Safety sensor, safety laser radar and robot

Abstract

The invention provides a safety sensor, a safety laser radar and a robot, the safety sensor comprises a sensing module, a first safety module and a second safety module, the sensing module receives a sensing signal and outputs a first processing signal, a second processing signal and a first sensing calculation result; the first safety module is detachably and electrically connected with the sensing module and is used for receiving the first processing signal; the second safety module is electrically connected or detachably electrically connected with the sensing module and is used for receiving the second processing signal; wherein the first safety module performs safety logic calculation at least based on the first processing signal so as to output a first safety control signal; the second safety module performs safety logic calculation at least based on the second processing signal so as to output a second safety control signal; the first safety control signal and the second safety control signal are used for controlling the safety robot to execute safety operation. The development difficulty of the safety sensor can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of sensors, and particularly to a safety sensor, a safety lidar, and a robot. Background Art

[0002] In the prior art, different devices have different safety requirements for sensors, and different usage markets also have different safety requirements for sensors. For example, in the field of industrial robots, some users require the use of safety sensors that have passed safety certifications; while another part of users can use non-safety sensors without passing safety certifications. In the prior art, the development of safety sensors requires developers to master both sensor technology and functional safety technology. Functional safety technologies such as electrical and electronic programmable safety design, mechanical safety design, fault diagnosis, and safety certification technologies, etc., which makes the development of safety sensors difficult, with a long development cycle and high development costs. Existing safety sensors can only be used for safety applications, and non-safety sensors can only be used for non-safety applications, unable to achieve multi-scenario applications, with poor flexibility. Summary of the Invention

[0003] This application provides a safety sensor, a safety lidar, and a robot, which can achieve the switching between a safety sensor and a non-safety sensor through simple disassembly, improve the flexibility and multi-scenario applicability of the safety sensor, reduce the development cost and development difficulty of the safety sensor, and shorten the development cycle.

[0004] To solve the above technical problems, this application provides a safety sensor, which includes a sensing module, a first safety module, and a second safety module. The sensing module receives sensing signals and outputs a first processing signal, a second processing signal, and a first perception calculation result; the first safety module is detachably electrically connected to the sensing module and is used to receive the first processing signal; the second safety module is electrically connected or detachably electrically connected to the sensing module and is used to receive the second processing signal; wherein, the first safety module performs safety logic calculations at least based on the first processing signal to output a first safety control signal; the second safety module performs safety logic calculations at least based on the second processing signal to output a second safety control signal; the first safety control signal and the second safety control signal are used to control a safety robot to perform safety operations.

[0005] To solve the above technical problems, this application further provides a safety lidar, which includes the above safety sensor.

[0006] To solve the above technical problems, this application further provides a robot, which includes the above safety lidar.

[0007] The beneficial effects of the present application are as follows: The sensing module of the safety sensor in the present application can be directly used as a non-safety sensor for non-safety devices; both the first safety module and the second safety module can perform independent safety logic calculations, that is, the first safety module and the second safety module can each serve as a safety channel, enabling a dual-channel redundant architecture for the safety sensor; after removing the first safety module, the sensing module can be used as a non-safety sensor, and the first safety module can be directly assembled on the basis of this non-safety sensor, and a safety sensor can be obtained through the sensing module, the first safety module, and the second safety module. Therefore, the present application can realize the switching between the safety sensor and the non-safety sensor by loading and unloading, which can reduce the technical requirements for developers, does not require much improvement on the existing non-safety sensors, can shorten the development cycle of the safety sensor, reduce the development cost and difficulty, and improve the multi-scenario practicability of the safety sensor. Therefore, this embodiment can realize the switching between the safety sensor and the non-safety sensor through simple disassembly, improve the flexibility and multi-scenario applicability of the safety sensor, and reduce the development cost of the safety sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0009] Figure 1 is a schematic structural diagram of an embodiment of the safety sensor of the present application;

[0010] Figure 2 is a schematic structural diagram of another embodiment of the safety sensor of the present application;

[0011] Figure 3 is a schematic structural diagram of yet another embodiment of the safety sensor of the present application;

[0012] Figure 4 is a schematic structural diagram of still another embodiment of the safety sensor of the present application;

[0013] Figure 5 is a schematic structural diagram of still another embodiment of the safety sensor of the present application;

[0014] Figure 6 is a schematic structural diagram of still another embodiment of the safety sensor of the present application;

[0015] Figure 7 is a schematic structural diagram of still another embodiment of the safety sensor of the present application;

[0016] Figure 8It is a schematic structural diagram of another embodiment of the safety sensor of the present application. Detailed implementation manners

[0017] In the following description, specific details such as specific system structures and technologies are proposed for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0018] The terms "first", "second", etc. in the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. It should be understood that when used in this specification and the appended claims, the term "comprise" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations. It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0019] As used in this specification and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0020] It should be noted that when an element is fixed to another element, it includes directly fixing the element to the other element or fixing the element to the other element through at least one intermediate other element. When an element is connected to another element, it includes directly connecting the element to the other element or connecting the element to the other element through at least one intermediate other element.

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0022] Safety sensors are related to sensing technology and functional safety technology. Functional safety refers to the ability to ensure that in industrial or commercial applications, through safety sensors, safety devices or safety systems such as safety machines can safely stop operations or take appropriate measures to avoid hazards when faults or abnormal situations occur. A safety system usually includes safety sensors, safety controllers, safety actuators, and corresponding safety logics and strategies. A safety sensor is a device used to detect and identify potential hazards. It can monitor the states of objects, people, the environment, and machines, and help safety devices such as safety robots detect potential dangerous situations. For example, when a person enters the operation area of a safety robot, or when a safety robot moves outside a predetermined safety area and other dangerous situations. While monitoring, the safety sensor can send the monitoring results to the safety controller, and the safety controller will take appropriate measures as necessary according to the corresponding safety logics and strategies to ensure the safety of the robot, such as notifying the safety actuator to stop moving or decelerate to ensure safety.

[0023] ISO13849-1 and IEC61508 are two international standards related to functional safety. ISO13849-1 is a standard for machine safety, which stipulates the design and verification requirements for machine safety control systems to ensure the safety performance of machines. IEC61508 is a standard for electrical / electronic / programmable electronic safety-related systems, which stipulates the requirements for the design, implementation, verification, and maintenance of these systems to ensure the safety performance of the systems.

[0024] As an important component of a safety system, a safety sensor needs to meet the relevant standards of ISO13849-1 and IEC61508 at the same time. Currently, commonly used safety sensors internationally need to reach the PLd / SIL2 level, which means that the safety sensor needs to meet the CAT3 dual-channel redundant architecture of ISO13849-1, and the average probability of failure on demand (PFH) needs to meet the SIL2 level of IEC61508.

[0025] In the prior art, different devices have different safety requirements for sensors, and different usage markets also have different safety requirements for sensors. For example, in the field of industrial robots, some users require the use of safety sensors that have passed safety certifications; while some other users can use non-safety sensors without passing safety certifications. In the prior art, the development of safety sensors requires developers to master both sensor technology and functional safety technology. Functional safety technologies such as electrical and electronic programmable safety design, mechanical safety design, fault diagnosis, and safety certification technologies, etc., which makes the development of safety sensors difficult, with a long development cycle and high development costs. Existing safety sensors can only be used for safety applications, and non-safety sensors can only be used for non-safety applications, unable to achieve multi-scenario applications, with poor flexibility.

[0026] The present application first proposes a safety sensor, as Figures 1 to 8 shown, Figure 1 is a schematic structural diagram of an embodiment of the safety sensor of the present application; Figure 2 is a schematic structural diagram of another embodiment of the safety sensor of the present application; Figure 3 is a schematic structural diagram of yet another embodiment of the safety sensor of the present application;

[0027] Figure 4 is a schematic structural diagram of still another embodiment of the safety sensor of the present application; Figure 5 is a schematic structural diagram of still another embodiment of the safety sensor of the present application; Figure 6 is a schematic structural diagram of still another embodiment of the safety sensor of the present application; Figure 7 is a schematic structural diagram of still another embodiment of the safety sensor of the present application; Figure 8 is a schematic structural diagram of still another embodiment of the safety sensor of the present application. The safety sensor 10 includes a sensing module 100, a first safety module 110, and a second safety module 120. The sensing module 100 receives sensing signals and outputs a first processed signal, a second processed signal, and a first sensing calculation result; the first safety module 110 is detachably electrically connected to the sensing module 100 for receiving the first processed signal; the second safety module 120 is electrically connected or detachably electrically connected to the sensing module 100 for receiving the second processed signal; wherein, the first safety module 110 performs safety logic calculations at least based on the first processed signal to output a first safety control signal; the second safety module 120 performs safety logic calculations at least based on the second processed signal to output a second safety control signal; the first safety control signal and the second safety control signal are used to control a safety robot to perform safety operations.

[0028] Among them, the sensing module 100 can output the first sensing calculation result. The calculation method for obtaining the first sensing calculation result depends on the use of the safety sensor 10. For example, when the safety sensor 10 is applied to a safety lidar, and the safety lidar is used to scan the distance of surrounding objects, the optical signal as the sensing signal can be converted by the sensing module 100 into a digital signal start / stop pulse for sensing calculation. Here, the calculation method of the sensing calculation is to calculate the flight time between the start / stop pulses, and then convert the flight time into distance, angle information, etc. as the first sensing calculation result. This first sensing calculation result can be directly applied to conventional applications without safety control requirements, such as non-safety devices.

[0029] Among them, the safety sensor 10 includes two safety modules (the first safety module 110 and the second safety module 120) that can perform safety logic calculations, so it can achieve dual-channel safety logic calculations, that is, the safety sensor 10 can meet the dual-channel redundant architecture. The safety logic calculation can be used to achieve the functional safety of the safety sensor 10. The logic calculation strategy of the safety logic operation depends on the use of the safety sensor 10. For example, when the safety sensor 10 is applied to the safety lidar of a safety robot, and the safety lidar is used for area safety protection, the result of the sensing calculation is the point cloud information of the lidar, including information such as angle and distance. The logic calculation strategy can be to calculate whether there are obstacles in the current area according to information such as angle and distance. When it is determined that there are obstacles, both the first safety module 110 and the second safety module 120 output shutdown signals. The safety controller of the safety robot receives the shutdown signals and takes appropriate measures according to the corresponding safety logic and strategy to ensure the safety of the robot, such as notifying the safety actuator to stop moving or decelerate to ensure safety.

[0030] In an application scenario, the first safety module 110 is electrically connected to the sensing module 100 and is detachably arranged, and the second safety module 120 is electrically connected to the sensing module 100 and is detachably arranged. This setting facilitates the synchronous removal of the first safety module 110 and the second safety module 120 from the safety sensor 10, so that the sensing module 100 can be directly applied to non-safety devices as a non-safety sensor; when the first safety module 110, the second safety module 120 and the sensing module 100 are assembled and electrically connected, a safety sensor 10 that can be used for safety devices can be obtained.

[0031] In another application scenario, the first security module 110 is electrically connected to the sensing module 100 and is detachably arranged, and the second security module 120 is electrically connected to the sensing module 100 and is non-detachably arranged. This arrangement facilitates the separate detachment of the first security module 110 from the security sensor 10. When the security sensor 10 needs to be applied to a security device, the first security module 110 can be directly assembled with the sensing module 100 to form an electrical connection, obtaining the security sensor 10 with a dual-channel redundant architecture. For example, in an application scenario, when the non-security sensor itself has programmable functions, it can be modified to obtain the sensing module 100 and the second security module 120. By simply adding the first security module 110 and assembling it with the sensing module 100 to achieve electrical connection, the security sensor 10 that can be used in security devices can be obtained more conveniently and quickly.

[0032] In the above manner, the sensing module 100 of the security sensor 10 in this embodiment can be directly used as a non-security sensor for non-security devices; both the first security module 110 and the second security module 120 can perform independent safety logic calculations, that is, the first security module 110 and the second security module 120 can each serve as a safety channel, enabling the dual-channel redundant architecture of the security sensor 10 to be realized; after removing the first security module 110, the sensing module 100 can be used as a non-security sensor, and the first security module 110 can be directly assembled on the basis of the non-security sensor. The security sensor 10 can be obtained through the sensing module 100, the first security module 110, and the second security module 120. Therefore, this embodiment can achieve the switching between the security sensor 10 and the non-security sensor through loading and unloading, which can reduce the technical requirements for developers, does not require too many improvements to the existing non-security sensors, can shorten the development cycle of the security sensor 10, reduce the development cost and development difficulty, and improve the multi-scenario practicality of the security sensor 10. Therefore, this embodiment can achieve the switching between the security sensor 10 and the non-security sensor through simple disassembly, improve the flexibility and multi-scenario applicability of the security sensor 10, and reduce the development cost of the security sensor 10.

[0033] Through the above method, the internal architecture of the security sensor 10 can meet the CAT3 dual-channel redundant architecture of ISO13,849-1 and reach the PLd level; specifically, by adopting the electronic and electrical design requirements and fault diagnosis measures of IEC61508 for the design of safety logic calculation, the security sensor 10 can reach the SIL2 level, meet the safety certification standard, and constitute a security sensor 10 that meets the international standard requirements.

[0034] In the above manner, the first safety module 110 and the second safety module 120 can be developed and studied separately. During the development of the first safety module 110 and the second safety module 120, developers do not need to master the technology of the sensor itself. The sensing module 100 can also be developed and studied separately, and developers do not need to master functional safety technology. Therefore, the development difficulty and cost can be reduced, and the development cycle can be shortened.

[0035] In order to implement safety logic calculation, in some embodiments, refer to Figure 2 , the first safety module 110 includes a first logic module 111 and a first output module 112. The first logic module 111 is detachably electrically connected to the sensing module 100, can receive a first processing signal, perform safety logic calculation on the first processing signal, and output a first logic calculation result. The first output module 112 is electrically connected to the first logic module 111, can receive the first logic calculation result, and output a first safety control signal. Further, the second safety module 120 includes a second logic module 124 and a second output module 125. The second logic module 124 is electrically connected or detachably electrically connected to the sensing module 100. The second logic module 124 can receive a second processing signal, perform safety logic calculation on the second processing signal, and output a second logic calculation result. The second output module 125 is electrically connected to the second logic module 124, receives the second logic calculation result, and outputs a second safety control signal.

[0036] Among them, the first safety module 110 can achieve a detachable electrical connection with the sensing module 100 through the first logic module 111. Specifically, refer to the connection manner between the first safety module 110 and the sensing module 100 in the above embodiments, which will not be elaborated here.

[0037] Among them, the second safety module 120 can achieve an electrical connection or a detachable electrical connection with the sensing module 100 through the second logic module 124. Specifically, refer to the connection manner between the second safety module 120 and the sensing module 100 in the above embodiments, which will not be elaborated here.

[0038] In an application scenario, the first output module 112 can convert the first logic calculation result into a first safety control signal. The second output module 125 can convert the second logic calculation result into a second safety control signal. The conversion strategies of the first output module 112 and the second output module 125 depend on the usage scenario of the safety sensor. Design the conversion strategies of the first output module 112 and the second output module 125 based on the usage scenario, so that the first safety control signal and the second safety control signal can be used to control the corresponding safety robot to perform safety operations.

[0039] For example, the safety controller of a safety robot can control a safety actuator to perform a safety operation based on a first safety control signal and a second safety control signal.

[0040] The sensing module 100 can process sensing signals through multiple sub-modules to obtain a first perception calculation result. For example, in some embodiments, referring to Figures 2 to 4 , the sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first perception calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first perception calculation module 102 is electrically connected to the analog circuit module 101 and can be used to receive digital signals and perform perception calculations on the digital signals to output a first perception calculation result.

[0041] In some embodiments, the first perception calculation result includes a first processing signal. Specifically, referring to Figures 2 to 4 , the sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first perception calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first perception calculation module 102 is electrically connected to the analog circuit module 101 and a first logic module 111 respectively, can receive digital signals, and output the first perception calculation result to the first logic module 111.

[0042] In the above manner, the first perception calculation result of the sensing module 100 can be directly output to the first safety module 110 as a first processing signal. The first safety module 110 can use the first logic module 111 to perform safety logic calculations on the first perception calculation result and output a first logic calculation result.

[0043] In some embodiments, the first perception calculation result includes a second processing signal. Specifically, referring to Figure 2 , the sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first perception calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first perception calculation module 102 is electrically connected to the analog circuit module 101, a first logic module 111, and a second logic module 124 respectively, and is used to receive digital signals and output the first perception calculation result to the first logic module 111 and the second logic module 124.

[0044] In the above manner, the sensing module 100 can use the first perception calculation module 102 to perform perception calculations on the digital signals output by the analog circuit module 101. The output first perception calculation result includes not only a first processing signal but also a second processing signal. After receiving the second processing signal, the second safety module 120 does not need to perform perception calculations on it, which can reduce the overall design difficulty of the safety sensor 10 and reduce the development cost.

[0045] In some other embodiments, the digital signal output by the analog circuit module 101 includes a second processing signal. Specifically, referring to Figure 3 , the sensing signal includes an analog signal and a digital signal. The sensing module 100 includes an analog circuit module 101 and a first sensing and computing module 102. The analog circuit module 101 receives the analog signal and outputs a digital signal. The first sensing and computing module 102 is electrically connected to the analog circuit module 101 and the first logic module 111 respectively, and is configured to receive the digital signal and output a first sensing and computing result to the first logic module 111. The first sensing and computing result includes a first processing signal. The second security module 120 further includes a second sensing and computing module 121. The second sensing and computing module 121 is electrically connected to the analog circuit module 101 and the second logic module 124, receives the digital signal and performs sensing and computing on the digital signal, and outputs a second sensing and computing result to the second logic module 124.

[0046] It should be noted that in different embodiments, the second processing signal received by the second security module 120 may be a digital signal converted from an analog signal, or a first sensing and computing result output after the digital signal is subjected to sensing and computing, or an analog signal that has been preliminarily processed. Since the fewer the processing steps the second processing signal goes through before entering the second security module 120, the greater the design difficulty of the overall structure, and the more the processing steps, the greater the security certification difficulty. Therefore, by the above method, setting the digital signal output by the analog circuit module 101 to include the second processing signal can not only reduce the overall design difficulty, but also reduce the overall security certification difficulty.

[0047] In some other embodiments, the first-stage signal obtained after the analog signal is subjected to the first-stage processing includes a second processing signal. Specifically, referring to Figure 4, the sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first sensing and computing module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing and computing module 102 is electrically connected to the analog circuit module 101 and the first logic module 111 respectively, and is used to receive digital signals and output a first sensing and computing result. The first sensing and computing result includes a first processing signal. Among them, the analog circuit module 101 includes a first sub-analog circuit module 1011 and a second sub-analog circuit module 1012. The first sub-analog circuit module 1011 receives analog signals, performs a first-level processing on the analog signals, and outputs a first-level signal. The second sub-analog circuit module 1012 is electrically connected to the first sub-analog circuit module 1011, performs a second-level processing on the first-level signal, and outputs digital signals. The second security module 120 further includes a third sub-analog circuit module 122 and a third sensing and computing module 123. The third sub-analog circuit module 122 is electrically connected to the first sub-analog circuit module 1011 and is used to receive the first-level signal. The third sensing and computing module 123 is electrically connected to the third sub-analog circuit module 122 and the second logic module 124. The third sub-analog circuit 122 and the third sensing and computing module 123 sequentially perform a second-level processing and sensing and computing on the first-level signal, and output a second sensing and computing result to the second logic module 124.

[0048] Among them, the first sensing and computing module 102 is electrically connected to the second sub-analog circuit module 1012 in the analog circuit module 101 to receive digital signals. Both the third sub-analog circuit module 122 and the second sub-analog circuit module 1012 can perform a second-level processing on the first-level signal. The difference is that the third sub-analog circuit module 122 is part of the second security module 120, and the digital signals output by it are received by the third sensing and computing module 123. While the second sub-analog circuit module 1012 is part of the sensing module 100, and the digital signals output by it are received by the first sensing and computing module 102.

[0049] In the above manner, the second security module 120 can receive the first-level signal as a second processing signal, can complete the second-level processing of the first-level signal through the third sub-analog circuit module 122, and can complete sensing and computing by using the third sensing and computing module 123, without using the sensing module 100 for sensing and computing, which can reduce the security authentication difficulty of the security sensor 10.

[0050] Furthermore, in the above embodiment, compared with the first security module 110, the second security module 120 has a more complete and independent security operation, which can reduce the failure rate caused by common cause failure in the dual-channel redundant architecture.

[0051] To further improve the security level of the security sensor, in some embodiments, refer to Figure 5, the first security module 110 further includes a first verification module 113, and the first verification module 113 is electrically connected to the first logic module 111 and the first output module 112; the second security module further includes a second verification module 126, and the second verification module 126 is electrically connected to the second logic module 124, the second output module 125, and is electrically connected to the first verification module 113.

[0052] Wherein, the first verification module 113 receives and cross-verifies the first perception calculation result, the second perception calculation result, the first logic calculation result, the second logic calculation result, the first security control signal, and the second security control signal. In response to a verification failure, the first verification module 113 outputs a third security control signal through the first output module 112; the second verification module 126 receives and cross-verifies the first perception calculation result, the second perception calculation result, the first logic calculation result, the second logic calculation result, the first security control signal, and the second security control signal. In response to a verification failure, the second verification module 126 outputs a fourth security control signal through the second output module 125; the third security control signal and the fourth security control signal are used to control the security robot to perform security operations.

[0053] It should be noted that the first verification module 113 can receive the first perception calculation result and the first logic calculation result from the first logic module 111, and the second verification module 126 can receive the second perception calculation result and the second logic calculation result from the second logic module 124; in other embodiments, the second verification module 126 can also be electrically connected to the second perception calculation module 121 to receive the second perception calculation result.

[0054] It should be noted that the specific implementation manner of cross-verification by the first verification module 113 or the second verification module 126 is not limited. For example, in an application scenario, the first verification module 113 or the second verification module 126 receives the first perception calculation result, the second perception calculation result, the first logic calculation result, the second logic calculation result, the first security control signal, and the second security control signal, and verifies whether the first perception calculation result is consistent with the second perception calculation result, whether the first logic calculation result is consistent with the second logic calculation result, or whether the first security control signal is consistent with the second security control signal. When any one of the above three is inconsistent, it is a verification failure.

[0055] In another application scenario, the first verification module 113 or the second verification module 126 receives the first perception calculation result, the second perception calculation result, the first logic calculation result, the second logic calculation result, the first safety control signal, and the second safety control signal, and verifies any two of the above six signals based on the operation processing logic, for example, verifying the first perception calculation result and the second safety control signal, or verifying the second logic calculation result and the first perception calculation result, or verifying the first logic calculation result and the first safety control signal, or verifying the first logic calculation result and the second safety control signal, etc.

[0056] It should be noted that the first, second, third, and fourth safety control signals can all be used to control the safety robot to perform safety operations. For example, when any one of the first, second, third, and fourth safety control signals is set to an output signal switch device (OSSD), the safety robot can be controlled to perform a safety operation.

[0057] Through the above method, dual-channel cross-verification can be achieved, the security level of the safety sensor can be improved, and the level of safety control can be improved.

[0058] In other embodiments, for example Figure 2 、 Figure 4 In the embodiment shown, similar improvements can also be made to the safety sensor to improve the safety level of the safety sensor, which will not be described in detail here.

[0059] To further improve the security level of the security sensor, in some embodiments, refer to Figure 6 The first safety module 110 also includes a first diagnostic module 114, which is electrically connected to the first logic module 111 and the first output module 112; wherein the first diagnostic module 114 performs diagnostic monitoring on the first logic module 111 and the first output module 112, and in response to a diagnostic abnormality in either the first logic module 111 or the first output module 112, outputs a fifth safety control signal through the first output module 112, and the fifth safety control signal is used to control the safety robot to perform safety operations.

[0060] Through the above-mentioned manner, the safety level of the safety sensor can be effectively improved. The safety sensor can output the fifth safety control signal when any one of the first logic module 111 and the first output module 112 operates abnormally.

[0061] To further improve the security level of the security sensor, in some embodiments, refer to Figure 6, the second security module 120 further includes a second diagnostic module 127, which is electrically connected to the second sensing and computing module 121, the second logic module 124, and the second output module 125; the second diagnostic module 127 diagnoses and monitors the second sensing and computing module 121, the second logic module 124, and the second output module 125, and in response to any one of the second sensing and computing module 121, the second logic module 124, and the second output module 125 being diagnosed as abnormal, outputs a sixth security control signal through the second output module 125; the sixth security control signal is used to control the security robot to perform a security operation.

[0062] In the above manner, the security level of the security sensor can be effectively improved, and the security sensor can output a sixth security control signal when any one of the second sensing and computing module 121, the second logic module 124, and the second output module 125 malfunctions.

[0063] It should be noted that the first security control signal, the second security control signal, the fifth security control signal, and the sixth security control signal can all be used to control the security robot to perform a security operation. For example, when any one of the first security control signal, the second security control signal, the fifth security control signal, and the sixth security control signal is set as a shutdown signal (Output Signal Switch Device, OSSD), the security robot is controlled to perform a security operation.

[0064] In other embodiments, similar improvements can also be made to the security sensor 10, which will not be elaborated here.

[0065] In some embodiments, the first security module 110 includes a first verification module 113 and a first diagnostic module 114, and the second security module includes a second verification module 126 and a second diagnostic module 127, which can enable the security sensor 10 to have both the function of cross-verification and the function of diagnostic monitoring, so as to improve the security level of the security sensor 10.

[0066] To further simplify the overall structural design, in some embodiments, refer to Figure 7 , it is also possible to set the first security module 110 and the second security module 120 to jointly form a security circuit board 200, and the security circuit board 200 is detachably arranged with the sensing module 100.

[0067] In the above manner, the sensing module 100 that can be used as a non-security sensor for non-security devices can be obtained by disassembling the security circuit board 200 of the security sensor 10; by installing the security circuit board 200 on the sensing module 100, the non-security sensor can be directly transformed into the security sensor 10, which can reduce the development cost and development cycle of the security sensor 10.

[0068] In some embodiments, the safety sensor 10 further includes a circuit board connector 300, and the safety circuit board 200 can be detachably electrically connected to the sensing module 100 through the circuit board connector 300.

[0069] Setting a separate circuit board connector 300 facilitates the realization of a detachable electrical connection between the safety circuit board 200 and the safety sensor 10.

[0070] In some embodiments, referring to Figure 8 , the safety sensor 10 includes a non-safety sensor (equivalent to the sensing module 100 in the above embodiments), a safety logic module (equivalent to the first safety module 110 and the second safety module 120 in the above embodiments). Among them, the non-safety sensor includes an analog circuit module 101 and a first perception calculation module 102, and the safety logic module includes a data transmission module 115, a first logic module 111, a first output module 112, a second perception calculation module 121, a second logic module 124, and a second output module 125; the data transmission module 115, the first logic module 111, and the first output module 112 constitute a complete first safety channel, equivalent to the first safety module 110 in the above embodiments; the second perception calculation module 121, the second logic module 124, and the second output module 125 constitute a complete second safety channel, equivalent to the second safety module 120 in the above embodiments.

[0071] Among them, the analog circuit module 101 receives the sensing signal, converts it into a digital signal, and outputs it to the first perception calculation module 102 and the second perception calculation module 121. On the one hand, the first perception calculation module 102 receives the digital signal and outputs the first perception calculation result to the non-safety device 20 and the data transmission module, that is, the first perception calculation result can be directly applied to the non-safety device 20; the data transmission module outputs the first perception calculation result to the first logic module 111, and the first logic module 111 performs a safety logic calculation on the first perception calculation result to obtain a first logic calculation result. When the first logic calculation result meets the shutdown strategy, the first output module 112 outputs a shutdown signal (equivalent to the first safety control signal); on the other hand, the second perception calculation module 121 receives the digital signal and outputs the second perception calculation result to the second logic module 124, and the second logic module 124 performs a safety logic calculation on the first perception calculation result to obtain a second logic calculation result. When the second logic calculation result meets the shutdown strategy, the second output module 125 outputs a shutdown signal (equivalent to the second safety control signal).

[0072] Among them, the first safety channel further includes a first verification module (not shown in the figure), which can verify and monitor the first sensing calculation result, the second sensing calculation result, the first logic calculation result, the second logic calculation result, the first safety control signal, and the second safety control signal to achieve dual-channel cross-verification; when it is determined that the verification is abnormal, a shutdown signal can be output through the first output module 112; the second safety channel further includes a second verification module (not shown in the figure), which can also perform the above cross-verification, and when it is determined that the verification is abnormal, a shutdown signal can be output through the second output module 125. Further, the first safety channel further includes a first diagnosis module (not shown in the figure), which can verify and monitor the first output module 112, and determine whether the first output module 112 is abnormal by monitoring its input signal and output signal. If it is abnormal, a shutdown signal is output through the first output module 112; the second safety channel further includes a second diagnosis module (not shown in the figure), which can verify and monitor the second output module 125, and determine whether the second output module 125 is abnormal by monitoring its input signal and output signal. If it is abnormal, a shutdown signal is output through the second output module 125.

[0073] It should be noted that the shutdown signal is usually connected to the safety controller of a safety device 30 such as a safety robot. The safety controller takes appropriate measures according to corresponding safety logics and strategies to ensure the safe use of the safety device 30. For example, it notifies the safety actuator to stop moving or decelerate to ensure safety.

[0074] The present application further proposes a safety lidar, as Figures 1 to 8 shown. The safety lidar includes the safety sensor 10 of any of the above embodiments.

[0075] The specific implementation manners and working principles of the safety sensor 10 can be referred to the above embodiments and will not be elaborated here.

[0076] Applying the safety sensor 10 of any of the above embodiments to the safety lidar can reduce the development cycle and development cost of the safety lidar.

[0077] In some embodiments, the sensing signal includes an optical signal. The optical signal is converted into a digital signal by the analog circuit of the sensing module 100. The first sensing calculation module 102 in the sensing module 100 can receive the digital signal, perform sensing calculation on it, and then output the first sensing calculation result to the circuit board connector 300. The first safety module 110 can receive the first sensing calculation result through the circuit board connector 300 and perform safety logic calculation on it to output the first safety control signal; the digital signal can also be input to the second safety module 120 through the circuit board connector 300. The second safety module 120 performs sensing calculation on the digital signal and then performs safety logic calculation to output the second safety control signal.

[0078] Among them, the calculation method of perception computing depends on the use of the safety sensor 10. For example, a safety lidar is used to scan the distance of surrounding objects. The optical signal is converted into a digital signal start / stop pulse through an analog circuit. The calculation method of perception computing is to calculate the flight time between the start / stop pulses, and then convert the flight time into distance and angle information.

[0079] In some embodiments, the first perception computing module 102 in the sensing module 100 can receive the digital signal, perform perception computing on it, and then output the first perception computing result. The first perception computing result can be output to the first safety module 110 through the interface of the circuit board connector 300 (such as serial communication interfaces SPI, UART, etc.); the first perception computing result output by the first perception computing module 102 in the sensing module 100 can also be output to non-safe devices through communication interfaces such as cable transmission interfaces (such as Ethernet, CAN interface, etc.). For example, the first perception computing result can be distance measurement, rotational speed measurement, navigation application, etc.

[0080] This application further proposes a robot, which includes the safety lidar of any of the above embodiments.

[0081] For the specific implementation manners and working principles of the safety lidar, reference can be made to the above embodiments, and details will not be elaborated here.

[0082] Applying the safety lidar of any of the above embodiments to a robot can improve the usage safety of the robot, and reduce the development cycle and development cost.

[0083] Different from the prior art, the sensing module of the safety sensor in this application can be directly used as a non-safe sensor for non-safe devices; both the first safety module and the second safety module can perform independent safety logic calculations, that is, the first safety module and the second safety module can each serve as a safety channel, and a dual-channel redundancy architecture of the safety sensor can be realized; after removing the first safety module, the sensing module can be used as a non-safe sensor, and the first safety module can be directly assembled on the basis of this non-safe sensor. The safety sensor can be obtained through the sensing module, the first safety module, and the second safety module. Therefore, this application can realize the switching between the safety sensor and the non-safe sensor through loading and unloading, which can reduce the technical requirements for developers, do not require too many improvements to the existing non-safe sensors, can shorten the development cycle of the safety sensor, reduce the development cost and development difficulty, and improve the multi-scenario practicability of the safety sensor. Therefore, this embodiment can realize the switching between the safety sensor and the non-safe sensor through simple disassembly, improve the flexibility and multi-scenario applicability of the safety sensor, and reduce the development cost of the safety sensor.

[0084] It should be noted that the accompanying drawings in this text are only for showing the structural relationship and connection relationship of the products of this application, and do not thereby limit the specific structural dimensions of the products of this application.

[0085] The above are only the implementation manners of this application, and do not thereby limit the patent scope of this application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall equally be included in the patent protection scope of this application.

Claims

1. A safety sensor, characterized in that, Comprising: A sensing module, which receives sensing signals and outputs a first processed signal, a second processed signal, and a first sensing calculation result; A first security module, detachably electrically connected to the sensing module, for receiving the first processed signal; A second security module, electrically connected or detachably electrically connected to the sensing module, for receiving the second processed signal; Wherein, the first security module performs a security logic calculation based at least on the first processed signal to output a first security control signal; the second security module performs a security logic calculation based at least on the second processed signal to output a second security control signal; The first security control signal and the second security control signal are used to control a security robot to perform security operations.

2. The security sensor according to claim 1, wherein The first security module comprises: A first logic module, detachably electrically connected to the sensing module, receiving the first processed signal, and performing a security logic calculation on the first processed signal to output a first logic calculation result; A first output module, electrically connected to the first logic module, receiving the first logic calculation result, and outputting the first security control signal; The second security module comprises: A second logic module, electrically connected or detachably electrically connected to the sensing module, receiving the second processed signal, and performing a security logic calculation on the second processed signal to output a second logic calculation result; A second output module, electrically connected to the second logic module, receiving the second logic calculation result and outputting the second security control signal.

3. The safety sensor according to claim 2, wherein, The sensing signals include analog signals and digital signals, and the sensing module comprises: An analog circuit module, receiving the analog signals and outputting the digital signals; A first sensing calculation module, electrically connected to the analog circuit module and the first logic module respectively, for receiving the digital signals and outputting the first sensing calculation result to the first logic module; The first sensing calculation result includes the first processed signal.

4. The safety sensor according to claim 3, characterized in that, The first sensing calculation module is electrically connected to the second logic module, and the first sensing calculation result further includes the second processed signal.

5. The security sensor according to claim 3, wherein The digital signals include the second processed signal, and the second security module further comprises: A second sensing calculation module, electrically connected to the analog circuit module and the second logic module, receiving the digital signals and performing a sensing calculation on the digital signals, and outputting a second sensing calculation result to the second logic module.

6. The security sensor according to claim 3, wherein The analog circuit module comprises: A first sub-analog circuit module, receiving the analog signals, performing a first-level processing on the analog signals, and outputting a first-level signal; A second sub-analog circuit module, electrically connected to the first sub-analog circuit module, performing a second-level processing on the first-level signal, and outputting the digital signals; The first-level signal includes the second processed signal, and the second security module further comprises: The third sub-analog circuit module, electrically connected to the first sub-analog circuit module, receives the first-stage signal; The third sensing and computing module, electrically connected to the third sub-analog circuit and the second logic module; The third sub-analog circuit and the third sensing and computing module sequentially perform second-stage processing and sensing and computing on the first-stage signal, and output a second sensing and computing result to the second logic module.

7. The safety sensor according to claim 5 or 6, wherein The first safety module further includes: The first verification module, electrically connected to the first logic module and the first output module; The second safety module further includes: The second verification module, electrically connected to the second logic module and the second output module, and electrically connected to the first verification module; Wherein, the first verification module receives and cross-verifies the first sensing and computing result, the second sensing and computing result, the first logic computing result, the second logic computing result, the first safety control signal, and the second safety control signal. In response to a verification failure, it outputs a third safety control signal through the first output module; the second verification module receives and cross-verifies the first sensing and computing result, the second sensing and computing result, the first logic computing result, the second logic computing result, the first safety control signal, and the second safety control signal. In response to a verification failure, it outputs a fourth safety control signal through the second output module; The third safety control signal and the fourth safety control signal are used to control the safety robot to perform safety operations.

8. The safety sensor according to claim 5, wherein The first safety module further includes: The first diagnosis module, electrically connected to the first logic module and the first output module; The first diagnosis module diagnoses and monitors the first logic module and the first output module. In response to a diagnosis abnormality in any one of the first logic module and the first output module, it outputs a fifth safety control signal through the first output module; Or, the second safety module further includes: The second diagnosis module, electrically connected to the second sensing and computing module, the second logic module, and the second output module; The second diagnosis module diagnoses and monitors the second sensing and computing module, the second logic module, and the second output module. In response to a diagnosis abnormality in any one of the second sensing and computing module, the second logic module, and the second output module, it outputs a sixth safety control signal through the second output module; The fifth safety control signal and the sixth safety control signal are used to control the safety robot to perform safety operations.

9. The safety sensor according to claim 1, wherein The first safety module and the second safety module together form a safety circuit board. The safety sensor further includes a circuit board connector, and the safety circuit board is detachably electrically connected to the sensing module through the circuit board connector.

10. A safety lidar, characterized in that, Including the safety sensor according to any one of claims 1 to 9.

11. A robot, characterized in that, Including the safety lidar according to claim 10.

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