The way to autonomous robotic systems leads to deal with acting and interacting with real-life scenarios. Focusing on human-robot interaction, one of the first issues to be solved concerns safety since systems are becoming larger and more sophisticated and the damage caused can be considerable. So, robotic systems must exhibit levels of adaptability high enough to achieve their goals by guaranteeing the safety of all their surrounding elements, especially when they are human beings. With that aim, we propose a visual application that provides the system with information about all-embracing activity and, consequently, with the ability of safe interacting with human beings.