Three-dimensional safety sensor circuit and three-dimensional safety sensor

Abstract

The utility model discloses a three-dimensional safety sensor circuit and a three-dimensional safety sensor. The three-dimensional safety sensor circuit comprises a light source module, an image sensing module, a main control module, a signal port, a trigger signal module, a safety signal module and the like, the light source module is used for sending detection light; the image sensing module is used for providing a light source driving signal for the light source module and receiving the reflected light so as to obtain the flight time of the light; the main control module is used for controlling the image sensing module to start / stop, receiving the detection signal, receiving a trigger signal from external equipment and receiving and sending a safety signal with the external equipment; the signal port is used for connecting external equipment and receiving and transmitting signals; the trigger signal module is used for transmitting a trigger signal; the safety signal module is used for transmitting safety signals. The three-dimensional safety sensor solves the problem that an existing three-dimensional safety sensor is difficult to carry out safety linkage control with other external equipment, and improves system safety and application flexibility.

Description

Technical Field

[0001] This utility model relates to the field of detection technology, and in particular to a three-dimensional safety sensor circuit and a three-dimensional safety sensor. Background Technology

[0002] 3D TOF (Time-of-Flight) cameras, also known as stereo safety sensors, are used for spatial perception and stereo protection. Through spatial 3D imaging, they can quickly generate 3D images of the scene being measured. The Time-of-Flight principle works by emitting infrared light towards the object being measured; the light is reflected from the object's surface and received by a detector. Based on the principle of the constancy of the speed of light, the distance to the object is calculated by measuring the time of light's flight. Stereo safety sensors have a wide range of applications, including spatial stereo safety detection in smart factories, cargo volume measurement, obstacle avoidance for mobile robots, and warehouse material inspection.

[0003] When applied to 3D security detection, 3D security sensors need to be linked with external devices to achieve safety control. For example, they can monitor whether mechanical equipment (such as robotic arms) exceeds restricted areas; if so, the sensors should be linked to stop the equipment. They can also be linked with fences, safety light curtains, and security door locks to restrict the entry of people or objects into designated areas. Furthermore, they can be installed on autonomously moving equipment (such as mobile robots and self-driving vehicles) to stop the equipment when obstacle avoidance is required. Current 3D security sensors have limited functionality and are not conducive to the rapid deployment of security systems.

[0004] In view of this, it is necessary to propose a new three-dimensional safety sensor circuit to improve the above-mentioned problems. Utility Model Content

[0005] The purpose of this invention is to provide a three-dimensional safety sensor circuit. By setting up trigger and safety signal paths, it solves the problem that existing three-dimensional safety sensors are difficult to link with other external devices for safety control, thereby improving system safety and application flexibility.

[0006] This utility model provides the following solution:

[0007] According to the first aspect, this utility model proposes a three-dimensional safety sensor circuit, comprising:

[0008] The light source module is used to send out probe light;

[0009] An image sensing module, connected to the light source module, is used to provide a light source driving signal to the light source module and receive reflected light to obtain the time of flight of the light.

[0010] The main control module is connected to the image sensing module and is used to control the start / stop of the image sensing module, receive detection signals, receive trigger signals from external devices, and receive and send security signals with external devices.

[0011] Signal port, used to connect external devices and send and receive signals;

[0012] A trigger signal module, connected between the signal port and the main control module, is used to transmit the trigger signal;

[0013] A safety signal module, connected between the signal port and the main control module, is used to transmit the safety signal;

[0014] The power module is used to convert externally input DC power into a first DC power supply adapted to the trigger signals and safety signals of external devices, a second DC power supply adapted to the main control module, and power supplies adapted to other components, and provide them to the corresponding components.

[0015] Optionally, the security signal module includes an EDM signal transmission unit and an OSSD signal transmission unit. The security signal includes an EDM signal transmitted from an external device and an OSSD signal sent to an external device. The EDM signal transmission unit is used to transmit the EDM signal, and the OSSD signal transmission unit is used to transmit the OSSD signal.

[0016] Optionally, the EDM signal transmission unit includes a first NPN transistor, a first optocoupler, a first resistor, a second resistor, a third resistor, and a first capacitor; the base of the first NPN transistor is connected to the EDM signal input terminal of the signal port, the emitter is grounded, and the collector is connected to the negative terminal of the emitter of the first optocoupler; the positive terminal of the emitter of the first optocoupler is connected to the positive terminal of the first DC power supply via the first resistor; the positive terminal of the receiver of the first optocoupler is connected to the positive terminal of the second DC power supply via the second resistor, and is connected to the EDM signal receiver of the main control module via the third resistor; the negative terminal of the receiver of the first optocoupler is grounded and connected to the EDM signal receiver of the main control module via the first capacitor.

[0017] Optionally, the OSSD signal transmission unit includes an OSSD output circuit, which includes a second NPN transistor, a third NPN transistor, a composite PNP transistor, a composite NPN transistor, a first Schottky diode, a second Schottky diode, a third Schottky diode, a fourth Schottky diode, a resistance wire, a Zener diode, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, and an eleventh resistor. The bases of the second NPN transistor and the third NPN transistor are both connected to the OSSD signal output terminal of the main control module. The emitter of the second NPN transistor is grounded, and its collector is connected to the positive terminal of the first DC power supply via the fourth resistor, and also connected to the collector of the first transistor and the base of the second transistor in the composite PNP transistor via the fifth resistor. The emitter of the first transistor in the composite PNP transistor is connected to the positive terminal of the first DC power supply, and the base of the first transistor and the emitter of the second transistor are both connected to the positive terminal of the first DC power supply via the sixth resistor. The collector of the second transistor is connected to the anode of the first Schottky diode. The first Schottky diode cathode is connected to the second Schottky diode anode and the first end of the resistance wire; the third NPN transistor emitter is grounded, and its collector is connected to the positive terminal of the first DC power supply via the seventh resistor, and also connected to the collector of the first transistor and the base of the second transistor in the composite NPN transistor via the eighth resistor; the first transistor emitter is grounded, and the base of the first transistor and the emitter of the second transistor are both grounded via the ninth resistor, and the collector of the second transistor is connected to the cathode of the second Schottky diode; the second end of the resistance wire is connected to the OSSD signal terminal of the signal port, and is connected to the anode of the third Schottky diode and the cathode of the fourth Schottky diode, and also connected to the cathode of the Zener diode via the tenth resistor; the cathode of the third Schottky diode is connected to the positive terminal of the first DC power supply, the anode of the fourth Schottky diode is grounded, the anode of the Zener diode is grounded, the eleventh resistor is connected in parallel across the Zener diode, and the cathode of the Zener diode is connected to the OSSD signal feedback terminal of the main control module.

[0018] Optionally, the OSSD signal transmission unit includes four sets of OSSD output circuits, two of which are used to output OSSD signals with opposite polarity, and the other two are reserved.

[0019] Optionally, the light source module includes a differential buffer unit, a first light source driving unit, a second light source driving unit, a first light source, and a second light source. The differential buffer unit is used to convert the light source driving signal sent by the image sensing module into two differential signals. One differential signal is input to the first light source driving unit to drive the first light source, and the other differential signal is input to the second light source driving unit to drive the second light source.

[0020] Optionally, both the first and second light sources are VCSEL laser sources.

[0021] Optionally, the trigger signal module includes multiple signal receiving circuits, each including a fourth NPN transistor, a second optocoupler, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, and a second capacitor. The base of the fourth NPN transistor is connected to the signal port, its emitter is grounded, and its collector is connected to the negative terminal of the emitter of the second optocoupler. The positive terminal of the emitter of the second optocoupler is connected to the positive terminal of the first DC power supply via the twelfth resistor. The positive terminal of the receiver of the second optocoupler is connected to the positive terminal of the second DC power supply via the thirteenth resistor and to the trigger signal receiving terminal of the main control module via the fourteenth resistor. The negative terminal of the receiver of the second optocoupler is grounded and connected to the trigger signal receiving terminal of the main control module via the second capacitor.

[0022] Optionally, a communication module is also included, connected to the main control module, for communicating with the host computer.

[0023] According to the second aspect, the present invention also provides a three-dimensional safety sensor, the three-dimensional safety sensor including a three-dimensional safety sensor circuit as described in the first aspect above.

[0024] This utility model has the following advantages compared with the prior art:

[0025] This utility model discloses a three-dimensional safety sensor circuit. By setting up a trigger signal module and a safety signal module, it can realize the safe linkage control between the three-dimensional safety sensor and external devices. The external devices can send trigger signals to the three-dimensional safety sensor through the trigger signal module to control its start / stop. The external devices can also realize the transmission of safety signals through the safety signal module to meet the needs of safety applications. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of one embodiment of the present invention.

[0028] Figure 2 This is a block diagram of the safety signal module.

[0029] Figure 3 This is the circuit schematic of the EDM signal transmission unit.

[0030] Figure 4This is the schematic diagram of the OSSD output circuit.

[0031] Figure 5 This is a structural block diagram of the light source module.

[0032] Figure 6 This is the schematic diagram of a signal receiving circuit.

[0033] In the picture:

[0034] 100-Light source module, 110-Differential buffer unit, 120-First light source driving unit, 130-Second light source driving unit, 140-First light source, 150-Second light source, 200-Image sensing module, 300-Main control module, 400-Signal port, 500-Trigger signal module, 510-Signal receiving circuit, 600-Safety signal module, 610-EDM signal transmission unit, 620-OSSD signal transmission unit, 621-OSSD output circuit, 700-Power supply module, 800-Communication module. Detailed Implementation

[0035] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0036] See Figure 1 This utility model proposes an embodiment of a three-dimensional safety sensor circuit, including a light source module 100, an image sensing module 200, a main control module 300, a signal port 400, a trigger signal module 500, a safety signal module 600, and a power supply module 700.

[0037] The light source module 100 is used to send detection light rays. The image sensing module 200 is connected to the light source module 100, used to provide the light source driving signal to the light source module 100, and to receive the reflected light rays, thereby obtaining the time of flight of the light rays to infer the distance to the object. The main control module 300 is connected to the image sensing module 200, used to control the start / stop of the image sensing module 200, and to receive detection signals. It is also used to receive trigger signals from external devices, and to receive and send safety signals with external devices. The signal port 400 is used to connect to external devices and send and receive signals. The trigger signal module 500 is connected between the signal port 400 and the main control module 300, used to transmit trigger signals. The safety signal module 600 is connected between the signal port 400 and the main control module 300, used to transmit safety signals. The power supply module 700 is used to convert the externally input DC power supply into a first DC power supply adapted to the trigger signals and safety signals of external devices, a second DC power supply adapted to the main control module 300, and a power supply adapted to other components, and provides it to the corresponding components.

[0038] This embodiment, through the setup of the trigger signal module 500 and the safety signal module 600, enables safe linkage control between the 3D safety sensor and external devices. External devices can send trigger signals to the 3D safety sensor via the trigger signal module 500 to control its start / stop. External devices can also transmit safety signals via the safety signal module 600 to meet the needs of safety applications. For example, if an abnormal safety signal output occurs while the external device is operating, the device can be directly stopped; or when an object intrusion is detected within the camera's monitoring range, or when an obstacle avoidance maneuver is required on a robot, the external device can also be stopped via a safety signal.

[0039] In some embodiments, the main control module 300 may be an MCU processor.

[0040] In some embodiments, the first DC power supply voltage is 24V and the second DC power supply voltage is 3.3V.

[0041] See Figure 2 In some embodiments, the security signal module 600 includes an EDM signal transmission unit 610 and an OSSD signal transmission unit 620. The security signal includes an EDM signal transmitted from an external device and an OSSD signal sent to an external device. The EDM signal transmission unit 610 is used to transmit the EDM signal, and the OSSD signal transmission unit 620 is used to transmit the OSSD signal.

[0042] Specifically, EDM (External Device Monitor) signals are used to monitor the status of external devices, such as the contact status of safety relay modules and contactors. When the status of an external device changes, which may be caused by a device malfunction, the EDM signal will change and be sent to the local main control module. OSSD (Output Signal Switching Device) signals are used to transmit the local device's status to external devices (such as a host computer). These are generally periodic pulse signals. When the local device is working normally, it can transmit the OSSD signal normally according to the agreed-upon protocol. However, when the local device's working status is abnormal, it will not be able to transmit the OSSD signal correctly. By standardizing the transmission process of EDM and OSSD signals between the local device and external devices, a safety mechanism is established. This mechanism allows for timely shutdown when either the local device or external device experiences an abnormal status, providing safety protection. For example, if an abnormal OSSD signal output occurs while the external device is operating, the external device will be directly shut down. Similarly, when an object is detected intruding within the camera's monitoring range, or when an obstacle avoidance mechanism is needed on a robot, the external device can also be shut down via the OSSD signal.

[0043] See Figure 3 In some embodiments, the EDM signal transmission unit 610 includes a first NPN transistor Q1, a first optocoupler U1, a first resistor R1, a second resistor R2, a third resistor R3, and a first capacitor C1; the base of the first NPN transistor Q1 is connected to the EDM signal input terminal EDM_INPUT of the signal port 400, the emitter is grounded, and the collector is connected to the negative terminal of the emitter of the first optocoupler U1; the positive terminal of the emitter of the first optocoupler U1 is connected to the positive terminal POWER_IN+ of the first DC power supply via the first resistor R1; the positive terminal of the receiver of the first optocoupler U1 is connected to the positive terminal of the second DC power supply via the second resistor R2, and is connected to the EDM signal receiver EDM_FK of the main control module 300 via the third resistor R3; the negative terminal of the receiver of the first optocoupler U1 is grounded and connected to the EDM signal receiver EDM_FK of the main control module 300 via the first capacitor C1.

[0044] In practical implementation, the first optocoupler U1 serves as both a signal transmitter and an isolation device. When the EDM signal input terminal EDM_INPUT of signal port 400 is high, the first NPN transistor Q1 is turned on, the receiving ends of the first optocoupler U1 are connected, and the EDM signal receiving end EDM_FK of the main control module 300 will receive a low-level signal. When the EDM signal input terminal EDM_INPUT of signal port 400 is low, the first NPN transistor Q1 is turned off, the receiving ends of the first optocoupler U1 are disconnected, and the EDM signal receiving end EDM_FK of the main control module 300 will receive a high-level signal.

[0045] See Figure 4 In some embodiments, the OSSD signal transmission unit 620 includes an OSSD output circuit 621. The OSSD output circuit 621 includes a second NPN transistor Q2, a third NPN transistor Q3, a composite PNP transistor Q4, a composite NPN transistor Q5, a first Schottky diode D1, a second Schottky diode D2, a third Schottky diode D3, a fourth Schottky diode D4, a resistance wire F1, a Zener diode D5, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, and an eleventh resistor R1. 1; The bases of the second NPN transistor Q2 and the third NPN transistor Q3 are both connected to the OSSD signal output terminal SC1 of the main control module 300; The emitter of the second NPN transistor Q2 is grounded, and its collector is connected to the positive terminal POWER_IN+ of the first DC power supply via the fourth resistor R4, and also connected to the collector of the first transistor and the base of the second transistor in the composite PNP transistor Q4 via the fifth resistor R5; The emitter of the first transistor in the composite PNP transistor Q4 is connected to the positive terminal POWER_IN+ of the first DC power supply, and the base of the first transistor and the emitter of the second transistor are both connected to the positive terminal POWER_IN+ of the first DC power supply via the sixth resistor R6. The collector of the second transistor is connected to the anode of the first Schottky diode D1, and the cathode of the first Schottky diode D1 is connected to the anode of the second Schottky diode D2 and the first end of the resistance wire F1; the emitter of the third NPN transistor Q3 is grounded, and its collector is connected to the positive terminal POWER_IN+ of the first DC power supply via the seventh resistor R7, and also connected to the collector of the first transistor and the base of the second transistor in the composite NPN transistor Q5 via the eighth resistor R8; the emitter of the first transistor in the composite NPN transistor Q5 is grounded, and both the base of the first transistor and the emitter of the second transistor are grounded via the ninth resistor R9, and the collector of the second transistor is connected to the cathode of the second Schottky diode D2; the resistance wire The second end of F1 is connected to the OSSD signal terminal OSSD1A of signal port 400, and is connected to the anode of the third Schottky diode D3 and the cathode of the fourth Schottky diode D4. It is also connected to the cathode of Zener diode D5 through the tenth resistor R10. The cathode of the third Schottky diode D3 is connected to the positive terminal POWER_IN+ of the first DC power supply, the anode of the fourth Schottky diode D4 is grounded, the anode of Zener diode D5 is grounded, the eleventh resistor R11 is connected in parallel across the Zener diode D5, and the cathode of Zener diode D5 is connected to the OSSD signal feedback terminal OSSD_1A_FK of the main control module 300.

[0046] In practical applications, when the OSSD signal output terminal SC1 of the main control module 300 is high, both the second NPN transistor Q2 and the third NPN transistor Q3 are turned on. The second transistor in the composite PNP transistor Q4 is turned on due to its low base level, while the second transistor in the composite NPN transistor Q5 is turned off due to its low base level. Current flows from the positive terminal POWER_IN+ of the first DC power supply through the sixth resistor R6, the second transistor in the composite PNP transistor Q4, the second Schottky diode D2, the resistance wire F1, the tenth resistor R10, and the eleventh resistor R11 to the ground terminal. An OSSD signal is output from the second end of the resistance wire F1 to the OSSD signal terminal OSSD1A of the signal port 400, and its level is set by the third Schottky diode D3 and the fourth Schottky diode D4. At the same time, the anode of the Zener diode D5 also outputs a set-level OSSD feedback signal to the OSSD signal feedback terminal OSSD_FK of the main control module 300, and its level is set by the Zener diode D5. The sixth resistor R6 and the first transistor in the composite PNP transistor Q4 play a current-limiting role. When the current flowing through the sixth resistor R6 increases and the voltage across it exceeds 0.7V, the first transistor in the composite PNP transistor Q4 turns on, which diverts some current and prevents the device from being damaged due to excessive current in a single transistor.

[0047] When the OSSD signal output terminal SC1 of the main control module 300 is low, both the second NPN transistor Q2 and the third NPN transistor Q3 are turned off. The second transistor in the composite PNP transistor Q4 is turned off due to its high base level, while the second transistor in the composite NPN transistor Q5 is turned on due to its high base level. The OSSD signal terminal OSSD1A of the signal port 400 is in a high-impedance state. Because the second transistor in the composite NPN transistor Q5 is turned on, the current in the OSSD signal terminal OSSD1A of the signal port 400 can flow to the ground terminal through the ninth resistor R9. At this time, the OSSD signal feedback terminal OSSD_1A_FK of the main control module 300 is in a high-impedance state. The ninth resistor R9 and the first transistor in the composite NPN transistor Q5 act as current limiters. When the current flowing through the ninth resistor R9 increases and its voltage exceeds 0.7V, the first transistor in the composite NPN transistor Q5 turns on, diverting some current and preventing damage to the device caused by excessive current in a single transistor.

[0048] In some embodiments, the OSSD signal transmission unit 620 includes four sets of OSSD output circuits 621, two of which are used to output OSSD signals with opposite polarity, and the other two are reserved.

[0049] As an example, when the OSSD signal output terminal of the main control module 300 outputs a high-level signal to the first and third OSSD output circuits, it simultaneously outputs a low-level signal to the second and fourth OSSD output circuits, and vice versa. This redundancy configuration enhances the reliability of OSSD signal transmission and improves the system's safety performance.

[0050] See Figure 5 In some embodiments, the light source module 100 includes a differential buffer unit 110, a first light source driving unit 120, a second light source driving unit 130, a first light source 140, and a second light source 150. The differential buffer unit 110 is used to convert the light source driving signal sent by the image sensing module 200 into two differential signals, one of which is input to the first light source driving unit 120 to drive the first light source 140, and the other differential signal is input to the second light source driving unit 130 to drive the second light source 150.

[0051] Detection accuracy can be improved by using two light sources. In a specific implementation, as an example, the image sensing module 200 can use a 3D-TOF image sensor of model IMX570, which can output two light source drive signals; the differential buffer unit 110 can use a low-voltage differential signal repeater of model DS10BR254; the first light source drive unit 120 and the second light source drive unit 130 can also use a laser driver of model CXD4029.

[0052] In some embodiments, both the first light source 140 and the second light source 150 are VCSEL laser sources.

[0053] See Figure 6 In some embodiments, the trigger signal module 500 includes multiple signal receiving circuits 510. Each signal receiving circuit 510 includes a fourth NPN transistor Q6, a second optocoupler U2, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and a second capacitor C2. The base of the fourth NPN transistor Q6 is connected to the trigger signal input terminal SG of the signal port 400, the emitter is grounded, and the collector is connected to the negative terminal of the emitter of the second optocoupler U2. The positive terminal of the emitter of the second optocoupler U2 is connected to the positive terminal POWER_IN+ of the first DC power supply via the twelfth resistor R12. The positive terminal of the receiver of the second optocoupler U2 is connected to the positive terminal of the second DC power supply via the thirteenth resistor R13, and is connected to the trigger signal receiving terminal SG_FK of the main control module 300 via the fourteenth resistor R14. The negative terminal of the receiver of the second optocoupler U2 is grounded and connected to the trigger signal receiving terminal of the main control module 300 via the second capacitor C2.

[0054] The signal receiving circuit 510 has the same circuit structure as the aforementioned EDM signal transmission unit 610. In specific implementations, multiple signal receiving circuits 510 can transmit various trigger signals to the main control module 300, such as photo-taking trigger signals, event switching trigger signals, and sleep / wake-up trigger signals, to achieve flexible control functions.

[0055] In one embodiment, a three-dimensional safety sensor circuit further includes a communication module 800 connected to the main control module 300 for communicating with a host computer.

[0056] In practical implementation, the communication module 800 can use a network port and a network port isolation transformer to communicate with the host computer via Ethernet.

[0057] This utility model also proposes a three-dimensional safety sensor embodiment, including any or all of the above-described three-dimensional safety sensor circuit embodiments.

[0058] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0059] It should be noted that certain terms are used in this specification and claims to refer to specific elements. Those skilled in the art will understand that different manufacturers or producers may use different terms to refer to the same element. This specification and claims do not distinguish elements based on differences in terminology, but rather on differences in function.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this invention and form different embodiments. For example, any one of the embodiments claimed in the claims can be used in any combination of embodiments of this invention.

[0062] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the corresponding claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the corresponding claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A three-dimensional safety sensor circuit, characterized in that, include: A light source module (100) is used to send out probe light; An image sensing module (200) is connected to the light source module (100) and is used to provide a light source driving signal to the light source module (100) and receive reflected light to obtain the time of flight of the light. The main control module (300) is connected to the image sensing module (200) and is used to control the image sensing module (200) to start / stop, receive detection signals, receive trigger signals from external devices, and receive and send security signals with external devices. The signal port (400) is used to connect external devices and send and receive signals; A trigger signal module (500) is connected between the signal port (400) and the main control module (300) for transmitting the trigger signal; A safety signal module (600) is connected between the signal port (400) and the main control module (300) for transmitting the safety signal; The power module (700) is used to convert the externally input DC power into a first DC power that is compatible with the trigger signal and safety signal of the external device, a second DC power that is compatible with the main control module (300), and a power that is compatible with other components, and provide it to the corresponding components.

2. The three-dimensional safety sensor circuit according to claim 1, characterized in that, The security signal module (600) includes an EDM signal transmission unit (610) and an OSSD signal transmission unit (620). The security signal includes an EDM signal transmitted from an external device and an OSSD signal sent to an external device. The EDM signal transmission unit (610) is used to transmit the EDM signal, and the OSSD signal transmission unit (620) is used to transmit the OSSD signal.

3. The three-dimensional safety sensor circuit according to claim 2, characterized in that, The EDM signal transmission unit (610) includes a first NPN transistor (Q1), a first optocoupler (U1), a first resistor (R1), a second resistor (R2), a third resistor (R3), and a first capacitor (C1). The base of the first NPN transistor (Q1) is connected to the EDM signal input terminal of the signal port (400), the emitter is grounded, and the collector is connected to the negative terminal of the emitter of the first optocoupler (U1). The positive terminal of the emitter of the first optocoupler (U1) is connected to the positive terminal of the first DC power supply via the first resistor (R1). The positive terminal of the receiver of the first optocoupler (U1) is connected to the positive terminal of the second DC power supply via the second resistor (R2) and to the EDM signal receiver of the main control module (300) via the third resistor (R3). The negative terminal of the receiver of the first optocoupler (U1) is grounded and connected to the EDM signal receiver of the main control module (300) via the first capacitor (C1).

4. A three-dimensional safety sensor circuit according to claim 2, characterized in that, The OSSD signal transmission unit (620) includes an OSSD output circuit (621), which includes a second NPN transistor (Q2), a third NPN transistor (Q3), a composite PNP transistor (Q4), a composite NPN transistor (Q5), a first Schottky diode (D1), a second Schottky diode (D2), a third Schottky diode (D3), a fourth Schottky diode (D4), a resistance wire (F1), a Zener diode (D5), a fourth resistor (R4), a fifth resistor (R5), a sixth resistor (R6), a seventh resistor (R7), an eighth resistor (R8), a ninth resistor (R9), and a tenth resistor (R10). The eleventh resistor (R11); the bases of the second NPN transistor (Q2) and the third NPN transistor (Q3) are both connected to the OSSD signal output terminal of the main control module (300); the emitter of the second NPN transistor (Q2) is grounded, and the collector is connected to the positive terminal of the first DC power supply via the fourth resistor (R4), and also connected to the collector of the first transistor and the base of the second transistor in the composite PNP transistor (Q4) via the fifth resistor (R5); the emitter of the first transistor in the composite PNP transistor (Q4) is connected to the positive terminal of the first DC power supply, and the base of the first transistor and the emitter of the second transistor are both connected to the positive terminal of the first DC power supply via the sixth resistor (R6), and the collector of the second transistor is connected to... The anode of the first Schottky diode (D1) and the cathode of the first Schottky diode (D1) are connected to the anode of the second Schottky diode (D2) and the first end of the resistance wire (F1); the emitter of the third NPN transistor (Q3) is grounded, and the collector is connected to the positive terminal of the first DC power supply via the seventh resistor (R7), and also connected to the collector of the first transistor and the base of the second transistor in the composite NPN transistor (Q5) via the eighth resistor (R8); the emitter of the first transistor in the composite NPN transistor (Q5) is grounded, and the base of the first transistor and the emitter of the second transistor are both grounded via the ninth resistor (R9), and the collector of the second transistor is connected to the cathode of the second Schottky diode (D2); The second end of the resistance wire (F1) is connected to the OSSD signal terminal of the signal port (400), and is connected to the anode of the third Schottky diode (D3) and the cathode of the fourth Schottky diode (D4). It is also connected to the cathode of the Zener diode (D5) via the tenth resistor (R10). The cathode of the third Schottky diode (D3) is connected to the positive terminal of the first DC power supply. The anode of the fourth Schottky diode (D4) is grounded. The anode of the Zener diode (D5) is grounded. The eleventh resistor (R11) is connected in parallel across the Zener diode (D5). The cathode of the Zener diode (D5) is connected to the OSSD signal feedback terminal of the main control module (300).

5. A three-dimensional safety sensor circuit according to claim 4, characterized in that, The OSSD signal transmission unit (620) includes four sets of OSSD output circuits (621), two of which are used to output OSSD signals with opposite polarity, and the other two are reserved.

6. A three-dimensional safety sensor circuit according to claim 1, characterized in that, The light source module (100) includes a differential buffer unit (110), a first light source driving unit (120), a second light source driving unit (130), a first light source (140), and a second light source (150). The differential buffer unit (110) is used to convert the light source driving signal sent by the image sensing module (200) into two differential signals. One differential signal is input to the first light source driving unit (120) to drive the first light source (140), and the other differential signal is input to the second light source driving unit (130) to drive the second light source (150).

7. A three-dimensional safety sensor circuit according to claim 6, characterized in that, Both the first light source (140) and the second light source (150) are VCSEL laser sources.

8. A three-dimensional safety sensor circuit according to claim 1, characterized in that, The trigger signal module (500) includes multiple signal receiving circuits (510), each of which includes a fourth NPN transistor (Q6), a second optocoupler (U2), a twelfth resistor (R12), a thirteenth resistor (R13), a fourteenth resistor (R14), and a second capacitor (C2). The base of the fourth NPN transistor (Q6) is connected to the signal port (400), its emitter is grounded, and its collector is connected to the negative terminal of the emitter of the second optocoupler (U2). The positive terminal of the emitter of the second optocoupler (U2) is connected to the positive terminal of the first DC power supply via the twelfth resistor (R12). The positive terminal of the receiver of the second optocoupler (U2) is connected to the positive terminal of the second DC power supply via the thirteenth resistor (R13) and to the trigger signal receiving terminal of the main control module (300) via the fourteenth resistor (R14). The negative terminal of the receiver of the second optocoupler (U2) is grounded and connected to the trigger signal receiving terminal of the main control module (300) via the second capacitor (C2).

9. A three-dimensional safety sensor circuit according to claim 1, characterized in that, It also includes a communication module (800), which is connected to the main control module (300) and is used to communicate with the host computer.

10. A three-dimensional safety sensor, characterized in that, The three-dimensional safety sensor includes a three-dimensional safety sensor circuit as described in any one of claims 1 to 9.

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