How to connect an infrasonic sensor to Beaglebone Black

Hi there,

i own an BeagleBone Black (i think it’s rev. A5A) and i want to use it as alarm system.
So my question is, how can i connect an AMPIRE 2-channel Infrasonic Sensor PS101D with BBB and which additional hardware is needed.

Technical Specifications of this unit are:
Operating voltage10 - 16 Volt DC
Power consumption< 0,0037 Ampère
Alarm output(-) Ground, 300mA, 0,6-2 Sec.
Connector: Can bus

I am good into programming - but i am a bloody noob on such hardware topics.

It would be nice to get any support on the hardware question of this topic.