# US 2019/0377322 A1 · Configuring a hazard zone monitored by a 3d sensor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0377322 A1 - Document ID: US20190377322A1 - Status: Published application - Kind: A1 - Application number: 16/432,262 - Filed: 2019-06-05 - Published: 2019-12-12 - Earliest claimed: 2018-06-07 - Assignees: Sick AG - Applicants: Sick AG - Inventors: Armin HORNUNG; Matthias NEUBAUER; Ingolf BRAUNE; Shane MACNAMARA; Thomas NEUMANN - Web page: https://patentgrep.com/patent/US20190377322A1 ## CPC - B25J 9/1676: {Avoiding collision or forbidden zones} - G05B 19/406: characterised by monitoring or safety (G05B19/19 takes precedence) - G05B 19/4061: Avoiding collision or forbidden zones - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/593: from stereo images - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - G05B 2219/37631: Means detecting object in forbidden zone - G05B 2219/50193: Safety in general - G06T 2207/30232: Surveillance - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A method is provided of configuring at least one hazard zone to be monitored by at least one 3D sensor, wherein the hazard zone is a volume defined by outer surfaces in which a machine to be secured is located; and wherein the outer surfaces are fixed by the configuration. In this process, a check is made during the configuration or after the configuration whether the outer surfaces are visible to at least one of the 3D sensors. ## Claims ### Claim 1 A method of configuring at least one hazard zone to be monitored by at least one 3D sensor, wherein the hazard zone is a volume defined by outer surfaces to secure at least one machine; wherein the outer surfaces are fixed by the configuration; and wherein a check is made during the configuration or after the configuration whether outer surfaces are visible to at least one of the 3D sensors. ### Claim 2 (depends on 1) The method in accordance with claim 1, wherein at least one polygonal chain is specified on a base surface and a prism having perpendicular outer surfaces is produced therefrom to configure outer surfaces. ### Claim 3 (depends on 1) The method in accordance with claim 1, wherein an outer surface is visible to a 3D sensor when the 3D sensor is arranged at the other side of the hazard zone with respect to the plane in which the outer surface is disposed. ### Claim 4 (depends on 1) The method in accordance with claim 1, wherein hazard zones may only be configured with contact with the ground or, where suspended hazard zones are permitted, the projective shadow region of the hazard zone is counted as part of said hazard zone. ### Claim 5 (depends on 1) The method in accordance with claim 1, wherein an outer surface that is not visible to at least one 3D sensor is marked or is not permitted at all during the configuration. ### Claim 6 (depends on 1) The method in accordance with claim 1, wherein, on the configuration of an outer surface not visible to at least one 3D sensor, an alternative outer surface is automatically suggested. ### Claim 7 (depends on 1) The method in accordance with claim 1, wherein, on the configuration of an outer surface not visible to at least one 3D sensor, a changed perspective of a 3D sensor or a perspective of an additional 3D sensor is automatically suggested so that the outer surface then becomes visible. ### Claim 8 (depends on 1) The method in accordance with claim 1, wherein the machine is observed during its work movement to locate spatial regions to be covered by the hazard zone. ### Claim 9 (depends on 8) The method in accordance with claim 8, wherein the spatial regions to be covered are represented as aids to configure the hazard zone. ### Claim 10 (depends on 8) The method in accordance with claim 8, wherein a hazard zone is automatically configured with reference to the spatial regions to be covered. ### Claim 11 (depends on 1) The method in accordance with claim 1, wherein the at least one configured hazard zone is monitored by the at least one 3D sensor; and wherein objects are detected in an environment of the hazard zone from measured data of the 3D sensor, the shortest distance between the hazard zone and the objects is determined, and a decision is made with its aid as to whether a safety directed reaction of the machine takes place in the hazard zone. ### Claim 12 (depends on 11) The method in accordance with claim 11, wherein the shortest distance from the outer surfaces is determined without taking account of the projective shadow region of the hazard zone. ### Claim 13 (depends on 11) The method in accordance with claim 11, wherein objects in the hazard zone itself and in a masked region between the hazard zone and the 3D sensor are ignored in the monitoring of the hazard zone. ### Claim 14 An apparatus for configuring at least one hazard zone to be monitored by at least one 3D sensor, wherein the apparatus has an input device, a control and evaluation unit, and a display, with the control and evaluation unit being configured to fix outer surfaces of the hazard zone using inputs of the input device and to present them on the display to configure the hazard zone using a method of configuring at least one hazard zone to be monitored by the at least one 3D sensor, wherein the hazard zone is a volume defined by outer surfaces to secure at least one machine; wherein the outer surfaces are fixed by the configuration; and in which method a check is made during the configuration or after the configuration whether outer surfaces are visible to at least one of the 3D sensors.