finger sphere and / or a fingertip sphere), starting from at least one of the previously determined regions.

[0047] In a further embodiment, the areas are determined one after the other in descending order of the size of the geometric shapes.

[0048] In particular, the first geometric shape used to determine the first area is the largest geometric shape of the plurality of geometric shapes. Each subsequent area is then determined using the next smallest geometric shape. In this way, it can be determined, in particular, whether the hazard location is outside to inside via a combination of geometric shapes arranged in descending order.

[0049] In a further embodiment, a subsequent area is only determined if none of the previously determined areas borders on the hazard point.

[0050] Once the hazard point with a specific geometric shape is reached, especially if the corresponding area borders the hazard point, it is no longer necessary to consider the subsequent (smaller) geometric shapes. It is therefore advantageous to determine the area of ​​a subsequent geometric shape only if the areas of the previous (larger) geometric shapes do not border the hazard point. In particular, the second area is only determined if the first area does not border the hazard point. Similarly, the third area is only determined if the first area and the second area do not border the hazard point.

[0051] In a further embodiment, in the step of determining the accessibility of the hazard location, it is determined that the hazard location is accessible if one of the determined areas is adjacent to the hazard location.

[0052] As soon as one of the specified areas borders the hazard point, this means that the hazard point has been reached with the corresponding geometric shape of the area. The hazard point is then accessible. If none of the specified areas borders the hazard point, the hazard point cannot be reached with any of the geometric shapes. The hazard point is therefore not accessible. In the step of determining accessibility, it can be determined in particular which geometric shape or combination of geometric shapes makes the hazard point accessible. If one of the specified areas borders the hazard point, the hazard point is accessible with the corresponding geometric shape (in particular with a combination of geometric shapes from the first (largest) to the geometric shape whose area borders the hazard point).

[0053] In a further alternative embodiment, in the simulation step, a first region in the virtual environment around the hazard location is determined, in which a first geometric shape can be arranged adjacent to the hazard location.

[0054] The plurality of geometric shapes has a first geometric shape. In particular, a geometric shape of the plurality of geometric shapes that can be arranged adjacent to the hazard point can be determined as the first geometric shape. Using this first geometric shape, a first region around the hazard point is then determined, in which region the first geometric shape can be arranged adjacent to the hazard point. Starting from this first region, further regions with larger geometric shapes can then be determined. In this way, it can be determined, in particular from the inside out, whether the hazard point can be reached with a combination of geometric shapes. For example, the first geometric shape can be a finger ball.

[0055] In a further embodiment, a second area is determined in the virtual environment around the hazard point, in which the second geometric shape can be arranged starting from the first area around the hazard point.

[0056] The plurality of geometric shapes comprise the second geometric shape. In other words, it is determined 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 determined 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.

[0057] In a further embodiment, a third area is determined in the virtual environment around the hazard point, in which a third geometric shape can be arranged starting from the first and / or second area around the hazard point.

[0058] The plurality of geometric shapes comprise the third geometric shape. In other words, it is determined where the third geometric shape can be arranged in the virtual environment based on the first region and / or the second region. The third region is then the region covered by all determined possible arrangements of the third geometric shape. Preferably, the third geometric shape is larger than the first geometric shape and the second geometric shape. For example, the first geometric shape can be a finger sphere, the second geometric shape can be an arm sphere, and the third geometric shape can be a body sphere.

[0059] In a further embodiment, the areas are determined one after the other in ascending order of the size of the geometric shapes.

[0060] In particular, the first geometric shape used to determine the first area is not the largest geometric shape of the plurality of geometric shapes. Each subsequent area is then determined using the next largest geometric shape. In this way, it can be determined, in particular, whether the hazard point can be reached from the inside to the outside via a combination of geometric shapes arranged in ascending order.

[0061] In a further embodiment, a subsequent area is only determined if every previous area is determinable.

[0062] An area can only be determined if the corresponding geometric shape can also be arranged. The first area can be determined if the first geometric shape can be arranged adjacent to the hazard location. Each further area, in particular the second and third areas, can be determined if the corresponding geometric shape can be arranged starting from at least one of the already determined areas. For example, the second area is only determined if the first area was determinable. Accordingly, the third area is only determined if the first and second areas were also determinable.

[0063] If all areas, starting with the first area up to the area of ​​the largest geometric shape, can be determined, the hazard point can be reached with this combination of geometric shapes. If not all areas can be determined (in particular if the area of ​​the largest geometric shape cannot be determined), the hazard point 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 one than the previous first geometric shape). Then, starting again from the new first geometric shape, the areas can be determined one after the other in ascending order of the size of the geometric shapes. If there is no smaller shape, this means that the hazard point is inaccessible.

[0064] In a further embodiment, it is determined successively in descending order of the size of the geometric shapes whether the respective geometric shape can be arranged adjacent to the hazard point, wherein the first geometric shape is determined to be a geometric shape that can be arranged adjacent to the hazard point.

[0065] In this way, it can be determined whether one of the plurality of geometric shapes can be arranged adjacent to the hazard point and, if so, which is the largest geometric shape that can be arranged at the hazard point. If none of the geometric shapes can be arranged adjacent to the hazard point, the hazard point cannot be reached with any of the geometric shapes. In particular, in this case, no area can be determined that is adjacent to the hazard point (i.e. the first area cannot be determined). In this case, the hazard point is not accessible. However, if one of the geometric shapes can be arranged adjacent to the hazard point, this geometric shape is determined as the first geometric shape. In particular, the first geometric shape that can be arranged adjacent is determined as the first geometric shape.

[0066] In a further embodiment, in the step of determining the accessibility of the hazard location, it is determined that the hazard location is accessible if all areas to be determined can be determined.

[0067] In particular, starting from a first geometric shape, an area must be determined for each of these shapes in ascending order of size. If an area cannot be determined because none of the geometric shapes can be arranged adjacent to the hazard point or because a subsequent (larger) geometric shape cannot be arranged adjacent to the previously determined areas, the hazard point is inaccessible. In other words, the hazard point is only accessible if, starting from the first area, all subsequent areas, in particular the area to be determined using the largest geometric shape, can be determined.Since the first area of ​​the first geometric shape is adjacent to the hazard point, the hazard point is accessible with the first geometric shape (in particular with a combination of the geometric shapes from the first to the largest geometric shape).

[0068] In a further embodiment, the plurality of geometric shapes is a plurality of spheres.

[0069] Spheres have a geometry that can be simulated relatively easily in the virtual environment. In particular, their spherical symmetry makes calculating distances and arrangements of the spheres in the virtual environment easier than for more complex (less symmetrical) objects. This can shorten the simulation time.

[0070] In a further embodiment, the safety configuration defines an arrangement and / or configuration of a protective device of the safety system and / or an arrangement of a safety zone around the hazard point and / or a safety distance to the hazard point if the hazard point is accessible.

[0071] The safety configuration thus defines one or more measures to safeguard the hazardous location if it has been determined that the hazardous location is accessible. The measure is the arrangement and / or configuration of a protective device. An arrangement of a protective device preferably defines the Position, orientation, shape and / or size of the protective device. The previously explained physical and sensory protective devices can be used as protective devices. A configuration of a protective device defines how the protective device is set up to secure the corresponding hazard point. For example, a sensory protective device can be set up in such a way that it monitors an area defined by the safety distance or the safety zone. A safety zone or safety distance defines an area that a person should not or may not enter or reach. This area is therefore an area to be monitored or secured. Monitoring or securing can be carried out using the corresponding protective devices of the safety system. The safety configuration defined using the parameters is then used to configure the safety system accordingly.In other words, the safety configuration is used to set up the protective devices according to the safety configuration. The arrangement and / or configuration of a protective device as well as the definition of a safety zone and / or a safety distance thus serve to secure specific mechanical hazard points. In particular, the protective measures, i.e. the safety configuration, depend on how the hazard point is accessible, i.e. with which geometric shape or which combination of geometric shapes. If the hazard point is accessible with a large sphere (e.g. a body sphere), the hazard point may need to be secured differently than if it is accessible with a small sphere (e.g. a finger ball). In this way, the hazard point can be appropriately secured if it is accessible.

[0072] In a further embodiment, when setting up the security system, a protective device of the security system is arranged and / or configured on the basis of the security configuration.

[0073] The protective device is arranged and configured in such a way that it can protect or monitor at least one corresponding hazard point on the machine. For example, a sensor-based protective device can be set up to monitor an area around the hazard point. A physical protective device can be designed and arranged in such a way that it This protects the danger point, i.e., makes human access to the danger point difficult or impossible. In this way, the machine's safety is implemented accordingly.

[0074] In a further embodiment, when setting up the safety system, a safety zone or a safety distance can be set up on the basis of the safety configuration, wherein the safety zone or the safety distance is monitored or secured by means of a protective device of the safety system.

[0075] For example, a sensory protective device can be provided that is designed to monitor the safety zone or the safety distance. Furthermore, a physical protective device can also be provided that is designed to secure the safety zone or the safety distance. In particular, the safety configuration can also define multiple safety zones or safety distances for multiple hazard points, with either one or more sensory protective devices being designed (i.e., arranged and configured accordingly) to monitor the safety zones and / or safety distances to hazard points. In this way, the machine's safeguarding is implemented accordingly.

[0076] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0077] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. They show: Fig. 1 is a schematic view of a machine and a safety system for securing the machine; Fig. 2 two exemplary views of arrangements of a protective device for securing or monitoring a hazardous location; Fig. 3 is a schematic representation of a first embodiment of a method for determining a safety configuration of a safety system for a machine; Fig. 4 is a schematic representation of an embodiment of a method for setting up a safety system for a machine; Fig. 5 is a schematic representation of a second embodiment of a method for determining a safety configuration of a safety system for a machine; Fig. 6 is a schematic representation of a third embodiment of a method for determining a safety configuration of a safety system for a machine; Fig. 7 is a schematic representation of method steps for determining a first geometric shape in the method of Fig. 6; Fig. 8 is a schematic representation of method steps for determining the accessibility starting from a first geometric shape in the method of Fig. 6; Fig. 9 is an exemplary illustration of the determination of the accessibility of a first hazard location using the method of Fig. 5; Fig. 10 is an exemplary illustration of the determination of the accessibility of a first hazard location using the method of Fig. 6; Fig. 11 is an exemplary illustration of the determination of the accessibility of a second hazard point using the method of Fig. 5; and Fig. 12 is an exemplary illustration of the determination of the accessibility of a second hazard point using the method of Fig. 6.

[0078] Fig. 1 shows a machine 10 and a safety system 12. The machine 10 has at least one hazard point 18, such as a mechanical, electrical, or thermal hazard point. The safety system 12 serves to secure / safeguard the machine 10, in particular to protect the hazard points 18. The safety system 12 has one or more protective devices 14, 16. The protective devices 14, 16 can be physical protective devices 14 (e.g., barriers, edge protectors, markings, etc.) and / or sensory protective devices 16 (e.g., sensors, cameras, etc.). The hazard points 18 can be protected by means of the protective devices 14, 16.

[0079] Fig. 2 shows two examples (A) and (B) for protecting a mechanical hazard point 18 using a protective device 14, 16. These examples in Fig. 2 serve as examples of a safety configuration of the safety system 12. The safety configuration defines an arrangement and / or configuration of protective devices 14, 16 of the safety system 12.

[0080] In the first example (A), a physical protective device 14, for example a barrier, is arranged at a specific safety distance 22 from a mechanical hazard point 18 of the machine 10. The physical protective device 14 impedes or prevents access to the mechanical hazard point 18.

[0081] In the second example (B), a sensory protective device 16, for example a camera or an optical sensor, is arranged such that it monitors a safety zone 20 around a mechanical hazard point 18 of the machine 10. The sensory protective device 16 is configured to detect when a person enters the safety zone 20 and / or is present in the safety zone 20. If the sensory If the protective device 16 detects this, a safety-related action (alarm, shutdown of the machine, etc.) can be triggered.

[0082] Fig. 3 shows a first embodiment of a method 30 for determining a safety configuration of the safety system 12 for the machine 10, wherein the machine 10 has at least one hazard point 18. The method 30 can be executed with computer support. In particular, the steps of the method 30 can be performed using a computer. The method 30 is therefore a computer-implemented method.

[0083] In a first step 32 of the method 30, a virtual model of the machine 10 is provided in a virtual environment.

[0084] In a further step 34 of the method 30, the accessibility of the hazard point 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.

[0085] Preferably, the plurality of geometric shapes is a plurality of spheres. The sizes of the spheres can be adapted to the dimensions of the human body (body sphere, arm sphere, finger sphere).

[0086] In step 34, it is particularly simulated whether the hazard location can be reached with one geometric shape of the plurality of geometric shapes or with a combination of geometric shapes of the plurality of geometric shapes.

[0087] For this purpose, for example, a corresponding area in the virtual environment can be determined one after the other using the geometric shapes, in which the respective geometric shape can be arranged around the hazard point, whereby a subsequent area is determined in such a way that in this area the respective geometric shape can be arranged starting from the previously determined areas around the hazard point.

[0088] Determining the accessibility of a hazard point using a combination of geometric shapes can, for example, be done either towards the hazard point (method 1) or away from the hazard point (method 2).

[0089] In Method 1, for example, it is determined whether the hazard point can be reached from the outside via a combination of geometric shapes. To do this, a first area in the virtual environment around the hazard point is first determined, in which a first geometric shape can be arranged within a defined area around the hazard point. The first geometric shape is the largest geometric shape. Then, the remaining areas of the other geometric shapes are determined one after the other in descending order of size.

[0090] For example, a second region is determined in the virtual environment around the hazard location, in which a second geometric shape can be arranged starting from the first region around the hazard location, wherein the second geometric shape is smaller than the first. Then, a third region is determined in the virtual environment around the hazard location, in which a third geometric shape can be arranged starting from the first and / or second region around the hazard location, wherein the third geometric shape is smaller than the second and first.

[0091] In method 2, however, it is determined whether the combination of geometric shapes can be arranged outwards from the hazard point.

[0092] To do this, a first area is first determined in the virtual environment around the hazard location, in which a first geometric shape can be arranged adjacent to the hazard location. The first geometric shape is therefore chosen from among the plurality of geometric shapes that can be arranged at the hazard location. The remaining areas are then determined one after the other in ascending order of the size of the geometric shapes.

[0093] For example, a second region is determined in the virtual environment around the hazard location, in which the second geometric shape can be arranged starting from the first region around the hazard location, wherein the second geometric shape is larger than the first. Then, a third region is determined in the virtual environment around the hazard location, in which a third geometric shape can be arranged starting from the first and / or second region around the hazard location, wherein the third geometric shape is larger than the second and first.

[0094] In a further step 36 of the method 30, the accessibility of the hazard point 18 is determined on the basis of the simulation of the accessibility of the hazard point 18.

[0095] If the hazard point can be reached using a single geometric shape or a combination of connected geometric shapes from a plurality of geometric shapes, the hazard point is accessible. If the hazard point cannot be reached using a single geometric shape or a combination of connected geometric shapes from a plurality of geometric shapes, the hazard point is not accessible.

[0096] Method 1 determines that the hazard point is accessible if one of the specified areas borders the hazard point. If no area borders the hazard point, the hazard point is not accessible.

[0097] Method 2 determines that the hazard point is accessible if all areas to be identified are identifiable. If not all areas to be identified are identifiable, the hazard point is inaccessible.

[0098] In a further step 38 of the method 30, the safety configuration is then determined based on the determined accessibility of the hazard location 18. The safety configuration defines an arrangement and / or configuration of a protective device 14, 16 of the safety system 12 and / or an arrangement of a safety zone. ne 20 around the hazard point 18 and / or a safety distance 22 to the hazard point 18 if the hazard point 18 is accessible.

[0099] In particular, the protective measures may depend on how the hazard point 18 is accessible, i.e., with which geometric shape or which combination of geometric shapes. For example, if the hazard point is accessible with a large sphere (e.g., a body sphere), the hazard point may need to be secured differently than if the hazard point is accessible with a small sphere (e.g., a finger ball). In this way, the hazard point can be appropriately secured if it is accessible. For example, the number of sensors, the size of the safety area to be monitored, or the size of a barrier can be determined by the size of the geometric shape with which the hazard point 18 is accessible.

[0100] Fig. 4 shows an embodiment of the new method 50 for setting up the safety system 12 for the machine 10.

[0101] In a first step 52 of the method 50, a safety configuration of the safety system 12 for the machine 10 is determined. The safety configuration of the safety system 12 for the machine 10 can be determined using the method 30 of Fig. 3.

[0102] In a further step 54 of the method 50, the safety system 12 is configured based on the safety configuration defined by the at least one specific parameter. When configuring the safety system 12, a protective device 14, 16 of the safety system 12 can be arranged and / or configured based on the safety configuration. Furthermore, when configuring the safety system 12, a safety zone 20 or a safety distance 22 can be configured based on the safety configuration, wherein the safety zone 20 or the safety distance 22 is monitored or secured by a protective device 14, 16 of the safety system 12.

[0103] Fig. 5 shows a second embodiment of a method 60 for determining a safety configuration of the safety system 12 for the machine 10, wherein the machine 10 has at least one hazard point 18. The method 60 can be executed with computer support. In particular, the steps of the method 60 can be performed using a computer. The method 60 is therefore a computer-implemented method.

[0104] In a first step 62 of the method, a virtual model of the machine 10 is provided in a virtual environment. Then, step 64 is performed.

[0105] In step 64 of method 60, a first region is determined in which a first geometric shape of the plurality of three-dimensional geometric shapes can be arranged in a defined region around the hazard location 18. The first geometric shape is the largest geometric shape of the plurality of three-dimensional geometric shapes.

[0106] In step 66 of method 60, it is determined whether the first area is adjacent to the hazard location 18. If the first area is adjacent to the hazard location 18, step 78 is performed next. If the first area is not adjacent to the hazard location 18, step 68 is performed.

[0107] In step 68 of method 60, a further region 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 regions (in particular starting from the last determined region). The next smaller geometric shape is the largest geometric shape for which no region has yet been determined.

[0108] In step 70 of the method 60, it is determined whether the area determined in step 68 is adjacent to the hazard point 18. If the area determined in step 68 is adjacent to the hazard point 18, step 78 is performed next. If the area determined in step 68 is adjacent to the hazard point 18, If the area determined in step 68 does not border on the hazard point 18, step 72 is carried out.

[0109] In step 72 of method 60, it is determined whether there is 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 with this next smaller geometric shape. If there is no next smaller geometric shape, step 74 is performed.

[0110] In step 74 of method 60, it is determined that the hazard location is inaccessible because none of the specified areas are adjacent to the hazard location. Step 76 is then performed.

[0111] In step 76 of the method 60, the safety configuration of the safety system is determined such that it does not contain any protective measures to secure the hazard point 18.

[0112] In a further step 78 of the method 60, it is determined that the hazard location 18 is accessible because one of the determined areas borders the hazard location 18. Preferably, it is determined that the hazard location 18 is accessible based on the geometric shape of this area. In particular, it can be determined that the hazard location 18 is accessible using a combination of geometric shapes, starting from the largest to the one whose area borders the hazard location 18. Step 80 is then performed.

[0113] In a further step 80 of the method 60, the safety configuration of the safety system is determined such that it contains protective measures for securing the hazardous location 18. In particular, the protective measures may depend on how the hazardous location is accessible, i.e., with which geometric shape or which combination of geometric shapes.

[0114] Method 60 essentially corresponds to method 30 and is directed to method 1 for determining the reachability and accessibility of hazard location 18. In particular, step 62 corresponds to step 32. Furthermore, steps 64 to 72 are an example of step 34 using method 1. Furthermore, steps 74 and 78 are an example of step 36 using method 1. Furthermore, steps 76 and 80 are an example of step 38.

[0115] Fig. 6 shows a third embodiment of a method 100 for determining a safety configuration of the safety system 12 for the machine 10, wherein the machine 10 has at least one hazard point 18. The method 100 can be carried out with computer support. In particular, the steps of the method 100 can be performed using a computer.

[0116] In a first step 102 of the method 100, a virtual model of the machine 10 is provided in a virtual environment.

[0117] In a further step 104 of the method 100, a first geometric shape of a plurality of three-dimensional geometric shapes is determined, which can be arranged adjacent to the hazard location 18. Fig. 7 shows method steps 130 to 140 for determining the first geometric shape in step 104.

[0118] In step 130, the largest geometric shape of the plurality of geometric shapes is selected as the geometric shape.

[0119] In step 132, it is determined whether the selected geometric shape can be arranged adjacent to the hazard location 18. If the selected geometric shape can be arranged adjacent to the hazard location 18, step 138 is performed. If the selected geometric shape cannot be arranged adjacent to the hazard location 18, step 134 is performed.

[0120] In step 134, it is determined whether there is a next smaller geometric shape to the selected geometric shape in the plurality of geometric shapes. If there is If there is a next smaller geometric shape to the selected geometric shape, step 136 is performed. If there is no next smaller geometric shape to the selected geometric shape, step 140 is performed.

[0121] In step 136, the next smaller geometric shape is determined as the new selected geometric shape. Then, step 132 is performed again with the newly selected geometric shape.

[0122] In step 138, the selected geometric shape that can be arranged adjacent to the hazard point 18 is determined as the first geometric shape.

[0123] 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 hazard location 18.

[0124] In a further step 106 of method 100, it is determined whether a first geometric shape could be determined in step 104 (see steps 138 and 140). If a first geometric shape has been determined, step 108 is performed. If no first geometric shape could be determined, step 120 is performed.

[0125] In a further step 108 of the method 100, the accessibility of the hazard location 18 is determined based on the first geometric shape. Fig. 8 shows method steps 150 to 162 for determining accessibility in step 108 of the method 100 from Fig. 6.

[0126] In step 150, it is determined whether the first geometric shape is the largest geometric shape of the plurality of geometric shapes. If the first geometric shape is the largest geometric shape of the plurality of geometric shapes, step 160 is performed. If the first geometric shape is not the largest geometric shape of the plurality of geometric shapes, step 152 is performed.

[0127] In step 152, a first region is determined in which the first geometric shape can be arranged adjacent to the hazard location 18. Then, step 154 ​​is performed.

[0128] In step 154, it is determined whether a 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.

[0129] In step 156, a corresponding region is determined for this next larger geometric shape, in which this next larger geometric shape can be arranged starting from at least one of the previously determined regions (in particular starting from the last determined region). Then, step 158 is performed.

[0130] In step 158, it is determined whether there is a next larger geometric shape in the plurality of geometric shapes (in particular, for which no range has 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.

[0131] In step 160, it is determined that the hazard location is reachable from the first geometric shape because all (to be determined) areas are determinable.

[0132] In step 162, it is determined that the hazard point 18 cannot be reached from the first geometric shape because not all areas (to be determined) can be determined.

[0133] In a further step 110 of method 100, it is determined whether all areas could be determined in step 162 (i.e., whether the hazard location is reachable from the first geometric shape). If all areas could be determined, step 116 is performed. If not all areas could be determined, step 112 is performed.

[0134] In a further step 112 of the method 100, it is determined whether, in the plurality of geometric shapes, there is a next smaller geometric shape than the first geometric shape. If there is a next smaller geometric shape, step 114 is performed. If there is no next smaller geometric shape, step 120 is performed.

[0135] In a further step 114 of method 100, the next smaller geometric shape is determined as the new first geometric shape. Step 108 is then performed again with the new first geometric shape. Before step 108 is performed again, the ability of the new first geometric shape to be arranged adjacent to the hazard location can preferably first be determined.

[0136] In a further step 116 of the method 100, it is determined that the hazard location 18 is accessible because all areas starting from the first geometric shape could be determined. Preferably, it is determined that the hazard location 18 is accessible using the first geometric shape. In particular, it can be determined that the hazard location 18 is accessible using a combination of geometric shapes starting from the largest up to the first geometric shape. Step 118 is then performed.

[0137] In a further step 118 of the method 100, the safety configuration of the safety system is determined such that it contains protective measures for securing the hazardous location 18. In particular, the protective measures may depend on how the hazardous location is accessible, i.e., with which geometric shape or which combination of geometric shapes.

[0138] In a further step 120 of the method 100, it is determined that the hazardous location is not accessible. Then, step 122 is performed.

[0139] In a further step 122 of the method 100, the safety configuration of the safety system is determined such that it does not contain any protective measures for securing the hazard point 18.

[0140] Method 100 essentially corresponds to method 30 and is directed to method 2 for determining the reachability and accessibility of hazard location 18. In particular, step 102 corresponds to step 32. Furthermore, steps 104 to 114 are an example of step 34 using method 2. Furthermore, steps 116 and 120 are an example of step 36 using method 2. Furthermore, steps 118 and 122 are an example of step 38.

[0141] Figures 9 to 12 describe the functionality of methods 1 and 2 using the example of a first (accessible) hazard point 188 and a second (inaccessible) hazard point 210 of a machine 186. To simulate accessibility, both methods use three spheres 180, 182, 184 with different diameters as the plurality of three-dimensional geometric shapes. 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.

[0142] Fig. 9 shows an example of how it can be determined by means of method 1 (in particular by means of the method 60 from Fig. 5) whether the first hazard point 188 is accessible.

[0143] First, a first area 190 is determined in which the ball 180 can be arranged in a defined area around the first hazard point 188. Then, a second area 192 is determined in which the ball 182 can be arranged starting from the first area 190. Then, a third area 194 is determined in which the Ball 184 can be arranged starting from the first region 190 and / or the second region 192.

[0144] In the example of Fig. 9, the third area 194 borders the first hazard point 188. The first hazard point 188 is therefore accessible via a combination of the balls 180, 182, and 184. The first hazard point 188 is thus accessible.

[0145] Fig. 10 shows an example of how it can be determined by means of method 2 (in particular by means of the method 100 from Fig. 6) whether the first hazard point 188 is accessible.

[0146] First, a first area 200 is determined in which the ball 184 can be arranged adjacent to the first hazard point 188. Then, a second area 202 is determined in which the ball 182 can be arranged starting from the first area 200. Then, a third area 204 is determined in which the ball 180 can be arranged starting from the first area 200 and / or the second area 202.

[0147] In the example of Fig. 10, each of the three areas 200, 202, 204 can be determined. The first hazard point 188 can therefore be reached via a combination of the spheres 180, 182, 184. The first hazard point 188 is thus accessible.

[0148] Fig. 11 shows an example of how it can be determined by means of method 1 (in particular by means of method 60 from Fig. 5) whether the second hazard point 210 is accessible.

[0149] First, a first area 190 is determined in which the ball 180 can be arranged in a defined area around the first hazard point 188. Then, a second area 192 is determined in which the ball 182 can be arranged starting from the first area 190. Then, a third area 194 is determined in which the ball 184 can be arranged starting from the first area 190 and / or the second area 192.

[0150] In the example of Fig. 11, the third area 194 does not border the second hazard point 210. Therefore, the second hazard point 210 cannot be reached via a combination of the balls 180, 182, and 184. The second hazard point 210 is therefore not accessible.

[0151] Fig. 12 shows an example of how method 2 (in particular method 100 from Fig. 6) can be used to determine whether the second hazard location 210 is accessible.

[0152] First, a first area 200 is determined in which the ball 184 can be positioned adjacent to the second hazard point 210. Then, a second area 202 is determined in which the ball 182 can be positioned starting from the first area 200. However, the third area 204 cannot be determined for the ball 180 because the ball 180 cannot be positioned starting from the first area 200 or the second area 202.

[0153] In the example of Fig. 12, not all of the three areas 200, 202, 204 can be determined because the third area 204 cannot be determined. Therefore, the second hazard point 210 cannot be reached via a combination of the balls 180, 182, 184. The second hazard point 210 is therefore not accessible.

[0154] Figures 13 to 16 describe the functionality of methods 1 and 2 using the example of a third (accessible) hazard point 228 and a fourth (inaccessible) hazard point 250 of a machine 226. To simulate accessibility, both methods use seven spheres 220, 222', 222", 222'", 224', 224", 224'" with different diameters as the plurality of three-dimensional geometric shapes. The spheres 222', 222", 222'" have the same diameter. The spheres 224', 224", 224'" have the same diameter. The sphere 220 has the largest diameter. The spheres 224', 224", 224'" have the smallest diameter. The sphere 220 can, for example, represent a solid sphere. For example, the balls 222', 222", 222'" can represent arm balls. The balls 224', 224", 224'" can represent finger balls.

[0155] Fig. 13 shows an example of how method 1 (in particular method 60 from Fig. 5) can be used to determine whether the third hazard point 228 is accessible.

[0156] First, a first area 230 is determined in which the ball 220 can be arranged in a defined area around the third hazard point 228. Then, an area 232' is determined in which the ball 222' can be arranged starting from the area 230. Then, an area 232" is determined in which the ball 222" can be arranged starting from the area 232'. Then, an area 232'" is determined in which the ball 222'" can be arranged starting from the area 232". Then, an area 234' is determined in which the ball 224' can be arranged starting from the area 232'". Then, an area 234" is determined in which the ball 224" can be arranged starting from the area 234'. Then, an area 234'" is determined in which the ball 224'" can be arranged starting from the area 234".

[0157] In the example of Fig. 13, the last area 234'" borders the third hazard point 228. The third hazard point 228 is therefore accessible via a combination of the spheres 220, 222', 222", 222'", 224', 224", 224'". The third hazard point 228 is thus accessible.

[0158] Fig. 14 shows an example of how it can be determined by means of method 2 (in particular by means of the method 100 from Fig. 6) whether the third hazard point 228 is accessible.

[0159] First, a first area 240' is determined in which the ball 224'" can be arranged adjacent to the third hazard point 228. Then, an area 240" is determined in which the ball 224" can be arranged starting from the area 240'. Then, an area 240'" is determined in which the ball 224' can be arranged starting from the area 240'. Then, an area 242' is determined in which the ball 222'" can be arranged starting from the area 240'. Then, an area 242" is determined in which the ball 222'" can be arranged starting from the area 242'. can be arranged. Then, an area 242'" is determined in which the ball 222' can be arranged starting from the area 242". Then, an area 244 is determined in which the ball 220 can be arranged starting from the area 242'".

[0160] In the example of Fig. 14, each of the three areas 240', 240", 240'", 242', 242", 242'", 244 can be determined. The third hazard point 228 is therefore accessible via a combination of the spheres 220, 222', 222", 222'", 224', 224", 224'". The third hazard point 228 is thus accessible.

[0161] Fig. 15 shows an example of how it can be determined by means of method 1 (in particular by means of the method 60 from Fig. 5) whether the fourth hazard point 250 is accessible.

[0162] First, a first area 230 is determined in which the ball 220 can be arranged in a defined area around the fourth hazard point 250. Then, an area 232' is determined in which the ball 222' can be arranged starting from the area 230. Then, an area 232" is determined in which the ball 222" can be arranged starting from the area 232'. Then, an area 232'" is determined in which the ball 222'" can be arranged starting from the area 232". Then, an area 234' is determined in which the ball 224' can be arranged starting from the area 232'". Then, an area 234" is determined in which the ball 224" can be arranged starting from the area 234'. Then, an area 234'" is determined in which the ball 224'" can be arranged starting from the area 234".

[0163] In the example of Fig. 15, the last area 234'" does not border the fourth hazard point 250. The fourth hazard point 250 is therefore not accessible via a combination of the spheres 220, 222', 222", 222'", 224', 224", 224'". The fourth hazard point 250 is therefore not accessible.

[0164] Fig. 16 shows an example of how it can be determined by means of method 2 (in particular by means of the method 100 from Fig. 6) whether the fourth hazard point 250 is accessible.

[0165] First, a first area 240' is determined in which the ball 224' can be arranged adjacent to the fourth hazard point 250. Then, an area 240" is determined in which the ball 224" can be arranged starting from the area 240'. Then, an area 240'" is determined in which the ball 224' can be arranged starting from the area 240". Then, an area 242' is determined in which the ball 222' can be arranged starting from the area 240'. Then, an area 242' is determined in which the ball 222' can be arranged starting from the area 242'. Then, an area 242'" is determined in which the ball 222' can be arranged starting from the area 242". For the ball 220, the area 244 (in contrast to the example in Figure 14) cannot be determined. because the ball 220 cannot be arranged starting from the area 242'".

[0166] In the example of Fig. 16, not each of the three areas 240', 240", 240'", 242', 242", 242'", 244 can be determined because the last area 244 cannot be determined for the ball 220. The fourth hazard point 250 is therefore not accessible via a combination of the balls 220, 222', 222", 222'", 224', 224", 224'". The fourth hazard point 250 is therefore not accessible.

Claims

Patent claims Computer-implemented method (30, 60, 100) for determining a safety configuration of a safety system (12) for a machine (10), the machine having a hazard point (18), comprising the following steps: Providing a virtual model of the machine (10) in a virtual environment; Simulating the accessibility of the hazard point (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 hazard point (18) based on the simulation of the accessibility of the hazard point (18); and Determining the safety configuration based on the determined accessibility of the hazard location (18). The method according to claim 1, wherein in the simulation step, a corresponding region in the virtual environment is successively determined using the geometric shapes, in which the respective geometric shape can be arranged around the hazard location (18). The method according to claim 2, wherein a subsequent region is determined such that, in this region, the respective geometric shape can be arranged starting from the previously determined regions around the hazard location (18). The method according to one of claims 1 to 3, wherein in the simulation step, a first region in the virtual environment around the hazard location (18) is determined in which a first geometric shape can be arranged within a defined area around the hazard point (18). Method according to claim 4, wherein a second area in the virtual environment around the hazard point (18) is determined in which a second geometric shape can be arranged starting from the first area around the hazard point (18), in particular wherein a third area in the virtual environment around the hazard point (18) is determined in which a third geometric shape can be arranged starting from the first and / or second area around the hazard point (18). Method according to claims 2 to 5, wherein the areas are determined one after the other in descending order of the size of the geometric shapes. Method according to claims 2 to 6, wherein the subsequent area is only determined if none of the previously determined areas borders the hazard point (18).Method according to one of claims 2 to 7, wherein in the step of determining the accessibility of the hazard location (18) it is determined that the hazard location (18) is accessible if one of the determined regions borders the hazard location (18). Method according to one of claims 1 to 3, wherein in the step of simulating a first region in the virtual environment around the hazard location (18) is determined, in which a first geometric shape can be arranged bordering the hazard location (18). Method according to claim 9, wherein a second region in the virtual environment around the hazard location (18) is determined, in which the second geometric shape can be arranged starting from the first region around the hazard location (18), in particular wherein a third region in the virtual environment around the. Hazard point (18) is determined in which a third geometric shape can be arranged around the hazard point (18) starting from the first and / or second region. Method according to one of claims 2, 3, 9 and 10, wherein the regions are determined one after the other in ascending order of the size of the geometric shapes. Method according to one of claims 2, 3 and 9 to 11, wherein the subsequent region is only determined if each previous region can be determined. Method according to one of claims 9 to 12, wherein it is determined one after the other in descending order of the size of the geometric shapes whether the respective geometric shape can be arranged adjacent to the hazard point (18), wherein a geometric shape that can be arranged adjacent to the hazard point (18) is determined as the first geometric shape.Method according to one of claims 2, 3 and 9 to 13, wherein in the step of determining the accessibility of the hazard location, it is determined that the hazard location (18) is accessible if all areas to be determined can be determined. Method according to one of claims 1 to 14, wherein the plurality of geometric shapes is a plurality of spheres. Method according to one of claims 1 to 15, wherein the safety configuration defines an arrangement and / or configuration of a protective device (14, 16) of the safety system (12) and / or an arrangement of a safety zone around the hazard location (18) and / or a safety distance from the hazard location (18) when the hazard location (18) is accessible. Method (50) for setting up a safety system (12) for a machine (10), comprising the following steps: Determining (52) a safety configuration of the safety system (12) for the machine (10) by means of the method according to one of claims 1 to 16; and Setting up (54) the security system (12) based on the determined security configuration. The method according to claim 17, wherein, during the setting up of the security system (12), a protective device (14, 16) of the security system (12) is arranged and / or configured based on the security configuration. The method according to claim 17 or 18, wherein, during the setting up of the security system (12), a security zone (20) or a safety distance (22) is set up based on the security configuration, wherein the security zone (20) or the safety distance (22) is monitored or secured by means of a protective device (14, 16) of the security system (12). A computer program product comprising a computer program having program code means for carrying out a method according to one of claims 1 to 16 when the computer program is executed on a computer.

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