JP2015174715A - human detection device of passenger conveyor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a human detection device of a passenger conveyer capable of detecting respective states of fall, residence and access of a user near an entrance by a small number of sensors.SOLUTION: A human detection device of a passenger conveyer includes: end cap parts which are formed on edge parts of skirt guards arranged along right and left both sides of a foot step and have a first edge surface along extension lines of right and left both edges of the foot step and a second edge surface forming a prescribed angle with the first edge surface along right and left both edges of the foot step with respect to an extension line; detection means which is installed on a corner part clamped by the first edge surface and the second edge surface on the end cap part of the skirt guard of the right and left one side, radiates a laser beam in a detection range within a prescribed horizontal angle around an installation point and, thereby, detects an object in the detection range; and detection control means which detects fall, residence and access of a user near an entrance based on a detection result of detection means. Therein, the detection range is set wider on a foot step side than in a direction vertical to the first edge surface and is set wider on a counter-foot step side than a direction vertical to the second edge surface.

Description

  The present invention relates to a human detection device for passenger conveyors.

  In a conventional passenger conveyor human detection device, a distance measuring sensor emits beams in a plurality of directions to measure the distance to passengers near the entrance / exit on the passenger conveyor, and based on the measurement result, the passenger congestion level is measured. What is calculated is known (see, for example, Patent Document 1).

  Each of the pair of balustrades is provided with a light emitting device and a light receiving device, and a distance measuring unit that measures the distance to the object by receiving the reflected light that irradiates the entrance from the light emitting device with the light receiving device; A distance calculation unit that calculates the distance to the passenger from the light reception signal from the distance measurement unit, a passenger presence determination unit that determines the presence or absence of a passenger by comparing the output value of the distance calculation unit and a predetermined threshold, There is also known a controller including a control unit that controls the operation of a passenger conveyor by a signal from the passenger presence / absence determination unit (see, for example, Patent Document 2).

  Furthermore, it is installed at each boarding / exit entrance for passenger conveyor landings and landings, and has a combing board provided at the step side of the passenger conveyor, and provided on the side of the combing board of this boarding board. It is equipped with an approach passage for passengers to approach and a scanning distance sensor that is installed near the entrance and exit of the passenger conveyor and emits a laser beam in a horizontal plane in the scanning range including the boarding board and the approach passage. There is also known a type distance sensor that scans the surface of a fallen person and determines that it is in a fallen state when the area of the region corresponding to the body part is integrated over time and becomes a certain value or more (see, for example, Patent Document 3). ).

JP 2010-132444 A JP 2011-011874 A JP 2012-020796 A

  In order to control the operation of passenger conveyors, it is necessary to accurately detect the state of the user at the entrance. The state of the user to be detected at this time is not limited to one type, and includes, for example, the user's falling, staying and approaching. And as shown to patent documents 1-3, it is the present condition that it has provided the sensor for exclusive use, and is detecting individually about each state of a user's fall, stay, and approach in the vicinity of these entrances and exits, respectively. .

  However, in the case where dedicated sensors are provided for each of the user's falling, staying and approaching states in the vicinity of the entrance / exit in this way, the number of necessary sensors increases and the configuration of the apparatus becomes complicated.

  The present invention has been made in order to solve the above-described problems, and can detect the passenger conveyor in the vicinity of the entrance / exit with a smaller number of sensors. Get the device.

  In the passenger conveyor human detection device according to the present invention, a plurality of steps connected endlessly in the passenger conveyor body and circulated, and from one entrance of the passenger conveyor along the left and right sides of the step to the other A skirt guard disposed over the entrance and exit, and formed at an end portion of the skirt guard, and disposed at a certain angle with respect to the first end surface and the extension line along the extension lines at the left and right ends of the step. An end cap portion having at least a second end surface; and an installation point at a corner portion sandwiched between the first end surface and the second end surface of the end cap portion of one of the left and right skirt guards A first detection means for detecting an object in the first detection range by radiating laser light to a first detection range within a predetermined horizontal angle centered on Detection means for detecting a user's fall and stay in the vicinity of the entrance / exit and the approach of the user to the entrance / exit based on the detection result of the first detection means, and the first detection range includes the first detection range, It is configured such that it is wider on the step side than the direction perpendicular to the first end surface, and wider on the side opposite to the step than the direction perpendicular to the second end surface.

  In the passenger conveyor human detection device according to the present invention, it is possible to detect each state of the user's falling, staying and approaching in the vicinity of the entrance / exit with fewer sensors.

It is a perspective view which shows the entrance / exit of a passenger conveyor provided with the person detection apparatus which concerns on Embodiment 1 of this invention. It is a top view which shows typically the entrance / exit of a passenger conveyor provided with the human detection apparatus which concerns on Embodiment 1 of this invention. It is sectional drawing which shows typically the structure of the sensor unit with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the scanning range of the 1st sensor unit with which the person detection device of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the scanning range of the 2nd sensor unit with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the laser transmission characteristic of the laser transmission window with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a block diagram which shows the structure of the detection control apparatus with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the 1st example of the information integration process of the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention. It is a figure explaining the 2nd example of the information integration process of the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention. It is a figure explaining the 3rd example of the information integration process of the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention. It is a figure explaining the other example of installation of the 1st sensor unit with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the other example of installation of the 1st sensor unit with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a figure explaining the other example of installation of the 1st sensor unit with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 1 of this invention is provided. It is a perspective view which shows the entrance / exit of a passenger conveyor provided with the human detection apparatus which concerns on Embodiment 2 of this invention. It is a top view which shows typically the entrance / exit of a passenger conveyor provided with the human detection apparatus which concerns on Embodiment 2 of this invention. It is a perspective view which shows the entrance / exit of a passenger conveyor provided with the human detection apparatus which concerns on Embodiment 3 of this invention. It is a top view which shows typically the entrance / exit of a passenger conveyor provided with the human detection apparatus which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the detection control apparatus with which the person detection apparatus of the passenger conveyor which concerns on Embodiment 3 of this invention is provided.

  The present invention will be described with reference to the accompanying drawings. Throughout the drawings, the same reference numerals indicate the same or corresponding parts, and redundant description thereof will be simplified or omitted as appropriate.

Embodiment 1 FIG.
FIGS. 1 to 13 relate to Embodiment 1 of the present invention, FIG. 1 is a perspective view showing a passenger entrance of a passenger conveyor equipped with a human detection device, and FIG. 2 is a diagram of a passenger conveyor equipped with a human detection device. FIG. 3 is a cross-sectional view schematically showing the configuration of a sensor unit provided in the passenger conveyor human detection device, and FIG. 4 is a diagram of the first sensor unit provided in the passenger conveyor human detection device. FIG. 5 is a diagram for explaining the scanning range, FIG. 5 is a diagram for explaining the scanning range of the second sensor unit provided in the human detection device for the passenger conveyor, and FIG. FIG. 7 is a block diagram showing a configuration of a detection control device provided in a passenger conveyor human detection device, FIG. 8 is a diagram explaining a first example of information integration processing of a passenger conveyor human detection device, and FIG. Is a passenger conveyor person FIG. 10 is a diagram for explaining a third example of the information integration process of the passenger conveyor human detection device, and FIGS. 11 to 13 are the passenger conveyor human detection. It is a figure explaining the other example of installation of the 1st sensor unit with which an apparatus is provided.

  In FIG. 1, a passenger conveyor 10 is an escalator installed between upper and lower floors. Inside the passenger conveyor 10 main body, a plurality of steps 11 on which a user rides are connected endlessly by a step chain (not shown) and circulates.

  Skirt guards 12 are provided along the left and right sides of the plurality of steps 11. The left and right skirt guards 12 are arranged from the entrance that is one entrance / exit of the passenger conveyor 10 to the exit that is the other entrance / exit. Here, it is assumed that the passenger conveyor 10 is operating downward. That is, the upper step 11 in the circulation path is moving from the upper floor side to the lower floor side. The upper floor side of the passenger conveyor 10 is the entrance and the lower floor side is the exit. FIG. 1 shows a state of the entrance / exit on the lower floor side of the passenger conveyor 10.

  A balustrade panel 14 is erected on the upper side of the left and right skirt guards 12, respectively. An endless moving handrail 15 that circulates in synchronization with the steps 11 is provided on the outer periphery of the balustrade panel 14. The boarding board 16 for boarding / alighting is respectively installed in the entrance and the exit (entrance / exit) of the passenger conveyor 10. FIG. The user gets into the step 11 from the boarding board 16 or gets off the boarding board 16 from the step 11.

  Each boarding board 16 is arranged at the reverse position (kiwa) in the movement path of the step 11. And the comb board 17 is attached to the step 11 side of each floor board 16 for boarding / alighting. The comb plate 17 includes comb teeth that loosely engage cleats (grooves) (not shown) formed on the surface of each step 11.

  End caps 13 are formed at the end portions of the left and right skirt guards 12 on the entrance side and the exit side, respectively. These end caps 13 include a first end surface 13a along the extension lines at the left and right ends of the step 11, and a second end surface 13b disposed at a fixed angle with respect to the extension lines at the left and right ends of the step 11. At least. The fixed angle formed by the extension line at the left and right ends of the step 11 and the second end surface 13b (extension line thereof) is either an acute angle, a right angle, or an obtuse angle. Here, it is assumed that this certain angle is a right angle. In other words, here, the second end face 13 b is disposed perpendicular to the extension lines of the left and right ends of the step 11.

  A first sensor unit 20a (first detection means) is installed at a corner between the first end surface 13a and the second end surface 13b of the end cap 13 of one of the left and right skirt guards 12. Has been. The first sensor unit 20 a is accommodated inside the skirt guard 12 in the end cap 13. As will be described in detail later, the first sensor unit 20a includes a laser scanning type distance sensor that measures the distance to an object using laser light.

  Therefore, the end cap 13 in which the first sensor unit 20a is accommodated is provided with a laser transmission window 29 for allowing the laser light emitted from the first sensor unit 20a to pass therethrough. The laser transmission window 29 is provided from the first end surface 13a of the end cap 13 to the second end surface 13b. At this time, the laser transmission window 29 is flush with these surfaces so as not to affect the user.

  A second sensor unit 20b (second detection means) is installed on the other skirt guard 12, that is, the skirt guard 12 on the opposite side to the one on which the first sensor unit 20a is installed. ing. The second sensor unit 20 b is disposed in the vicinity of the comb plate 17 of the floor board 16 for getting on and off in the skirt guard 12. The second sensor unit 20b is housed inside the skirt guard 12 at the site.

  Similar to the first sensor unit 20a, the second sensor unit 20b also includes a laser scanning distance sensor that measures the distance to the object using laser light. For this reason, a laser transmission window 29 for allowing the laser light emitted from the second sensor unit 20b to pass therethrough is provided on the side surface of the skirt guard 12 in which the second sensor unit 20b is accommodated. The laser transmission window 29 has a flat surface that is flush with the side surface of the skirt guard 12 so as not to affect the user.

  Next, the detection range of the first sensor unit 20a and the second sensor unit 20b will be described with reference to FIG. As described above, the first sensor unit 20a is disposed at a corner between the first end surface 13a and the second end surface 13b of the end cap 13 of one of the left and right skirt guards 12. .

  The first sensor unit 20a emits a laser beam to the first detection range 30a within a predetermined horizontal angle with the installation point as the center, thereby detecting an object (detection target) in the first detection range 30a. For detecting an object 50). The first detection range 30a is a range between two thick broken lines shown in FIG.

  As shown in FIG. 2, the first detection range 30a is wider on the step 11 side than the direction perpendicular to the first end surface 13a of the end cap 13 in which the first sensor unit 20a is installed, and The end cap 13 is set wider on the counter-step 11 side than the direction perpendicular to the second end surface 13b.

  Moreover, the 2nd sensor unit 20b is installed in the comb-plate 17 vicinity of the floor board 16 for boarding / alighting in the other skirt guard 12 among right and left as mentioned above. Then, the second sensor unit 20b emits a laser beam to the second detection range 30b within a predetermined horizontal angle with the installation point as the center to thereby detect an object (detection target object) in the second detection range 30b. 50). The second detection range 30b is a range sandwiched between two thick dashed lines shown in FIG.

  Next, detailed configurations of the first sensor unit 20a and the second sensor unit 20b will be described with reference to FIG. The side surface of the skirt guard 12 (including the end cap 13) (the first end surface and the second end surface in the case of the end cap 13) is radiated from the first sensor unit 20a or the second sensor unit 20b. An opening 28 for allowing the laser beam to pass therethrough is formed. The opening 28 is arranged to extend in the horizontal direction at a height of 8 to 11 cm (preferably about 10 cm) from the floor surface.

  A laser transmission window 29 made of a material that transmits laser light, such as a transparent acrylic plate or a transparent glass plate, is attached to the back side of the opening 28 so as to close the opening 28. In addition, the skirt guard 12 near the comb plate 17 of the boarding board 16 for getting on and off is provided with a caution sign window made of a transparent acrylic plate, a transparent glass plate or the like, and is used by giving a colored caution sign from the inside of the skirt guard 12. In the case of a passenger conveyor equipped with a boarding / alighting part warning sign device that informs the person that it is a boarding / alighting part, the laser transmission window 29 may not be newly installed, and may also be used as a warning sign window.

  A casing 21 of the first sensor unit 20a or the second sensor unit 20b is installed in the skirt guard 12 on the back side of the laser transmission window 29. The casing 21 is open at a portion corresponding to the laser transmission window 29. A laser scanning distance sensor 22 is accommodated in the housing 21. The laser scanning distance sensor 22 measures the distance to an object using reflection of laser light.

  The upper half of the upper end of the laser scanning distance sensor 22 constitutes a transmitter 23 that emits laser light in the horizontal direction toward the laser transmission window 29. The lower half of the upper end of the laser scanning distance sensor 22 constitutes a receiver 24 that receives the laser light reflected through the laser transmission window 29. The transmission unit 23 and the reception unit 24 rotate horizontally around the vertical axis, and can change the direction of the optical axis of the laser light in the horizontal direction within a certain angle range.

  A part of the laser light emitted from the transmitter 23 is reflected when passing through the laser transmission window 29. When the reflected light is radiated into the skirt guard 12, stray light is generated because the skirt guard 12 is made of metal. If this stray light is received by the receiver 24, it will lead to erroneous detection. Therefore, the laser scanning distance sensor 22 is covered with the casing 21 except for the portion corresponding to the laser transmission window 29. Furthermore, a horizontal partition plate 25 is provided to partition the space between the transmitter 23 and the receiver 24 in the horizontal direction so that the laser beam transmitted from the transmitter 23 does not reach the receiver 24 due to reflection inside the skirt guard 12. Yes.

  A plurality of anti-vibration gel bushings 26 are interposed between the bottom of the housing 21 and the bottom of the laser scanning distance sensor 22. The central portions of the antivibration gel bushes 26 are connected to each other by a horizontal connection plate 27. The first sensor unit 20a and the second sensor unit 20b configured as described above are fixed to a fixing part (not shown) such as a truss of the passenger conveyor 10 via a base plate (not shown). Has been.

  Next, the scanning range of the first sensor unit 20a and the second sensor unit 20b will be described with reference to FIGS. FIG. 4 is a diagram schematically showing the relationship among the first sensor unit 20a, the laser transmission window 29, and the scanning range of the laser beam. Similarly, FIG. 5 is a diagram schematically showing the relationship among the second sensor unit 20b, the laser transmission window 29, and the scanning range of the laser beam.

  Here, as shown in FIG. 6, part of the laser beam is reflected when passing through the laser transmission window 29. As the incident angle increases, the reflectance increases and the transmittance decreases. When the incident angle becomes larger than a certain level, total reflection occurs, so that the laser beam cannot pass through the laser transmission window 29.

  Due to such circumstances, in order to obtain a practically required laser beam transmittance, the incident angle of the laser beam to the laser transmission window 29 is limited to a certain range, and the incident angle is larger than that. Can not. This angle varies somewhat depending on the laser light used and the material of the laser transmission window 29, but is in a range of approximately ± 70 degrees with respect to the direction perpendicular to the surface of the laser transmission window 29 through which the laser light passes. That is, in the case of the widest scanning range, the angles α and β shown in FIGS. 4 and 5 are about 70 degrees.

  If the angle α = angle β = 70 degrees, the horizontal angle in the case of the widest scanning range for the first sensor unit 20a shown in FIG. 4 is about angle α + angle β + 90 degrees = 230 degrees. Then, the first detection range 30a of the first sensor unit 20a shown in FIG. 2 is formed corresponding to the scanning range in this case. Further, the horizontal angle when the second sensor unit 20b shown in FIG. 5 is the widest scanning range is about angle α + angle β = 140 degrees. Then, the second detection range 30b of the second sensor unit 20b shown in FIG. 2 is formed corresponding to the scanning range in this case.

  In this way, the first sensor unit 20a is disposed at the corner portion sandwiched between the first end surface and the second end surface of the end cap 13 portion, so that the first sensor unit 20a has the first sensor unit 20a. The detection range 30a can be wider than the second detection range 30b of the second sensor unit 20b. As described above, the first detection range 30a of the first sensor unit 20a is wider on the step 11 side than the direction perpendicular to the first end face and is perpendicular to the second end face. It is possible to set wider on the opposite step 11 side.

  In addition, the range of the horizontal angle of the optical axis of the laser beam that can be changed by the rotation of the transmission unit 23 and the reception unit 24 of the first sensor unit 20a and the second sensor unit 20b is equal to or more than the above-described scanning range. Is set to be That is, the transmitter 23 and the receiver 24 of the first sensor unit 20a can change the optical axis of the laser light by 230 degrees or more in the horizontal direction. Further, the transmission unit 23 and the reception unit 24 of the second sensor unit 20b can change the optical axis of the laser light by 140 degrees or more in the horizontal direction.

  Needless to say, the laser transmission window 29 is disposed over the scanning range of each of the first sensor unit 20a and the second sensor unit 20b.

  In addition, as shown in FIG. 4, the corners of the end cap 13 where the first sensor unit 20a is installed have the first end surface and the second end surface so as to exhibit a smooth arc shape in plan view. Connected and formed. The laser transmitting window 29 is also bent in an arc shape according to the shape of the corner. Thus, by making the laser transmission window 29 through which the laser beam from the first sensor unit 20a passes have a smooth shape, the direction of the laser beam passing through the laser transmission window 29 changes discontinuously according to scanning. This can be suppressed.

  Operation control of the first sensor unit 20a (first detection means) and the second sensor unit 20b (second detection means) and human detection processing using these detection means are performed by the detection control device 40. . Based on the detection results of these detection means, the detection control device 40 detects the user's falling and staying near the entrance / exit of the passenger conveyor 10 (here, the exit), and the approach of the user to the entrance / exit. It is a detection control means to detect.

  FIG. 7 is a block diagram showing a functional configuration of the detection control device 40. The scanning control unit 41 included in the detection control device 40 controls scanning of each of the first sensor unit 20a and the second sensor unit 20b by laser light. The scanning control unit 41 controls the scanning of the laser light of the first sensor unit 20a at a predetermined first scanning cycle. Further, the scanning control unit 41 controls the scanning of the laser light of the second sensor unit 20b at a predetermined second scanning cycle.

  The detection result by the first sensor unit 20a and the detection result by the second sensor unit 20b are input to the information integration unit 42 provided in the detection control device 40. The information integration unit 42 integrates the input detection result of the first sensor unit 20a and the detection result of the second sensor unit 20b.

  This integration is matched so that the detection results by the separate detection means, the first sensor unit 20a and the second sensor unit 20b, can be handled as if they were detection results by one detection means. It is a process that integrates into a series of information. The information integration unit 42 performs an integration process of the detection result of the first sensor unit 20a and the detection result of the second sensor unit 20b at a predetermined processing cycle.

  The information integrated by the information integration unit 42 is input to the object detection unit 43 provided in the detection control device 40. The object detection unit 43 detects an object (detection target 50) existing in the first detection range 30a and the second detection range 30b based on the information integrated by the input information integration unit 42. When an object is detected within these detection ranges, the object detection unit 43 also detects the position of the detected object.

  When the object detection unit 43 detects an object, the foot determination unit 44 included in the detection control device 40 determines whether the object is a human (user) foot based on the detection result by the object detection unit 43. Determine.

  When it is determined that the object detected by the object detection unit 43 is a person's foot, information to that effect and information on the position of the object detected by the object detection unit 43, that is, information on the position of the person's foot. And output as a determination result. On the other hand, when it is determined that the object detected by the object detection unit 43 is not a human foot, information regarding the position of the object detected by the object detection unit 43 is output as it is as a determination result.

  The detection control device 40 includes three detection units that perform various detection processes, that is, a fall detection unit 45, a stay detection unit 46, and an approach detection unit 47, based on the determination result by the foot determination unit 44.

  The fall detection unit 45 detects a user fall in the vicinity of the entrance / exit of the passenger conveyor 10 based on the determination result by the foot determination unit 44. The stay detection unit 46 detects the stay of the user in the vicinity of the entrance / exit of the passenger conveyor 10 based on the determination result by the foot determination unit 44. And the approach detection part 47 detects a user's approach to the entrance / exit of the passenger conveyor 10 based on the determination result by the foot determination part 44. FIG.

  As described above, the determination result output from the foot determination unit 44 includes information regarding the position of the object detected by the object detection unit 43, that is, the detection result by the object detection unit 43. The foot determination unit 44 is a function that performs a human foot determination process that is commonly performed in each of the fall detection unit 45, the stay detection unit 46, and the approach detection unit 47. Only.

  Therefore, the fall detection unit 45, the stay detection unit 46, and the approach detection unit 47 may perform each detection process based on the detection result by the object detection unit 43 without providing the foot determination unit 44.

  As described above, the scanning control unit 41 controls the scanning of the first sensor unit 20a and the second sensor unit 20b with the first scanning period and the second scanning period, respectively. In addition, the information integration unit 42 performs the integration process of the detection results of the first sensor unit 20a and the second sensor unit 20b at a predetermined processing cycle.

  Regarding the setting of the first scanning period, the second scanning period, and the processing period, there are several cases as follows. First, the first case of the relationship between the periods is a case where the three periods of the first scanning period, the second scanning period, and the processing period are all the same period.

  In the first case, the scanning control unit 41 controls the scanning by the first sensor unit 20a and the scanning by the second sensor unit 20b synchronously. That is, control is performed so that the optical axis of the laser light of the first sensor unit 20a and the optical axis of the laser light of the second sensor unit 20b intersect at the center of the left and right. By synchronously scanning in this way, the two sensor units detect an object at the same position at the same time.

  Therefore, it leads to ensuring that the objects detected by the different sensor units are the same, and by performing the integration process in the information integration unit 42 in the same processing cycle as these scanning cycles, It can be integrated into a series of information consistently so that it can be handled as if it were a detection result by the sensor unit.

  In the second case of the relationship of each cycle, the first scanning cycle and the second scanning cycle are set to the same cycle, and the processing cycle of the integration processing in the information integration unit 42 is one half of these scanning cycles. This is the case. In the second case, the scanning control unit 41 does not necessarily have to control the scanning by the first sensor unit 20a and the scanning by the second sensor unit 20b synchronously. That is, the optical axis of the laser light of the first sensor unit 20a and the optical axis of the laser light of the second sensor unit 20b do not have to intersect at the center of the left and right.

  However, in this case, the two sensor units do not detect the object at the same position at the same time, and it cannot be ensured that the objects detected by these sensor units are the same.

  Therefore, in the information integration unit 42, the first sensor unit 20a and the second sensor unit 20b are replaced with one sensor whose scanning cycle is halved, in other words, whose time resolution is doubled. Perform integration processing by considering it as a unit. That is, the processing cycle of the integration processing in the information integration unit 42 is set to a half of the scanning cycle of the first sensor unit 20a and the second sensor unit 20b.

  In the third case of the relationship of each cycle, the first scanning cycle and the second scanning cycle are different from each other, and the processing cycle of the integration processing in the information integration unit 42 is the first scanning cycle and the second scanning cycle. This is the case where the cycle is longer than the longer one.

  In this third case, the scanning cycle of the first sensor unit 20a (first scanning cycle) and the scanning cycle of the second sensor unit 20b (second scanning cycle) are independently and separately. Can be set. However, the processing cycle in which the integration processing is performed by the information integration unit 42 is set to be equal to or longer than the longer cycle of the first scanning cycle and the second scanning cycle. That is, the integration process is performed at the timing when scanning is performed for one cycle or more in both the first sensor unit 20a and the second sensor unit 20b.

  Next, a specific example of the integration process of the detection result of the first sensor unit 20a and the detection result of the second sensor unit 20b performed in the information integration unit 42 will be described with reference to FIGS. To do. First, FIG. 8 illustrates a first example of integration processing in the information integration unit 42.

  In this first example, the first detection range 30a and the second detection range 30b are preliminarily arranged in a plurality of grids (grids) set in a common coordinate system for use in processing in the information integration unit 42. Keep it divided. The size of the lattice is set in accordance with the measurement resolution (spatial resolution) of the first sensor unit 20a and the second sensor unit 20b. Specifically, for example, a grid of about several cm square is prepared in advance.

  Then, under the control of the scanning control unit 41, the first sensor unit 20a and the second sensor unit 20b are respectively in the first detection range 30a and the second in the first scanning period and the second scanning period, respectively. The distance to the detection object 50 within the detection range 30b is detected. Based on the detection results of these sensor units, the information integration unit 42 votes for the lattice at the position where the reaction of the object (detection target 50) has occurred.

  For example, when the reaction of the detection object 50 is obtained by the first sensor unit 20a at a position corresponding to a certain grid, for example, one vote is cast on the grid. Similarly, for example, one vote is cast on the lattice corresponding to the position where the reaction of the detection object 50 is obtained by the second sensor unit 20b. At this time, one vote has already been cast based on the detection result of the first sensor unit 20a with respect to the lattice corresponding to the position where the reaction of the detection object 50 is obtained by the second sensor unit 20b. The total number of votes for the grid is two votes.

  In this way, the number of votes voted for each grid is accumulated. This accumulated number of votes is called a vote value. And the information integration part 42 integrates the detection result of the 1st sensor unit 20a and the detection result of the 2nd sensor unit 20b based on the vote value to all the some grating | lattices with the process period mentioned above.

  The voting based on the detection result of each sensor unit may be synchronous or asynchronous. That is, the first scanning cycle of the first sensor unit 20a and the second scanning cycle of the second sensor unit 20b may or may not be the same. Therefore, in the first example of the integration process, all the cases from the first case to the third case can be adopted among the patterns of the relations of the respective cycles described above.

  In this way, during a certain processing cycle, in a common coordinate system, the number of votes to the grid corresponding to the position of the object detected (reacted) by each sensor unit is accumulated, and this sum is obtained. By performing the integration process based on the number of votes, that is, the vote value, it is possible to easily perform consistent information integration without paying special attention to the difference in the scanning cycle of each sensor unit and the scanning position at the same time. it can.

  Further, since the sensor unit performs detection using laser light, the detection result by each sensor unit is one-dimensional information, and as it is, it is used for detecting an object having a continuous and constant cross-sectional area such as a human foot. Is not necessarily advantageous. On the other hand, as in the first example, by integrating the detection results of the sensor units via the voting values for a plurality of grids, it can be handled as two-dimensional information. Information suitable for use in detecting an object having a continuous and constant cross-sectional area can be obtained.

  The number of votes for each lattice is reset at regular time intervals. The reset interval is set with the processing cycle of the integration processing in the information integration unit 42 as a unit. By setting this reset interval to be long, the voting result reflects whether or not the detection object 50 is moving. And when the detection target object 50 is moving, it is also possible to detect the movement locus of the detection target object 50 from the vote result.

  Next, FIG. 9 explains a second example of integration processing in the information integration unit 42. Also in the second example, as in the first example described above, the first detection range 30a and the second detection range 30b are set in a common coordinate system in advance for use in processing in the information integration unit 42. Divided into a plurality of grids. And the information integration part 42 votes to each grid | lattice based on the detection result of each of the 1st sensor unit 20a and the 2nd sensor unit 20b.

  However, in this second example, not only the lattice corresponding to the position where the reaction of the object (detection target 50) has occurred, but also the four lattices adjacent to the lattice at the position where the reaction has occurred. Vote.

  For example, when a reaction of the detection object 50 is obtained by the sensor unit at a position corresponding to a certain grid, for example, one vote is cast on the grid. At the same time, for example, one vote is cast for the lattice adjacent to the lattice in the vertical and horizontal directions.

  Voting simultaneously on the grid where the reaction is obtained and the grid adjacent to the grid means that a certain error is taken into consideration in the detection result by the sensor unit. As in the example described above, throwing the same number of votes in the lattice that has reacted and the lattice adjacent to the lattice corresponds to the lattice that has reacted because the detection result by the sensor unit includes an error. This corresponds to considering that the probability that the reacted object exists is equal between the position and the position corresponding to the lattice adjacent to the lattice.

  Further, the number of votes cast on the lattice that has reacted may be different from the number of votes cast on the lattice adjacent to the lattice. For example, in the case where the reaction of the detection object 50 is obtained by the sensor unit at a position corresponding to a certain grid, for example, two votes are cast on the grid, and at the same time, 1 is applied to the grid adjacent to the grid up and down Vote. In this example, the probability that an object is present at a position corresponding to the lattice where the reaction has occurred corresponds to that the probability that an object is present at a position corresponding to a lattice adjacent to the lattice is twice as large.

  In this way, according to the error distribution assumed for the detection result by the sensor unit, weighting may be performed on a vote cast on a lattice having a reaction and a vote cast on a lattice adjacent to the lattice.

  As in the first example described above, the information integration unit 42 detects the detection result of the first sensor unit 20a and the second sensor unit 20b based on the voting values for all the plurality of grids in a fixed processing cycle. Integrate detection results.

  Also in the second example, as in the first example, the voting based on the detection result of each sensor unit may be synchronous or asynchronous. Also in the second example of the integration process, all the cases from the first case to the third case can be adopted among the patterns of the relations of the respective cycles described above.

  Finally, FIG. 10 illustrates a third example of integration processing in the information integration unit 42. In the third example, no grid is set in advance for the first detection range 30a and the second detection range 30b as in the first and second examples described above. For this reason, the processing cycle of the integration process in the information integration unit 42 cannot be set regardless of the first scanning cycle of the first sensor unit 20a and the second scanning cycle of the second sensor unit 20b.

  In the third example of the integration processing, the first case and the second case can be adopted among the patterns of the relations of the respective cycles described above, but it is difficult to adopt the third case.

  Next, a modified example of mounting the first sensor unit 20a on the end cap 13 will be described with reference to FIGS. In the example of FIG. 4 described previously, the corners of the end cap 13 on which the first sensor unit 20a is installed have the first end surface and the second end surface so as to exhibit a smooth arc shape in plan view. This is an example in which and are connected.

  On the other hand, FIG. 11 shows a modification of the shape of the corner of the end cap 13. In this modification, the corner where the first sensor unit 20a is installed has the first end face and the second through a plane cut out so that each internal angle is 90 degrees or more in plan view. Are connected to each other. Further, the laser transmission window 29 attached to the corner also has a shape that is cut out so that each inner angle is 90 degrees or more in plan view in accordance with the shape of the corner.

  In this modified example, there is an advantage that the processing of the member is easy as compared with the configuration in which the corner and the laser transmission window 29 shown in FIG. 4 are bent in an arc shape. However, the direction of the optical axis is more likely to be disturbed at the connecting portion between the planes than in the case of the arc shape. Nevertheless, it is considered that the disturbance of the direction of the optical axis is suppressed rather than leaving the right angle portion in the corner and the laser transmission window 29.

  In the example of FIG. 4, a laser transmission window 29 having a property of transmitting laser light is attached to the opening 28 for allowing the laser light emitted from the first sensor unit 20a to pass therethrough. On the other hand, FIG. 12 shows a modification in which the laser beam is emitted directly through the opening 28 with the opening 28 left as it is without providing the laser transmission window 29.

  As described above, the maximum incident angle of a practical laser beam to the laser transmission window 29 is limited by the influence of reflection when passing through the laser transmission window 29. Due to this limitation, a limitation is imposed on the maximum possible scanning range and thus the first detection range 30a. Therefore, by passing the laser beam directly through the opening 28 without providing the laser transmission window 29, this limitation can be avoided, and the rotatable range of the transmission unit 23 and the reception unit 24 of the first sensor unit 20a can be kept as they are. The maximum scanning range of the laser beam, that is, the first detection range 30a can be set. However, naturally, the first sensor unit 20a is exposed to the outside through the opening 28.

  The modification shown in FIG. 13 includes an optical device 60 for guiding the laser light emitted from the first sensor unit 20a to the opening 28. The optical device 60 radiates laser light emitted from the transmission unit 23 of the first sensor unit 20a and incident on the optical device 60 from the opening 28 to the outside of the end cap 13 at an emission angle larger than the incident angle. It has a function. Conversely, the reflected light entering at a larger incident angle can be guided to the receiving unit 24 of the first sensor unit 20a.

  By providing such an optical device 60, the first detection range 30a can be made wider.

  The optical device 60 may be disposed so as to be completely along the outer periphery of the transmission unit 23 and the reception unit 24 of the first sensor unit 20a, or the transmission unit 23 and the reception unit 24 of the first sensor unit 20a. The outer periphery of the optical device 60 and the optical device 60 may be arranged with a certain interval. Alternatively, the first sensor unit 20a and the optical device 60 may be integrated, and the transmission unit 23 and the reception unit 24 of the first sensor unit 20a may be included in the optical device 60.

  Here, an escalator has been described as an example of the passenger conveyor 10, but the present invention can also be applied to a so-called moving sidewalk. Moreover, although the case where it drove down was demonstrated, ascending operation may be sufficient. Furthermore, although the case where the 1st sensor unit 20a and the 2nd sensor unit 20b were installed in the exit side was demonstrated, these sensor units can also be installed in the entrance side.

  The passenger conveyor human detection device configured as described above includes a plurality of steps 11 that are connected endlessly in the passenger conveyor 10 body and circulates, and one of the passenger conveyors 10 along the left and right sides of the steps 11. A skirt guard 12 disposed from the entrance that is the entrance / exit to the exit that is the other entrance / exit, and a first end face 13a that is formed at the end of the skirt guard 12 and that extends along the left and right ends of the step 11 And an end cap 13 having at least a second end surface 13b disposed at a certain angle with respect to the extension line, and a first end surface 13a and a second end surface 13 of the end cap 13 of one of the left and right skirt guards 12. The laser beam is radiated to the first detection range 30a within a predetermined horizontal angle with the installation point as the center, and the laser beam is emitted to the first detection range 30a. The first sensor unit 20a, which is a first detection means for detecting an object within the detection range 30a, and the fall and stay of the user near the exit based on the detection result of the first sensor unit 20a And a detection control device 40 for detecting the approach of the user to the exit.

  Here, in general, the possibility of entrainment increases even when the user falls even in the vicinity of the entrance / exit, particularly in the vicinity of the comb plate 17 of the boarding board 16 for boarding / exiting. For this reason, it is desirable to detect the occurrence of the user's fall especially in the vicinity of the comb plate 17. Further, immediately after the user gets off the step 11, that is, when the user stays on the boarding board 16 on the exit side, the user gets down from the step 11 one after another and becomes clogged. Or when the user exceeding the conveyance capability of a passenger conveyor rushes to a boarding gate, a user's residence generate | occur | produces on the floor board 16 for boarding / alighting on the boarding side. For this reason, it is desirable to make it possible to detect occurrence of the user on the floor board 16 for getting on and off, in particular. Further, detecting the approach of the user in the range from the boarding board 16 to the counter-step 11 side leads to early detection of the approaching person, which is advantageous in controlling the operation of the passenger conveyor 10.

  In the passenger conveyor human detection device according to Embodiment 1 of the present invention, in particular, the first sensor unit 20a includes the first end surface 13a and the second end surface 13b of the end cap 13 of the left and right skirt guards 12; The first detection range 30a of the first sensor unit 20a is wider on the step 11 side than the direction perpendicular to the first end surface 13a and on the second end surface 13b. It is set wider on the counter-step 11 side than in the vertical direction.

  Therefore, the first detection range 30a of the first sensor unit 20a is set so as to cover further from the step 11 side than the comb plate 17 of the boarding board 16 to the counter-step 11 side of the boarding board 16. It is possible to detect each state of the user's falling, staying and approaching in the vicinity of the entrance / exit based on the detection result of the one first sensor unit 20a. Further, at this time, each of the user's falls, stays, and approaches is preferably a place to be included as the most detection target place (in the vicinity of the fallen comb board 17, stay is on the boarding board 16, and approach is the boarding board 16. To the opposite step 11 side).

  In the first embodiment, the laser beam is further radiated to the second detection range 30b that is installed on the other skirt guard 12 of the left and right and within a predetermined horizontal angle around the installation point. And a second sensor unit 20b which is a second detection means for detecting an object in the second detection range 30b, and the second sensor unit 20b is used as a comb plate of the floor board 16 for getting on and off the skirt guard 12. It is arranged in the vicinity of 17 parts.

  For this reason, the first sensor unit 20a covers the above-mentioned wide range, and the second sensor unit 20b covers the range centering on the comb plate 17, so that the detection ranges of the two sensors are mutually connected. Complementarily, with a small number of sensors, it is possible to create a state where there are few blind spots for detecting a user's falling, staying and approaching.

Embodiment 2. FIG.
FIGS. 14 and 15 relate to Embodiment 2 of the present invention. FIG. 14 is a perspective view showing the entrance and exit of a passenger conveyor equipped with a human detection device, and FIG. 15 shows a passenger conveyor equipped with a human detection device. It is a top view which shows a boarding gate typically.

  In the second embodiment described here, the second sensor unit 20b is arranged not on the comb plate 17 but on the end cap 13 in the same manner as the first sensor unit 20a in the configuration of the first embodiment described above. It is a thing.

  That is, as shown in FIGS. 14 and 15, the second sensor unit 20b (second detection means) includes the other skirt guard 12, that is, the skirt guard 12 provided with the first sensor unit 20a. Is provided at the end cap 13 portion of the skirt guard 12 on the opposite side. The second sensor unit 20b is connected to the end surface of the end cap 13 along the extension line of the left and right ends of the step 11 and the extension line of the second end surface, that is, the left and right ends of the step 11. It arrange | positions at the corner part pinched by the end surface arrange | positioned at a fixed angle (here right angle).

  As shown in FIG. 15, the second detection range 30b is wider on the step 11 side than the direction perpendicular to the first end surface of the end cap 13 in which the second sensor unit 20b is installed, and the end The cap 13 is set wider on the counter-step 11 side than the direction perpendicular to the second end face.

  Other configurations including the arrangement of the first sensor unit 20a, the first detection range 30a, the detection control device 40, and the like are the same as those in the first embodiment, and detailed description thereof is omitted.

  In the configuration of the first embodiment described above, the first sensor unit 20a as the first detection means is arranged at the corner of the end cap 13, and the second sensor unit 20b as the second detection means is connected to the skirt guard. It was arranged in the vicinity of 12 comb plates 17. This can be said to be a configuration that can detect in a balanced manner the approach of the person to the entrance / exit and the fall of the person near the comb plate.

  On the other hand, in the configuration of the second embodiment described above, the second sensor unit 20b as the second detection unit is also the first sensor unit 20a in the end cap 13 of the skirt guard 12 as in the first sensor unit 20a. This is installed at the corner between the end face 13a and the second end face 13b.

  Then, the second detection range 30b of the second sensor unit 20b is wider on the step 11 side than the direction perpendicular to the first end surface 13a of the end cap 13 and is perpendicular to the second end surface 13b. By setting it wider on the opposite step 11 side, both the first sensor unit 20a and the second sensor unit 20b have a detection range wider on the opposite step 11 side than the boarding floor plate 16, and the comb plate Naturally, it is possible to detect the fall of a person in the vicinity of 17, but it is easier to detect the approach of the person to the entrance.

Embodiment 3 FIG.
FIGS. 16 to 18 relate to Embodiment 3 of the present invention, FIG. 16 is a perspective view showing a passenger entrance of a passenger conveyor equipped with a human detection device, and FIG. 17 shows a passenger conveyor equipped with a human detection device. FIG. 18 is a block diagram showing a configuration of a detection control device provided in a passenger detection device for a passenger conveyor.

  In Embodiment 3 described here, only the first sensor unit 20a is provided without providing the second sensor unit in the configuration of Embodiment 1 described above.

  That is, as shown in FIGS. 16 and 17, the first sensor unit 20 a is formed at the corner between the first end surface and the second end surface of the end cap 13 of one of the left and right skirt guards 12. (First detection means) is installed. The sensor unit installed in the third embodiment is the first sensor unit 20a. The second sensor unit provided in the first embodiment and the second embodiment described above is not provided.

  FIG. 18 is a block diagram showing a functional configuration of the detection control device 40 according to the third embodiment. In Embodiment 1 described above, since two sensor units are provided, an information integration unit for integrating the detection results of these sensor units is provided. In the third embodiment, since only one sensor unit is the first sensor unit 20a, such an information integration unit is unnecessary.

  However, an information totaling unit 48 for making the detection result of the first sensor unit 20a suitable for processing by the object detection unit 43 is provided instead of the information integration unit. Specifically, in the totaling process of the detection results of the first sensor unit 20a in the information totaling unit 48, the first to third examples of the integration process in the information integration unit described in the first embodiment. Can be applied. However, although there are two sensor units in the first embodiment, only the first sensor unit 20a is present in the third embodiment.

  For this reason, for example, when applying the first example of the integration process, the information totaling unit 48 has responded by the first sensor unit 20a based only on the detection result of the first sensor unit 20a. Vote on the grid corresponding to the location. Similarly, when applying the first example of the integration process, the information totaling unit 48 is based on only the detection result of the first sensor unit 20a, so that the first sensor unit 20a reacts to the position. Vote for the corresponding grid and the grid adjacent to the grid.

  Next, the relationship between the (first) scanning cycle of the first sensor unit 20a controlled by the scanning control unit 41 and the processing cycle of the counting process in the information counting unit 48 in these cases will be described. The relationship between the scanning cycle and the processing cycle in the third embodiment is roughly divided into the following two cases. That is, there are a case where the scanning cycle and the processing cycle are equal, and a case where the scanning cycle and the processing cycle are different.

When the scanning cycle is equal to the processing cycle, scanning by the first sensor unit 20a and counting processing by the information counting unit 48 are performed synchronously. Moreover, when making a scanning period and a processing period different, it is preferable to set a processing period to a period longer than a scanning period. Furthermore, it is desirable that the processing cycle be a natural number multiple of the scanning cycle with the scanning cycle as a unit.
Other configurations are the same as those in the first embodiment, and detailed description thereof is omitted.

  The passenger conveyor human detection device configured as described above includes only the first sensor unit 20a as the first detection means, but as described in the first embodiment, the first sensor unit 20a. Only the first detection range 30a covers from the step 11 side to the counter step 11 side of the boarding board 16 from the comb board 17 of the boarding board 16.

  Therefore, based on the detection result of only this one first sensor unit 20a, it is possible to detect the user's falling, staying and approaching states in the vicinity of the entrance / exit, that is, with the minimum number of sensors, It is possible to detect each state of the user's falling, staying and approaching near the mouth.

  DESCRIPTION OF SYMBOLS 10 Passenger conveyor, 11 steps, 12 skirt guard, 13 end cap, 13a 1st end surface, 13b 2nd end surface, 14 balustrade panel, 15 moving handrail, 16 boarding board for boarding / exiting, 17 comb board, 20a 1st sensor unit 20b Second sensor unit, 21 housing, 22 laser scanning distance sensor, 23 transmitter, 24 receiver, 25 horizontal partition plate, 26 anti-vibration gel bush, 27 horizontal coupling plate, 28 opening, 29 laser transmission Window, 30a first detection range, 30b second detection range, 40 detection control device, 41 scanning control unit, 42 information integration unit, 43 object detection unit, 44 foot determination unit, 45 fall detection unit, 46 stay detection unit , 47 approach detection unit, 48 information counting unit, 50 detection object, 60 light Equipment

Claims (16)

A plurality of steps connected endlessly in the passenger conveyor body and circulated;
A skirt guard disposed from one entrance to the other entrance of the passenger conveyor along the left and right sides of the step;
An end cap formed at an end of the skirt guard and having at least a first end face along an extension line at both left and right ends of the step and a second end face arranged at a certain angle with respect to the extension line And
The first skirt guard is installed at a corner portion sandwiched between the first end surface and the second end surface of the end cap portion of the skirt guard, and is within a predetermined horizontal angle centered on the installation point. First detection means for detecting an object in the first detection range by radiating laser light to the detection range;
Based on the detection result of the first detection means, comprising a detection control means for detecting the fall and stay of the user in the vicinity of the entrance / exit and the approach of the user to the entrance / exit,
The first detection range is set wider on the step side than the direction perpendicular to the first end face, and wider on the side opposite the step than the direction perpendicular to the second end face. A passenger detection device for passenger conveyors. An object in the second detection range is detected by radiating a laser beam to a second detection range that is installed on the other skirt guard of the left and right and that is centered on the installation point and within a predetermined horizontal angle. Second detection means for
The detection control means detects the user's falling and staying near the entrance / exit and the approach of the user to the entrance / exit based on the detection result of the first detection means and the detection result of the second detection means. The passenger detection device for a passenger conveyor according to claim 1.   3. The passenger detection device for a passenger conveyor according to claim 2, wherein the second detection means is installed in the vicinity of a comb plate portion of a floor board for getting on and off in the other skirt guard. The second detection means is installed at a corner sandwiched between the first end surface and the second end surface of the end cap portion of the other skirt guard,
The second detection range is wider on the step side than the direction perpendicular to the first end face of the end cap portion where the second detection means is installed, and is perpendicular to the second end face. The passenger detection device for a passenger conveyor according to claim 2, wherein the person detection device is set wider on the side opposite to the step than the direction.   The corner where the first detection means is installed is formed by connecting the first end face and the second end face so as to exhibit a smooth arc shape in plan view. The person detection device for a passenger conveyor according to any one of claims 1 to 4.   The first end face and the second end face are connected to each other at the corner where the first detecting means is installed through a plane cut out so that each internal angle is 90 degrees or more in plan view. The passenger detection device for a passenger conveyor according to any one of claims 1 to 4, wherein the passenger detection device is formed. The first detection means is housed inside the skirt guard in the end cap portion,
The opening portion for allowing the laser beam emitted from the first detection means to pass is formed in the end cap portion in which the first detection means is accommodated. The person detection device for a passenger conveyor according to claim 6.   8. The passenger detection of a passenger conveyor according to claim 7, further comprising a laser transmission window made of a material provided in the opening and having a property of transmitting the laser light emitted from the first detection means. apparatus.   The passenger detection device for a passenger conveyor according to claim 7 or 8, further comprising an optical device for guiding the laser beam emitted from the first detection means to the opening. The detection control means includes
An information integration unit for integrating the detection result of the first detection unit and the detection result of the second detection unit;
An object detection unit that detects the presence and position of an object in the first detection range and the second detection range based on the information integrated by the information integration unit;
Based on the detection result by the object detection unit, a fall detection unit that detects a user's fall in the vicinity of the entrance and exit,
Based on the detection result by the object detection unit, a stay detection unit that detects the stay of a user near the entrance and exit,
The access detection part which detects the approach of the user to the entrance / exit based on the detection result by the said object detection part, It provided with the any one of Claims 2-4 characterized by the above-mentioned. Passenger conveyor human detection device. The detection control unit includes a scanning control unit that controls scanning of each of the first detection unit and the second detection unit using laser light,
The scanning control unit controls scanning of the first detection unit at a predetermined first scanning cycle and controls scanning of the second detection unit at a predetermined second scanning cycle. ,
The said information integration part implements the integration process of the detection result of a said 1st detection means and the detection result of a said 2nd detection means with a predetermined process cycle, The detection result of Claim 10 characterized by the above-mentioned. Passenger conveyor human detection device. The first scanning cycle, the second scanning cycle, and the processing cycle are the same cycle,
The passenger detection device for a passenger conveyor according to claim 11, wherein the scanning control unit synchronously controls scanning by the first detection unit and scanning by the second detection unit. The first scanning cycle and the second scanning cycle are the same cycle,
The passenger detection device for a passenger conveyor according to claim 11, wherein the processing cycle is one-half of the first scanning cycle and the second scanning cycle. The first scanning period and the second scanning period are different periods,
The passenger detection device for a passenger conveyor according to claim 11, wherein the processing cycle is a cycle longer than the longer of the first scanning cycle and the second scanning cycle.   The information integration unit divides the first detection range and the second detection range into a plurality of grids set in a common coordinate system, and detects the detection result of the first detection unit and the second detection range. Voting is performed on the grid at the position where the object has reacted based on the detection result of the means, and the detection result of the first detection means and the second detection means are based on the vote values for the plurality of grids. 15. The passenger detection device for a passenger conveyor according to any one of claims 11 to 14, wherein the detection results are integrated.   The information integration unit divides the first detection range and the second detection range into a plurality of grids set in a common coordinate system, and detects the detection result of the first detection unit and the second detection range. Voting is performed on the grid at a position where the object has reacted based on the detection result of the means and the grid adjacent to the grid, and the detection of the first detection means is performed based on the vote values for the plurality of grids. The passenger detection device for a passenger conveyor according to any one of claims 11 to 14, wherein the result and the detection result of the second detection means are integrated.

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