Safety sensor, safety lidar and robot

Abstract

The application 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 electrically connected with the sensing module and is configured to receive the first processing signal. The second safety module is electrically connected or detachably electrically connected with the sensing module and is configured to receive the second processing signal. The first safety module performs safety logic calculation based on at least the first processing signal to output a first safety control signal. The second safety module performs safety logic calculation based on at least 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 the safety robot to perform a safety operation. The application can reduce the development difficulty of the safety sensor.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a safety sensor, a safety lidar, and a robot. Background Technology

[0002] In existing technologies, different devices have different safety requirements for sensors, and different user markets also have different safety requirements. For example, in the field of industrial robots, some users require the use of safety sensors that have passed safety certification; while other users can use non-safety sensors without safety certification. Currently, the development of safety sensors requires developers to master both sensor technology and functional safety technology. Functional safety technology includes electrical and electronic programmable safety design, mechanical safety design, fault diagnosis, and safety certification, which makes the development of safety sensors difficult, time-consuming, and costly. Existing safety sensors can only be used in safety applications, and non-safety sensors can only be used in non-safety applications, failing to achieve multi-scenario applications and exhibiting poor flexibility. Summary of the Invention

[0003] This application provides a safety sensor, a safety lidar, and a robot that can switch between safety and non-safety sensors through simple disassembly, improving the flexibility and multi-scenario applicability of safety sensors, reducing development costs and difficulty, and shortening the development cycle.

[0004] To address the aforementioned technical problems, this application provides a safety sensor comprising 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 to or detachably electrically connected to the sensing module and is used to receive the second processing signal. The first safety module performs safety logic calculations based at least on the first processing signal to output a first safety control signal. The second safety module performs safety logic calculations based at least on the second processing signal to output a second safety control signal. The first and second safety control signals are used to control a safety robot to perform safety operations.

[0005] To address the aforementioned technical problems, this application further provides a secure lidar, including the aforementioned secure sensor.

[0006] To address the aforementioned technical problems, this application further provides a robot, including the aforementioned safety lidar.

[0007] The beneficial effects of this application are as follows: the sensing module of the safety sensor can be directly used as a non-safety sensor in non-safety devices; both the first and second safety modules can perform independent safety logic calculations, meaning each can function as a safety channel, achieving a dual-channel redundancy 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 top of this non-safety sensor, resulting in a safety sensor through the sensing module, the first safety module, and the second safety module. Therefore, this application enables the switching between safety and non-safety sensors through assembly and disassembly, reducing the technical requirements for developers, eliminating the need for extensive modifications to existing non-safety sensors, shortening the development cycle of safety sensors, reducing development costs and difficulty, and improving the multi-scenario applicability of safety sensors. Thus, this embodiment enables the switching between safety and non-safety sensors through simple disassembly, improving the flexibility and multi-scenario applicability of safety sensors, and reducing their development costs. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0009] Figure 1 This is a schematic diagram of the structure of an embodiment of the safety sensor of this application;

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

[0011] Figure 3 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0012] Figure 4 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0013] Figure 5 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0014] Figure 6 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0015] Figure 7 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0016] Figure 8This is a schematic diagram of another embodiment of the safety sensor of this application. Detailed Implementation

[0017] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0018] The terms “first,” “second,” etc., used in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms “comprising” and “having,” 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 “comprising” indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term “and / or,” as used in this specification and the appended claims, refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0019] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

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

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] Safety sensors involve both sensing technology and functional safety technology. Functional safety refers to the ability of safety sensors in industrial or commercial applications to ensure that safety equipment or systems, such as safety machines, can safely stop operation or take appropriate measures to avoid danger in the event of a malfunction or abnormal situation. Safety systems typically include safety sensors, safety controllers, and safety actuators, along with corresponding safety logic and policies. Safety sensors are devices used to detect and identify potential hazards. They monitor the state of objects, people, the environment, and machines, helping safety equipment such as safety robots detect potential hazards, such as when a person enters the operating area of ​​a safety robot or when the safety robot moves outside a predetermined safe area. While monitoring, safety sensors can send monitoring results to the safety controller, which then takes appropriate measures as necessary to ensure robot safety based on the corresponding safety logic and policies, such as instructing the safety actuator to stop or slow down.

[0023] ISO 13849-1 and IEC 61508 are two international standards related to functional safety. ISO 13849-1 is a standard for machine safety, specifying the design and verification requirements for machine safety control systems to ensure machine safety performance. IEC 61508 is a standard for electrical / electronic / programmable electronic safety-related systems, specifying the requirements for the design, implementation, verification, and maintenance of these systems to ensure system safety performance.

[0024] As a crucial component of safety systems, safety sensors must simultaneously meet the relevant standards of ISO 13849-1 and IEC 61508. Currently, internationally used safety sensors need to achieve PLd / SIL2 levels, meaning that safety sensors must meet the CAT3 dual-channel redundancy architecture of ISO 13849-1, and the average hazardous failure rate (PFH) needs to meet the SIL2 level of IEC 61508.

[0025] In existing technologies, different devices have different safety requirements for sensors, and different user markets also have different safety requirements. For example, in the field of industrial robots, some users require the use of safety sensors that have passed safety certification; while other users can use non-safety sensors without safety certification. Currently, the development of safety sensors requires developers to master both sensor technology and functional safety technology. Functional safety technology includes electrical and electronic programmable safety design, mechanical safety design, fault diagnosis, and safety certification, which makes the development of safety sensors difficult, time-consuming, and costly. Existing safety sensors can only be used in safety applications, and non-safety sensors can only be used in non-safety applications, failing to achieve multi-scenario applications and exhibiting poor flexibility.

[0026] This application first proposes a security sensor, such as Figures 1 to 8 As shown, Figure 1 This is a schematic diagram of the structure of an embodiment of the safety sensor of this application; Figure 2 This is a schematic diagram of another embodiment of the safety sensor of this application; Figure 3 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application;

[0027] Figure 4 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application; Figure 5 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application; Figure 6 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application; Figure 7 This is a schematic diagram of the structure of another embodiment of the safety sensor of this application; Figure 8 This is a schematic diagram of another embodiment of the safety sensor of this 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 processing signal, a second processing signal, and a first perception calculation result. The first safety module 110 is detachably electrically connected to the sensing module 100 and is used to receive the first processing signal. The second safety module 120 is electrically connected to or detachably electrically connected to the sensing module 100 and is used to receive the second processing signal. The first safety module 110 performs safety logic calculations based at least on the first processing signal to output a first safety control signal. The second safety module 120 performs safety logic calculations based at least 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 the safety robot to perform safety operations.

[0028] The sensing module 100 can output a first perception calculation result. The calculation method for obtaining the first perception calculation result depends on the application 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 a sensing signal, can be converted into a digital signal start / stop pulse by the sensing module 100 for perception calculation. The calculation method here is to calculate the flight time between the start / stop pulses, and then convert the flight time into distance, angle information, and other first perception calculation results. This first perception calculation result can be directly applied to conventional applications without safety control requirements, such as non-safety equipment.

[0029] The safety sensor 10 includes two safety modules (a first safety module 110 and a second safety module 120) capable of performing safety logic calculations, thus enabling dual-channel safety logic calculations and meeting the dual-channel redundancy architecture requirement. Safety logic calculations are used to ensure the functional safety of the safety sensor 10. The logic calculation strategy depends on the application of the safety sensor 10. For example, when the safety sensor 10 is applied to a safety lidar for a safety robot, and the lidar is used for area safety protection, the result of the perception calculation is the lidar's point cloud information, including angle, distance, and other information. The logic calculation strategy can be to calculate whether there are obstacles in the current area based on the angle, distance, and other information. When an obstacle is determined to exist, both the first safety module 110 and the second safety module 120 output a shutdown signal. The safety robot's safety controller receives the shutdown signal and takes appropriate measures according to the corresponding safety logic and strategy to ensure robot safety, such as notifying the safety actuator to stop moving or decelerate to ensure safety.

[0030] In one application scenario, the first safety module 110 is electrically connected to and detachably mounted on the sensing module 100, and the second safety module 120 is also electrically connected to and detachably mounted on the sensing module 100. This configuration facilitates the simultaneous removal of the first safety module 110 and the second safety module 120 from the safety sensor 10, allowing the sensing module 100 to be directly used as a non-safety sensor in non-safety devices. 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 in safety devices can be obtained.

[0031] In another application scenario, the first safety module 110 is electrically connected to and detachably mounted on the sensing module 100, while the second safety module 120 is electrically connected to and non-detachably mounted on the sensing module 100. This configuration facilitates the removal of the first safety module 110 from the safety sensor 10. When the safety sensor 10 needs to be used in a safety device, the first safety module 110 and the sensing module 100 can be directly assembled and electrically connected to obtain a safety sensor 10 with a dual-channel redundant architecture. For example, in one application scenario, when a non-safety sensor itself has programmable functionality, it can be modified to obtain the sensing module 100 and the second safety module 120. By simply adding the first safety module 110 and the sensing module 100 to assemble and electrically connect them, a safety sensor 10 suitable for use in safety devices can be obtained more conveniently and quickly.

[0032] In this embodiment, the sensing module 100 of the safety sensor 10 can be directly used as a non-safety sensor for non-safety devices. The first safety module 110 and the second safety module 120 can both perform independent safety logic calculations, that is, the first safety module 110 and the second safety module 120 can each serve as a safety channel, thus realizing a dual-channel redundant architecture for the safety sensor 10. After removing the first safety module 110, the sensing module 100 can be used as a non-safety sensor, and the first safety module 110 can be directly assembled on the basis of the non-safety sensor. The safety sensor 10 is obtained through the sensing module 100, the first safety module 110, and the second safety module 120. Therefore, this embodiment can achieve the switching between the safety sensor 10 and the non-safety sensor through assembly and disassembly, which can reduce the technical requirements for developers, eliminate the need for many improvements to existing non-safety sensors, shorten the development cycle of the safety sensor 10, reduce development costs and development difficulty, and improve the multi-scenario applicability of the safety sensor 10. Therefore, this embodiment can achieve the switching between safety sensor 10 and non-safety sensor through simple disassembly, thereby improving the flexibility and multi-scenario applicability of safety sensor 10 and reducing the development cost of safety sensor 10.

[0033] Through the above methods, the internal architecture of the safety sensor 10 can meet the CAT3 dual-channel redundant architecture of ISO13849-1, and can reach the PLd level. Specifically, by adopting the electrical and electronic design requirements and fault diagnosis measures of IEC61508 for safety logic calculation design, the safety sensor 10 can reach the SIL2 level, meet the safety certification standards, and constitute a safety sensor 10 that meets international standard requirements.

[0034] Through the above methods, the first safety module 110 and the second safety module 120 can be developed and researched separately. During the development of the first safety module 110 and the second safety module 120, the developers do not need to master the technology of the sensor itself. The sensing module 100 can also be developed and researched separately without the developers needing to master functional safety technology. Therefore, the development difficulty and development cost can be reduced, and the development cycle can be shortened.

[0035] To achieve secure logical computation, in some embodiments, see [reference] Figure 2 The first security 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, and is capable of receiving a first processing signal, performing security logic calculations on the first processing signal, and outputting a first logic calculation result. The first output module 112 is electrically connected to the first logic module 111, and is capable of receiving the first logic calculation result and outputting a first security control signal. Further, the second security module 120 includes a second logic module 124 and a second output module 125. The second logic module 124 is electrically connected to or detachably electrically connected to the sensing module 100, and is capable of receiving a second processing signal, performing security logic calculations on the second processing signal, and outputting 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 security control signal.

[0036] The first safety module 110 can be detachably electrically connected to the sensing module 100 through the first logic module 111. For details, please refer to the connection method between the first safety module 110 and the sensing module 100 in the above embodiments, which will not be repeated here.

[0037] The second safety module 120 can be electrically connected to or detachably electrically connected to the sensing module 100 through the second logic module 124. For details, please refer to the connection method between the second safety module 120 and the sensing module 100 in the above embodiments, which will not be repeated here.

[0038] In one application scenario, the first output module 112 can convert the first logical calculation result into a first safety control signal; the second output module 125 can convert the second logical 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 application scenario of the safety sensor. The conversion strategies of the first output module 112 and the second output module 125 are designed based on the application 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 the safety actuator to perform safety operations based on a first safety control signal and a second safety control signal.

[0040] The sensing module 100 can process the sensing signals through multiple sub-modules to obtain the first sensing calculation result. For example, in some embodiments, see [reference needed]. 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 sensing calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing calculation module 102 is electrically connected to the analog circuit module 101 and can be used to receive digital signals, perform sensing calculations on the digital signals, and output the first sensing calculation result.

[0041] In some embodiments, the result of the first perception calculation includes a first processed signal. Specifically, see [link to relevant documentation]. 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 sensing calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing calculation module 102 is electrically connected to the analog circuit module 101 and the first logic module 111 respectively, and can receive digital signals and output the first sensing 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 as the first processing signal to the first security module 110. The first security module 110 can use the first logic module 111 to perform security logic calculation on the first perception calculation result and output the first logic calculation result.

[0043] In some embodiments, the result of the first sensing calculation includes a second processed signal. Specifically, see [link to relevant documentation]. Figure 2 The sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first sensing calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing calculation module 102 is electrically connected to the analog circuit module 101, the first logic module 111, and the second logic module 124 respectively, and is used to receive digital signals and output the first sensing 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 sensing calculation module 102 to perform sensing calculation on the digital signal output by the analog circuit module 101. The output first sensing calculation result includes not only the first processed signal but also the second processed signal. After receiving the second processed signal, the second safety module 120 does not need to perform sensing calculation on it again, which can reduce the overall design difficulty of the safety sensor 10 and reduce the development cost.

[0045] In other embodiments, the digital signal output by analog circuit module 101 includes a second processed signal. Specifically, see [link to relevant documentation]. Figure 3 The sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first sensing and calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing and calculation 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 calculation result to the first logic module 111. The first sensing and calculation result includes a first processing signal. The second security module 120 also includes a second sensing and calculation module 121. The second sensing and calculation module 121 is electrically connected to the analog circuit module 101 and the second logic module 124, receives digital signals and performs sensing and calculation on the digital signals, and outputs a second sensing and calculation result to the second logic module 124.

[0046] It should be noted that, in different implementations, the second processing signal received by the second security module 120 can be a digital signal converted from an analog signal, a first perception calculation result output from a digital signal after perception calculation, or an analog signal that has undergone preliminary processing. Since the fewer processing steps the second processing signal undergoes before being input into the second security module 120, the greater the overall structural design difficulty; conversely, the more processing steps, the greater the security authentication difficulty. Therefore, by setting the digital signal output by the analog circuit module 101 to include the second processing signal, not only can the overall design difficulty be reduced, but the overall security authentication difficulty can also be reduced.

[0047] In other embodiments, the first-level signal obtained after the analog signal undergoes first-level processing includes a second-processed signal. Specifically, see [link to relevant documentation]. Figure 4The sensing signals include analog signals and digital signals. The sensing module 100 includes an analog circuit module 101 and a first sensing calculation module 102. The analog circuit module 101 receives analog signals and outputs digital signals. The first sensing calculation 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 calculation result, which includes a first processing signal. 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, and performs second-level processing on the first-level signal to output a digital signal. The second security module 120 also includes a third sub-analog circuit module 122 and a third sensing and calculation 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 calculation module 123 is electrically connected to the third sub-analog circuit module 122 and the second logic module 124. The third sub-analog circuit module 122 and the third sensing and calculation module 123 sequentially perform second-level processing and sensing and calculation on the first-level signal, and output the second sensing and calculation result to the second logic module 124.

[0048] 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. The third sub-analog circuit module 122 and the second sub-analog circuit module 1012 can both perform 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 its output digital signal is received by the third sensing and computing module 123. The second sub-analog circuit module 1012 is part of the sensing module 100, and its output digital signal is received by the first sensing and computing module 102.

[0049] In this way, the second security module 120 can receive the first-level signal as the second processing signal, complete the second-level processing of the first-level signal through the third sub-analog circuit module 122, and complete the perception calculation using the third perception calculation module 123. It does not need to use the sensing module 100 for perception calculation, which can reduce the difficulty of security authentication of the security sensor 10.

[0050] Furthermore, in the above embodiments, compared with the first security module 110, the second security module 120 has more complete and independent security operations, which can reduce the failure rate of the dual-channel redundant architecture due to common cause failure.

[0051] To further enhance the security level of the security sensor, in some embodiments, see [reference needed]. Figure 5The first security module 110 further includes a first verification module 113, which 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, which is electrically connected to the second logic module 124 and the second output module 125, and is also electrically connected to the first verification module 113.

[0052] 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 safety control signal, and the second safety control signal. In response to verification failure, it outputs the third safety 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 safety control signal, and the second safety control signal. In response to verification failure, it outputs the fourth safety control signal through the second output module 125. The third and fourth safety control signals are used to control the safety robot to perform safety 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 of the cross-validation by the first verification module 113 or the second verification module 126 is not limited. For example, in one 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. If any of the above three is inconsistent, the verification fails.

[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 security control signal, and the second security control signal, and verifies any two of the above six signals based on the operation processing logic. For example, it verifies the first perception calculation result and the second security control signal, or it verifies the second logic calculation result and the first perception calculation result, or it verifies the first logic calculation result and the first security control signal, or it verifies the first logic calculation result and the second security 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, the safety robot can be controlled to perform safety operations when any one of the four safety control signals is set to an output signal switch device (OSSD).

[0057] The above methods enable dual-channel cross-verification, improving the security level of the security sensor and enhancing the level of security control.

[0058] In other embodiments, for example Figure 2 , Figure 4 The embodiments shown can also be modified to improve the security level of the security sensor in a similar way, which will not be described in detail here.

[0059] To further enhance the security level of the security sensor, in some embodiments, see [reference needed]. 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. The first diagnostic module 114 performs diagnostic monitoring on the first logic module 111 and the first output module 112. In response to an abnormality diagnosed by either the first logic module 111 or the first output module 112, the first output module 114 outputs a fifth safety control signal through the first output module 112. The fifth safety control signal is used to control the safety robot to perform safety operations.

[0060] The above method can effectively improve the safety level of the safety sensor, which can output a fifth safety control signal when either the first logic module 111 or the first output module 112 malfunctions.

[0061] To further enhance the security level of the security sensor, in some embodiments, see [reference needed]. Figure 6The second safety module 120 also includes a second diagnostic module 127, which is electrically connected to the second perception and computing module 121, the second logic module 124, and the second output module 125. The second diagnostic module 127 performs diagnostic monitoring on the second perception and computing module 121, the second logic module 124, and the second output module 125. In response to any abnormality diagnosed by the second perception and computing module 121, the second logic module 124, and the second output module 125, the second output module 127 outputs a sixth safety control signal through the second output module 125. The sixth safety control signal is used to control the safety robot to perform safety operations.

[0062] The above method can effectively improve the safety level of the safety sensor. The safety sensor can output a sixth safety control signal when any of the second sensing and computing module 121, the second logic module 124, or the second output module 125 malfunctions.

[0063] It should be noted that the first, second, fifth, and sixth safety control signals can all be used to control the safety robot to perform safety operations. For example, the safety robot can be controlled to perform safety operations when any one of the four safety control signals is set to an output signal switch device (OSSD).

[0064] In other embodiments, similar improvements may be made to the security sensor 10, which will not be described in detail 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 enables the security sensor 10 to have both cross-verification and diagnostic monitoring functions, thereby improving the security level of the security sensor 10.

[0066] To further simplify the overall structural design, in some embodiments, see [reference needed]. Figure 7 Alternatively, the first safety module 110 and the second safety module 120 can be configured to jointly form a safety circuit board 200, and the safety circuit board 200 and the sensing module 100 can be detached.

[0067] By means of the above method, a sensing module 100 that can be used as a non-safety sensor for non-safety devices can be obtained by disassembling the safety circuit board 200 of the safety sensor 10; by adding the safety circuit board 200 to the sensing module 100, a non-safety sensor can be directly modified into a safety sensor 10, thereby reducing the development cost and development cycle of the safety sensor 10.

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

[0069] A separate circuit board connector 300 is provided to facilitate a detachable electrical connection between the safety circuit board 200 and the safety sensor 10.

[0070] In some embodiments, see Figure 8 The safety sensor 10 includes a non-safety sensor (equivalent to the sensing module 100 in the above embodiment) and a safety logic module (equivalent to the first safety module 110 and the second safety module 120 in the above embodiment). The non-safety sensor includes an analog circuit module 101 and a first sensing and computing module 102. The safety logic module includes a data transmission module 115, a first logic module 111, a first output module 112, a second sensing and computing 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 embodiment. The second sensing and computing 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 embodiment.

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

[0072] The first security channel further includes a first verification module (not shown), 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 security control signal, and the second security control signal to achieve dual-channel cross-verification. When a verification anomaly is determined, a shutdown signal can be output through the first output module 112. The second security channel also includes a second verification module (not shown), which can also perform the above cross-verification. When a verification anomaly is determined, a shutdown signal can be output through the second output module 125. Furthermore, the first security channel also includes a first diagnostic module (not shown), which can verify and monitor the first output module 112. By monitoring its input and output signals, it can determine whether the first output module 112 is abnormal. If abnormal, a shutdown signal is output through the first output module 112. The second security channel also includes a second diagnostic module (not shown), which can verify and monitor the second output module 125. By monitoring its input and output signals, it can determine whether the second output module 125 is abnormal. If 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 the safety device 30, such as the safety robot. The safety controller takes appropriate measures according to the corresponding safety logic and policies to ensure the safe use of the safety device 30, such as notifying the safety actuator to stop moving or slow down to ensure safety.

[0074] This application further proposes a secure lidar, such as Figures 1 to 8 As shown. This security lidar includes the security sensor 10 of any of the above embodiments.

[0075] The specific implementation method and working principle of the safety sensor 10 can be found in the above embodiments, and will not be repeated here.

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

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

[0078] The calculation method of perception computing depends on the application 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 sensing calculation module 102 within the sensing module 100 can receive the digital signal, perform sensing calculations on it, and output a first sensing calculation result. The first sensing calculation result can be output to the first security module 110 through the interface of the circuit board connector 300 (e.g., serial communication interface SPI, UART, etc.). The first sensing calculation result output by the first sensing calculation module 102 within the sensing module 100 can also be output to a non-security device through a communication interface such as a cable transmission interface (e.g., Ethernet, CAN interface, etc.). For example, the first sensing calculation result can be used for distance measurement, rotational speed measurement, navigation applications, etc.

[0080] This application further proposes a robot that includes the security lidar of any of the above embodiments.

[0081] For details on the specific implementation methods and working principles of the safety lidar, please refer to the above embodiments, which will not be repeated here.

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

[0083] Unlike existing technologies, the sensing module of the safety sensor in this application can be directly used as a non-safety sensor in non-safety devices. Both the first and second safety modules can perform independent safety logic calculations, meaning each can function as a safety channel, achieving a dual-channel redundancy 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 top of this non-safety sensor. A safety sensor is obtained through the sensing module, the first safety module, and the second safety module. Therefore, this application enables switching between safety and non-safety sensors through assembly and disassembly, reducing the technical requirements for developers, eliminating the need for significant modifications to existing non-safety sensors, shortening the development cycle of safety sensors, reducing development costs and difficulty, and improving the multi-scenario applicability of safety sensors. Thus, this embodiment enables switching between safety and non-safety sensors through simple disassembly, improving the flexibility and multi-scenario applicability of safety sensors, and reducing development costs.

[0084] It is worth noting that the accompanying drawings are only for illustrating the structural and connection relationships of the product in this application, and do not limit the specific structural dimensions of the product in this application.

[0085] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A safety sensor, characterized in that, include: The sensing module receives sensing signals and outputs a first processing signal, a second processing signal, and a first sensing calculation result; The first safety module is detachably electrically connected to the sensing module and is used to receive the first processed signal; The second safety module is electrically connected to or detachably electrically connected to the sensing module, and is used to receive the second processing signal; The first security module performs security logic calculations based at least on the first processed signal to output a first security control signal; the second security module performs security logic calculations based at least on the second processed signal to output a second security control signal. The first safety control signal and the second safety control signal are used to control the safety robot to perform safety operations; The first security module includes: The first logic module is detachably electrically connected to the sensing module, receives the first processing signal, performs security logic calculations on the first processing signal, and outputs the first logic calculation result. The first output module is electrically connected to the first logic module, receives the first logic calculation result, and outputs the first security control signal. The second security module includes: The second logic module is electrically connected or detachably electrically connected to the sensing module, receives the second processing signal, performs security logic calculations on the second processing signal, and outputs the second logic calculation result. The second output module is electrically connected to the second logic module, receives the second logic calculation result and outputs the second security control signal; The sensing signal includes analog signals and digital signals, and the sensing module includes: The analog circuit module receives the analog signal and outputs the digital signal; The first sensing and computing module is electrically connected to the analog circuit module and the first logic module respectively, and is used to receive the digital signal and output the first sensing and computing result to the first logic module. The first perception calculation result includes the first processed signal.

2. The safety sensor according to claim 1, characterized in that, The first sensing calculation module is electrically connected to the second logic module, and the first sensing calculation result also includes the second processing signal.

3. The safety sensor according to claim 1, characterized in that, The digital signal includes the second processed signal, and the second security module further includes: The second sensing and computing module is electrically connected to the analog circuit module and the second logic module. It receives the digital signal, performs sensing and computing on the digital signal, and outputs the second sensing and computing result to the second logic module.

4. The safety sensor according to claim 1, characterized in that, The analog circuit module includes: The first sub-analog circuit module receives the analog signal, performs first-level processing on the analog signal, and outputs a first-level signal. The second sub-analog circuit module is electrically connected to the first sub-analog circuit module, performs second-level processing on the first-level signal, and outputs the digital signal. The first-level signal includes the second processed signal, and the second security module further includes: The third sub-analog circuit module is electrically connected to the first sub-analog circuit module and receives the first-level signal. The third sensing computing module is electrically connected to the third sub-analog circuit module and the second logic module; The third sub-analog circuit module and the third sensing calculation module sequentially perform second-level processing and sensing calculation on the first-level signal, and output the second sensing calculation result to the second logic module.

5. The safety sensor according to claim 3 or 4, characterized in that, The first security module also includes: The first verification module is electrically connected to the first logic module and the first output module; The second security module also includes: The second verification module is electrically connected to the second logic module and the second output module, and is also electrically connected to the first verification module. The first verification module 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 verification failure, it outputs a third security control signal through the first output module. The second verification module 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 verification failure, it outputs a fourth security control signal through the second output module. The third and fourth safety control signals are used to control the safety robot to perform safety operations.

6. The safety sensor according to claim 3, characterized in that, The first security module also includes: The first diagnostic module is electrically connected to the first logic module and the first output module; The first diagnostic module performs diagnostic monitoring on the first logic module and the first output module. In response to any abnormality diagnosed by the first logic module or the first output module, the first output module outputs a fifth safety control signal. Alternatively, the second security module may further include: The second diagnostic module is electrically connected to the second sensing and computing module, the second logic module, and the second output module. The second diagnostic module performs diagnostic monitoring on the second sensing and computing module, the second logic module, and the second output module. In response to any abnormality diagnosed in the second sensing and computing module, the second logic module, and the second output module, the second output module outputs a sixth safety control signal. The fifth and sixth safety control signals are used to control the safety robot to perform safety operations.

7. The safety sensor according to claim 1, characterized in that, The first safety module and the second safety module together form a safety circuit board. The safety sensor also includes a circuit board connector. The safety circuit board is detachably electrically connected to the sensing module through the circuit board connector.

8. A secure lidar, characterized in that, Includes the safety sensor as described in any one of claims 1 to 7.

9. A robot, characterized in that, Includes the secure lidar as described in claim 8.

Images