201228920 -· and when the state where the surface size of the object is larger than or equal to the threshold is maintained for the predetermined duration or longer, the scanning-type distance sensors detect a failure as foreign matter detection. 四、 指定代表圖： (一） 本案指定代表圖為：第（2)圖。 (二） 本代表圖之元件符號簡單說明： 1〜乘客扶梯； 4〜乘降用地板； 5〜串接板； 6〜接近用通路； 7〜掃描型距離感應器（雷射掃描感應器）； 7a〜雷射光束掃描範圍。 五、 本案若有化學耕，請揭*最能齡剌特徵的化· 無。 予八· 六、發明說明： 【發明所屬之技術領域】 電動道路等 本發明係關於跌倒偵知裝置以及電扶梯、 的乘客扶梯。 3 201228920 【先前技術】 乘客扶梯中，使用者（乘客）從運轉中的乘客扶梯下梯 到出入口之際’有失誤跌倒的憂慮…吏用者即使萬一在出 入口失誤跌倒，由於通常不能谓知使用者跌倒期望對此 習知的乘客扶梯中，在乘客扶梯的乘降部近旁設置雷 射掃描感應器’根據此雷射掃描感應器，測量平面座標上 的使用者的移動’ &雷射掃描感應器測量的使用者移動速 度（乘降部中滯留狀態資訊）低於既定值時 執行喚起注意廣播的料，建議—乘客扶梯的安全裝置， 在使用者滯留、混雜拖延時，控㈣流 電壓，時㈣料Μ止驅動馬達料度（例如利 文件1)。此乘客扶梯的安全裝置，根據乘客扶梯的乘降部 近旁設置的雷射掃描感應器，作成檢出對象物(乘客)的表 面連續點的座標圖’與預先測量的無使用者狀態下的座標 資料圖重#’除去固定障礙物的座標資料’藉此，根據乘 客扶梯上的目前平面座標資料圖’得到乘客的輪廓資料。 於是’根據乘客的輪廟資料’算出乘客中心點的座標，算 出每個檢出對象物(乘客)的移動速度，檢出對象物的移動 速度比預定的臨界值低時，檢出乘客的停下、滯留，還有 即使未檢出乘客停下1留，而超過檢出物體多數檢出臨 界值時，判定乘客扶梯乘降部為混亂狀態。 [先行專利文件] [專利文件1]日本第2008-303057號專利公開公報 201228920 【發明内容] [發明所欲解決的課題] %乘客扶梯的安全裝置，根據雷射掃描感應器， 從檢出對象物(使用者)的輪靡資料(形狀)中捕捉中心點， A ;根據此中、點的數量及移動速度測量滯留、過密狀 〜、使用者（乘客）跌倒時，例如即使頭部在出入口附近， :有腳下在掃描區域外的情況，這樣的狀態下不能正確求 付中‘點1 無法偵知跌倒。X，即使求得中心點，而 在出入口以外，可能判斷為沒問題，不鳴警報。又， 跌倒的使用者的手移動，慌張之類，冑出微小的動作時， 經由手的部分捕捉射d由料料度移動，誤認為 混亂狀態，判；t為適當通行狀態，恐怕不能谓知跌倒。又， 雷射到達遠方時，恐怕有離開乘客扶梯的滯留產生的誤動 作。又，捕捉踩入地面的腳的另一腳，且由於有必要捕捉 到跌倒，设置的雷射掃描感應器的高度必須在最適當的高 度。 又，利用雷射掃描感應器形成的掃描型距離感應器的 乘客扶梯使用者跌倒偵知裝置中，外部飛來的紙袋、塑膠 袋或布類等的異物覆蓋感應器外殼的情況，或是惡作劇貼 口香糖專至感應器外设上的情況下’考慮到誤檢出。例如， 考慮到倒下物體的物體表面尺寸設定為350mm(毫米）的情 況’感應器表面被飛來的紙袋、塑膠袋或布類等的異物以 180度的範圍覆蓋時，此異物的物體表面尺寸為314mm，非 201228920 跌倒檢出，而往往成為誤檢出。又，惡作劇貼上口香糖等 的異物的情況’即使使用者的物體表面尺寸在臨界值以 下，由於加上口香糖表面尺寸，也往往誤檢出為失誤跌倒。 又，感應器近旁放置保特瓶時，往往不能以雷射光折射檢 出保特瓶。 此發明係用以解決上述的課題，因此即使是紙袋、塑 膠袋或布類等的異物覆蓋感應器外殼的情況，或是惡作劇 貼口香糖等至感應器外殼上的情況，也不會誤檢出，提供 可以確實偵知的跌倒偵知裝置及乘客扶梯。 根據本發明的跌倒偵知裝置中，具有掃描型距離感應 器，用以在檢出跌倒的掃描範圍的偵知區域内水平面狀地 放射雷射光束；其中，上述掃描型距離感應器，累積每個 測量角度的距離，對於偵知區域内的資料，計算對時間性 距離變化的標準偏差及標準偏差的標準偏差，標準偏差的 標準偏差在臨界值以下時，計算其領域的物體表面尺寸（長 度），物體表面尺寸（長度）在臨界值以上的狀態持續既定的 繼續時間時，判定為跌倒狀態；χ，上述掃描型距離感應 器計算到達上述物體的距離，到達物體的距離在掃描型距 離感應器近旁，且物體表面尺寸在臨界值以上的狀態在既 定的時間以上繼續的話，偵知故障為異物偵知。 又，根據本發明的乘客扶梯中，包括乘降用地板，分 別設置於作為乘客扶梯的乘梯處及下梯處的各出入口，在 乘客扶梯的梯級側設置串接板；接近用通路，設置於上述 乘降用地板的反事接板側，乘客用以接近；以及掃描型距 201228920 •離感應器，設置於上述乘客扶梯的出入口附近，在包含上 =降用地板及接近用通路的掃描範_，水平面狀地放 束；其巾，上述掃描肋__，累積每個測 里角度的距離，對於預先設定㈣知區域内的資料，叶曾 對時間性距離變化的標準偏差及標準偏差的標準偏差^ 標準偏差在臨界值以下時，計算其領域的嶋 尺寸（長度），物體表面尺寸（長度）在臨界值以上的狀離 持續既定的繼續時間時，判定為跌倒狀態；又，上述掃描 感應器’計算到達上述物體的距離’到達物體的距 型㈣感應器近旁’且物體表面尺寸在臨界值以 上的狀態在既定的時間以上繼墙沾β 知。 繼續的話，偵知故障為異物偵 1〇n 述掃描型距離感應器，到達物體的距離在 (毫未）以内的情況下，判定在感應器近旁。 又’物體表面尺寸在第J臨界值以上，且 繼續時間以上的話，上述掃描型距離感應器谓知輕: 俱头物體表面尺寸係比第i臨界值大 =上’且繼續既定的繼續時間以上的話， 障為重度的異物偵知。 里玟 又，偵知輕故障為輕度的異物偵知的情況下 應器掃除要求，谓知重故障為重度的異物偵兄‘ 輸出異物除去要求。 的匱况下， 一又，上述掃描型距離感應器’在未偵知物體 貧施背景處理，根攄装北 '下 根據其月景處理，雖然為背景可觀測範圍， 7 201228920 但應存在的背景有不能偵知的背 J成京除去部分，背景除去部 分的大小比臨界值大時，侦知故障為異^貞知。 [發明效果] 根據本發明，即使是紙袋、塑膝袋或布類等的異物覆 蓋感應器外殼的情況，或是惡作劇貼口香糖等至感應器外 殼上的情況，也不會誤檢出，進行異物檢知的警告、馨報 等處理，執行掃除要求、異物除去要求。 【實施方式】 第1圖係顯示具有本發明基本例的跌倒偵知裝置的乘 客扶梯全體概略構成側面圖，第2圖係跌倒偵知裝置及乘 客扶梯的平面圖，帛3圖係顯示跌倒偵知裝置及乘客扶梯 的出入口部分的立體圖，第4圖係顯示跌隹“貞知裝置中使 用的掃描型距離感應器的掃描範圍說明圖，第5圖係顯示 跌倒債知裝置中使用的掃描型距離感應器的掃描範圍以及 用以檢出跌倒的計算影像的說明圖，帛6圖係顯示根據跌 倒傾知裝置解析跌倒狀態及滞留狀態的情況說明圖，以及 第7圖係用以說明跌倒偵知裝置的跌倒偵知算法的流程 圖。 第1〜3圖中，1係乘客扶梯，在此係下降運轉。2係 乘客扶梯1的下梯處的i樓乘降口，3係乘客扶梯】的二 梯處的2樓乘降口，4係分別設置於各乘降口 2、3的乘客 扶梯的乘㈣地板，乘客從乘降帛純4乘上乘客扶梯1 的梯級’從乘客扶# 1的梯級下梯。5係設置於乘降用地 8 201228920 板4的梯級側的頂戚> …姐u 板，6係設置於乘降用地板4 的反串接板5側，乘客用以接近乘客接i 4的接近用通路。在此扶梯1的乘降用地板 4不使用者（乘客）在下梯處的i 二降用地板4上跌倒的情況。7係雷射掃描 1署：〗、掃描型距離感應器，不妨礙乘客通行而分別 设置於1樓乘降口（下梯處）2 r ^ 惻。卩附近及2樓乘降口 =梯處）3的-側部附近，如U圖所示，可以設置於柱 ="又傻與雷射掃描攝影機組裝’以小型攝影機捕捉跌 倒偵知影像，保存跌倒偵知影像，也可以傳送 此掃描型距離感應器7,如第2圖所示，從乘降口 2二 -側部附近往水平方向放射雷 射的光轴，測量以感應器為中心的水平二直方向旋轉雷 .0 的水千方向距離。於是， 乘降口 2的一側部附近設置的掃描型距離感 光束掃描範圍7a，4 i 4 # ' ，雷射 圓a在1樓的乘降口（下梯處“中， 範圍包含乘客用以接近乘降田的 降用地板4、串接μ… 接近用通路6、乘 掃r型… ° 3的一侧部附近設置的 田 感1應$ 7的雷射光束的掃描範度| 7a ’在2樓 乘降口（上梯處）3中，掃描的範 ， 二束乘:心_降…的接 ’束的知描範圍7a，掃描的範圍當然 附近設置的乘降用地板4、串接板5,還有用、降2、3 番盐w步μ 定有用以從遠離的位 置接近乘降用地板4的接近用通路6 感應器7的& w u ''連接知描型距離 處理"： 此的掃描型距離感應器7及 裝置8,以掃描型距離感應器？測量物體的大小或長 201228920 度掃描型距離感應器7累積每個測量角度的距離，對偵 知區域内的資料，計算對時間性距離變化的標準偏差及標 準偏差的標準偏差。標準偏差在臨界值以T，且標準偏差 的標準偏差在臨界值以下時，計算此領域的物體表面尺寸 (長度）。於是，此物體表面尺寸（長度）在臨界值以上的狀 態持續既定的繼續時間以上時，判定使用者（乘客）為跌倒 狀態。如第4圖所示’掃描型距離感應器7在±12()。的範圍 以例如〇.36。（360。分割成1〇24份）的角度間距計算與物體 尺的距離’計算單位為毫米(mm)。掃描周期為l〇〇ms(毫 秒)。第5圖為了簡化，圖示15。間距，〇符號為測量點。 第5圖的點線框顯示偵知區域，由於點a、卜η在债知區 =外’不用於計算。第5圖的黑箭頭係、過去卜2秒間的測 的過…點的標準偏差範圍==標準偏差 差，你或τ善止+ 闽户厅明&準偏差的標準偏 系為了看先求得的標準偏差本身的時 度，還有在時間轴方向上取得標準 巾田 c、m、…貞知區域内，用於計算由於^圖的點 間’還有兩側找出的圓弧、在點 υ t 及點G的兩側找出的圓弧係物 二：出的圓弧、以 = 點存在。此時，脫離债知區域的 [域的 標準偏差的標準偏差兩方或選擇侧在臨偏差、 物體表面尺寸。現在，點d、e、f 時，计算 出各圓弧的長度，其合計為物 界值以下時，提 面尺寸。又’第6圖的 10 201228920 橫軸為標準偏差值（或是標準偏差的標準偏差值），成為既 定的物體表面尺寸以上的時間為縱軸。根據第6圖可看 出’由於跌倒狀態的繼續時間長，滯留狀態的繼續時間短， 跌倒狀態與滞留狀態之間有間隔的話，意味可以以此間隔 為界限作正確判定°又’可以以間隔最寬處為判定臨界值。 根據實際標準偏差產生的解析結果，看出標準偏差的臨界 值為60〜8Gmm’物體表面尺寸的臨界值為繼 續時間為5〜1〇秒時，可以正確判定跌倒。但，此情況在 掃描型距離感應器7前不判定為拍動狀況。（拍動跌倒：手 足以K公分）往返/秒動作）β χ，根據實際標準偏差的 標準偏差產生的解析結果，看出標準偏差的標準偏差的臨 界值為20〜4。随’物體表面尺寸的臨界值為3。。〜5〇_, 繼續時間為1〜2秒時，可以正確判定，此情況可以判定上 述拍動跌倒也是跌倒。因此’選擇以標準偏差的標準偏差 L貞知跌倒’藉由設定上述參數，可說可以正確備知包括拍 的跌倒。為了查證上述參數的有效性，冷料、過密（混 :日’，有關靜止跌倒、拍動跌倒的驗證結果，非跌倒時不 誤報’包含拍動跌倒的跌倒’確認可以以約5〜1〇秒镇知 跌倒。即，根據上述驗證結果的話，冷清時，占有率低於 :2,標準偏差的標準偏差僅僅一瞬低於臨界值，也由於 乾圍小’物體表面尺寸幾乎不上升。因此，不判定為跌 過密（混亂）時’占有率超過50%，即使在4m(米）/分的 吊低速中’標準偏差的標準偏差大部分不低於臨界值。 此’即使過密(混亂)時，也不誤判跌倒。又，靜止跌倒 11 201228920 的情況下，跌倒瞬間開始到物體表面尺寸超過2〇〇mjn為止 的差為3.5秒，加上繼續時間15秒，以5秒偵知跌倒。 又，拍動跌倒的情況下，跌倒瞬間開始到物體表面尺寸超 過200mm為止的差為4. 5秒，加上繼續時間1 5秒以6 秒偵知跌倒。又，實際上在同條件下評估現場資料。雖然 現場資料是非常混亂的狀態’但標準偏差的標準偏差大部 分不低於臨界值’不至於誤報。 其次，根制7 @，說明本發明基本例的跌倒傾知裝 置及乘客扶梯的跌倒偵知算法。 根據雷射掃描掃感應器構成的描型距離感應器了，累 積每個測量角度的距離資料(步驟⑴。其次，抽出測量距 離資料（步驟S2)，進行標準偏差計算（步驟S3)，判定標準 偏差是否在臨界值以下(步驟S4)。在此，標準偏差係根據 過去1〜2秒間的偵知區域内的資料計算。又，抽出測量距 離資料（步驟S2)，進行標準偏差的標準偏差計算（步驟 S5) ’判定標準偏差的標準偏差是否在臨界值以下(步驟 ⑻。在此’標準偏差的標準偏差係根據過去2〜8點的標 準偏差计算。於疋’標準偏差的標準偏差在臨界值以下時， 計算其領域的物體表面尺寸(長度)(步驟S7)。於是，計算 結果：判定此物體的表面尺寸是否在臨界值以上(步： S8) δ»界值以上的狀態持續既定的繼續時間時（步驟sg)， 判定為跌倒狀態，偵知跌倒（步驟si())。又，偵知跌倒的 情況下，當然降低乘客扶梯速度，令其停止。X ,债知跌 倒的It況下’也可以隨著時間經過放大警告的警報音量。 12 201228920 又，；^乎〇公尺的掃描角度在既定比例以上的情況下，判 斷為掃描型距離感應器7附著髒污（髒污偵知功能），可以 發出警告。 [第一實施例] 根據上述基本例’使用雷射掃描感應器構成的掃描型 距離感應器7的乘客扶梯的使用者跌倒偵知裝置中，外部 飛來的紙袋、塑膠袋或布類等異物覆蓋感應器的情況，或 是惡作劇貼上口香糖等至感應器外殼上的情況下，考慮到 誤檢出。例如，考慮到跌倒物體的物體表面尺寸設定為 350mm的情況下，感應器表面被飛來的紙袋、塑膠袋或布 類等異物，例如距離為1〇〇mm以18〇度的範圍覆蓋時，此 異物的物體表面尺寸為3l4xl〇〇 = 314mm，不是跌倒偵出， 而往往誤偵出。又，由於惡作劇附著口香糖等的異物時， 使用者的物體表面·尺寸即使在臨界值以下，由於加算口香 糖的物體表面尺寸，往往誤檢出為失誤跌倒。又，感應器 近旁放置保特瓶等的情況下，由於雷射光折射無法偵出 保特瓶。 第8圖係顯示本發明第一實施例中跌倒偵知裝置及乘 客扶梯的下降電扶梯乘坐口附近的平面圖及側面圖，第9 圖係顯示跌倒偵知裝置及乘客扶梯的上升電扶梯乘坐口附 近的平面圖及側面圖，第1〇圖係顯示跌倒偵知裝置的掃描 型距離感應器上附著紙袋等異物的狀態放大部分立體圖， 第11圖係顯示跌倒偵知裝置的掃描型距離感應器上附著 紙袋等異物時的觀測結果說明圖，第12圖係用以說明根據 13 201228920 跌倒偵知裝置的故障彳貞知流程圖。 第8圖係顯不掃描型距離咸麻哭 饮應35 7 &下降電扶梯的雷 射偵出界限X(約2m)，背景可觀測範圍Y1和無效範圍Y2, 以及背景可觀測範圍的最大距離z(約3m)。又，第9圖係 顯示上升電扶梯的情況。由於上升電扶梯係升降器在移 動’考慮背景的變化’雷㈣出界限X可以縮至",，背 2可觀測範圍Y1和無效範圍Y2、以及背景可_範圍的 最大距離Ζ(約3m)幾乎不變。 第10圖係顯示掃描型距離感應器7上附著紙袋等異物 9的狀態。第11圖係顯示掃描型距離感應器7上附著紙袋 等異物9時的觀測結果。 其次，以第U圓說明，藉由本發明第一實施例的跌倒 福知裝置，谓知在掃描型距離感應器7上附著紙袋等異物 9時的故障。 根據雷射掃描感應器構成的择描型距離感應器7,抽 出處理偵知區域内的測量距離資料(步驟s⑴累積每個 角度的測量距離資料（步驟S12)，計算物體的表面尺寸（長 度）（步驟Sl3)，計算到物體的距離（步驟si4)。到物體的 距離計算結果，判定到此物體的距離例如是否ι〇〇隨以内 的感應器近旁（步驟S15)。如果步驟阳中到此物體的距 離是⑽咖以内的感應器近旁的話，進行到步驟⑽，執 ^通常的跌倒偵知處理(詳細參照基本例的第7圖卜其 次:上述步驟Sl5中判定到物體的距離是lOOnrn以内的感 應器近旁時，不是跌倒谓知處理對象，而判定物體尺寸是 14 201228920 •否在第1臨界值A以上(步驟S17)。如果步驟S17 尺寸在第1臨界值以上的話，由於不太受影響，進行步驟 S18’結束。其次，上述步驟Sl7中，判定物體尺寸在第工 臨界值A以上時，判定物體尺寸是否在比第i臨界值 的第2臨界值B以上(步驟叫如果步驟川中物體尺 寸不是比第i臨界值A大的第2臨界值β > 此狀態是否繼續既定的繼續時間以上（步驟s2〇)，繼續既 定的繼續時間以上的話，處理為輕故障谓知（步驟如）。 在此所謂的輕故障谓知，例如物體尺寸較小，滴下果 的飲料、水滴等的狀態下，如果在既定的繼續時間放置 的話，若是很快地乾燥蒸發，而果汁等的飲料、水滴不見， 不至於是輕故障债知，但如果繼續既定的繼續時間以上也 沒有解除輕故障的原因時，異物偵知為輕故障，緊急性低， 進行輸出掃描型距離感應器7的掃除要求處理。又， 步驟S19中物體尺寸是比第1臨界值A大的第2臨界值B 以上的話，判定此狀態是否繼續既定的繼續時間以上(步驟 繼續既定的繼續時間以上的話，處理為異物偵知的 知(步驟S23)。在此所謂的重故障谓知，例如物 、紙袋、塑膠袋或布類等異物覆蓋感應器的情況， U惡作劇貼π香糖等至感應器外殼上的情口， ==時間放置著的話，若是很快地紙袋、塑膠袋或 異物脫落不見，不至於是重故障偵知，但如果繼續 疋、繼續時間以上也沒有解除重故障的原因時，異物偵 : 冑由於緊急性高’輸出除去掃描型距離感應器 15 201228920 7的異物的異物處理要求。 [第二實施例] 第13圖係顯示本發明第二實施例的跌倒偵知裝置的 掃描型距離感應器近旁放置保特瓶狀態的放大部分立體 圖，第14圖係顯示跌倒偵知裝置的掃描型距離感應器近旁 放置保特瓶時的觀測結果說明圖，以及第15圖係用以說明 根據跌倒偵知裝置偵知其他故障的流程圖。 此第二實施例係接近掃描型距離感應器7，放置喝到 半的保特瓶1 〇時的故障偵知，由於保特瓶丨〇的雷射光 折射，因為有不能檢出保特瓶1〇的情況加上背景處理。 其次’本發明的第二實施例中的跌倒偵知裝置檢知近 掃拖型距離感應器7放置喝到一半的保特瓶1〇時的故障， 以第15圖說明。 雷射掃描感應器構成的掃描型距離感應器7，抽出處 理偵知區域内的螂量距離資料（步驟S31)，累積每個測量 的角度距離資料（步驟S32)，計算物體的表面尺寸（步驟 S33)。於是，判定是否偵知物體（步驟s34)。如果步驟 中偵知物體的S ’進行步驟S35，進行通常的跌倒伯知處 理（詳細參照基本例的第7圖）。其次如果步驟似中未 偵知物體的話’進行步驟S36，實施背景處理。其次，在 亡述步驟S36中實施背景處理的結果，雖然是背景可觀測 範圍γ卜但應存在裙防護(skirtguard)等背景的壁n有 不此偵知的背景除去部& i 2時，判定此背景除去部分】2 的大小疋否比臨界值α小（步驟S37)。於是，判定背景除 16 201228920 去°P分12的大小比臨界值α小時，進行 通常的跌倒伯4走畑，V 步驟S35)，進行 倒偵知處理（詳細參照基本例 仃 判定背景险土如\ 弟7圖）。不過， '、去部为12的大小比臨界值α 障偵知（步驟丄士 八時，處理為重故 、，驟S38)。此時的重故障偵知處 认 掃描型距離感摩係輪出接近 a Μ應s 7放置的保特瓶1G的處理要求。 習知技術中放置保特瓶的情況，不〇 θ 折㈣知跌倒，還有連保特瓶都不能侦：=以雷射光 上說明的㈣，由㈣特瓶^^常=題，根據以 中，可以香个胃b正吊偵知跌倒的狀態 J以重故障偵知並發出警報。 又’第―、二實施例中，說明應用本發明的跌 裝置於乘客㈣的範例，但不限定 4 口 # 3? < « 本發明的跌倒偵 去裝置3又置於扶梯的筐内，執 矾仃扶梯盧内的跌倒偵知等， 也可以應用於特定區域的跌倒偵知。 【圖式簡單說明】 [第1 ®]係顯示具有纟發明I本例的跌倒偵知裝置的 乘客扶梯全體概略構成側面圖； ’ [第2圖]係顯示本發明基本例的跌倒偵知裝置及乘客 扶梯的平面圖； [第3圖]係顯示本發明基本例的跌倒偵知裝置及乘客 扶梯的出入口部分的立體圖； [第4圖]係顯示本發明基本例的跌倒偵知裝置中使用 的掃描型距離感應器的掃描範圍說明圖； [第5圖]係顯示本發明基本例的跌倒偵知裝置中使用 17 201228920 的掃指型距離感應器的掃描範圍以及用以檢出跌倒的計算 影像的說明圖； [第6圖]係顯示根據本發明基本例的跌倒偵知裝置解 析跌倒狀態及;帶留狀態的情況說明圖； [第7圖]係用以說明本發明基本例的跌倒偵知裝置的 跌倒偵知算法的流程圖； [第8圖]係顯示本發明第一實施例中跌倒偵知裝置及 乘客扶梯的下降電扶梯乘坐口附近的平面圖及侧面圖； [第9圖]係顯示本發明第一實施例中跌倒偵知裝置及 乘客扶梯的上升電扶梯乘坐口附近的平面圖及側面圖； [第10圖]係顯示跌倒偵知裝置的掃描型距離感應器 上附著紙袋等異物的狀態放大部分立體圖； [第11圖]係顯示跌倒偵知裝置的掃描型距離感應器 上附著紙袋等異物時的觀測結果說明圖； [第12圖]係本發明第一實施例中用以說明根據跌倒 偵知裝置的故障偵知流程圖； [第13圖]係顯示本發明第二實施例的跌倒偵知裝置 的掃描型距離感應器近旁放置保特瓶狀態的放大部分立體 近 偵 [第14圖]係顯示跌倒偵知裝置的掃描型距離感應 旁放置保特瓶時的觀測結果說明圖；以及 [第1 5圖]係本發明第二實施例中用以說明根據跌 知裝置偵知其他故障的流程圖。 18 201228920 【主要元件符號說明】 1〜乘客扶梯； 2〜1樓乘降口（下梯處）； 3〜2樓乘降口（上梯處）； 4〜乘降用地板； 5〜串接板； 6〜接近用通路； 7〜掃描型距離感應器（雷射掃描感應器）； 7a〜雷射光束掃描範圍； 8〜處理裝置； 9〜紙袋等異物； 1 0〜保特瓶； 11〜應存在裙防護（skirtguard)等背景的壁； 12〜背景除去部分。 19201228920 -· and when the state where the surface size of the object is larger than or equal to the threshold is maintained for the predetermined duration or longer, the scanning-type distance sensors detect a failure as foreign matter detection. : (1) The representative representative of the case is: (2). (2) Simple description of the symbol of the representative diagram: 1~ passenger escalator; 4~ boarding and landing floor; 5~ series board; 6~ proximity path; 7~ scanning type distance sensor (laser scanning sensor) ; 7a ~ laser beam scanning range. 5. If there is chemical cultivation in this case, please disclose the characteristics of the most age-appropriate. VIII. VI. Description of the invention: [Technical field to which the invention pertains] Electric road, etc. The present invention relates to a fall detection device and an escalator, and a passenger escalator. 3 201228920 [Prior Art] In the passenger escalator, when the user (passenger) descends from the running passenger escalator to the entrance and exit, there is a worry of falling and falling... If the user falls in the entrance and exit mistakes, it is usually not known. The user falls in the passenger escalator that is expected to be known, and a laser scanning sensor is disposed near the passenger's escalator's riding and lowering section. According to the laser scanning sensor, the movement of the user on the plane coordinate is measured. When the user's moving speed measured by the scanning sensor (the retention status information in the riding and lowering section) is lower than the predetermined value, the material that evokes the attention broadcast is performed. It is recommended that the safety device of the passenger escalator is delayed in the user, mixed delay, and controlled (four) flow. Voltage, time (four) material to drive the motor mass (for example, document 1). The safety device of the passenger escalator is formed as a coordinate map of the surface continuous point of the detected object (passenger) according to the laser scanning sensor provided near the passenger's escalator's riding and lowering section, and a coordinate of the pre-measured userless state. The data map weight #' removes the coordinate information of the fixed obstacle 'by this, according to the current plane coordinate data map on the passenger escalator' to obtain the passenger's profile data. Then, the coordinates of the passenger center point are calculated based on the passenger's wheel temple data, and the moving speed of each detected object (passenger) is calculated. When the moving speed of the detected object is lower than a predetermined threshold, the passenger's stop is detected. Down, staying, and even if the passenger is not detected to stop 1 stay, and exceeds the detection threshold for most of the detected objects, it is determined that the passenger escalator is in a chaotic state. [Pre-Patent Document] [Patent Document 1] Japanese Patent Publication No. 2008-303057, Japanese Patent Publication No. 201228920 [Disclosed] [Problem to be Solved by the Invention] The safety device of the passenger escalator is based on the laser scanning sensor, and the object to be detected is The center point of the rim data (shape) of the object (user) is captured, A; the retention, over-density is measured according to the number of the middle points, the moving speed, and the user (passenger) falls, for example, even if the head is at the entrance and exit Nearby, : There is a situation in which the foot is outside the scanning area. In this state, it cannot be correctly paid for. 'Point 1 cannot detect the fall. X, even if the center point is obtained, but outside the entrance and exit, it may be judged that there is no problem, and no alarm is sounded. In addition, when the user's hand moves, panic, or the like, when a small movement is taken, the part d is captured by the hand, and the material is moved by the material, and the confusion state is judged; t is an appropriate traffic state, I am afraid it cannot be said. Know that they have fallen. Also, when the laser reaches a distant place, there is a fear of a malfunction caused by the detention of the passenger escalator. Also, capture the other foot of the foot stepping on the ground, and because it is necessary to capture the fall, the height of the set laser scanning sensor must be at the most appropriate height. Further, in the passenger escalator user of the scanning type distance sensor formed by the laser scanning sensor, the foreign object such as a paper bag, a plastic bag or a cloth covers the sensor case, or a prank. In the case of sticking gum to the sensor peripherals, 'considering false detections. For example, considering the case where the surface size of the object of the fallen object is set to 350 mm (mm), the surface of the object of the foreign object is covered by a foreign matter such as a paper bag, a plastic bag or a cloth such as a flying object. The size is 314mm, and the non-201228920 falls out and is often detected as a false detection. Further, in the case of a foreign object such as chewing gum, if the surface size of the object of the user is below the critical value, the surface of the chewing gum is added, and the surface of the chewing gum is often misjudged as a fall. Also, when placing a PET bottle near the sensor, it is often impossible to detect the PET bottle by laser light refraction. The present invention solves the above problems, and therefore, even if a foreign matter such as a paper bag, a plastic bag, or a cloth covers the sensor case, or if a chewing gum is attached to the sensor case, it is not erroneously detected. , providing a fall detection device and a passenger escalator that can be surely detected. According to the fall detection device of the present invention, there is provided a scanning type distance sensor for radiating a laser beam horizontally in a detection area in which a scanning range of a fall is detected; wherein the scanning type distance sensor accumulates each For measuring the distance of the angle, calculate the standard deviation of the time-distance change and the standard deviation of the standard deviation for the data in the detection area. When the standard deviation of the standard deviation is below the critical value, calculate the surface size (length) of the object in the field. When the state in which the surface size (length) of the object exceeds the critical value continues for a predetermined continuation time, it is determined to be a fall state; χ, the scanning type distance sensor calculates the distance to the object, and the distance to the object is in the scanning type distance sensing. In the vicinity of the device, and the state in which the surface size of the object is above the critical value continues for a predetermined time or longer, the detection of the failure is foreign matter detection. Further, in the passenger escalator according to the present invention, the floor for boarding and landing is separately provided at each of the entrances and exits of the passenger escalator, and the entrance and exit of the passenger escalator is provided, and the connecting plate is provided on the step side of the passenger escalator; On the side of the board for the boarding and landing, the passengers are used for access; and the scanning distance is 201228920. • The sensor is installed near the entrance and exit of the passenger escalator, and includes scanning for the upper and lower floor and the access path. Fan_, the horizontal plane is released; its towel, the scanning rib __, accumulates the distance of each of the measured angles, and the standard deviation and standard deviation of the temporal distance change for the data in the predetermined (four) known area Standard deviation ^ When the standard deviation is below the critical value, the 嶋 size (length) of the field is calculated, and the surface size (length) of the object is determined to be a fall state when the shape above the critical value continues for a predetermined continuation time; The scanning sensor 'calculates the distance to the above object' to the distance of the object (4) near the sensor' and the surface size of the object is above the critical value In less than a predetermined time following the β-stick wall art. If it continues, the detection of the fault is a foreign object detection. The scanning distance sensor is used. When the distance to the object is within (nothing), it is judged to be near the sensor. In addition, if the surface size of the object is above the Jth critical value and the continuation time is longer than the continuation time, the scanning type distance sensor is known to be light: the surface size of the head object is larger than the i-th threshold = upper and continues for a predetermined continuation time or longer. If the obstacle is a serious foreign body detection. In addition, when the light fault is detected as a mild foreign object, the request is removed, and the heavy fault is a serious foreign body detection ‘output foreign matter removal request. Under the circumstance, one more, the above-mentioned scanning type distance sensor 'processed in the background of the undetected object poorly, and the root of the north is processed according to its moonscape, although it is the background observable range, 7 201228920 but should exist The background has an unrecognizable back J Chengjing removal part, and when the size of the background removal part is larger than the critical value, the detection fault is different. [Effect of the Invention] According to the present invention, even when foreign matter such as a paper bag, a plastic knee bag, or a cloth covers the sensor case, or if a chewing gum or the like is applied to the sensor case, it is not erroneously detected. The warnings such as the detection of foreign bodies, the report of the sweet spot, etc., the requirements for sweeping and the removal of foreign matter are performed. [Embodiment] Fig. 1 is a side view showing the overall outline of a passenger escalator having a fall detection device according to a basic example of the present invention, and Fig. 2 is a plan view of a fall detection device and a passenger escalator, and Fig. 3 shows a fall detection A perspective view of the entrance and exit portion of the device and the passenger escalator, and Fig. 4 shows an explanatory view of the scanning range of the scanning type distance sensor used in the device, and Fig. 5 shows the scanning distance used in the device for dropping the debt. The scanning range of the sensor and the explanatory image of the calculated image for detecting the fall, the figure 6 shows the explanation of the fall state and the retention state according to the fall-distracting device, and the seventh figure shows the fall detection Flowchart of the fall detection algorithm of the device. In the first to third figures, the 1st passenger escalator is operated downwards here. The 2nd passenger escalator 1 is downstairs, the i building is descending, and the 3rd passenger escalator is used. The 2nd floor of the second ladder is taken by the lower exit, and the 4th line is set on the passenger's escalator (4) floor of each of the passengers and passengers 2, 3, and the passenger is taken from the passenger's escalator 1 by the rider's step 4' from the passenger support #1 Step Ladder. 5 series set for landing and landing land 8 201228920 The top side of the step 4 of the board 4 > The u-board, the 6-series are set on the side of the anti-series plate 5 of the landing and landing floor 4, and the passengers are used to approach the passengers. The access road for the escalator 1 is used in the case where the floor 4 of the escalator 1 is not used by the user (passenger) on the floor 2 of the lower landing. The 7-series laser scanning 1 unit: 〗, scanning type distance sensing The device is placed on the 1st floor of the first and second exits (downward) 2 r ^ 恻, near the 2nd floor, and the 2nd floor is the vicinity of the side of the 3, as shown in Figure U. Can be set in column = " silly and laser scanning camera assembly 'to capture the fall detection image with a small camera, save the fall detection image, can also transmit this scanning type distance sensor 7, as shown in Figure 2, from The optical axis of the laser is radiated horizontally in the vicinity of the side 2 and the side of the lower part, and the horizontal direction of the horizontal direction of the horizontal rotation of the mine is measured in the horizontal direction of the sensor. Thus, the side of the landing 2 is Scanning distance sense beam scanning range 7a, 4 i 4 # ', and laser circle a on the 1st floor In the mouth (the lower part of the ladder), the range includes the floor for the passenger to use for the landing of the landing 4, the series connection μ... The approach to the passage 6, the sweeping r-type... Scanning range of the laser beam of $7 | 7a 'In the 2nd floor of the landing (upward) 3, the scanning vane, the second bunching: the heart_lower...the beam's range 7a, scanning Of course, the floor 4 for the boarding and lowering, the series plate 5, and the use of the lowering and the lowering of the salt, the use of the floor 4, the use of the floor 4, the proximity of the floor 4, the sensor 7 & wu ''Connected to the description of the distance processing ": This scanning type distance sensor 7 and device 8, to the scanning type distance sensor? Measuring the size or length of the object The 201228920 degree scanning distance sensor 7 accumulates the distance of each measurement angle, and calculates the standard deviation of the time-distance change and the standard deviation of the standard deviation for the data in the detection area. The standard deviation calculates the surface size (length) of the object in the field when the critical value is T and the standard deviation of the standard deviation is below the critical value. Then, when the state in which the surface size (length) of the object exceeds the critical value continues for a predetermined continuation time or longer, it is determined that the user (passenger) is in a falling state. As shown in Fig. 4, the scanning type distance sensor 7 is ±12 (). The range is, for example, 〇.36. (360. Divided into 1〇24 copies) The calculation of the angular distance from the object ruler is calculated in millimeters (mm). The scan period is l〇〇ms (milliseconds). Figure 5 is for the sake of simplicity, Figure 15. Spacing, the 〇 symbol is the measuring point. The dotted line frame of Fig. 5 shows the detection area, since the points a and η are not used for calculation in the debt area = outer area. The black arrow in Figure 5, the standard deviation range of the measured point in the past 2 seconds == standard deviation difference, you or τ善止+ Seto Hall Ming & standard deviation of the standard deviation in order to see first The standard deviation obtained by itself, as well as the standard towel field c, m, ... in the direction of the time axis, used to calculate the arc between the points of the ^ map The arc system found on both sides of point υ t and point G: the arc that appears, exists at = point. At this time, the standard deviation of the standard deviation of the domain from the debt-aware area is either the deviation or the surface size of the object. Now, when the points d, e, and f are calculated, the length of each arc is calculated, and when the total value is equal to or lower than the object value, the face size is calculated. Further, in the sixth figure, 10 201228920, the horizontal axis represents the standard deviation value (or the standard deviation value of the standard deviation), and the time above the predetermined object surface size is the vertical axis. According to Fig. 6, it can be seen that 'because of the long duration of the fall state, the continuation time of the stagnant state is short, and there is a gap between the fall state and the stagnant state, which means that the interval can be correctly determined by the interval. The widest point is the decision threshold. According to the analysis result of the actual standard deviation, it can be seen that the critical value of the standard deviation is 60~8 Gmm'. When the critical value of the surface size of the object is 5 to 1 〇 second, the fall can be correctly determined. However, this situation is not determined to be a flapping condition before the scanning type distance sensor 7. (Flicking fall: hand is enough K centimeters) round-trip / second action) β χ, according to the analysis result of the standard deviation of the actual standard deviation, it is seen that the standard deviation of the standard deviation has a critical value of 20 to 4. The critical value for the surface size of the object is 3. . ~5〇_, when the continuation time is 1~2 seconds, it can be correctly judged. In this case, it can be determined that the above-mentioned flapping fall is also a fall. Therefore, 'selecting the standard deviation L of the standard deviation 贞 knowing the fall' can be said to correctly correct the fall including the beat by setting the above parameters. In order to verify the validity of the above parameters, cold material, too dense (mixed: day ', the verification result of static fall, flapping fall, non-false when not falling, including the fall of the flapping fall' confirmation can be about 5~1〇 In the second case, the occupancy rate is lower than: 2, the standard deviation of the standard deviation is only lower than the critical value, and the surface size of the object is hardly increased due to the small circumference. Therefore, If it is not judged to be too dense (chaotic), the occupancy rate exceeds 50%, and even in the low speed of 4m (m) / min, the standard deviation of the standard deviation is not lower than the critical value. This is even when it is too dense (chaotic) In addition, in the case of a static fall 11 201228920, the difference between the moment of the fall and the surface size of the object exceeding 2〇〇mjn is 3.5 seconds, plus the continuation time of 15 seconds, and the fall is detected in 5 seconds. In the case of a fall, the difference between the moment the fall starts and the surface size of the object exceeds 200 mm is 4.5 seconds, plus the continuation time of 15 seconds to detect the fall in 6 seconds. In addition, the evaluation is actually under the same conditions. Field data. Although the field data is in a very confusing state 'but the standard deviation of the standard deviation is not lower than the critical value', it is not false positive. Secondly, the root system 7 @, shows the fall-falling device and passenger escalator of the basic example of the present invention. Fall detection algorithm. According to the scanning distance sensor formed by the laser scanning sensor, the distance data of each measurement angle is accumulated (step (1). Secondly, the measurement distance data is extracted (step S2), and the standard deviation calculation is performed ( In step S3), it is determined whether the standard deviation is below the critical value (step S4). Here, the standard deviation is calculated based on the data in the detection area between the past 1 and 2 seconds. Further, the measurement distance data is extracted (step S2). Standard deviation calculation of standard deviation (step S5) 'Determine whether the standard deviation of the standard deviation is below the critical value (step (8). Here the standard deviation of the standard deviation is calculated based on the standard deviation of the past 2 to 8 points. When the standard deviation of the deviation is below the critical value, the surface size (length) of the object in the field is calculated (step S7). Then, the calculation result: determination Whether the surface size of the object is above the critical value (step: S8) When the state above the δ» boundary value continues for a predetermined continuation time (step sg), it is determined that it is a fall state, and the fall is detected (step si()). Knowing that in the case of a fall, of course, reduce the speed of the passenger escalator and stop it. X, the debt knows that the fall of the It's also the alarm volume that can be amplified over time. 12 201228920 Again, ^^ 〇 〇 的 scan When the angle is equal to or greater than the predetermined ratio, it is determined that the scanning type distance sensor 7 is dirty (dirty detection function), and a warning can be issued. [First Embodiment] According to the above basic example, a laser scanning sensor is used. The user of the passenger escalator of the scanning type distance sensor 7 falls into the detecting device, and the foreign object such as a paper bag, a plastic bag or a cloth covers the sensor, or the chewing gum is attached to the sensor casing. In case of mistakes, consider the false detection. For example, in the case where the surface size of the object of the falling object is set to 350 mm, the surface of the sensor is covered with a foreign object such as a paper bag, a plastic bag or a cloth, for example, when the distance is 1 mm and is covered by a range of 18 degrees. The surface size of the foreign object is 3l4xl 〇〇 = 314mm, which is not a fall detection, but is often detected by mistake. In addition, when a foreign object such as a chewing gum is attached to a mischief, even if the surface/size of the object of the user is equal to or less than the critical value, the surface size of the object to which the chewing gum is added is often erroneously detected as a fall. In addition, in the case where a PET bottle or the like is placed in the vicinity of the sensor, the PET bottle cannot be detected due to the refraction of the laser light. Figure 8 is a plan view and a side view showing the vicinity of the falling escalator seat of the fall detection device and the passenger escalator in the first embodiment of the present invention, and the figure 9 shows the ascending escalator ride of the fall detection device and the passenger escalator. In the vicinity of the plan view and the side view, the first drawing shows a state enlarged partial perspective view of the foreign matter attached to the scanning type distance sensor on the scanning type distance sensor, and the eleventh figure shows the scanning type distance sensor of the fall detection device. A description of the observation results when a foreign object such as a paper bag is attached, and Fig. 12 is a flow chart for explaining the failure of the fall detection device according to 13 201228920. Figure 8 shows the non-scanning distance of Xianma crying drink should be 35 7 & descending escalator laser detection limit X (about 2m), background observable range Y1 and invalid range Y2, and the maximum background observable range Distance z (about 3m). Also, the ninth figure shows the situation of the escalator. As the rising escalator lifter moves in the 'consideration of the background', the thunder (four) out limit X can be reduced to ", the back 2 observable range Y1 and the inactive range Y2, and the maximum distance of the background _ range (about 3 m) )Almost unchanged. Fig. 10 shows a state in which foreign matter 9 such as a paper bag is attached to the scanning type distance sensor 7. Fig. 11 is a view showing observation results when a foreign matter such as a paper bag is attached to the scanning type distance sensor 7. Next, the U-circle is described as a failure when the foreign matter 9 such as a paper bag is attached to the scanning type distance sensor 7 by the fall-following device of the first embodiment of the present invention. According to the selective-type distance sensor 7 constituted by the laser scanning sensor, the measurement distance data in the processing detection area is extracted (step s(1) accumulates the measurement distance data of each angle (step S12), and the surface size (length) of the object is calculated. (Step S13), calculating the distance to the object (step si4). Calculating the distance to the object, determining whether the distance to the object is, for example, whether or not the sensor is in the vicinity (step S15). If the distance of the object is (10) near the sensor, go to step (10) and perform the normal fall detection process (see the seventh figure of the basic example for details. Secondly, the distance of the object is determined to be within 100 nrn in the above step S15. When the proximity of the sensor is not the fall of the target, the object size is 14 201228920 • No above the first threshold A (step S17). If the size of step S17 is above the first threshold, it is less affected. The effect is terminated in step S18'. Next, in the above step S17, when it is determined that the object size is above the working threshold A, it is determined whether the object size is at the i-th critical The second critical value B or more (the step is called if the object size in the step is not the second critical value β > greater than the i-th threshold A; whether the state continues for a predetermined continuation time or more (step s2 〇), and the continuation is continued If the time is more than the time, the processing is known as a light fault (steps are as follows). The so-called light fault is known, for example, in the state where the object size is small, the drink of the fruit drops, water droplets, etc., if placed at a predetermined continuation time, If it is dried and evaporated quickly, and the beverages and water droplets such as juice are not seen, it will not be light faults. However, if the cause of the light failure is not resolved above the predetermined continuation time, the foreign object detection is light failure, urgency. When the object size is equal to or greater than the first threshold value A greater than the first threshold value A, it is determined whether or not the state continues for a predetermined continuation time or longer (in the case where the object size is greater than or equal to the first threshold value B in the step S19). If the step continues for a predetermined continuation time or longer, the process is known as foreign matter detection (step S23). Here, the so-called heavy fault is known, for example, a paper bag, a plastic bag. When a foreign object such as a bag or cloth covers the sensor, U mischief sticks π gum to the sensor case, if the time is placed, if the paper bag, plastic bag or foreign object falls off quickly, it will not disappear. It is a heavy fault detection, but if it continues, it does not cancel the cause of the heavy fault. The foreign body detection: 胄 Due to the high urgency, the foreign matter processing requirement of the foreign matter of the scanning type distance sensor 15 201228920 7 is removed. Second Embodiment FIG. 13 is an enlarged partial perspective view showing a state in which a PET bottle is placed in the vicinity of a scanning type distance sensor of a fall detection device according to a second embodiment of the present invention, and FIG. 14 is a scanning type showing a fall detection device. An illustration of the observation results when the PET bottle is placed near the sensor, and Figure 15 is a flow chart for explaining other faults detected by the fall detection device. This second embodiment is close to the scanning type distance sensor 7, and the fault detection when the half bottle of the bottle is placed is 1 〇, because the laser light of the bottle is refracted, because the bottle can not be detected 1 The situation is ambiguous plus background processing. Next, the fall detection device in the second embodiment of the present invention detects that the near-sweep drag type distance sensor 7 has placed a half of the bottle of the bottle, which is illustrated in Fig. 15. The scanning type distance sensor 7 constituted by the laser scanning sensor extracts the measured distance distance data in the detection detecting area (step S31), accumulates each measured angular distance data (step S32), and calculates the surface size of the object (step S33). Then, it is determined whether or not the object is detected (step s34). If the S' of the detected object proceeds to step S35 in the step, the normal fall processing is performed (see Fig. 7 of the basic example for details). Next, if the step does not detect the object, the process proceeds to step S36 to perform background processing. Next, as a result of performing the background processing in the description step S36, although the background observable range γ is present, the background n of the background such as the skirt guard should have the background removal unit & i 2 which is not detected. It is determined whether the size of the background removal portion 】 2 is smaller than the threshold value α (step S37). Then, it is determined that the background is divided by 16 201228920, and the size of the °P score 12 is smaller than the critical value α, and the normal fall is performed, and the step S35 is performed, and the reverse detection processing is performed (refer to the basic example for determining the background dangerous soil in detail). \弟7图). However, 'the size of the detour is 12 than the critical value α obstacle detection (step gentleman 8:00, the processing is heavy, step S38). At this time, the fault detection position of the scanning type is close to the processing requirement of the 1G bottle of the PET bottle. In the case of the conventional technology, the placement of the bottle is not 〇 θ 折 (4) knows that the fall, and even the bottle of the insurance can not be detected: = (in the laser light) (four), by (four) special bottle ^ ^ often = title, according to In the middle, you can sing a stomach b to detect the state of the fall J to detect and issue an alarm with a heavy fault. Further, in the first and second embodiments, an example in which the drop device of the present invention is applied to the passenger (four) will be described, but not limited to four ports #3? < «The fall detection device 3 of the present invention is placed in the basket of the escalator again. The fall detection of the escalator Luna can also be applied to fall detection in a specific area. BRIEF DESCRIPTION OF THE DRAWINGS [First 1] shows a schematic view of a general configuration of a passenger escalator having a fall detection device according to the present invention example; '[Fig. 2] shows a fall detection device of a basic example of the present invention. And a plan view of the passenger escalator; [Fig. 3] is a perspective view showing the fall detection device of the basic example of the present invention and the entrance and exit portion of the passenger escalator; [Fig. 4] showing the fall detection device used in the basic example of the present invention. Scanning range description of the scanning type distance sensor; [Fig. 5] shows the scanning range of the scanning finger type distance sensor using 17 201228920 and the calculation image for detecting the fall in the fall detection device of the basic example of the present invention. [Fig. 6] is a diagram showing an explanation of a fall state and a state of a drop state by a fall detection device according to a basic example of the present invention; [Fig. 7] is for explaining a fall detection of a basic example of the present invention. A flowchart of a fall detection algorithm of a known device; [Fig. 8] is a plan view and a side view showing a vicinity of a fall escalator ride of a fall detection device and a passenger escalator in the first embodiment of the present invention; A plan view and a side view showing the vicinity of the ascending escalator seat of the fall detection device and the passenger escalator in the first embodiment of the present invention; [Fig. 10] showing the attached paper bag on the scanning type distance sensor of the fall detection device FIG. 11 is an explanatory view showing an observation result when a foreign object such as a paper bag is attached to a scanning type distance sensor of the fall detection device; FIG. 12 is a first embodiment of the present invention. The flowchart for explaining the fault detection according to the fall detection device; [Fig. 13] is a perspective view showing the enlarged portion of the state of the PET bottle placed near the scanning type distance sensor of the fall detection device of the second embodiment of the present invention. Detecting [Fig. 14] is an explanatory diagram showing an observation result when a PET bottle is placed next to a scanning type distance sensing device; and [Fig. 15] is a description of the second embodiment of the present invention A flow chart of the device detecting other faults. 18 201228920 [Description of main components] 1~ Passenger escalator; 2~1st building and landing (downward); 3~2nd building and landing (upward); 4~ boarding and landing; 5~ series 6; proximity to the path; 7 to scan type distance sensor (laser scanning sensor); 7a ~ laser beam scanning range; 8 ~ processing device; 9 ~ paper bag and other foreign objects; 1 0 ~ Baote bottle; ~ There should be a skirt guard (skirtguard) and other background walls; 12~ background removes the part. 19