JP2012036006A - Fall detecting device and passenger conveyor - Google Patents

Fall detecting device and passenger conveyor Download PDF

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JP2012036006A
JP2012036006A JP2011001099A JP2011001099A JP2012036006A JP 2012036006 A JP2012036006 A JP 2012036006A JP 2011001099 A JP2011001099 A JP 2011001099A JP 2011001099 A JP2011001099 A JP 2011001099A JP 2012036006 A JP2012036006 A JP 2012036006A
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standard deviation
distance sensor
passenger conveyor
threshold
scanning
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JP5508296B2 (en
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Kenji Inomata
憲治 猪又
Takahide Hirai
敬秀 平井
Masahiro Shikai
正博 鹿井
Hiroyuki Tsutada
広幸 蔦田
Hiroshi Ito
寛 伊藤
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Mitsubishi Electric Corp
Mitsubishi Electric Building Solutions Corp
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Mitsubishi Electric Corp
Mitsubishi Electric Building Techno Service Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a fall detecting device capable of surely detecting the fall of a user (passenger), and a passenger conveyor.SOLUTION: The fall detecting device includes a scanning type distance sensor 7 installed near a landing serving as a get-off landing out of respective landings 2, 3 of the passenger conveyor 1 and radiating laser beams in a horizontal plane shape within a scanning range including a get-on/off floor plate 4 and an approach passage 6. The scanning type distance sensor accumulates measured distances at each angle, and computes standard deviation to time distance changes to data in a preset detection area, and also the standard deviation of the standard deviation. When the standard deviation of the standard deviation is a threshold or smaller, the scanning type distance sensor computes the surface size (length) of an object in the area and determines a fall state when a state of the surface size (length) of the object being the threshold or larger continues for a predetermined duration.

Description

この発明は、倒れ検知装置、及び、エスカレータ、電動道路等の乗客コンベアに関するものである。   The present invention relates to a fall detection device, and passenger conveyors such as escalators and electric roads.

乗客コンベアにおいては、運転中の乗客コンベアから利用者（乗客）が乗降口に降りる際、誤って倒れてしまうことが懸念されている。もし、利用者が乗降口で誤って倒れても、通常は利用者の倒れを検知することができないため、その改善が望まれている。   In a passenger conveyor, when a user (passenger) gets off from a passenger conveyor in operation to a boarding gate, there is a concern that the passenger conveyor may fall down accidentally. Even if a user falls down accidentally at the entrance / exit, it is usually impossible to detect the fall of the user, so that improvement is desired.

従来の乗客コンベアにおいては、乗客コンベアの乗降部近傍にレーザスキャンセンサを設置し、このレーザスキャンセンサにより、平面座標上での利用者の移動を測定し、このレーザスキャンセンサにより測定した利用者の移動速度（乗降部における滞留状態情報）が所定値を下回ったとき、音声合成装置による注意喚起放送を行うとともに、利用客の滞留や混雑が長引いたときには、インバータ装置の発生周波数・電圧を制御して、駆動モータの速度を遅くしたり、停止させたりするようにした乗客コンベアの安全装置が提案されている（例えば、特許文献１参照）。この乗客コンベアの安全装置は、乗客コンベアの乗降部近傍に設置したレーザスキャンセンサにより、検出対象物（乗客）の表面の連続点の座標マップを作成し、予め計測しておいた利用客がない状態における座標データマップと重ね合わせ、固定障害物の座標データを除去し、これによって、乗客コンベア上の現在の平面座標データマップにより、乗客の輪郭データを得る。そして、乗客の輪郭データから、乗客の中心点の座標を算出し、個々の検出対象物（乗客）の移動速度を算出し、検出対象物の移動速度が予定のしきい値を下回った場合、乗客の立ち止まりや滞留を検出し、また、乗客の立ち止まりや滞留を検出しなかった場合でも、検出物体多数検出しきい値を上回った場合には、乗客コンベア乗降部の混雑状態と判定する。   In the conventional passenger conveyor, a laser scan sensor is installed in the vicinity of the passenger conveyor entrance and exit, and the movement of the user on the plane coordinates is measured by the laser scan sensor, and the user's measurement measured by the laser scan sensor is performed. When the moving speed (residence status information at the boarding / exiting section) falls below a predetermined value, the voice synthesizer broadcasts an alert, and when the stay or congestion of the customer is prolonged, the frequency and voltage generated by the inverter device are controlled. Thus, a passenger conveyor safety device has been proposed in which the speed of the drive motor is reduced or stopped (see, for example, Patent Document 1). This passenger conveyor safety device creates a coordinate map of continuous points on the surface of an object to be detected (passenger) by a laser scan sensor installed in the vicinity of a passenger conveyor entrance and exit, and there are no users who have been measured in advance. Overlay with the coordinate data map in the state and remove the coordinate data of the fixed obstacle, thereby obtaining the contour data of the passenger by the current plane coordinate data map on the passenger conveyor. And from the contour data of the passenger, the coordinates of the center point of the passenger are calculated, the moving speed of each detection object (passenger) is calculated, and when the moving speed of the detection object falls below a predetermined threshold, Even when the stoppage or stay of the passenger is detected, and even when the stoppage or stay of the passenger is not detected, if the detection object multiple detection threshold is exceeded, it is determined that the passenger conveyor is getting on and off.

特開２００８−３０３０５７号公報JP 2008-303057 A

従来の乗客コンベアの安全装置では、レーザスキャンセンサにより、捉えた検出対象物（利用者）の輪郭データ（形状）から中心点を捉え、その中心点の数と移動速度に基づいて滞留や過密状態を計測しているため、利用者（乗客）が倒れた場合、例えば頭部が乗降口付近であっても足元はスキャンエリア外の場合があり、このような状態では正確に中心点が求められず、倒れを検知できない場合がある。また、仮に中心点を求めたとしても、乗降口以外が中心となって、問題無しと判断し警報を鳴らさない場合がある。また、倒れた利用者が手を動かすなど、バタついたり、微小なしぐさをした場合、手の部分で中心点を捉え、それが適度に動くため、混雑状態と誤認識して適正な通行状態と判定し、倒れを検知できない恐れがある。また、レーザが遠方まで届いてしまうと、乗客コンベアから離れた滞留によって誤動作する恐れがある。   In a conventional passenger conveyor safety device, a laser scan sensor captures the center point from the detected contour data (shape) of the object to be detected (user), and stays or is congested based on the number of center points and the moving speed. When the user (passenger) falls down, for example, even if the head is near the entrance / exit, the foot may be outside the scan area. In such a state, the center point is accurately obtained. In some cases, the fall cannot be detected. Even if the center point is obtained, there is a case where it is determined that there is no problem and the alarm is not sounded, except for the entrance / exit. In addition, when a fallen user moves his hand, such as flapping or making a slight gesture, the center point is captured by the hand part, and it moves moderately. There is a possibility that the fall cannot be detected. Further, if the laser reaches far away, it may malfunction due to stay away from the passenger conveyor.

この発明は、上述のような課題を解決するためになされたもので、レーザスキャンセンサを用いて物体の表面サイズ（大きさ若しくは長さ）を計測し、所定の大きさ若しくは長さ以上の物体が所定の時間以上停止したことを検知するため（標準偏差が所定値以下）、利用者（乗客）の倒れを確実に検知できるようにした倒れ検知装置及び乗客コンベアを提供するものである。   The present invention has been made to solve the above-described problems. The surface size (size or length) of an object is measured using a laser scan sensor, and an object having a predetermined size or length is exceeded. Therefore, the present invention provides a fall detection device and a passenger conveyor that can reliably detect the fall of a user (passenger) in order to detect that the vehicle has stopped for a predetermined time or more (standard deviation is equal to or less than a predetermined value).

この発明に係る倒れ検知装置においては、転倒を検出する走査範囲である検知エリアに水平面状にレーザビームを放射するスキャン型距離センサとを備え、スキャン型距離センサは、測定した角度毎の距離を蓄積し、検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定するものである。   In the fall detection device according to the present invention, a detection area that is a scan range for detecting a fall is provided with a scan-type distance sensor that emits a laser beam in a horizontal plane, and the scan-type distance sensor has a distance for each measured angle. Accumulate and calculate the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the detection area. If the standard deviation of the standard deviation is less than the threshold, the surface size (length) of the object in that area ) Is calculated, and if the state in which the surface size (length) of the object is equal to or greater than the threshold value continues for a predetermined duration, it is determined that the object is in a fallen state.

また、この発明に係る乗客コンベアにおいては、乗客コンベアの乗り場と降り場となる各乗降口にそれぞれ設置され、乗客コンベアのステップ側にくし板が設けられている乗降用床板と、乗降用床板の反くし板側に設けられた乗客が接近するためのアプローチ用通路と、乗客コンベアの各乗降口のうち降り場となる乗降口付近に設置され、乗降用床板及びアプローチ用通路を含む走査範囲に水平面状にレーザビームを放射するスキャン型距離センサとを備え、スキャン型距離センサは、測定した角度毎の距離を蓄積し、予め設定した検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定するものである。   Further, in the passenger conveyor according to the present invention, a boarding board for boarding / exiting, which is installed at each boarding / exiting gate where the boarding and getting off of the passenger conveyor, respectively, and a comb board is provided on the step side of the passenger conveyor, It is installed near the entrance / exit of the approach passage for passengers approaching on the warp plate side and the entrance / exit of each passenger conveyor entrance / exit, and within the scanning range including the floor board for entrance / exit and the approach passage A scanning distance sensor that emits a laser beam in a horizontal plane, and the scanning distance sensor accumulates the distance for each measured angle, and is a standard for the temporal distance change for data in a preset detection area The standard deviation of the deviation and the standard deviation is calculated, and when the standard deviation of the standard deviation is less than the threshold, the surface size (length) of the object in the area is calculated, and the surface size of the object is calculated. If (length) is equal to or larger than a threshold of the condition persists predetermined duration, it is to determine a fall state.

また、スキャン型距離センサは、標準偏差の標準偏差の閾値を２０〜４０ｍｍ、物体の表面サイズ（長さ）の閾値を３００〜５００ｍｍ、継続時間を１〜２秒としたものである。   The scan type distance sensor has a standard deviation threshold of 20 to 40 mm, an object surface size (length) threshold of 300 to 500 mm, and a duration of 1 to 2 seconds.

また、スキャン型距離センサは、標準偏差は過去１〜２秒間の検知エリア内のデータから計算し、標準偏差の標準偏差は過去２〜８点の標準偏差から計算するものである。   In the scan type distance sensor, the standard deviation is calculated from the data in the detection area for the past 1-2 seconds, and the standard deviation of the standard deviation is calculated from the standard deviation of the past 2-8 points.

この発明によれば、レーザスキャンセンサを用いて物体の大きさ若しくは長さを計測し、所定の大きさ若しくは長さ以上の物体が所定の時間以上停止したことを検知するため（標準偏差が所定値以下）、利用者（乗客）の倒れを確実に検知できる。すなわち、物体の大きさ若しくは長さと合わせて、変動の変化量（標準偏差の標準偏差）が所定の大きさ以下であることを利用して倒れを検知するため、倒れ者が手をバタつかせても通行状態とは誤判定されず、倒れを確実に検知することができる。   According to the present invention, the size or length of an object is measured using a laser scan sensor, and it is detected that an object of a predetermined size or length or more has been stopped for a predetermined time (standard deviation is predetermined). Value or less), the fall of the user (passenger) can be reliably detected. In other words, in addition to the size or length of the object, the fallen person flutters his / her hand to detect the fall using the variation amount (standard deviation of the standard deviation) that is less than or equal to a predetermined magnitude. However, it is not erroneously determined as a traffic state, and a fall can be reliably detected.

この発明の実施例１における倒れ検知装置を備えた乗客コンベア全体の概略構成を示す側面図である。It is a side view which shows schematic structure of the whole passenger conveyor provided with the fall detection apparatus in Example 1 of this invention. この発明の実施例１における倒れ検知装置及び乗客コンベアを示す平面図である。It is a top view which shows the fall detection apparatus and passenger conveyor in Example 1 of this invention. この発明の実施例１における倒れ検知装置及び乗客コンベアを示す乗降口部分の斜視図である。It is a perspective view of the entrance / exit part which shows the fall detection apparatus and passenger conveyor in Example 1 of this invention. この発明の実施例１における倒れ検知装置に用いるスキャン型距離センサの走査範囲を示す説明図である。It is explanatory drawing which shows the scanning range of the scanning distance sensor used for the fall detection apparatus in Example 1 of this invention. この発明の実施例１における倒れ検知装置に用いるスキャン型距離センサの走査範囲及び倒れを検出のための計算イメージを示す説明図である。It is explanatory drawing which shows the calculation range for the scanning range of the scanning distance sensor used for the fall detection apparatus in Example 1 of this invention, and a fall detection. この発明の実施例１における倒れ検知装置により倒れ状態と滞留状態を解析する様子を示す説明図である。It is explanatory drawing which shows a mode that a fall state and a residence state are analyzed by the fall detection apparatus in Example 1 of this invention. この発明の実施例１における倒れ検知装置の倒れ検知アルゴリズムを説明するためのフローチャートである。It is a flowchart for demonstrating the fall detection algorithm of the fall detection apparatus in Example 1 of this invention. この発明の実施例１における倒れ検知装置に用いるスキャン型距離センサの検知エリアを設定する方法を示す要部平面図である。It is a principal part top view which shows the method of setting the detection area of the scanning type distance sensor used for the fall detection apparatus in Example 1 of this invention.

図１はこの発明の実施例１における倒れ検知装置を備えた乗客コンベア全体の概略構成を示す側面図、図２は倒れ検知装置及び乗客コンベアを示す平面図、図３は倒れ検知装置及び乗客コンベアを示す乗降口部分の斜視図、図４は倒れ検知装置に用いるスキャン型距離センサの走査範囲を示す説明図、図５は倒れ検知装置に用いるスキャン型距離センサの走査範囲及び倒れを検出のための計算イメージを示す説明図、図６は倒れ検知装置により倒れ状態と滞留状態を解析する様子を示す説明図、図７は倒れ検知装置の倒れ検知アルゴリズムを説明するためのフローチャート、図８は倒れ検知装置に用いるスキャン型距離センサの検知エリアを設定する方法を示す要部平面図である。   1 is a side view showing a schematic configuration of the entire passenger conveyor provided with a fall detection device according to Embodiment 1 of the present invention, FIG. 2 is a plan view showing the fall detection device and the passenger conveyor, and FIG. 3 is a fall detection device and a passenger conveyor. FIG. 4 is an explanatory view showing a scanning range of a scan type distance sensor used in the fall detection device, and FIG. 5 is for detecting the scan range and the fall of the scan type distance sensor used in the fall detection device. FIG. 6 is an explanatory diagram showing how the fall state and the staying state are analyzed by the fall detection device, FIG. 7 is a flowchart for explaining the fall detection algorithm of the fall detection device, and FIG. It is a principal part top view which shows the method of setting the detection area of the scanning distance sensor used for a detection apparatus.

図１〜図３において、１は乗客コンベアで、ここでは下り運転されているものとする。２は乗客コンベア１の降り場となる１階の乗降口、３は乗客コンベア１の乗り場となる２階の乗降口、４は各乗降口２、３にそれぞれ設置された乗客コンベアの乗降用床板であり、乗客はこの乗降用床板４から乗客コンベア１のステップに乗り込んだり、乗客コンベア１のステップから降りたりするものである。５は乗降用床板４のステップ側の先端部に設けられたくし板、６は乗降用床板４の反くし板５側に設けられた、乗客が乗客コンベア１の乗降用床板４に接近するためのアプローチ用通路である。ここでは、利用者（乗客）が降り場である１階の乗降口２の乗降用床板４上で倒れした場合を示している。７は１階の乗降口（降り場）２の一側部付近及び２階の乗降口（乗り場）３の一側部付近に乗客の通行の邪魔にならないようにそれぞれ設置されたレーザスキャンセンサからなるスキャン型距離センサで、図３に示すように、柱体の中に設置しても良い。また、レーザスキャンカメラとセットになっていて、小型カメラにより倒れ検知映像を捉え、倒れ検知映像を保存したり、管理者に送るようにしても良い。このスキャン型距離センサ７は、図２に示すように、乗降口２、３の一側部付近からレーザビームを水平方向に放射し、レーザの光軸を鉛直方向に回転させることでセンサを中心とした水平方向の距離を測定している。そして、乗降口２の一側部付近に設置されたスキャン型距離センサ７のレーザビームの走査範囲７ａは、１階の乗降口（降り場）２では、乗客が乗降用床板４に接近するためのアプローチ用通路６、乗降用床板４、くし板５の範囲を含むように走査されている。また、乗降口３の一側部付近に設置されたスキャン型距離センサ７のレーザビームの走査範囲７ａは、２階の乗降口（乗り場）３では、くし板５、乗降用床板４、乗客が乗降用床板４に接近するためのアプローチ用通路６の範囲を含むように走査されている。すなわち、レーザビームの走査範囲７ａは、乗降口２、３付近に設けられた乗降用床板４及びくし板５は勿論のこと、離れた位置から乗降用床板４に接近するためのアプローチ用通路６を含むように走査されるものである。８はスキャン型距離センサ７に接続された処理装置である。このようなスキャン型距離センサ７及び処理装置８を設置し、スキャン型距離センサ７により物体の大きさ若しくは長さを計測する。スキャン型距離センサ７が測定した角度毎の距離を蓄積し、検知エリア内のデータに対しその時間的な距離変化に対する標準偏差および標準偏差の標準偏差を計算する。標準偏差が閾値以下であり、且つ、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算する。そして、その表面サイズ（長さ）が閾値以上の状態が所定時間以上持続すると、利用者（乗客）の倒れ状態と判定する。図４に示すように、スキャン型距離センサ７は、±１２０°の範囲を例えば０．３６°（３６０°を１０２４分割）の角度ピッチで物体との距離Ｒを計測する。計測単位は、ミリメートル（ｍｍ）とする。走査周期は１００ｍｓである。図５は簡単にするため、１５°ピッチで図示しており、○印は測定点である。図５の点線の枠は検知エリアを示しており、点Ａ、Ｂ、Ｈは検知エリア外のため、計算に利用されない。図５の黒矢印は過去１〜２秒間の測定点の距離変動の標準偏差、白矢印は前記標準偏差の過去２〜８点の標準偏差の範囲を示している。標準偏差の標準偏差とは、先に求めた標準偏差自体の時間的な変化幅を見るために、更に時間軸方向に標準偏差を取ったものである。図５の点Ｃ、Ｄ、Ｅ、Ｆ、Ｇは検知エリア内のため、計算に利用される。図５の点Ｄ−Ｅ間で更に両側にはみ出している円弧、点Ｆの両側にはみ出している円弧、及び点Ｇの両側にはみ出している円弧は物体表面サイズである。ここで、検知エリアの境界処理を説明する。点Ｇは過去１〜２秒間には検知エリアから外れた点が存在するかも知れない。この場合、検知エリアから外れた点は計算に加えないことになっている。標準偏差、標準偏差の標準偏差の両方若しくは選択した側が閾値以下となると、物体表面サイズを計算する。今、点Ｄ、Ｅ、Ｆ、Ｇが閾値以下となったとすると、それぞれの円弧の長さを出し、その合計を物体表面サイズとする。また、図６は横軸を標準偏差の値（又は標準偏差の標準偏差の値）とし、所定の物体表面サイズ以上となる時間を縦軸にとったものである。図６から明らかなように、倒れ状態は継続時間が長く、滞留状態は継続時間が短いため、倒れ状態と滞留状態との間に間隔があれば、この間隔をマージンとして正しく判定ができることを意味する。また、最も間隔が広いところを判定閾値とすればよい。実際の標準偏差による解析結果によれば、標準偏差の閾値を６０〜８０ｍｍ、物体表面サイズの閾値を４００〜６００ｍｍ、継続時間を５〜１０秒とした場合に倒れを正しく判定できることが判った。但し、この場合はスキャン型距離センサ７の前でバタついた場合は倒れと判定されない。（バタつき倒れ：手足を３０ｃｍ往復／秒で動かす）。また、実際の標準偏差の標準偏差による解析結果によれば、標準偏差の標準偏差の閾値を２０〜４０ｍｍ、物体表面サイズの閾値を３００〜５００ｍｍ、継続時間を１〜２秒とした場合に正しく判定でき、この場合は前記バタつき倒れでも倒れと判定できることが判った。よって、標準偏差の標準偏差で倒れ検知することを選択し、上記パラメータを設定することで、バタつきを含め倒れを正しく検知できると言える。上記パラメータの有効性を検証するために、閑散時、過密（混雑）時、静止倒れ、バタつき倒れについて検証した結果、非倒れ時は誤報がなく、バタつき倒れを含む倒れは約５〜１０秒で倒れを検知できることを確認した。すなわち、上記検証結果によると、閑散時は、占有率が１２．５％と低く、標準偏差の標準偏差は、ほんの一瞬しか閾値を下回らず、その範囲も小さいため物体表面サイズは殆ど上昇しない。よって倒れとは判定されない。過密（混雑）時は、占有率が５０％を超え、４ｍ／分と非常に低速時においても、標準偏差の標準偏差は殆ど閾値を下回らない。よって過密時においても倒れとは誤判定しない。また、静止倒れの場合は、倒れた瞬間から物体表面サイズが２００ｍｍを超えるまでの差が３．５秒、継続時間１．５秒を加えると５秒で倒れを検知する。また、バタつき倒れの場合は、倒れた瞬間から物体表面サイズが２００ｍｍを超えるまでの差が４．５秒、継続時間１．５秒を加えると６秒で倒れを検知する。なお、実際に同条件で現地データを評価した。現地データは非常に混雑した状態であるが、標準偏差の標準偏差は閾値を殆ど下回らず誤報に至ることはなかった。   1 to 3, reference numeral 1 denotes a passenger conveyor, which is assumed to be down. 2 is the entrance / exit of the first floor where the passenger conveyor 1 gets off, 3 is the entrance / exit of the second floor where the passenger conveyor 1 is placed, and 4 is the floor board for getting on / off the passenger conveyor installed at each of the entrances 2, 3 The passenger enters the passenger conveyor 1 step from the boarding board 4 or gets off the passenger conveyor 1 step. 5 is a comb plate provided at the front end portion of the step board of the boarding board 4 and 6 is provided on the side of the anti-comb board 5 of the boarding board 4 for passengers to approach the boarding board 4 of the passenger conveyor 1. This is an approach passage. Here, the case where the user (passenger) falls on the boarding board 4 for boarding / alighting of the entrance / exit 2 of the 1st floor which is a landing is shown. 7 is a laser scan sensor installed near one side of the first floor entrance / exit 2 and near one side of the second floor entrance 3 so as not to obstruct passenger traffic. As shown in FIG. 3, the scanning distance sensor may be installed in a column. Further, it may be a set with a laser scan camera, capture a fall detection video with a small camera, save the fall detection video, or send it to an administrator. As shown in FIG. 2, the scan type distance sensor 7 emits a laser beam in the horizontal direction from the vicinity of one side of the entrances 2 and 3 and rotates the optical axis of the laser in the vertical direction to center the sensor. The distance in the horizontal direction is measured. The scanning range 7a of the laser beam of the scanning distance sensor 7 installed near one side of the entrance / exit 2 is that passengers approach the entrance / exit floor plate 4 at the entrance / exit 2 on the first floor. Are scanned so as to include the range of the approach passage 6, the floor board 4 for getting on and off, and the comb board 5. Further, the scanning range 7a of the laser beam of the scanning distance sensor 7 installed near one side of the entrance / exit 3 is a comb board 5, an entrance / exit floor board 4 and passengers at the entrance / exit 3 on the second floor. Scanning is performed so as to include the range of the approach passage 6 for approaching the boarding board 4. That is, the scanning range 7a of the laser beam includes the approach passage 6 for approaching the boarding board 4 from a distant position as well as the boarding board 4 and the comb board 5 provided in the vicinity of the boarding doors 2 and 3. It is scanned so as to include. Reference numeral 8 denotes a processing device connected to the scan type distance sensor 7. The scanning distance sensor 7 and the processing device 8 are installed, and the size or length of the object is measured by the scanning distance sensor 7. The distance for each angle measured by the scanning distance sensor 7 is accumulated, and the standard deviation with respect to the temporal distance change and the standard deviation of the standard deviation are calculated for the data in the detection area. When the standard deviation is equal to or smaller than the threshold value and the standard deviation of the standard deviation is equal to or smaller than the threshold value, the surface size (length) of the object in the region is calculated. And when the state whose surface size (length) is more than a threshold lasts more than predetermined time, it judges with a user (passenger) falling state. As shown in FIG. 4, the scan type distance sensor 7 measures the distance R with respect to the object at an angular pitch of 0.36 ° (360 ° is divided into 1024) within a range of ± 120 °. The unit of measurement is millimeters (mm). The scanning period is 100 ms. For the sake of simplicity, FIG. 5 is illustrated at a pitch of 15 °, and the ◯ marks are measurement points. The dotted frame in FIG. 5 indicates the detection area, and the points A, B, and H are not used for calculation because they are outside the detection area. The black arrow in FIG. 5 indicates the standard deviation of the distance fluctuation of the measurement point in the past 1-2 seconds, and the white arrow indicates the range of the standard deviation of the past 2-8 points of the standard deviation. The standard deviation of the standard deviation is obtained by further taking the standard deviation in the time axis direction in order to see the temporal variation width of the standard deviation obtained previously. Since the points C, D, E, F, and G in FIG. 5 are within the detection area, they are used for the calculation. The arcs further protruding on both sides between the points D-E in FIG. 5, the arcs protruding on both sides of the point F, and the arcs protruding on both sides of the point G are object surface sizes. Here, the boundary processing of the detection area will be described. The point G may be out of the detection area in the past 1-2 seconds. In this case, the points outside the detection area are not added to the calculation. When both the standard deviation, the standard deviation of the standard deviation, or the selected side is below the threshold, the object surface size is calculated. If the points D, E, F, and G are equal to or less than the threshold value, the lengths of the respective arcs are calculated and the sum is set as the object surface size. In FIG. 6, the horizontal axis is the standard deviation value (or the standard deviation value of the standard deviation), and the vertical axis is the time when the predetermined object surface size is exceeded. As is clear from FIG. 6, since the fall state has a long duration and the stay state has a short duration, if there is an interval between the fall state and the stay state, it can be correctly determined using this interval as a margin. To do. Further, a place having the widest interval may be set as a determination threshold value. According to the analysis result based on the actual standard deviation, it was found that the fall could be correctly determined when the standard deviation threshold was 60 to 80 mm, the object surface size threshold was 400 to 600 mm, and the duration was 5 to 10 seconds. However, in this case, if the fluttering occurs in front of the scan-type distance sensor 7, it is not determined that the body has fallen. (Battery collapse: move limbs at 30 cm reciprocation / second). Moreover, according to the analysis result by the standard deviation of the actual standard deviation, the standard deviation threshold of the standard deviation is 20 to 40 mm, the object surface size threshold is 300 to 500 mm, and the duration is 1-2 seconds. It can be determined, and in this case, it has been found that even if the above-mentioned fluttering falls, it can be determined that the body falls. Therefore, it can be said that it is possible to correctly detect the fall including flutter by selecting to detect the fall with the standard deviation of the standard deviation and setting the above parameters. In order to verify the effectiveness of the above parameters, as a result of verification of quiet fall, overcrowded (congested), stationary fall, and flapping fall, there is no false alarm when non-falling, and fall including flapping fall is about 5-10 Confirmed that the fall could be detected in seconds. That is, according to the verification result, when it is quiet, the occupation rate is as low as 12.5%, the standard deviation of the standard deviation is less than the threshold value for only a moment, and the range is small, so the object surface size hardly increases. Therefore, it is not determined to fall. During overcrowding (congestion), the occupancy rate exceeds 50% and the standard deviation of the standard deviation hardly falls below the threshold even at a very low speed of 4 m / min. Therefore, it is not erroneously determined to fall even in an overcrowded state. In addition, in the case of stationary falling, the difference from the moment of falling to the object surface size exceeding 200 mm is 3.5 seconds, and when the duration time is 1.5 seconds, the falling is detected in 5 seconds. In addition, in the case of falling down with fluttering, the difference from the moment of falling down to the object surface size exceeding 200 mm is 4.5 seconds, and when the duration time is 1.5 seconds, the falling is detected in 6 seconds. Actually, the local data was evaluated under the same conditions. Although the local data was very crowded, the standard deviation of the standard deviation was almost below the threshold and did not lead to false alarms.

次に、この発明の倒れ検知装置及び乗客コンベアの倒れ検知アルゴリズムを図７により説明する。
レーザスキャンセンサからなるスキャン型距離センサ７により、測定した角度毎の距離データを蓄積する（ステップＳ１）。次に、測定距離データを抽出して（ステップＳ２）、標準偏差の計算を行い（ステップＳ３）、標準偏差が閾値以下かどうかを判定する（ステップＳ４）。ここで、標準偏差は過去１〜２秒間の検知エリア内のデータから計算する。また、測定距離データを抽出して（ステップＳ２）、標準偏差の標準偏差の計算を行い（ステップＳ５）、標準偏差の標準偏差が閾値以下かどうかを判定する（ステップＳ６）。ここで、標準偏差の標準偏差は過去２〜８点の標準偏差から計算する。ところで、上記標準偏差の計算（ステップＳ３）及び上記標準偏差が閾値以下かどうかの判定（ステップＳ４）は、必須ではないので省略しても良い。ステップＳ３の標準偏差の計算と、そして、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算する（ステップＳ７）。そして、計算の結果、その物体の表面サイズが閾値以上かどうかを判定し（ステップＳ８）、閾値以上の状態が所定の継続時間持続すると（ステップＳ９）、倒れ状態と判定し、倒れを検知する（ステップＳ１０）。なお、倒れを検知した場合、乗客コンベアの速度を落とし、停止させることは言うまでもない。また、倒れを検知した場合は、時間の経過とともに警告のためのアラーム音量を大きくするようにしても良い。また、ほぼ０メートルのスキャン角度が所定の割合以上になった場合は、スキャン型距離センサ７に汚れが付着したと判断し（汚れ検知機能）、警告を出すようにしても良い。 Next, a fall detection device and a fall detection algorithm for a passenger conveyor according to the present invention will be described with reference to FIG.
The distance data for each measured angle is accumulated by the scan type distance sensor 7 composed of a laser scan sensor (step S1). Next, the measurement distance data is extracted (step S2), the standard deviation is calculated (step S3), and it is determined whether the standard deviation is equal to or less than the threshold (step S4). Here, the standard deviation is calculated from the data in the detection area for the past 1-2 seconds. Further, the measurement distance data is extracted (step S2), the standard deviation of the standard deviation is calculated (step S5), and it is determined whether or not the standard deviation of the standard deviation is equal to or less than the threshold value (step S6). Here, the standard deviation of the standard deviation is calculated from the standard deviations of the past 2 to 8 points. By the way, the calculation of the standard deviation (step S3) and the determination whether the standard deviation is equal to or smaller than the threshold value (step S4) are not essential and may be omitted. Calculation of the standard deviation in step S3, and if the standard deviation of the standard deviation is less than or equal to the threshold value, the surface size (length) of the object in that area is calculated (step S7). Then, as a result of the calculation, it is determined whether or not the surface size of the object is greater than or equal to a threshold value (step S8), and if the state equal to or greater than the threshold value lasts for a predetermined duration (step S9), it is determined that the object is in a falling state. (Step S10). Needless to say, when a fall is detected, the speed of the passenger conveyor is reduced and stopped. When a fall is detected, the alarm volume for warning may be increased as time passes. Further, when the scan angle of approximately 0 meters becomes a predetermined ratio or more, it may be determined that dirt is attached to the scan type distance sensor 7 (dirt detection function), and a warning may be issued.

次に、この発明の倒れ検知装置及び乗客コンベアに用いるスキャン型距離センサの検知エリアを設定する方法を図８により説明する。
図８において、９は検知エリアの３個所に置かれるマーカであり、設置時にのみ使用される。先ず、スキャン型距離センサ７により、マーカが全く置かれていない初期状態をスキャンする。次に、検知エリアの３個所にマーカ９を置いてスキャンする。これにより、検知エリアが規定される。なお、マーカ９は、細い棒状や箱状等でも良い。色は白、銀色等のように反射性が高いものが良い。また、マーカでなく棒ステッキでも良い。また、故障検知用のエリアを設定し（故障検知機能）、スタート時に何時も見えている乗客コンベアが見えないと警告を出すようにしても良い。 Next, a method of setting the detection area of the scan type distance sensor used for the fall detection device and passenger conveyor of the present invention will be described with reference to FIG.
In FIG. 8, 9 is a marker placed at three locations in the detection area, and is used only during installation. First, the scan type distance sensor 7 scans an initial state where no marker is placed. Next, scanning is performed by placing markers 9 at three locations in the detection area. Thereby, a detection area is defined. The marker 9 may be a thin rod or box. The color should be highly reflective, such as white or silver. Also, a stick can instead of a marker may be used. Also, a failure detection area may be set (failure detection function), and a warning may be issued if a passenger conveyor that is always visible at the start is not visible.

なお、実施例１では、この発明の倒れ検知装置を乗客コンベアに適用した例について説明したが、これに限ることなく、この発明の倒れ検知装置を例えばエレベータのかごに設置してエレベータのかご内の倒れ検知を行うなど、特定のエリアの倒れ検知にも適用することができる。   In addition, in Example 1, although the example which applied the fall detection apparatus of this invention to the passenger conveyor was demonstrated, it does not restrict to this, For example, the fall detection apparatus of this invention is installed in the elevator car, and it is in an elevator car. It can also be applied to fall detection in a specific area, such as performing fall detection.

１ 乗客コンベア
２ １階の乗降口（降り場）
３ ２階の乗降口（乗り場）
４ 乗降用床板
５ くし板
６ アプローチ用通路
７ スキャン型距離センサ（レーザスキャンセンサ）
７ａ レーザビームの走査範囲
８ 処理装置
９ マーカ 1 Passenger conveyor 2 First floor entrance / exit
3 Second floor entrance / exit (stop)
4 Floor board for getting on and off 5 Comb board 6 Passage for approach 7 Scan type distance sensor (laser scan sensor)
7a Laser beam scanning range 8 Processing device 9 Marker

Claims (10)

転倒を検出する走査範囲である検知エリアに水平面状にレーザビームを放射するスキャン型距離センサとを備え、
前記スキャン型距離センサは、測定した角度毎の距離を蓄積し、検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定することを特徴とする倒れ検知装置。 A scanning type distance sensor that emits a laser beam in a horizontal plane in a detection area that is a scanning range for detecting a fall,
The scan type distance sensor accumulates the distance for each measured angle, calculates the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the detection area, and the standard deviation of the standard deviation is a threshold value. In the following cases, the surface size (length) of the object in the area is calculated, and if the state in which the surface size (length) of the object is equal to or greater than a threshold value continues for a predetermined duration, it is determined that the object is in a collapsed state. Fall detection device. スキャン型距離センサは、標準偏差の標準偏差の閾値を２０〜４０ｍｍ、物体の表面サイズ（長さ）の閾値を３００〜５００ｍｍ、継続時間を１〜２秒としたことを特徴とする請求項１記載の倒れ検知装置。   The scan type distance sensor has a standard deviation threshold of 20 to 40 mm, an object surface size (length) threshold of 300 to 500 mm, and a duration of 1 to 2 seconds. The fall detection device described. スキャン型距離センサは、標準偏差は過去１〜２秒間の検知エリア内のデータから計算し、標準偏差の標準偏差は過去２〜８点の標準偏差から計算することを特徴とする請求項１記載の倒れ検知装置。   2. The scan type distance sensor according to claim 1, wherein the standard deviation is calculated from the data in the detection area for the past 1-2 seconds, and the standard deviation of the standard deviation is calculated from the standard deviation of the past 2-8 points. Fall detection device. 請求項１記載の倒れ検知装置において、
前記スキャン型距離センサによりマーカの無い初期状態をスキャンし、次に検知エリアとなる乗降口付近の３個所に設置時のみに使うマーカを設置してスキャンすることにより、スキャン型距離センサの検知エリアを設定することを特徴とする倒れ検知装置。 The fall detection device according to claim 1,
The scanning distance sensor scans the initial state without a marker, and then places and scans the markers used only during installation at three locations near the entrance / exit, which is the detection area, thereby detecting the detection area of the scanning distance sensor. The fall detection device characterized by setting. 乗客コンベアの乗り場と降り場となる各乗降口にそれぞれ設置され、乗客コンベアのステップ側にくし板が設けられている乗降用床板と、
前記乗降用床板の反くし板側に設けられた乗客が接近するためのアプローチ用通路と、
前記乗客コンベアの乗降口付近に設置され、前記乗降用床板及びアプローチ用通路を含む走査範囲に水平面状にレーザビームを放射するスキャン型距離センサとを備え、
前記スキャン型距離センサは、測定した角度毎の距離を蓄積し、予め設定した検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定することを特徴とする乗客コンベア。 Floor boards for boarding / exiting, which are respectively installed at the entrances and exits of the passenger conveyor and where the comb board is provided on the step side of the passenger conveyor,
An approach passage for a passenger to approach on the side of the anti-comb plate of the boarding board,
A scanning type distance sensor that is installed in the vicinity of the entrance / exit of the passenger conveyor, and that emits a laser beam in a horizontal plane in a scanning range including the floor board for getting on and off and an approach passage,
The scan type distance sensor accumulates the distance for each measured angle, calculates the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the preset detection area, and calculates the standard deviation standard If the deviation is less than or equal to the threshold, calculate the surface size (length) of the object in that area, and if the state where the surface size (length) of the object is equal to or greater than the threshold continues for a predetermined duration, Characteristic passenger conveyor. 乗客コンベアの乗り場と降り場となる各乗降口にそれぞれ設置され、乗客コンベアのステップ側にくし板が設けられている乗降用床板と、
前記乗降用床板の反くし板側に設けられた乗客が接近するためのアプローチ用通路と、
前記乗客コンベアの各乗降口のうち降り場となる乗降口付近に設置され、前記乗降用床板及びアプローチ用通路を含む走査範囲に水平面状にレーザビームを放射するスキャン型距離センサとを備え、
前記スキャン型距離センサは、測定した角度毎の距離を蓄積し、予め設定した検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定することを特徴とする乗客コンベア。 Floor boards for boarding / exiting, which are respectively installed at the entrances and exits of the passenger conveyor and where the comb board is provided on the step side of the passenger conveyor,
An approach passage for a passenger to approach on the side of the anti-comb plate of the boarding board,
A scanning type distance sensor that is installed in the vicinity of the entrance / exit of the entrance / exit of each of the passenger conveyors, and that emits a laser beam in a horizontal plane in a scanning range including the entrance / exit floor board and the approach passage,
The scan type distance sensor accumulates the distance for each measured angle, calculates the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the preset detection area, and calculates the standard deviation standard If the deviation is less than or equal to the threshold, calculate the surface size (length) of the object in that area, and if the state where the surface size (length) of the object is equal to or greater than the threshold continues for a predetermined duration, Characteristic passenger conveyor. スキャン型距離センサは、標準偏差の標準偏差の閾値を２０〜４０ｍｍ、物体の表面サイズ（長さ）の閾値を３００〜５００ｍｍ、継続時間を１〜２秒としたことを特徴とする請求項５又は請求項６記載の乗客コンベア。   The scan type distance sensor has a standard deviation threshold of 20 to 40 mm, an object surface size (length) threshold of 300 to 500 mm, and a duration of 1 to 2 seconds. Or the passenger conveyor of Claim 6. スキャン型距離センサは、標準偏差は過去１〜２秒間の検知エリア内のデータから計算し、標準偏差の標準偏差は過去２〜８点の標準偏差から計算することを特徴とする請求項５又は請求項６記載の乗客コンベア。   6. The scan type distance sensor according to claim 5, wherein the standard deviation is calculated from the data in the detection area for the past 1-2 seconds, and the standard deviation of the standard deviation is calculated from the standard deviation of the past 2-8 points. The passenger conveyor according to claim 6. 乗客コンベアの乗り場と降り場となる各乗降口にそれぞれ設置され、乗客コンベアのステップ側にくし板が設けられている乗降用床板と、
前記乗降用床板の反くし板側に設けられた乗客が接近するためのアプローチ用通路と、
前記乗客コンベアの乗降口付近に設置され、前記乗降用床板及びアプローチ用通路を含む走査範囲に水平面状にレーザビームを放射するスキャン型距離センサとを備え、
前記スキャン型距離センサは、測定した角度毎の距離を蓄積し、予め設定した検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定する乗客コンベアの利用者倒れ検知装置において、
前記スキャン型距離センサによりマーカの無い初期状態をスキャンし、次に検知エリアとなる乗降口付近の３個所に設置時のみに使うマーカを設置してスキャンすることにより、スキャン型距離センサの検知エリアを設定することを特徴とする乗客コンベア。 Floor boards for boarding / exiting, which are respectively installed at the entrances and exits of the passenger conveyor and where the comb board is provided on the step side of the passenger conveyor,
An approach passage for a passenger to approach on the side of the anti-comb plate of the boarding board,
A scanning type distance sensor that is installed in the vicinity of the entrance / exit of the passenger conveyor, and that emits a laser beam in a horizontal plane in a scanning range including the floor board for getting on and off and an approach passage,
The scan type distance sensor accumulates the distance for each measured angle, calculates the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the preset detection area, and calculates the standard deviation standard If the deviation is less than or equal to the threshold, the surface size (length) of the object in that area is calculated, and if the state in which the surface size (length) of the object is equal to or greater than the threshold lasts for a predetermined duration, the passenger conveyor is judged to be in a collapsed state In the user fall detection device,
The scanning distance sensor scans the initial state without a marker, and then places and scans the markers used only during installation at three locations near the entrance / exit, which is the detection area, thereby detecting the detection area of the scanning distance sensor. Passenger conveyor, characterized by setting. 乗客コンベアの乗り場と降り場となる各乗降口にそれぞれ設置され、乗客コンベアのステップ側にくし板が設けられている乗降用床板と、
前記乗降用床板の反くし板側に設けられた乗客が接近するためのアプローチ用通路と、
前記乗客コンベアの各乗降口のうち降り場となる乗降口付近に設置され、前記乗降用床板及びアプローチ用通路を含む走査範囲に水平面状にレーザビームを放射するスキャン型距離センサとを備え、
前記スキャン型距離センサは、測定した角度毎の距離を蓄積し、予め設定した検知エリア内のデータに対しその時間的な距離変化に対する標準偏差及び標準偏差の標準偏差を計算し、標準偏差の標準偏差が閾値以下の場合、その領域の物体の表面サイズ（長さ）を計算し、物体の表面サイズ（長さ）が閾値以上の状態が所定の継続時間持続すると、倒れ状態と判定する乗客コンベアの利用者倒れ検知装置において、
前記スキャン型距離センサによりマーカの無い初期状態をスキャンし、次に検知エリアとなる乗降口付近の３個所に設置時のみに使うマーカを設置してスキャンすることにより、スキャン型距離センサの検知エリアを設定することを特徴とする乗客コンベア。 Floor boards for boarding / exiting, which are respectively installed at the entrances and exits of the passenger conveyor and where the comb board is provided on the step side of the passenger conveyor,
An approach passage for a passenger to approach on the side of the anti-comb plate of the boarding board,
A scanning type distance sensor that is installed in the vicinity of the entrance / exit of the entrance / exit of each of the passenger conveyors, and that emits a laser beam in a horizontal plane in a scanning range including the entrance / exit floor board and the approach passage,
The scan type distance sensor accumulates the distance for each measured angle, calculates the standard deviation and the standard deviation of the standard deviation with respect to the temporal distance change for the data in the preset detection area, and calculates the standard deviation standard If the deviation is less than or equal to the threshold, the surface size (length) of the object in that area is calculated, and if the state in which the surface size (length) of the object is equal to or greater than the threshold lasts for a predetermined duration, the passenger conveyor is judged to be in a collapsed state In the user fall detection device,
The scanning distance sensor scans the initial state without a marker, and then places and scans the markers used only during installation at three locations near the entrance / exit, which is the detection area, thereby detecting the detection area of the scanning distance sensor. Passenger conveyor, characterized by setting.
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