Triangulation applied as a safety scanner

A method, comprising:

• projecting, by a safety scanner system comprising a processor during a first stage of a scan cycle, a first beam of light;
• generating, by the safety scanner system, first image data based on receipt of first reflected light comprising a portion of the first beam;
• generating, by the safety scanner system, distance data based on triangulation analysis performed on the first image data;
• projecting, by the safety scanner system during a second stage of the scan cycle, a second beam of light, wherein the projecting the first beam and the projecting the second beam are performed at alternate times;
• generating, by the safety scanner system, second image data based on receipt of second reflected light comprising a portion of the second beam;
• in response to determining that the distance data satisfies a defined criterion, outputting, by the safety scanner system, a safety signal;
• and
• in response to detecting presence of an object based on analysis of the second image data during the second stage without detecting the presence of the object based on the triangulation analysis performed on the first image data during the first stage, generating, by the safety scanner system, fault message data indicating a fault in the safety scanner system.

A non-transitory computer-readable medium having stored thereon instructions that, in response to execution, cause a safety scanner system comprising a processor to perform operations, the operations comprising:

• emitting, during a first stage of a scan cycle, a first beam of light;
• generating first image data based on receipt of first reflected light comprising a portion of the first beam;
• performing triangulation analysis on the first image data to yield distance information;
• emitting, during a second stage of the scan cycle, a second beam of light, wherein the first beam and the second beam are emitted at alternate times;
• generating second image data based on receipt of second reflected light comprising a portion of the second beam;
• in response to determining that the distance information satisfies a defined criterion, generating a safety output signal;
• and
• in response to determining that analysis of the second image data detects presence of an object and that the triangulation analysis does not detect the presence of the object, generating fault message data indicating a fault in the safety scanner system.