Computer-implemented methods, methods, and computer program products

Abstract

To provide a method for improving the safety of a machine, in particular, for improving the protection of dangerous parts of the machine. The method includes providing a virtual model of a machine (186) in a virtual environment, the machine (186) having a hazardous location (188), simulating proximity of the machine (186) to the hazardous location (188) in the virtual environment based on a plurality of three-dimensional geometric shapes (180, 182, 184), the plurality of three-dimensional geometric shapes (180, 182, 184) having at least two different sizes, determining the proximity to the hazardous location (188) based on the simulated proximity to the hazardous location (188), and determining the safety configuration based on the specified proximity of the hazardous location (188).

Description

[Technical Field]

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

[0002] A current focus of industrial development is on increasing the flexibility of production processes to better meet customer requirements. To achieve this, industry is moving away from static production lines towards reconfigurable modular production units that can be adapted to meet specific requirements.

[0003] Reconfigurable production lines require that the machines and systems involved are equally adaptable and can be modified as needed. However, this flexibility brings new challenges for safety engineering. Every time a machine is modified, it needs to be reassessed to see if the risks associated with the machine have changed and if this necessitates a readjustment of safety equipment. In Europe, for example, this need is outlined in the Machinery Directive (CE), which requires regular risk assessments of machines throughout their entire useful life.

[0004] However, to fully utilize the benefits of flexible and adaptable machine layouts, there is a movement to automate the risk assessment process or to have safety engineers use computers to assist them in the assessment. Automated or assisted risk assessment is based on a virtual model of the machine and the safety technology employed. This model can be used to simulate changes and evaluate safety measures before modifying the system. Automated or assisted risk assessment (hereafter referred to as automated risk assessment for short) can provide safety engineers with appropriate advice and assistance in minimizing risks according to criteria. In this way, periodic risk assessments can be performed in a structured, fast, and at least partially automated manner, especially when the automated risk assessment has access to real runtime data. An example of such a concept is shown in U.S. Pat. No. 6,275,493.

[0005] For CE certification, a hazard analysis of a machine must be performed in accordance with the EN ISO 12100 standard. The EN ISO 12100 standard explains basic terminology and methodology and establishes general principles for risk assessment and risk reduction to help designers create safe machines. An important aspect of the analysis is the evaluation of hazards and hot spots in the machine that pose potential danger to people. Hazards can be, for example, mechanical, thermal, or electrical hazards. Mechanical hazards are areas of a machine that may pose a danger to people due to their surface geometry, such as edges or tips. Electrical hazards are, for example, areas or parts of a machine that are charged or live when the machine is operating. Thermal hazards are, for example, areas or parts of a machine that may generate heat during operation. It is understood that those skilled in the art will recognize other types of hazards than those mentioned here.

[0006] In particular, certification involves determining the hazards of a machine, checking their accessibility to people, and, if necessary, protecting them with appropriate safety measures. Until now, CE certification has been carried out manually by inspectors. In particular, test specimens were previously analyzed manually by inspectors with their own insight into hazards, determining their accessibility, and, if necessary, determining appropriate safety measures.

[0007] Various technical safety measures can be taken to protect danger areas. In particular, safety systems can be provided to protect specific danger points on a machine. The safety systems may, for example, have sensors, cameras, edge protectors or barriers that can be used to protect the danger points.

[0008] The EN ISO 13857 standard specifies safety distances to prevent people (especially upper and lower limbs) from reaching danger areas. To determine the proximity of a machine's danger area, inspectors would manually check whether the machine complies with the safety distances against reaching danger points according to the EN ISO 13857 standard and whether any further safety measures need to be taken. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] European Patent Application Publication No. 3 702 855 A1 Summary of the Invention [Problem to be solved by the invention]

[0010] In light of the above background, the present invention aims to define a method by which the safety of machines can be improved, in particular by which the protection of danger points of machines can be improved. [Means for solving the problem]

[0011] According to a first aspect of the present invention (the invention disclosed in the specification may hereinafter be referred to as "the present disclosure"), the above object is solved by a computer-implemented method for determining a safety configuration of a safety system for a machine, the machine having hazards, the method comprising the steps of: providing a virtual model of the machine in a virtual environment; simulating proximities of the hazards of the machine in the virtual environment based on a plurality of three-dimensional geometric shapes, the plurality of geometric shapes having at least two different sizes; determining the proximities of the hazards based on the simulation of the proximities of the hazards; and determining the safety configuration based on the identified proximities of the hazards.

[0012] 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 steps of determining a safety configuration of the safety system for the machine by a method according to the first aspect of this disclosure, and configuring the safety system based on the determined safety configuration.

[0013] According to a third aspect of the present disclosure, there is provided a computer program product comprising program code for performing the method according to the first aspect of the present invention when the computer program is run on a computer. Further, there may also be provided a computer program product comprising instructions for causing a computer to perform the steps of the method according to the first aspect of the present invention when the program is run by a computer.

[0014] Preferably, the method is implemented using a processing unit or controller, which may be a general purpose or special purpose computer, on which a suitable computer program or computer program product is stored and executed, said computer program or computer program product being constructed and arranged to determine a safety configuration of a safety system for a machine or to configure a safety system for a machine according to the method.

[0015] The method is used to protect a machine having at least one hazard. At least one hazard means that the machine has one hazard or several hazards. The hazard may be, for example, a mechanical, electrical, or thermal hazard. The at least one hazard of the machine is predetermined or known in advance. For example, the exact location or area of the hazard can be determined in advance by a person (especially an inspector) or by a computer-implemented procedure or program by analyzing the machine or a virtual model of the machine.

[0016] Using the disclosed method, the accessibility of hazards, in particular of each hazard of a machine, is determined. When determining the accessibility, it is determined, among other things, whether and how the hazard is accessible or reachable. Depending on the accessibility, appropriate safety measures can be taken to protect the respective hazard. In particular, a safety configuration of a safety system for the machine is defined for the appropriate protection.

[0017] The analysis of proximity to hazards is performed using a virtual model of the machine in a virtual environment. The virtual environment may comprise a computer-generated three-dimensional space, which may also be called virtual space. The virtual environment may be used to model, texture and animate objects. The virtual environment may, for example, be generated on a computer using appropriate software programs, in particular a graphics engine.

[0018] A virtual model of the machine is provided or generated in the 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, on the basis of which the virtual model can be generated in the virtual environment and made available in this way.

[0019] To obtain information about the proximity of hazards, the proximity of hazards on a machine is simulated in a virtual environment based on several three-dimensional geometric shapes. Therefore, the several geometric shapes include at least two, particularly three or more, geometric shapes. The three-dimensional geometric shapes are 3D objects having a defined shape and size. The several geometric shapes include at least two different sizes. Preferably, the several geometric shapes may include two or more groups. The geometric shapes in each group have the same size, particularly the same shape. However, the groups differ from each other in terms of the shape and size of the geometric forms. In other words, each group may include several geometric shapes of different sizes, particularly shapes. For example, the several 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.

[0020] The geometric shape may be, for example, a sphere, a cylinder, or a tube. The size of the geometric shape preferably corresponds to the volume of the geometric shape or to the extent of the geometric shape in a particular spatial direction. In the case of a sphere, the size is defined by the radius or diameter. In the case of a cylinder, for example, the size may be defined by the length and / or the radius.

[0021] The size of the geometric shapes may be adapted in particular to the dimensions of a part of a human body (e.g., a body, an arm, a hand, a finger, and a fingertip). The plurality of geometric shapes are preferably spheres having different sizes (i.e., different diameters). In particular, the diameter of the spheres may be 100 cm to 200 cm (approximately corresponding to the average body size), in which case such spheres may be called body spheres.

[0022] The diameter of the sphere may be 4 cm to 12 cm, preferably 5 cm to 10 cm, in particular 7 cm (approximately corresponding to the average arm thickness), in which case such a sphere may be called an arm sphere. The plurality of geometric shapes may include several arm spheres. For example, the plurality of geometric shapes may include three, four, five or more arm spheres. In particular, the number of arm spheres may 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 60 cm or 70 cm (approximately corresponding to the average arm length).

[0023] The diameter of the ball may be 5 cm to 15 cm, particularly 10 cm (approximately corresponding to the thickness of an average hand), in which case such a ball may be called a cue ball. The plurality of geometric shapes may include several cue balls. For example, the plurality of geometric shapes may include three, four, five or more cue balls. In particular, the number of cue balls may be selected so that the product of the number and diameter of the cue balls is 5 cm to 20 cm, preferably 7 to 15 cm (approximately corresponding to the length of an average hand).

[0024] The diameter of the sphere may be 0.5 cm to 10 cm, preferably 1 cm to 2 cm, in particular 1.5 cm (approximately corresponding to the thickness of a finger), and such a sphere may be called 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 so 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).

[0025] Preferably, the plurality of geometric shapes comprises a body ball, one or more arm balls, and one or more finger balls. In particular, the plurality of geometric shapes may also comprise one or more cue balls. Alternatively, the plurality of geometric shapes may comprise a body ball, one or more arm balls, and one or more cue balls.

[0026] To simulate the proximity of a hazard, the placement of one or more geometric shapes around the hazard is simulated. For this purpose, the placement of one or a combination of geometric shapes can be considered. For example, it is possible to simulate where one or more geometric shapes can be placed around the hazard. "Possible to place" means that the geometric shapes are freely placed in space and do not reside in or overlap with machine components. A hazard is geometrically reachable if the geometric shape or combination of geometric shapes can be placed in such a way that it is directly adjacent to the hazard.

[0027] The simulation can be limited to a specific area around the hazard. For simulation purposes, each geometric shape may be generated in different positions in the virtual environment, particularly in the specific area around the hazard. Then, for each position, it may be determined whether a geometric shape can be placed at this position. Alternatively, the geometric shape may be generated in only one position in the virtual environment, particularly in the specific area around the hazard, and then moved around in the virtual environment accordingly.

[0028] Based on the accessibility simulation, the next step is to determine the accessibility of the hazard. In particular, it is determined whether and how the hazard is accessible. For example, if the hazard cannot be reached by any geometric shape or any specific combination of geometric shapes, the hazard is not accessible. If the hazard can be reached by a geometric shape or a specific combination of geometric shapes, the hazard is accessible by this geometry or this specific combination of geometric shapes.

[0029] Based on the determined proximity of the hazards, the next step is to determine the corresponding safety configuration of the safety system for the machine.

[0030] A safety system may have various safety devices to protect hazardous points in a machine. The safety devices may be physical safety devices, such as edge protectors, barriers, and markings, or sensory devices, such as sensors, light grids, and cameras. Physical safety devices may be used to protect hazardous points by making access to them more difficult or by preventing it through appropriate placement of physical safety devices. Sensory safety devices may also be used to protect hazardous points by monitoring an area around the hazardous point (i.e., a safety zone). This area may be defined, for example, by a safe distance from the hazardous point. The sensory safety devices may be connected to a safety system controller. If a person is detected entering or present in the monitored area, appropriate safety measures can be taken. For example, the safety devices or controls of the safety system may be configured to issue an optical or audible alarm signal or switch off the machine if a person is detected entering or present in the monitored area.

[0031] In this manner, the safety configuration of the safety system defines the location and / or configuration of one or more safety devices of the safety system. The safety configuration may be defined by one or more parameters. In this manner, the parameters of the safety configuration determine the location and / or configuration of one or more safety devices. In other words, the parameters of the safety configuration determine the safety measures for protecting the hazardous location.

[0032] If a hazardous point is determined to be inaccessible, no safety measures are required to protect the hazardous point. In this case, the safety configuration is determined in such a way that the placement and / or configuration of one or more safety devices of the safety system is not configured to protect the hazardous point.

[0033] If a hazard is determined to be accessible, the necessary safety measures depend on how accessible the hazard is (particularly, which geometry or combination of geometries). In particular, the safety configuration may be determined by how the placement and / or configuration of one or more safety devices of a safety system is configured to protect the hazard depending on the particular proximity. For example, a fine-mesh finger guard may be attached directly around the hazard, or a coarse-mesh access guard may be attached at a distance.

[0034] Depending on the particular safety configuration of the safety system, the safety system can then be set accordingly to protect hazardous locations on the machine if these locations are accessible. Safety measures are implemented to prevent or make it more difficult for people to injure themselves at the hazardous locations. In various embodiments, the machine is started and operated with the safety system set up in this manner. In particular, the machine can be configured to process and / or package and / or transport objects after being operated. For example, in some embodiments, the machine may include machine tools, robots, and / or conveyor mechanisms such as conveyor belts, each of which poses a hazard to people during operation.

[0035] The proposed method thus provides a method for automated determination of the proximity of hazardous points. In particular, the proposed method can be used to automatically determine whether and how hazardous points are accessible. The proposed method thus allows CE certification to be performed automatically. It is also possible to perform the proximity analysis using only the design data of the machine (e.g., CAD data). Compared to manual CE certification, the proposed method offers the advantage that the determination can be performed quickly, reliably, and especially early in the development process (e.g., based on CAD design models).

[0036] Furthermore, the proposed method determines appropriate protection or safety measures based on the specific proximity of hazardous points. For this purpose, the proposed method determines a safety configuration of a safety system based on the specific proximity to hazardous points. The safety system can then be configured according to the specific safety configuration for protecting the machine, thereby improving the safety of the machine. In particular, the proposed method improves the detection and protection of hazardous points in machines.

[0037] Therefore, the objectives explained at the beginning are fully achieved.

[0038] In a first refinement, the simulation step uses the geometric shapes to successively determine corresponding areas in the virtual environment in which each geometric shape can be placed around the hazard.

[0039] By "successively" it is meant that a region for a first geometric shape is determined first, then another region for a further geometric shape, and so on. In particular, the regions may be determined in descending or ascending order according to the size of the geometric shapes. The region of each geometric shape is an area in the virtual environment that particularly includes all possible configurations of the geometric shapes around the hazard. In particular, the determination of where each geometric shape can be located in the virtual environment around the hazard may be limited to a specific area of the virtual environment, preferably in the immediate vicinity of the hazard (e.g., within 3 m of the hazard). In other words, for each geometric shape, possible (particularly all possible) configurations (positions / orientations) of the geometric shapes in the virtual environment (outside the virtual model) and preferably within a limited area are determined, whereby the possible (particularly all possible) configurations then cover or demarcate the corresponding area of the geometric shape. The region for each geometric shape may be formed, for example, by scanning the virtual environment (or a limited region of the virtual environment) with each geometric shape (changing the position and / or orientation of the geometric shape or the motion simulation) to determine where the geometric shape can be placed in the virtual environment or in the limited region of the virtual environment. The region to be determined is then the region covered by all particular possible placements.

[0040] In a further refinement, the subsequent region is determined in such a way that each geometric shape can be placed in this region starting from the previously determined region around the critical point.

[0041] "Starting from" means that the subsequent geometric shapes overlap or are directly adjacent to at least one of the previous specified regions. In other words, a corresponding region is first determined for a first geometric shape, where the geometric shape can be placed in the virtual environment or a limited region of the virtual environment around the hazard. Then, for each subsequent geometric shape, it is determined where this geometric shape can be placed in the virtual environment or in a limited region of the virtual environment starting from at least one of the previously determined regions, and these placements of the subsequent geometric shapes then define the corresponding region. In this manner, a combination of placements of geometric shapes can be simulated.

[0042] In a further refinement, a first area in the virtual environment around the hazard is determined in the simulation step, within which the first geometric shape can be placed (preferably within a bounded area) around the hazard.

[0043] As explained above, a first region is determined for a first geometric shape of the plurality of geometric shapes. This determines where the first geometric shape can be placed in the virtual environment within the bounded region. The first region is then the region covered by all specific possible placements of the first geometric shape. The bounded region is preferably a subregion of the virtual environment. The hazard is preferably located in the bounded region (particularly in the center of the bounded region). For example, the first geometric shape may be a sphere. The bounded region may be, for example, an enclosure, such as a surface (particularly a sphere) that surrounds the virtual model. Alternatively, the first region may be defined as the region where the first geometric shape can be placed directly adjacent to the virtual model of the machine.

[0044] In a further refinement, a second region is determined in the virtual environment around the hazard in which a second geometric shape can be placed around the hazard starting from the first region.

[0045] The plurality of geometric shapes includes a second geometric shape. In other words, this determines where the second geometric shape can be placed in the virtual environment starting from the first region. The second region is then the region covered by all specific possible placements of the second geometric shapes. Preferably, the second geometric shape is smaller than the first geometric shape. For example, the first geometric shape may be a body sphere and the second geometric shape may be a brachial sphere.

[0046] In a further refinement, a third region is determined in the virtual environment around the hazard in which a third geometric shape can be placed around the hazard starting from the first and / or second region.

[0047] The plurality of geometric shapes includes a third geometric shape. In other words, this determines where the third geometric shape can be placed in the virtual environment starting from the first region and / or the second region. The third region is then the region covered by all specific possible placements 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 may be a body ball, the second geometric shape may be a arm ball, and the third geometric shape may be a finger ball. In particular, after determining a third region for another, smaller geometric shape (e.g., for a finger ball and / or a fingertip ball), further regions may be determined based on at least one of the previously determined regions.

[0048] In a further refinement, the regions are determined one after the other in descending order of geometrical size.

[0049] In particular, the first geometric shape, by which the first region is determined, is then the largest geometric shape of the plurality of geometric shapes. Each additional region is then determined by the next smaller geometric shape. In this way, it is possible in particular to determine whether the danger point can be reached from the outside to the inside via a combination of geometric shapes arranged in descending order.

[0050] In a further refinement, subsequent regions are determined only if none of the previously determined regions is directly adjacent to the hotspot.

[0051] As soon as a hazardous location is reached for a particular geometric shape (especially if the corresponding area is directly adjacent to the hazardous location), it is no longer necessary to consider subsequent (smaller) geometric shapes. Therefore, it is preferable to determine the area of a subsequent geometric shape only if the previous (larger) geometric shape is not directly adjacent to the hazardous location. In particular, a second area is determined only if the first area is not directly adjacent to the hazardous location. Accordingly, a third area is determined only if the first and second areas are not directly adjacent to the hazardous location.

[0052] In a further refinement, in the step of determining the proximity of a hazard, a hazard is determined to be accessible if one of the determined regions is directly adjacent to the hazard.

[0053] If one of the identified areas is directly adjacent to the hazard, it means that the hazard can be reached by the corresponding geometric shape of that area. Therefore, the hazard is made accessible. If none of the identified areas is directly adjacent to the hazard, the hazard cannot be reached by any of the geometric shapes. Therefore, the hazard is not made accessible. In the step of determining accessibility, the geometric shapes or combinations of geometric shapes by which the hazard is accessible can in particular be determined. If one of the identified areas is directly adjacent to the hazard, the hazard is made accessible by the corresponding geometric shape (in particular, the combination of geometric shapes from the first (largest) to the geometric shape whose area is directly adjacent to the hazard).

[0054] In a further alternative refinement, a first region in the virtual environment around the hazard is determined in the simulation step, in which the first geometric shape can be placed directly adjacent to the hazard.

[0055] The plurality of geometric shapes includes a first geometric shape. In particular, the first geometric shape may be one of a plurality of geometric shapes that can be positioned directly adjacent to the hazard. The first geometric shape is then used to determine a first region around the hazard where the first geometric shape can be positioned directly adjacent to the hazard. Starting from this first region, additional regions with larger geometric shapes can then be determined. In this manner, it is possible to determine, from the inside to the outside, which combinations of geometric shapes can reach the hazard. For example, the first geometric shape may be the ball of the hand.

[0056] In a further refinement, a second area is determined in the virtual environment around the hazard in which a second geometric shape can be placed around the hazard starting from the first area.

[0057] The plurality of geometric shapes includes a second geometric shape. In other words, this determines where the second geometric shape can be placed in the virtual environment starting from the first region. The second region is then the area covered by all specific possible placements of the second geometric shapes. Preferably, the second geometric shape is larger than the first geometric shape. For example, the first geometric shape may be the ball of the hand and the second geometric shape may be the ball of the arm.

[0058] In a further refinement, a third region is determined in the virtual environment around the hazard, in which a third geometric shape can be placed around the hazard based on the first and / or second region.

[0059] The plurality of geometric shapes includes a third geometric shape. In other words, this determines where the third geometric shape can be placed in the virtual environment starting from the first region and / or the second region. The third region is then the area covered by all particular possible placements of the third geometric shapes. Preferably, the third geometric shape is larger than the first geometric shape and the second geometric shape. For example, the first geometric shape may be a ball of the hand, the second geometric shape may be a ball of the arm, and the third geometric shape may be a ball of the body.

[0060] In a further refinement, the regions are determined one after the other in increasing order of geometric shape size.

[0061] In particular, the first geometric shape, on the basis of which the first region is determined, is then the largest geometric shape of the plurality of geometric shapes. Each additional region is then determined with the next largest geometric shape. In this way, it is possible in particular to determine whether the danger point can be reached from the inside to the outside via a combination of geometric shapes arranged in ascending order.

[0062] In a further refinement, subsequent regions are determined only if each of the previous regions can be determined.

[0063] A region can be determined only if a corresponding geometric shape is located. A first region can be determined if the first geometric shape can be located directly adjacent to the hazard. Each further region (especially the second and third regions) can be determined if a corresponding geometric shape can be located starting from at least one of the already determined regions. For example, a second region can be determined only if the first region could be determined. Thus, a third region can be determined only if the first and second regions can be determined.

[0064] If all regions can be determined starting from the first region up to the region of the largest geometric shape, then the hazard can be reached with this combination of geometric shapes. If not all regions can be determined (especially if the region of the largest geometric shape cannot be determined), then the hazard cannot be reached with this combination of geometric shapes. In particular, a new first geometric shape can be determined in this case (the next smallest after the previous first geometric shape). Then, starting from the new first geometric shape, regions can be determined one after the other in ascending order of geometric shape size. If there are no smaller shapes left, this means that the hazard is not accessible.

[0065] In a further refinement, each geometric shape is determined in turn in descending order of geometric shape size to determine whether it can be placed directly adjacent to the hazardous location, whereby the geometric shape that can be placed directly adjacent to the hazardous location is determined as the first geometric shape.

[0066] In this manner, it is possible to determine whether one of the multiple geometric shapes can be placed directly adjacent to the hazard, and if so, which is the largest geometric shape that can be placed at the hazard. If none of the geometric shapes can be placed directly adjacent to the hazard, the hazard cannot be reached by any of the geometric shapes. In particular, in this case, no area can be determined to be directly adjacent to the hazard (i.e., no first area can be determined). In this case, the hazard is not accessible. However, if one of the geometric shapes can be placed directly adjacent to the hazard, this geometric shape is determined to be the first geometric shape. In particular, the first geometric shape that can be placed directly adjacent to the first is determined to be the first geometric shape.

[0067] In a further refinement, in the step of determining the proximity of the dangerous spot, if all areas to be determined can be determined, the dangerous spot is determined to be accessible.

[0068] In particular, starting from a first geometric shape, a region is to be determined for each of these shapes in ascending order of geometric shape size. If a region cannot be determined because none of the geometric shapes can be placed directly adjacent to the hazard, or because a subsequent (larger) geometric shape cannot be placed directly adjacent to a previously determined region, the hazard is not accessible. In other words, the hazard is accessible only if all subsequent regions (especially the region to be determined based on the largest geometric shape) can be determined starting from the first region. Since the first region of the first geometric shape is directly adjacent to the hazard, the hazard is accessible with the first geometric shape (especially with the combination of geometries from the first to the largest geometric shape).

[0069] In a further refinement, the plurality of geometric shapes includes a plurality of spheres.

[0070] Spheres have shapes that are relatively easy to simulate in a virtual environment. In particular, their spherical symmetry makes it easier to calculate distances or locations of spheres in a virtual environment compared to more complex (less symmetrical) objects. In this way, simulation time can be reduced.

[0071] In a further refinement, the safety configuration defines the arrangement and / or configuration of the safety devices of the safety system and / or the arrangement of a safety zone around the hazardous point and / or a safety distance to the hazardous point if the hazardous point is accessible.

[0072] In this manner, the safety configuration defines one or more measures for protecting the hazardous location when the hazardous location is determined to be accessible. The measures are the arrangement and / or configuration of safety devices. The arrangement of the safety devices preferably defines the location, orientation, shape, and / or size of the safety devices. Physical and sensory safety devices, as described above, may be used as the safety devices. The configuration of the safety devices defines how the safety devices are set to protect the corresponding hazardous location. For example, the sensory safety devices can be configured to monitor an area defined by a safety distance or safety zone. The safety zone or safety distance defines an area where a person should not or should not enter or reach. This area is therefore an area to be monitored or protected. The monitoring or protection may be performed using the corresponding safety devices of the safety system. 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 devices associated with the safety configuration. In this way, the placement and / or configuration of safety devices and the definition of safety zones and / or safety distances function to protect a particular mechanical hazard. In particular, the safety measures (i.e., safety configurations) depend on how accessible the hazard is (i.e., by which geometric shape or combination of geometric shapes the hazard can be reached). For example, if the hazard is accessible by a large sphere (e.g., a ball), it may need to be protected differently than if the hazard is accessible by a small sphere (e.g., a ball). In this way, the hazard can be properly protected when accessible.

[0073] In a further refinement, when configuring the safety system, safety devices of the safety system are arranged and / or configured based on the safety configuration.

[0074] The safety devices are arranged and configured in a manner that allows them to guard or monitor at least one corresponding hazard of the machine. For example, sensory safety devices can be configured in a manner that monitors the area to be monitored around the hazard. Physical safety devices must be configured and arranged in a manner that guards the hazard (i.e., makes it more difficult or prevents personnel from accessing the hazard). In this manner, guarding the machine is carried out accordingly.

[0075] In a further refinement, when configuring the safety system, a safety zone or a safety distance can be configured based on the safety configuration, whereby the safety zone or the safety distance is monitored or protected by a safety device of the safety system.

[0076] For example, a sensory safety device may be provided that is configured to monitor a safety area or a safety distance. Furthermore, a physical safety device may be provided that is configured to protect the safety area or the safety distance. In particular, the safety arrangement may also define several safety areas or safety distances for several hazardous locations, with one or more sensory safety devices configured (i.e., arranged and configured accordingly) to monitor the safety area and / or the safety distance relative to the hazardous location. In this way, the machine is guarded accordingly.

[0077] It is understood that the features mentioned above and those that will be explained below can be used not only in the combination shown in each case, but also in other combinations or alone, without departing from the scope of the invention.

[0078] Examples of embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. [Brief explanation of the drawings]

[0079] [Figure 1] 1 is a schematic diagram showing a machine and a safety system for guarding the machine; [Figure 2]1 is a diagram showing an example of the arrangement of safety devices for protecting or monitoring dangerous locations; [Figure 3] 1 is a flow chart illustrating a first embodiment of a method for determining the safety configuration of a safety system for a machine. [Figure 4] 1 is a flow chart illustrating an embodiment of a method for configuring a safety system for a machine. [Figure 5] 10 is a flow chart illustrating a second embodiment of a method for determining the safety configuration of a safety system for a machine. [Figure 6] 10 is a flow chart illustrating a third embodiment of a method for determining the safety configuration of a safety system for a machine. [Figure 7] 7 is a flowchart illustrating a method for determining a first geometric shape in the method of FIG. 6. [Figure 8] 7 is a flow chart illustrating a method for determining proximity starting from a first geometric shape in the method shown in FIG. 6. [Figure 9] FIG. 6 is an exemplary diagram illustrating how proximity to a first hazard can be determined using the method of FIG. 5. [Figure 10] 7 is an exemplary diagram illustrating how proximity to a first hazard can be determined using the method of FIG. 6. [Figure 11] 6 is an exemplary diagram illustrating how proximity to a second hazard can be determined using the method of FIG. 5. [Figure 12] 7 is an exemplary diagram illustrating how proximity to a second hazard can be determined using the method of FIG. 6. [Figure 13] (Not specified) [Figure 14] (Not specified) [Figure 15] (Not specified) [Figure 16] (Not specified) DETAILED DESCRIPTION OF THE INVENTION

[0080] 1 shows a machine 10 and a safety system 12. The machine 10 has at least one hazard 18, such as a mechanical, electrical, or thermal hazard. A safety system 12 is used to secure / protect the machine 10 (particularly to protect the hazard 18). The safety system 12 includes 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 hazard 18 can be protected by the safety devices 14, 16.

[0081] 2 shows two examples (A) and (B) of the protection of a mechanical hazard 18 by safety devices 14, 16. These examples in FIG. 2 serve as examples of safety configurations of the safety system 12. The safety configuration defines the placement and / or configuration of the safety devices 14, 16 of the safety system 12.

[0082] In a first example (A), a physical safety device 14 (e.g., a barrier) is placed a specified safety distance 22 from a mechanical hazard 18 on a machine 10. The physical safety device 14 makes access to the mechanical hazard 18 more difficult or prevents it.

[0083] In a second example (B), a sensory safeguard 16 (e.g., a camera or optical sensor) is positioned in a manner to monitor a safety zone 20 around a mechanical hazard 18 of the machine 10. The sensory safeguard 16 is configured to detect when a person enters and / or is present in the safety zone 20. If the sensory safeguard 16 detects this, it can initiate a safety-related action (e.g., an alarm, stopping the machine, etc.).

[0084] 3 illustrates a first embodiment of a method 30 for determining the safety configuration of a safety system 12 for a machine 10, the machine 10 having at least one hazardous point 18. The method 30 may be computerized. In particular, each step of the method 30 may be performed by a computer. Thus, the method 30 may be a computer-implemented method.

[0085] In a first step 32 of the method 30, a virtual model of the machine 10 is provided in a virtual environment.

[0086] In a next step 34 of the method 30, the proximity of the hazard 18 of the machine 10 in the virtual environment is determined based on a plurality of three-dimensional geometric shapes, where the plurality of geometric shapes have different sizes.

[0087] Preferably, the plurality of geometric shapes includes a plurality of spheres, the size of which can be adapted to the dimensions of the human body (body, arm, finger).

[0088] In particular, in step 34, a simulation is performed to see whether the dangerous location can be reached by one of the plurality of geometric shapes or by a combination of the plurality of geometric shapes.

[0089] For example, multiple geometric shapes can be used to sequentially determine corresponding regions in the virtual environment in which each geometric shape can be placed around the hazard location, with subsequent regions being determined based on previously determined regions in which each geometric shape can be placed around the hazard location.

[0090] Hazard proximity can be determined using a combination of geometries (e.g., toward the hazard (methodology 1) or away from the hazard (methodology 2)).

[0091] For example, according to method 1, it is determined whether a hazardous location can be reached from the outside via a combination of geometric shapes. For this purpose, a first region in which a first geometric shape can be placed within a defined region around the hazardous location is first determined in the virtual environment around the hazardous location, where the first geometric shape is the largest geometric shape. Then, other regions of other geometric shapes are determined one after the other in descending order of geometric shape size.

[0092] For example, a second region in which a second geometric shape can be placed around the hazard starting from the first region is determined in the virtual environment around the hazard, where the second geometric shape is smaller than the first. Then, a third region in which a third geometric shape can be placed around the hazard starting from the first region and / or the second region is determined in the virtual environment around the hazard, where the third geometric shape is smaller than the second and first.

[0093] On the other hand, methodology 2 determines whether a combination of geometric shapes can be arranged starting from the critical point and working outwards.

[0094] To this end, a first region in the virtual environment around the hazard is first determined in which a first geometric shape can be placed immediately adjacent to the hazard. The first geometric shape is therefore one of a plurality of geometric shapes that can be placed at the hazard. Then, other regions are determined in ascending order of geometric shape size.

[0095] For example, a second region in which a second geometric shape can be placed is determined in the virtual environment around the hazard starting from a first region around the hazard, where the second geometric shape is larger than the first. Then, a third region in which a third geometric shape can be placed around the hazard starting from the first region and / or the second region is determined in the virtual environment around the hazard, where the third geometric shape is larger than the second and first.

[0096] In a further step 36 of the method 30, the proximity of the hazards 18 is determined based on a simulation of the proximity of the hazards 18.

[0097] A hazard is accessible if it can be reached by a geometric shape or by a combination of connected geometric shapes from among the plurality of geometric shapes. A hazard is not accessible if it cannot be reached by a geometric shape or by a combination of connected geometric shapes from among the plurality of geometric shapes.

[0098] According to Methodology 1, if one of the specified areas is directly adjacent to the hazard, the hazard is determined to be accessible. According to Methodology 1, if no area can be determined to be directly adjacent to the hazard, the hazard is not accessible.

[0099] According to Methodology 2, if all areas to be assessed can be assessed, the hazardous location is assessed as accessible. If not all areas to be assessed can be assessed, the hazardous location is not reachable.

[0100] In a further step 38 of the method 30, a safety configuration is then determined based on the determined proximity of the hazard 18. 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 20 around and / or a safety distance 22 from the hazard 18 if the hazard 18 is accessible.

[0101] In particular, safety measures may depend on how (i.e., by which geometry or combination of geometries) the hazard 18 is accessible. For example, if the hazard is accessible by a larger sphere (e.g., a body sphere), the hazard may need to be guarded differently than if the hazard is accessible by a smaller sphere (e.g., a finger sphere). In this manner, the hazard can be appropriately guarded when it is accessible. For example, the number of sensors, the size of the safety area to be monitored, or the size of the barrier can be determined based on the size of the geometry through which the hazard 18 is accessible.

[0102] FIG. 4 illustrates an embodiment of a method 50 for configuring a safety system 12 for a machine 10 .

[0103] In a first step 52 of the method 50, the 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 shown in FIG.

[0104] In a further step 54 of the method 50, the safety system 12 is configured based on a safety configuration defined by at least one particular parameter. When configuring the safety system 12, the safety devices 14, 16 of the safety system 12 may be positioned and / or configured based on the safety configuration. Furthermore, when configuring the safety system 12, a safety zone 20 or safety distance 22 may be established based on the safety configuration, where the safety zone 20 or safety distance 22 is monitored or protected by the safety devices 14, 16 of the safety system 12.

[0105] 5 illustrates a second embodiment of a method 60 for determining the safety configuration of a safety system 12 for a machine 10, the machine 10 having at least one hazardous point 18. The method 60 may be computerized. In particular, each step of the method 60 may be performed by a computer. Thus, the method 60 may be a computer-implemented method.

[0106] In a first step 62 of the method, a virtual model of the machine 10 is provided in a virtual environment. Thereafter, step 64 of the method 60 is performed.

[0107] In step 64, a first geometric shape of the plurality of three-dimensional geometric shapes may be placed in a defined region around the hazard 18. In this manner, a first region is determined. The first geometric shape is the largest geometric shape of the plurality of three-dimensional geometric shapes.

[0108] In step 66 of method 60, it is determined whether the first region is directly adjacent to hazard 18. If the first region is directly adjacent to hazard 18, then the next step 78 is performed. If the first region is not directly adjacent to hazard 18, then step 68 is performed.

[0109] In step 68 of method 60, a further region is determined for a next smaller one of the plurality of three-dimensional geometries, where the next smaller one can be positioned to start from at least one of the previously determined regions (particularly, to start from the most recently determined region), with the next smallest geometry being the largest geometry not yet used to determine a region.

[0110] In step 70 of method 60, it is determined whether the region determined in step 68 is directly adjacent to hazard 18. If the region determined in step 68 is directly adjacent to hazard 18, then step 78 is performed. If the region determined in step 68 is not directly adjacent to hazard 18, then step 72 is performed.

[0111] In step 72, 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 not a next smaller geometric shape, step 74 is performed.

[0112] In step 74 of method 60, it is determined that the hazard is not accessible because none of the determined regions are directly adjacent to the hazard. Step 76 is then performed.

[0113] In step 76 of method 60 , it is determined that the safety configuration of the safety system does not include a safety measure to protect hazard 18 .

[0114] In a further step 78 of the method 60, the hazard 18 is determined to be accessible because one of the determined regions is directly adjacent to the hazard 18. Preferably, the hazard 18 is determined to be accessible due to the geometry of this region. In particular, the hazard 18 can be determined to be accessible for any combination of geometries, starting from the largest to the one whose region is directly adjacent to the hazard 18. Then, step 80 is performed.

[0115] In step 80, the safety configuration of the safety system is determined to include safety measures for protecting the hazard 18. In particular, the safety measures may depend on how accessible the hazard is (i.e., what geometry or combination of geometries).

[0116] This method 60 essentially corresponds to method 30 and implements methodology 1 to determine reachability and proximity of hazards 18. In particular, step 62 corresponds to step 32. Furthermore, steps 64-72 are an example of step 34 using methodology 1. Furthermore, steps 74-78 are an example of step 36 using methodology 1. Furthermore, steps 76-80 are an example of step 38.

[0117] 6 illustrates a third embodiment of a method 100 for determining the safety configuration of a safety system 12 for a machine 10, the machine 10 having at least one hazardous point 18. The method 100 may be computerized. In particular, the steps of the method 100 may be performed by a computer.

[0118] In a first step 102 of the method 100, a virtual model of the machine 10 is provided in a virtual environment.

[0119] In a further step 104 of the method 100, a first geometric shape of a plurality of three-dimensional geometric shapes that can be positioned immediately adjacent the hazard 18 is determined.

[0120] FIG. 7 shows the method for determining the first geometric shape in step 104, steps 130-140.

[0121] In step 130, the largest geometric shape of the plurality of geometric shapes is selected as the geometric shape.

[0122] In step 132, it is determined whether the selected geometric shape can be placed directly adjacent to the hazard 18. If the selected geometric shape can be placed directly adjacent to the hazard 18, step 138 is performed. If the selected geometric shape cannot be placed directly adjacent to the hazard 18, step 134 is performed.

[0123] In step 134, it is determined whether there is a next smaller geometric shape in the plurality of geometric shapes than the selected geometric shape. If there is a next smaller geometric shape than the selected geometric shape, step 136 is performed. If there is not a next smaller geometric shape than the selected geometric shape, step 140 is performed.

[0124] The next smallest geometric shape is determined as the new selected geometric shape in step 136. Step 132 is then performed again with the new selected geometric shape.

[0125] In step 138, the selected geometric shape that can be placed immediately adjacent to the hazard 18 is determined as the first geometric shape.

[0126] In step 140 , no geometric shape is determined as the first geometric shape because none of the multiple geometric shapes can be placed directly adjacent to the hazard 18 .

[0127] 6, in a further step 106 of method 100, it is determined whether a first geometric shape was determined in step 104 (see steps 138 and 140). If an initial geometric shape was determined, step 108 is performed. If no first geometric shape was determined at all, step 120 is performed.

[0128] In a further step 108 of the method 100, the proximity of the hazard 18 is determined based on the first geometric shape.

[0129] Figure 8 illustrates method steps 150-162 for determining proximity in step 108 of method 100 of Figure 6. 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.

[0130] In step 152, a first region is determined in which a first geometric shape can be placed immediately adjacent to the hazard 18. Step 154 is then performed.

[0131] In step 154, it is determined whether a next larger geometric shape of the plurality of geometric shapes can be placed starting from at least one of the previously determined regions (specifically, starting from the most recently determined region). If the next larger geometric shape can be placed, step 156 is performed. If the next larger geometric shape cannot be placed, step 162 is performed.

[0132] In step 156, a corresponding region is determined for this next larger geometric shape in which this next larger geometric shape can be placed starting from at least one of the previously determined regions (in particular, starting from the last determined region), after which step 158 is performed.

[0133] In step 158, it is determined whether there is a next-largest geometric shape among the plurality of geometries (for which no particular extent has been determined). If there is a next-largest geometric shape, step 154 is executed again. If there is not a next-largest geometric shape, step 160 is executed.

[0134] In step 160, it is determined that the hazard can be reached starting from the first geometric shape, since all areas (to be determined) can be determined.

[0135] In a further step 110 of the method 100 of Figure 6, it is determined whether all regions have been determined in step 162 (i.e. whether the hazard can be reached starting from the first geometric shape). If all regions have been determined, step 116 is executed. If all regions have not been determined, step 112 is executed.

[0136] In a further step 112 of the method 100, it is determined whether there is a next smaller geometric shape in the plurality of three-dimensional geometric shapes than the first geometric shape. If there is a next smaller geometric shape, step 114 is performed. If there is not a next smaller geometric shape, step 120 is performed.

[0137] 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, it is preferably first determined whether the new first geometric shape can be placed directly adjacent to the critical point.

[0138] In a further step 116 of the method 100, the hazard 18 is determined to be accessible since all regions starting from the first geometric shape have been determined. Preferably, the hazard 18 is determined to be accessible by the first geometric shape. In particular, it can be determined that the hazard 18 is accessible by a combination of geometries starting from the largest one and ending with the first geometric shape. Then, step 118 is executed.

[0139] In a further step 118 of the method 100, the safety configuration of the safety system is determined to include safety measures for protecting the hazard 18. In particular, the safety measures may depend on how accessible the hazard is (i.e., by which geometry or combination of geometries).

[0140] In a further step 120 of the method 100, it is determined that the hazard is not accessible. Step 122 is then performed.

[0141] In a further step 122 of the method 100 , it is determined that the safety configuration of the safety system does not include a safety measure for protecting the hazard 18 .

[0142] Method 100 essentially corresponds to method 30 and implements methodology 2 to determine reachability and proximity of hazards 18. In particular, step 102 corresponds to step 32. Furthermore, steps 104-114 are an example of step 34 using methodology 2. Furthermore, steps 116-120 are an example of step 36 using methodology 2. Furthermore, steps 118-122 are an example of step 38.

[0143] 9-12 illustrate methodologies 1 and 2 using the example of a first (accessible) hazard 188 and a second (inaccessible) hazard 210 on a machine 186. To simulate reachability, three spheres 180, 182, 184 with different diameters are used as three-dimensional geometric shapes in both methodologies. Sphere 180 has the largest diameter. Sphere 184 has the smallest diameter. Sphere 180 may be a body sphere. Sphere 182 may be an arm sphere. Sphere 184 may be a finger sphere.

[0144] FIG. 9 shows an example of how Methodology 1 (specifically, method 60 of FIG. 5) can be used to determine if a first hazard 188 is accessible.

[0145] First, a first region 190 is determined in which sphere 180 can be placed in a defined area around first hazard 188. Then, a second region 192 is determined in which sphere 182 can be placed starting from first region 190. Then, a third region 194 is determined in which sphere 184 can be placed starting from first region 190 and / or second region 192.

[0146] 9, the third region 194 is immediately adjacent to the first hotspot 188. Therefore, the first hotspot 188 is reachable through the combination of the spheres 180, 182, and 184. Therefore, the first hotspot 188 is accessible.

[0147] FIG. 10 shows an example of how Methodology 2 (specifically, Method 100 of FIG. 6) can be used to determine if a first hazard 188 is accessible.

[0148] First, a first region 200 is determined in which sphere 184 can be placed immediately adjacent to first hazard 188. Then, a second region 202 is determined in which sphere 182 can be placed starting from first region 200. Then, a third region 204 is determined in which sphere 180 can be placed starting from first region 200 and / or second region 202.

[0149] 10, each of the three regions 200, 202, and 204 can be determined. Therefore, the first hotspot 188 can be reached via a combination of the spheres 180, 182, and 184. Therefore, the first hotspot 188 is accessible.

[0150] FIG. 11 shows an example of how Methodology 1 (specifically, method 60 of FIG. 5) can be used to determine whether second hazard 210 is accessible.

[0151] First, a first region 190 is determined in which sphere 180 can be placed in a defined area around first hazard 188. Then, a second region 192 is determined in which sphere 182 can be placed starting from first region 190. Then, a third region 194 is determined in which sphere 184 can be placed starting from first region 190 and / or second region 192.

[0152] 11, third region 194 is not directly adjacent to second hotspot 210. Therefore, second hotspot 210 is not accessible through the combination of spheres 180, 182, and 184. Therefore, second hotspot 210 is not accessible.

[0153] FIG. 12 shows an example of how Methodology 2 (specifically, Method 100 of FIG. 6) can be used to determine whether a second hazard 210 is accessible.

[0154] First, a first region 200 is determined in which sphere 184 can be placed immediately adjacent to second hotspot 210. Then, a second region 202 is determined in which sphere 182 can be placed starting from first region 200. However, a third region 204 cannot be determined for sphere 180 because sphere 180 cannot be placed starting from first region 200 or second region 202.

[0155] In the example of Figure 12, each of the three regions 200, 202, and 204 cannot be determined. This is because the third region 204 cannot be determined. Therefore, the second hotspot 210 is not accessible via the combination of the spheres 180, 182, and 184. Therefore, the second hotspot 210 is not accessible.

[0156] 13-16 illustrate methodologies 1 and 2 using the example of a third (accessible) hazard 228 and a fourth (inaccessible) hazard 250 of a machine 226. To simulate reachability, seven spheres 220, 222′, 222″, 222′′, 224′, 224″, and 224′″ with different diameters are used as three-dimensional geometric shapes in both methodologies. Spheres 222′, 222″, and 222′″ have the same diameter. Spheres 224′, 224″, and 224′″ have the same diameter. Sphere 220 has the largest diameter. Spheres 224′, 224″, and 224′″ have the smallest diameter. Sphere 220 may represent, for example, a body sphere. Spheres 222′, 222″, and 222′″ may represent, for example, arm spheres. The balls 224', 224'', 224''' may represent the balls of the fingers, for example.

[0157] FIG. 13 shows an example of how Methodology 1 (specifically, method 60 of FIG. 5) can be used to determine whether third hazard 228 is accessible.

[0158] First, a first region 230 is determined where sphere 220 can be placed in a defined area around third hotspot 228. Then, a region 232' is determined where sphere 222' can be placed starting from region 230. Then, a region 232'' is determined where sphere 222'' can be placed starting from region 232'. Then, a region 232''' is determined where sphere 222''' can be placed starting from region 232''. Then, a region 234' is determined where sphere 224' can be placed starting from region 232'. Then, a region 234'' is determined where sphere 224'' can be placed starting from region 234''. Then, a region 234''' is determined where sphere 224'' can be placed starting from region 234''. Then, a region 234''' is determined where sphere 224'' can be placed starting from region 234''.

[0159] In the example of FIG. 13, the last region 234''' is directly adjacent to the third hotspot 228. Therefore, the third hotspot 228 can be reached via the combination of spheres 220, 222', 222'', 222''', 224', 224'', and 224'''. Therefore, the third hotspot 228 is accessible.

[0160] FIG. 14 shows an example of how Methodology 2 (specifically, Method 100 of FIG. 6) can be used to determine whether third hotspot 228 is accessible.

[0161] First, a first region 240' is determined where sphere 224''' can be placed directly adjacent to third hotspot 228. Then, a region 240'' is determined where sphere 224'' can be placed starting from region 240'. Then, a region 240''' is determined where sphere 224' can be placed starting from region 240''. Then, a region 240''' is determined where sphere 224' can be placed starting from region 240''. Then, a region 242' is determined where sphere 222'' can be placed starting from region 242'. Then, a region 242''' is determined where sphere 222'' can be placed starting from region 242''. Then, a region 242''' is determined where sphere 222' can be placed starting from region 242''. Then, a region 244 is determined where sphere 220 can be placed starting from region 242'''.

[0162] In the example of FIG. 14, three regions 240', 240'', 240''', 242', 242'', 242''', and 244 can be determined. Therefore, the third hot spot 228 can be reached via a combination of the spheres 220, 222', 222'', 222''', 224', 224'', and 224'''. Therefore, the third hot spot 228 is accessible.

[0163] FIG. 15 shows an example of how Methodology 1 (specifically, method 60 of FIG. 5) can be used to determine whether fourth hazard 250 is accessible.

[0164] First, a first region 230 is determined where sphere 220 can be placed in a defined area around fourth hotspot 250. Then, a region 232' is determined where sphere 222' can be placed starting from region 230. Then, a region 232'' is determined where sphere 222'' can be placed starting from region 232'. Then, a region 232''' is determined where sphere 222''' can be placed starting from region 232''. Then, a region 234' is determined where sphere 224' can be placed starting from region 232'. Then, a region 234'' is determined where sphere 224'' can be placed starting from region 234''. Then, a region 234''' is determined where sphere 224'' can be placed starting from region 234''. Then, a region 234''' is determined where sphere 224'' can be placed starting from region 234''.

[0165] In the example of FIG. 15, the last region 234''' is not directly adjacent to the fourth hotspot 250. Therefore, the fourth hotspot 250 is not accessible via the combination of spheres 220, 222', 222'', 222''', 224', 224'', and 224'''. Therefore, the fourth hotspot 250 is not accessible.

[0166] FIG. 16 shows an example of how Methodology 2 (specifically, Method 100 of FIG. 6) can be used to determine whether a fourth hazard 250 is accessible.

[0167] First, a first region 240' is determined where sphere 224''' can be placed directly adjacent to fourth hotspot 250. Then, a region 240'' is determined where sphere 224'' can be placed starting from region 240'. Then, a region 240''' is determined where sphere 224' can be placed starting from region 240''. Then, a region 242' is determined where sphere 222'' can be placed starting from region 242'. Then, a region 242''' is determined where sphere 222'' can be placed starting from region 242''. Then, a region 242''' is determined where sphere 222' can be placed starting from region 242''. However, (unlike the example of FIG. 14) a region 244 cannot be determined for sphere 220. This is because sphere 220 cannot be placed starting from region 242'''.

[0168] In the example of FIG. 16 , three regions 240′, 240″, 240′′, 242′, 242″, 242′′′, and 244 cannot be determined. This is because the last region 244 cannot be determined for sphere 220. Therefore, the fourth hotspot 250 is not accessible via the combination of spheres 220, 222′, 222″, 222′′′, 224′, 224″, and 224′′. Therefore, the fourth hotspot 250 is not accessible.

Claims

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

2. 2. The method of claim 1, wherein the step of simulating based on three-dimensional geometric shapes successively determines areas in the virtual environment in which respective geometric shapes can be placed around the hazard (18).

3. 3. The method of claim 2, wherein subsequent regions are determined in such a way that the respective geometric shapes can be placed in a region starting from the previously determined region around the critical point (18).

4. 4. The method according to claim 1, wherein the step of simulating based on a three-dimensional geometric shape determines a first area in the virtual environment around the hazardous location (18), within which a first geometric shape can be placed.

5. 5. The method of claim 4, wherein a second area in which a second geometric shape can be placed starting from the first area around the critical point (18) is determined in the virtual environment around the critical point (18), and in particular a third area in which a third geometric shape can be placed starting from the first area and / or the second area around the critical point (18) is determined in the virtual environment around the critical point (18).

6. The method according to any one of claims 2 to 5, wherein each of the regions is determined in turn in descending order of the size of the geometric shape.

7. The method according to any one of claims 2 to 6, wherein a subsequent region is determined only if none of the previously determined regions is directly adjacent to the hotspot (18).

8. 8. The method according to claim 2, wherein in the step of determining proximity to the hazard (18), the hazard (18) is determined to be accessible when one of the determined regions is directly adjacent to the hazard (18).

9. 4. The method according to claim 1, wherein the step of simulating based on a three-dimensional geometry comprises determining a first region in the virtual environment around the hazardous location (18) in which a first geometric shape can be placed immediately adjacent to the hazardous location (18).

10. 10. The method of claim 9, wherein a second area in which a second geometric shape can be placed starting from the first area around the critical point (18) is determined in the virtual environment around the critical point (18), and in particular a third area in which a third geometric shape can be placed starting from the first area and / or the second area around the critical point (18) is determined in the virtual environment around the critical point (18).

11. 11. The method of claim 2, wherein the regions are determined one after the other in ascending order of the size of the geometric shapes.

12. 12. The method of any one of claims 2, 3 and 9 to 11, wherein the subsequent region is determined only if each previous region is determinable.

13. 13. The method according to any one of claims 9 to 12, wherein each geometric shape is successively determined in descending order of the size of the geometric shapes to be able to be placed immediately adjacent to the critical point (18), and a geometric shape that can be placed immediately adjacent to the critical point (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 proximity to the hazardous location, the hazardous location (18) is determined to be accessible if all areas to be determined are determinable.

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

16. 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 hazardous point (18) and / or a safety distance to the hazardous point (18) when the hazardous point (18) is accessible.

17. A method (50) for configuring a safety system (12) for use with a machine (10), comprising: determining (52) a safety configuration of the safety system (12) for the machine (10) by a method according to any one of claims 1 to 16; and configuring (54) the safety system (12) based on the determined safety configuration.

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

19. 19. The method according to claim 17 or 18, wherein when configuring the safety system (12), a safety zone (20) or a safety distance (22) is configured based on the determined safety configuration, and the safety zone (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 a program code for performing the method according to any one of claims 1 to 16 when said computer program is run on a computer.

Images