JP7314815B2 - stair safety equipment - Google Patents

Description

The present invention relates to a device for ensuring the safety of people climbing stairs.

Patent Document 1 discloses a stair safety device that includes a speed sensor that measures the speed of movement of a person ascending and descending stairs, a plurality of impact sensors installed on each step of the stairs, a control device that determines whether a person has fallen based on the outputs of the speed sensor and the impact sensor, and a plurality of airbags that are placed on each step. The control device activates the airbags arranged in the stage below the stage in which the impact is detected.

JP-A-2000-248704

The stair safety device described in Patent Document 1 prevents a fallen person from being injured by sliding down on a plurality of activated airbags. However, if the staircase is a turn-around staircase with a turn-up portion, a person who falls at the top portion of the staircase may slide down the airbag and hit the wall adjacent to the turn-up portion.

SUMMARY OF THE INVENTION The present invention has been made in view of the circumstances described above, and its object is to provide a technique capable of preventing a fallen person from colliding with a wall adjacent to a folded portion.

(1) A stair safety device according to the present invention has a detection area defined by a space through which a person ascending and descending a turn-up staircase has a turn-up portion, a first straight portion positioned above the turn-up portion, and a second straight portion positioned below the turn-up portion. a plurality of first airbag devices, a plurality of second airbag devices disposed on the second straight portion or on the side of the second straight portion and arranged along the direction in which the plurality of second treads of the second straight portion are arranged, a third airbag device provided on a first wall adjacent to the folded portion and horizontally facing the first straight portion, the detection information being input, the plurality of first airbag devices, the plurality of second airbag devices, and the and a controller capable of outputting a drive signal for individually activating the third airbag device. The controller performs a first judgment process for judging whether or not a person ascending or descending the turn-around stairs will fall based on the input detection information, a second judgment process for judging whether the specified position is above or below the turn-back portion based on the first judgment process if the first judgment process determines that the person will fall, and based on the determination that the specified position is above the turn-back portion, the first airbag device and the third airbag device located below the specified position. A first output process for outputting the drive signal for activation, and a second output process for outputting the drive signal for activating the second airbag device positioned below the specified position based on determination that the specified position is below the folded portion are executed.

Since the stair safety device according to the present invention determines whether or not a person is falling from the posture of the person, it can detect whether or not the person is falling from the stairs before the person collides with the stairs or the floor below. Further, the stair safety device according to the present invention activates the first airbag device and the third airbag device when it is determined that the specified position is located above the folded portion, so that a falling person can be prevented from colliding with the stairs and the first wall. Further, the stair safety device according to the present invention activates the second air bag device when it is determined that the specified position is located below the folded portion, so that a falling person can be prevented from colliding with the stairs, the floor of the lower floor, or the wall of the lower floor if present on the floor plan.

(2) The stair safety device according to the present invention may further include a fourth airbag device provided on a second wall adjacent to the folded portion and intersecting with the first wall. The first output processing includes processing for outputting a drive signal for driving the fourth airbag device.

By operating the fourth airbag device, it is possible to prevent the fallen person from colliding with the second wall. As a result, the stair safety device according to the present invention can further enhance the safety of persons ascending and descending stairs.

(3) The stair safety device according to the present invention may further include a fifth airbag device arranged under the third tread plate of the folded portion. The second output processing includes processing for outputting a drive signal for driving the fifth airbag device.

When the turn-up portion has the third tread, the stair safety device according to the present invention can further improve the safety of persons ascending and descending the turn-up stair by further arranging the fifth airbag device under the third tread.

(4) The stair safety device according to the present invention may further include a screen member slidable between a housed position housed in the staircase or a wall adjacent to the staircase and a partition position for partitioning the space above the third tread of the folded portion, and a drive source for sliding the screen member from the housed position to the partition position. The first output process includes a process of sliding the screen member from the accommodation position to the partition position through the drive source.

The stair safety device according to the present invention can prevent a person rolling down the folded portion from rolling over the folded portion to the second straight portion by sliding the screen member to the dividing position.

(5) The detection device is a plurality of laser sensors arranged above or to the side of the turn-around staircase, wherein each of the laser sensors irradiates a laser beam to each of a plurality of individual detection areas obtained by dividing the detection area, receives reflected light of the emitted laser beam, and outputs individual detection information and identification information according to the received reflected light. It may be a process of determining whether or not to fall based on the identification information.

By using a plurality of laser sensors, it is possible to determine whether or not a person falls from a turn-around staircase, and to identify the position of the person who falls.

(6) The detection device may be a human detection sensor capable of individually detecting infrared rays incident from a plurality of individual detection areas that divide the detection area, or a human detection sensor capable of detecting changes in infrared rays incident from the individual detection areas, the sensor outputting the detection information including individual detection information and individual identification information for each of the individual detection areas, and the first determination process may be a process of determining whether or not to fall based on the individual detection information.

By using a human detection sensor, it is possible to determine whether or not a person falls from a turn-around staircase, and to specify the position of the person who will fall.

(7) The detection device is a three-dimensional laser sensor that irradiates the detection area with scanning light, receives the reflected light of the scanning light, and outputs image data generated based on the received reflected light as the detection information. The controller has a memory for storing judgment image data indicating a falling posture, and the first judgment processing is based on points of coincidence or difference between the image of the person indicated by the image data, which is the detection information input from the detection device, and the image of the person in the falling posture indicated by the judgment image data. , may be a process of determining whether or not to fall.

By using a three-dimensional laser sensor, it is possible to determine whether or not a person falls from a turn-around staircase, and to specify the position of the person who will fall.

(8) The detection device includes a first camera that images the first footboard and the space above the first footboard, and a second camera that images the second footboard and the space above the second footboard. The controller has a memory for storing judgment image data indicating a falling posture, and the first judgment processing is a match or difference between an image of a person indicated by image data, which is the detection information input from the detection device, and an image of a person in a falling posture indicated by the judgment image data. The controller may further execute a position specifying process of specifying a height position of the person determined to fall based on the image indicated by the image data.

By using a camera, it is possible to determine whether or not a person falls from a turn-around staircase, and to specify the position of the person who will fall.

The stair safety device according to the present invention can prevent a fallen person from colliding with the wall adjacent to the cuff.

FIG. 1 is a functional block diagram of the stair safety device 10. As shown in FIG. FIG. 2 is a schematic perspective view of the curved staircase 50. FIG. FIG. 3 is a schematic side view of the curved staircase 50. FIG. FIG. 4 is an explanatory diagram illustrating a state in which the airbag 91 is inflated. FIG. 5 is a flow chart showing the processing executed by the control program 18. As shown in FIG. FIG. 6 is a flowchart showing drive processing. 7A is a diagram showing the laser sensor 34 that has detected a person among the plurality of laser sensors 34 belonging to the second sensor group 32, and FIGS. 7B and 7C are diagrams showing the laser sensor 34 that has detected a person among the plurality of laser sensors 34 belonging to the first sensor group 31. FIG. 8 is a flow chart showing the processing executed by the control program 18 in Modification 1. As shown in FIG. 9A and 9B are schematic side views of the curved staircase 50 when the human sensor 60 is provided on the second wall 57, and FIG. 9B is a schematic plan view of the curved staircase 50 when the human sensor 60 is provided on the ceiling. FIG. 10 is a flow chart showing processing executed by the control program 18 in the third modification. FIG. 11A is a diagram according to Modification 4 and is a schematic plan view of the curved staircase 50, and FIG. 11B is a diagram according to Modification 1 and is a schematic plan view of the curved staircase 50. FIG. 12 is a flow chart showing processing executed by the control program 18 in Modification 4. As shown in FIG. 13 is a schematic perspective view of a curved staircase 50 according to Modification 7. FIG.

Embodiments of the present invention will be described below. The embodiment described below is merely an example of the present invention, and it is needless to say that the embodiment of the present invention can be changed as appropriate without changing the gist of the present invention.

In this embodiment, a stair safety device 10 installed in a curved staircase 50 (FIG. 2) of a building (not shown) having two or more floors will be described. The curved staircase 50 includes a curved portion 53, a first straight portion 51 located above the curved portion 53, and a second straight portion 52 located below the curved portion 53, as shown in FIG. The first straight portion 51 has a plurality of treads 54 , the second straight portion 55 has a plurality of treads 55 , and the curved portion 53 has a plurality of treads 56 . In the example shown in FIGS. 2 and 3, the first straight section 51 has four treads 54, the second straight section 52 has four treads 55, and the curved section 53 has four treads 56. As shown in FIG. That is, the first straight portion 51 and the second straight portion 52 have five steps, and the curved portion 53 has three steps. The curved staircase 50 is an example of a turning staircase. The bent portion 53 is an example of a folded portion.

The stair safety device 10 is a device that activates an airbag device 90 (FIG. 1) in response to detecting that a person falls on a curved staircase 50 to prevent injury to the person falling. A detailed description will be given below.

As shown in FIG. 1 , the stair safety device 10 includes a terminal device 11, a first sensor group 31, a second sensor group 32, and a third sensor group 33 connected to the terminal device 11, and a first airbag group 81, a second airbag group 82, a third airbag group 83, a fourth airbag group 84, and a fifth airbag group 85. The screen device 20, the cameras 62 and 63, the three-dimensional laser sensors 64 and 65, the first sensor group 71, the second sensor group 72, and the third sensor group 73 indicated by dashed lines in FIG. 1 will be described in modifications. Hereinafter, when the first sensor group 31, the second sensor group 32, and the third sensor group 33 are not distinguished, they will be described as sensor groups 31, 32, and 33 for explanation. Also, when the first airbag group 81, the second airbag group 82, the third airbag group 83, the fourth airbag group 84, and the fifth airbag group 85 are not distinguished, they will be described as airbag groups 81, 82, 83, 84, and 85.

The terminal device 11 is, for example, a personal computer or a management device that is attached to a wall surface in a building and manages the building. The terminal device 11 has a controller 12 , a communication interface 13 and a power supply circuit 14 . In addition, in FIG. 1, the communication interface 13 is abbreviate|omitted as communication I/F13, and it describes.

The communication interface 13 is an interface that performs communication conforming to the Internet protocol, and is connected to the Internet 19 via a router (not shown).

The power supply circuit 14 is connected to a commercial AC power supply (not shown) of 100V, 110V, 120V, 200V, 220V, 240V or the like via a power cable or the like. The power supply circuit 14 is an AC-DC converter that converts AC voltage to DC voltage. The power supply circuit 14 supplies drive power to the controller 12 , the communication interface 13 , the sensor groups 31 , 32 and 33 and the airbag groups 81 , 82 , 83 , 84 and 85 . The power supply lines connecting the power supply circuit 14 to the communication interface 13, the sensor groups 31, 32 and 33, and the airbag groups 81, 82, 83, 84 and 85 are not shown. Also, a switching element is provided in a feeder line or the like. This switching element is turned on and off by receiving a drive signal from the controller 12 . That is, the controller 12 controls the supply of drive power to the sensor groups 31 , 32 , 33 and the like. The power supply circuit 14 is an example of a drive source.

The controller 12 has a CPU 15 as a central processing unit, a memory 16 and a communication bus 17 .

The memory 16 is, for example, a ROM, a RAM, an EEPROM, a portable storage medium such as a USB memory attached to an attachment unit (not shown), a buffer, or the like. The memory 16 stores a control program 18, threshold values A and B, and mail addresses. Note that the determination image data shown in FIG. 1 will be described in a modified example described later.

The control program 18 is a program executed by the CPU 15, and is a program for executing a process of detecting a fall of a person, a process of activating the airbag devices 90 of the airbag groups 81, 82, 83, 84, 85, and the like. The details of the processing executed by the control program 18 will be described later.

Thresholds A and B are used when the control program 18 determines whether or not a person will fall. Details will be described later. The e-mail address indicates an e-mail address that is sent when the control program 18 detects that a person has fallen. The e-mail address is, for example, an e-mail address registered by a family member who uses the building, a relative of the family member, or the like.

The communication bus 17 is connected to the CPU 15, the memory 16, the communication interface 13, the laser sensors 34 of the sensor groups 31, 32 and 33, and the airbag devices 90 of the airbag groups 81, 82, 83, 84 and 85, respectively. That is, the control program 18 executed by the CPU 15 can read out information and data from the memory 16 through the communication bus 17, store the information and data in the memory 16, send and receive mail, information and data through the communication interface 13, acquire detection information detected by the sensor groups 31, 32, and 33, and output a drive signal to the airbag device 90 to operate the airbag device 90.

The sensor groups 31 , 32 , 33 each have a plurality of laser sensors 34 . The number of laser sensors 34 that each of the sensor groups 31, 32, and 33 has is determined by the specifications of the curved staircase 50 and the like. All or part of the laser sensors 34 may be laser sensors having the same specifications, or may be laser sensors having different specifications. An example in which all the laser sensors 34 have the same specifications will be described below.

The laser sensor 34 has an irradiation section that emits laser light, and a light receiving section that receives reflected light reflected by an object such as a person and converts the received reflected light into a voltage. The light receiving section is, for example, a photodiode. The laser sensor 34 outputs detection information including, for example, identification information, information indicating the difference between the timing of irradiating the laser light and the timing of receiving the reflected light, and information corresponding to the voltage value output by the light receiving unit.

The identification information is information for individually identifying the plurality of laser sensors 34 . The information indicating the difference between the timing of irradiating the laser beam and the timing of receiving the reflected light indicates whether the laser beam was reflected by the second wall 57 adjacent to the curved staircase 50, the treads 54, 55 and 56 of the curved staircase 50, or by an object such as a person ascending and descending the curved staircase 50. The information according to the voltage value output by the light receiving unit indicates whether the laser beam was reflected by the second wall 57 or the treads 54, 55, 56, or by an object such as a person ascending or descending the curved staircase 50. That is, the controller 12 can individually determine whether or not the laser sensor 34 has detected a person based on the detection information output by the laser sensor 34 . In other words, the controller 12 can individually identify the laser sensor 34 that has detected the person among the plurality of laser sensors 34 based on the detection information input from the plurality of laser sensors 34 .

The detection information output by the laser sensor 34 may be any information that allows the controller 12 to determine whether or not a person has been detected, and may be detection information other than the above examples. Also, a relay device may be provided between the plurality of laser sensors 34 and the terminal device 11 . The relay device may determine whether each laser sensor 34 has detected a person based on the detection information input from each laser sensor 34, and may input information indicating whether each laser sensor 34 has detected a person to the terminal device 11.

The laser sensor 34 of the first sensor group 31 is a sensor for detecting whether or not a person ascending and descending the curved staircase 50 is in a falling posture. The laser sensors 34 of the first sensor group 31 are provided on a pair of opposing second walls 57 provided adjacent to the curved staircase 50 . More specifically, the plurality of laser sensors 34 are arranged vertically and horizontally in a so-called matrix or grid pattern. 3 and 4, the laser sensors 34 belonging to the first sensor group 31 are indicated by gray circles.

The laser sensors 34 of the first sensor group 31 are provided from the entrance 41 of the curved staircase 50 to the curved portion 53 and from the curved portion 53 to the descending entrance 42 of the curved staircase 50 . That is, the plurality of laser sensors 34 of the first sensor group 31 make the entire space above the first straight portion 51, the second straight portion 52, and the curved portion 53 of the curved staircase 50 a detection area. Among the plurality of laser sensors 34 of the first sensor group 31, the laser sensor 34 located from the entrance 41 to the curved portion 53 is provided on one of the pair of opposing second walls 57, and the laser sensor 34 located from the curved portion 53 to the exit 42 is provided on the other of the pair of opposing second walls 57.

Of the plurality of laser sensors 34 that belong to the first sensor group 31 and that belong to a row aligned in the vertical direction, the lowest laser sensor 34 is positioned at the same height as the first tread 54 and the second tread 55 of the curved stair 50, or at a position slightly (several centimeters) above the treads 54 and 55. Among the plurality of laser sensors 34 belonging to a row aligned in the vertical direction, the highest laser sensor 34 is positioned above the top of the head of the person standing on the treads 54 and 55 . That is, the plurality of laser sensors 34 belonging to the first sensor group 31 detect the area from the head to the feet of the person ascending and descending the first straight portion 51 or the second straight portion 52 of the curved staircase 50 .

The laser sensor 34 of the first sensor group 31 is installed in a direction to irradiate the laser light substantially perpendicularly to the wall surface of the second wall 57 . That is, the plurality of laser sensors 34 of the first sensor group 31 detect the space above the curved staircase 50 through which people ascending and descending the curved staircase 50 pass (hereinafter also referred to as the first detection region). The first detection area is a space (area) where the plurality of laser sensors 34 belonging to the first sensor group 31 irradiate laser light, and is a space (area) in which the laser sensors 34 can detect a person. In other words, the detection area is a space (area) irradiated with detection waves such as laser light, and a space (area) in which an object such as a person can be detected. Each space irradiated with laser light by each laser sensor 34 of the first sensor group 31 is an example of an individual detection area. The individual detection area is a space elongated in the width direction of the curved staircase 50 (the direction perpendicular to the plane of FIG. 3). That is, the first detection area, which is the space where a person ascends and descends in the curved staircase 50, is divided into a plurality of individual detection areas elongated in the width direction of the curved staircase 50, and each laser sensor 34 is arranged so that each individual detection area is irradiated with a laser beam.

In the first sensor group 31, the distance H between the two laser sensors 34 adjacent to each other in the vertical direction is, for example, the same size as the riser of the stairs 50, and is several centimeters to several tens of centimeters, preferably 10 cm to 20 cm. The distance D between the two laser sensors 40 adjacent to each other in the horizontal direction is, for example, the same as the tread of the stairs 50 (the depth of one step) or half the size of the tread, and is several centimeters to several tens of centimeters, preferably several centimeters to 20 cm.

In the first sensor group 31, the distance D between the two horizontally adjacent laser sensors 34 is set shorter than the distance H between the two vertically adjacent laser sensors 34. As shown in FIG. That is, the resolution in the horizontal direction is made higher than the resolution in the vertical direction. The reason why the resolution in the horizontal direction is higher than the resolution in the vertical direction is to accurately detect that a person ascending and descending the curved staircase 50 is in a falling posture. The falling posture is, for example, a posture of leaning forward or a posture of hunched over. By increasing the resolution in the horizontal direction, it is possible to accurately detect whether or not the robot is in a falling posture. Details will be described later.

The laser sensor 34 of the second sensor group 32 is a sensor for detecting the height and walking posture of a person entering the curved staircase 50 . The laser sensors 34 of the second sensor group 32 are part of the second wall 57 and are provided at portions adjacent to the entrance 41 and the exit 42 of the curved staircase 50 .

Like the laser sensors 34 of the first sensor group 31, the laser sensors 34 of the second sensor group 32 are arranged vertically and horizontally in a matrix or grid pattern so that the height and walking posture of a person entering the curved staircase 50 can be detected.

The laser sensor 34 of the second sensor group 32 is attached to the second wall 57 in such a direction as to irradiate the wall surface of the second wall 57 with laser light substantially perpendicularly. That is, the plurality of laser sensors 34 of the second sensor group 32 set the detection area (hereinafter also referred to as the second detection area) to the corridor of the entrance 41 and the exit 42 of the curved staircase 50 and the space above the floor where a person who enters the curved staircase 50 walks. The second detection area is a space (area) where each laser sensor 34 of the second sensor group 32 irradiates a laser beam, and is a space (area) in which the laser sensor 34 can detect a person. In other words, the second detection area is a space (area) irradiated with detection waves such as laser light, and a space (area) in which an object such as a person can be detected.

In the second sensor group 32, the number of laser sensors 34 arranged in the horizontal direction, that is, the length of the area in which the second sensor group 32 can detect a person in the left-right direction in FIG. In addition, the number of laser sensors 34 arranged in the vertical direction, that is, the length of the area in which the second sensor group 32 can detect a person in the vertical direction, is set so that the laser beam can simultaneously irradiate the top of the head and the feet of an upright person. Note that in FIG. 3, the laser sensors 34 belonging to the second sensor group 32 are indicated by white circles.

In the second sensor group 32, the distance between two adjacent laser sensors 34 in the vertical direction and the horizontal direction is set to a distance that allows detection of the height and walking posture of a person walking through the entrance 41 or the exit 42. Specifically, in the second sensor group 32, the distance between the two laser sensors 34 adjacent to each other in the vertical direction may be the same as the above-described distance H, or may be different from the distance H. Also, in the second sensor group 32, the separation distance between the two laser sensors 34 adjacent to each other in the horizontal direction may be the same as or different from the separation distance D described above.

The laser sensor 34 of the third sensor group 33 is a sensor for detecting that a person has entered the entrance 41 and the exit 42 of the curved staircase 50 . The laser sensor 34 of the third sensor group 33 is provided on the opposite side of the first sensor group 31 with the second sensor group 32 interposed therebetween. The plurality of laser sensors 34 of the third sensor group 33 are provided side by side in the vertical direction. Also, the laser sensor 34 of the third sensor group 33 is attached to the second wall 57 in such a direction as to irradiate the wall surface of the second wall 57 with laser light substantially perpendicularly. The laser sensor 34 of the third sensor group 33 may be used together with the laser sensor 34 of the second sensor group 32 to detect the height and walking posture of a person walking on the entrance 41 and the exit 42 of the curved staircase 50 . That is, the laser sensors 34 of the third sensor group 33 may be part of the multiple laser sensors 34 belonging to the second sensor group 32 .

The distance between two laser sensors 34 of the third sensor group 33 that are adjacent to each other in the vertical direction is set to a distance at which a walking person can be detected. For example, the separation distance is set from ten and several centimeters to several tens of centimeters.

As shown in FIG. 1 , each of the airbag groups 81 , 82 , 83 , 84 , 85 includes a plurality of airbag devices 90 .

The airbag device 90 includes an airbag 91 and a driving device 92 that generates gas (for example, nitrogen gas) to be injected into the airbag 91 . The driving device 92 is connected to the power supply circuit 14 by a power supply line (not shown). The driving device 92 has a switching element 93 that turns on and off the DC power supplied through the power supply line. The switching element 93 is connected to the communication bus 17 of the controller 12 and turned on and off by a drive signal output by the controller 12 . The controller 12 drives the drive device 92 to generate gas by outputting a drive signal. The generated gas inflates the airbag 91 . That is, the controller 12 can individually inflate each airbag 91 of the airbag groups 81, 82, 83, 84, 85 by outputting the drive signal.

The plurality of airbag devices 90 of the first airbag group 81 are arranged inside the second wall 57 adjacent to the first straight portion 51 of the curved staircase 50 or below the first tread 54 of the first straight portion 51 . In the example shown in FIG. 4 , the airbag device 90 of the first airbag group 81 is arranged inside the second wall 57 . The plurality of airbag devices 90 are arranged side by side in the direction in which the plurality of first footboards 54 are arranged. The airbag device 90 of the first airbag group 81 is an example of a first airbag device.

As the airbag 91 of the first airbag group 81, an airbag that expands in the horizontal direction in the shape of a mat or a plate such as a rectangular parallelepiped or a disc when inflated is used. The width of the inflated airbag 91 is substantially the same as the width of the first footboard 54, and the depth of the inflated airbag 91 is substantially the same as or slightly longer than the depth of the first footboard 54. - 特許庁

The second wall 57 has a plurality of openings 35 through which the inflated airbags 91 respectively protrude. The airbag 91 inflated and popped out of the opening 35 is positioned on the first footboard 54 . That is, the inflated airbag 91 can catch the falling person and prevent the falling person from colliding with the first footboard 54 . The inflated airbag 91 is indicated by broken lines in FIG.

The plurality of airbag devices 90 of the second airbag group 82 are arranged inside the second wall 57 adjacent to the second straight portion 52 of the curved staircase 50 or below the second tread 55 (FIG. 3) of the second straight portion 52. The plurality of airbag devices 90 of the second airbag group 82 are arranged side by side in the direction in which the plurality of second footboards 55 are arranged. The airbag device 90 of the second airbag group 82 is an example of a second airbag device.

As the airbag 91 of the second airbag group 82, an airbag that expands in the horizontal direction in the shape of a mat or a plate such as a rectangular parallelepiped or a disc when inflated is used. The width of the inflated airbag 91 is substantially the same as the width of the second footboard 55 , and the depth of the inflated airbag 91 is substantially the same as or slightly longer than the depth of the second footboard 55 .

The second wall 57 has a plurality of openings (not shown) through which the inflated airbags 91 protrude. The airbag 91 inflated and popped out of the opening is positioned on the second footboard 55 . That is, the inflated airbag 91 can catch the falling person and prevent the falling person from colliding with the second step board 55 .

The plurality of airbag devices 90 of the third airbag group 83 are arranged inside the first wall 58 adjacent to the curved portion 53 of the curved staircase 50 and facing the first straight portion 51 in the horizontal direction. A plurality of airbag devices 90 are arranged side by side in the vertical direction. The airbag device 90 of the third airbag group 84 is an example of a third airbag device.

As the airbag 91 of the third airbag group 83, an airbag that has a mat-like shape, a rectangular parallelepiped shape, or a plate-like shape that expands in the vertical direction when inflated is used. The width of the inflated airbag 91 is approximately the same as the width of the first wall 58 . That is, the airbag 91 expands over the entire width of the first wall 58 and inflates.

The first wall 58 has a plurality of openings 36 through which the inflated airbags 91 respectively protrude. The multiple openings 36 are arranged vertically. The plurality of airbags 91 that are inflated and protrude from the opening 36 overlap one another and cover the first wall 58 . That is, the plurality of inflated airbags 91 receive a person who slides or rolls down on the airbags 91 of the first airbag group 81, and prevents the falling person from colliding with the first wall 58.例文帳に追加The width of the inflated airbag 91 may be approximately half the width of the first wall 58 . In that case, the airbag 91 of the third airbag group 83 is arranged at a position facing the first linear portion 51 in the horizontal direction.

The plurality of airbag devices 90 of the fourth airbag group 84 are arranged inside the end of the second wall 57 connected to the bent portion 53 . A plurality of airbag devices 90 are arranged side by side in the vertical direction. As the airbag 91 of the fourth airbag group 84, an airbag that is in the shape of a mat or a plate such as a rectangular parallelepiped or a disc that expands in the vertical direction when inflated is used. The width of the inflated airbag 91 is such that it can cover the end of the second wall 57 facing the bend 53 . The airbag device 90 of the fourth airbag group 84 is an example of a fourth airbag device.

The second wall 57 has a plurality of openings 37 through which the inflated airbags 91 respectively protrude. The multiple openings 37 are arranged vertically. The plurality of inflated airbags 91 protruding from the openings 37 overlap one another and cover the ends of the second wall 57 . That is, the plurality of inflated airbags 91 can prevent a person sliding down on the airbags 91 of the first airbag group 81 from colliding with the second wall 57 .

Among the plurality of airbags 91 of the third airbag group 83 or the plurality of airbags 91 of the fourth airbag group 84, the lowest airbag 91 is sized to cover the uppermost third footboard 56 of the bent portion 53 when inflated. That is, the inflated airbag 91, which is the lowest airbag 91, also spreads in the horizontal direction. The inflated bottommost airbag 91 covers the topmost third footboard 56 of the curved part 53 to prevent a person sliding or rolling down on the airbag 91 of the first airbag group 81 from colliding with the topmost third footboard 56 of the curved part 53. - 特許庁

A plurality of airbag devices 90 of the fifth airbag group 85 are arranged under the third tread 56 of the curved portion 53 of the curved staircase 50 . As the airbag 91 of the fifth airbag group 85, an airbag that expands in the horizontal direction in the shape of a mat or a plate such as a rectangular parallelepiped or a disc when inflated is used. The inflated airbag 91 has, for example, the same size and shape as the third footboard 56 . That is, the inflated airbag 91 covers the third footboard 56 . The airbag device 90 of the fifth airbag group 85 is an example of a fifth airbag device.

The risers of the bent portion 53 each have openings 38 through which the respective inflated airbags 91 protrude. A plurality of inflated airbags 91 protruding from an opening 38 receive a person bounced by the inflated airbags 91 of the third airbag group 83, and prevent the falling person from colliding with the third footboard 56 of the curved part 53. - 特許庁

As shown in FIG. 13, if the folded portion 39 corresponding to the bent portion 53 does not have the third tread 56, the stair safety device 10 does not need to include the airbag device 90 of the fifth airbag group 85.

Processing executed by the control program 18 will be described below with reference to FIG. First, the control program 18 supplies driving power to each laser sensor 34 of the third sensor group 33 and acquires third detection information output by each laser sensor 34 of the third sensor group 33 (S11). Then, the control program 18 determines whether or not each laser sensor 34 of the third sensor group 33 has detected a person based on the acquired third detection information (S12). That is, the control program 18 determines whether or not a person has entered the entrance 41 or the exit 42 of the curved staircase 50 in step S12.

When the control program 18 determines that no one has entered the entrance 41 or the exit 42 of the curved staircase 50 (S12: No), it executes the process of step S11 again. The process of step S11 is repeatedly executed for each predetermined period stored in the memory 16. FIG. That is, the control program 18 periodically detects whether or not a person has entered the entrance 41 or the exit 42 of the curved staircase 50 . The predetermined period is, for example, several milliseconds to about one second.

When the control program 18 determines that a person has entered the entrance 41 or the exit 42 of the curved staircase 50 (S12: Yes), it supplies driving power to each laser sensor 34 of the second sensor group 32 (S14), and acquires second detection information output by each laser sensor 34 of the second sensor group 32 (S15). Then, the control program 18 determines whether or not each laser sensor 34 of the second sensor group 32 has detected a person based on the obtained second detection information (S16).

When the control program 18 determines that the laser sensor 34 of the second sensor group 32 has not detected a person (S16: No), it stops supplying driving power to the second sensor group 32 (S13), and executes the process of step S11 again. For example, when a person who has walked to a position where the laser sensor 34 of the third sensor group 33 emits laser light turns back, the control program 18 determines in step S16 that the person is not detected (S16: No).

When the control program 18 determines that the laser sensor 34 of the second sensor group 32 has detected a person (S16: Yes), it identifies the height and walking posture of the person walking at the entrance 41 or the exit 42 of the curved staircase 50 (S17). Specifically, the control program 18 individually identifies the laser sensors 34 that have detected a person among the plurality of laser sensors 34 of the second sensor group 32, and identifies the height position of the laser sensor 34 located at the highest position among the identified laser sensors 34 as the height. Note that the memory 16 stores in advance a table that associates, for example, the above-described identification information given to each laser sensor 34 with height. The control program 18 acquires the height associated with the specified laser sensor 34 , and specifies the tallest height among the acquired heights as the height of the person walking through the entrance 41 or the exit 42 . In addition, the control program 18 specifies the walking posture as the "upright walking posture" according to the alignment of the plurality of laser sensors 34 that have detected a person in the vertical direction. The control program 18 identifies the walking posture as the "curved walking posture" in response to the fact that the plurality of laser sensors 34 that have detected a person are aligned in the vertical and horizontal directions and are substantially L-shaped. That is, the control program 18 specifies the walking posture as the "upright walking posture" or the "curved walking posture".

The control program 18 corrects the thresholds A and B stored in the memory 16 from the specified height and walking posture. The thresholds A and B are used to determine whether or not the person ascending and descending the curved staircase 50 is in a falling posture (S24). The details of the correction of the thresholds A and B and the determination of the person's fall (S24) will be described later.

Note that the falling posture is not limited to the forward leaning posture, and includes other postures such as a posture in which the body is hunched over. A threshold value may be provided for each falling posture. Furthermore, the threshold may be set as a change amount of the numbers a and b. Based on the amount of change in the numbers a and b from the ascending/descending posture exceeding the thresholds A and B, the control program 18 determines that the person ascending/descending the curved staircase 50 will fall.

After executing the process of step S18, the control program 18 supplies drive power to each laser sensor 34 of the first sensor group 31 (S19), and acquires the first detection information output by each laser sensor 34 of the first sensor group 31 (S20). Then, the control program 18 determines whether or not each laser sensor 34 of the first sensor group 31 has detected a person based on the obtained first detection information (S21).

When the control program 18 determines that the laser sensor 34 of the first sensor group 31 has not detected a person (S21: No), it stops supplying driving power to the first sensor group 31 (S22), and executes the process of step S14 again. For example, when a person who has entered up to the entrance 41 or the exit 42 of the curved staircase 50 turns back, the control program 18 determines in step S21 that no person has been detected (S21: No).

When the control program 18 determines that the laser sensors 34 of the first sensor group 31 have detected a person (S21: Yes), it individually identifies the laser sensors 34 that have detected a person based on the acquired first detection information, and counts the number a of the identified laser sensors 34 in the vertical direction and the number b of the identified laser sensors 34 in the horizontal direction (S23).

The control program 18 uses the numbers a and b, which are the count values, and the threshold values A and B corrected in step S18 to determine whether or not the person going up and down the curved stairway 50 falls (S24). Correction of the threshold values A and B and determination of whether or not the posture is falling will be described in detail with reference to FIG.

FIG. 7A shows the laser sensors 34 and the number of people detected when a person of a predetermined height and in an upright walking posture ascends and descends the curved staircase 50, and the laser sensors 34 and the number of those detected when a person shorter than the predetermined height and in a curved walking posture ascends and descends the curved staircase 50. FIG. 7B shows the laser sensors 34 that have detected a person and the number thereof when a person of a predetermined height and in an upright walking posture has fallen. FIG. 7(C) shows the laser sensors 34 that have detected a person and the number thereof when a person whose height is shorter than a predetermined height and whose walking posture is curved is in a falling posture.

As shown in FIGS. 6A and 6B, when a person of a predetermined height shifts from an upright walking posture to a falling posture, the number a of laser sensors 34 that detect a person in the vertical direction decreases from 9 to 6, and the number b of laser sensors 34 that detect a person in the horizontal direction increases from 5 to 9. The threshold values A and B are determined in advance by, for example, a test, and stored in the memory 16 as values that enable determination of a fall of a person of a predetermined height and in an upright walking posture. The threshold A is, for example, "7", and the threshold B is, for example, "7".

In step S24 (FIG. 5), the control program 18 determines that it is in a falling posture when the count value a is equal to or less than the threshold value A and the count value b is greater than or equal to the threshold value B (S24: Yes), and determines that it is not in a falling posture when the count value a is not equal to or less than the threshold value A or the count value b is not equal to or greater than the threshold value B (S24: No). The process of step S24 is an example of the first determination process.

Next, correction of the threshold values A and B will be described. The memory 16 pre-stores, for example, a first table that is a correspondence table for upright walking postures and a second table that is a correspondence table for curved walking postures. The first table and the second table are tables in which the height is associated with the corrected thresholds A and B. FIG. Alternatively, the first table and the second table are tables in which heights are associated with correction values that can determine the thresholds A and B after correction. For example, if the walking posture specified in step S17 is an upright walking posture and the specified height is lower than a predetermined height, the thresholds A and B are corrected to values smaller than the original thresholds A and B. Further, when the walking posture specified in step S17 is a curved walking posture and the specified height is shorter than the predetermined height, the thresholds A and B are smaller than the original thresholds A and B, and are corrected to values smaller than the corrected thresholds A and B for the upright walking posture. That is, the threshold values A and B are corrected according to the height and walking posture of the person ascending and descending the curved staircase 50 . By correcting the threshold values A and B, the accuracy of detecting whether or not the person ascending and descending the curved staircase 50 is in a falling posture is improved.

As shown in FIG. 5, when the control program 18 determines that it is not in the falling posture (S24: No), the processing after step S20 is executed again. The process of step S20 is repeatedly executed for each predetermined period stored in the memory 16 . That is, the control program 18 periodically acquires the first detection information and periodically determines whether or not the person will fall. The predetermined period is, for example, several milliseconds to several hundred milliseconds.

When the control program 18 determines that it will fall (S24: Yes), it executes the driving process (S25). The drive process is a process of operating the airbag devices 90 belonging to the airbag groups 81, 82, 83, 84, and 85. FIG. The driving process will be described with reference to FIG.

The control program 18 identifies the position of the person based on the first detection information acquired in step S20 (S51). Specifically, for example, the memory 16 stores in advance a table that associates the identification information of the laser sensor 34 with the height position. The control program 18 acquires height positions corresponding to the identification information of the laser sensor 34 that has detected a person, and specifies the lowest height position among the acquired height positions as the height position of the person.

The control program 18 determines whether or not the specified height position indicates a position higher than a predetermined position stored in advance in the memory 16 as the height position of the bent portion 53 (S52). That is, the control program 18 determines whether or not the person determined to fall is on the first straight portion 51 . Note that the control program 18 may determine whether or not the person determined to fall is on the first straight portion 51 based on whether the identification information of the laser sensor 34 that has detected the person indicates the identification information of the laser sensor 34 arranged on the first straight portion 51. The process of step S52 is an example of the second determination process.

When the control program 18 determines that there is no falling person on the first straight portion 51 (S52: No), the switching elements 93 corresponding to all the airbags 91 installed at a position lower than the height position specified in step S51 among the switching elements 93 of the plurality of airbag devices 90 of the second airbag group 82 arranged on the second straight portion 52 are specified. The control program 18 then inputs drive signals to all of the specified switching elements 93 to operate the airbag device 90 (S53). That is, the control program 18 inflates all airbags 91 located below the position of the falling person. After executing the process of step S53, the control program 18 ends the drive process and returns to the process shown in FIG. 5 (return). The process of step S53 is an example of the second output process.

When the control program 18 determines in step S52 that the falling person is on the first straight line portion 51 (S52: Yes), among the switching elements 93 of the plurality of airbag devices 90 of the first airbag group 81 arranged in the first straight line portion 51, the switching elements 93 corresponding to all the airbags 91 at positions lower than the height position specified in step S51 are specified. The control program 18 then inputs drive signals to all of the specified switching elements 93 to activate the airbag device 90 (S54). That is, the control program 18 inflates all airbags 91 located below the position of the falling person. The process of step S54 is an example of the first output process.

Next, the control program 18 inputs drive signals to the switching elements 93 of the airbag devices 90 of the third airbag group 83, the fourth airbag group 84, and the fifth airbag group 85 to operate the airbag devices 90 (S55). That is, the control program 18 inflates the airbags 91 of the airbag groups 83, 84, 85 to cover the ends of the first wall 58 and the second wall 57 adjacent to the bend 53 with the inflated airbags 91, and inflates the airbags 91 of the airbag group 85 to cover the third tread 56 of the bend 53.

A falling person is caught by an inflated airbag 91 of the first airbag group 81 . A person who slides or falls down on the inflated airbag 91 of the first airbag group 81 is received by the inflated airbag 91 of the airbag groups 83, 84.例文帳に追加Also, the airbags 91 of the airbag groups 83 and 84 that bounce off the inflated airbags 91 are received by the inflated airbags 91 of the fifth airbag group 85 .

After executing the process of step S55, the control program 18 ends the drive process and returns to the process shown in FIG. 5 (return). Note that the processing of step S56 in FIG. 6 will be described in a modified example described later.

As shown in FIG. 5, after executing the driving process of step S25, the control program 18 sends an e-mail containing a sentence indicating that a person has fallen on the curved staircase 50 to the e-mail address stored in the memory 16 through the communication interface 13 (S26), and terminates the process. A person who sees the mail confirms the safety of the family member by, for example, calling a telephone installed in the building or calling the family member of the building.

[Action and effect of the embodiment]
In this embodiment, the stair safety device 10 inflates the airbag 91 provided on the first straight portion 51 and the airbag 91 provided on the curved portion 53 when determining that a person will fall on the first straight portion 51. - 特許庁Therefore, the stair safety device 10 can prevent a person falling from the curved staircase 50 from crashing into the curved staircase 50 or the first wall 58 and being injured.

In this embodiment, when it is determined that a person will fall on the first straight portion 51, the airbag 91 provided at the end connected to the curved portion 53 among the airbags 91 provided on the second wall 57 is inflated. Therefore, the stair safety device 10 can prevent a person falling from the curved staircase 50 from being injured by crashing into the end of the second wall 57 adjacent to the curved staircase 50 .

In this embodiment, when it is determined that a person will fall in the first straight portion 51, the airbag 91 arranged under the third tread 56 of the curved portion 53 is inflated. Therefore, the stair safety device 10 can prevent a person falling from the curved staircase 50 from bouncing off the airbag 91 of the third airbag group 83 and colliding with the third tread 56 and being injured.

[Modification 1]
In the embodiment described above, the example in which the plurality of laser sensors 34 are provided on the second wall 57 has been described. In this modified example, an example in which a plurality of laser sensors 34 are provided on the ceiling above the curved staircase 50 will be described.

In this modified example, as shown in FIG. 11B, the plurality of laser sensors 34 belonging to the first sensor group 31 are attached to the ceiling above the curved staircase 50, and the plurality of laser sensors 34 belonging to the second sensor group 32 and the third sensor group 33 are attached to the ceiling located above the entrance (not shown) of the curved staircase 50 and the ceiling located above the exit 42.

The laser sensor 34 of the first sensor group 31 is attached to the ceiling so as to irradiate the laser beam vertically downward. That is, the plurality of laser sensors 34 of the first sensor group 31 set the space above the curved staircase 50 through which a person ascending and descending the curved staircase 50 passes as a detection area (first detection area). In FIG. 11B, the laser sensors 34 belonging to the first sensor group 31 are indicated by gray circles.

The plurality of laser sensors 34 belonging to the first sensor group 31 are arranged in a so-called matrix or grid pattern in the width direction of the curved staircase 50 (horizontal direction in FIG. 11B) and in the depth direction of the curved staircase 50 (vertical direction in FIG. 11B).

The distance L2 between two laser sensors 34 adjacent to each other in the width direction is, for example, the same size as the riser of the stairs 50, and is several centimeters to several tens of centimeters, preferably 10 cm to 20 cm. The distance D between the two laser sensors 40 adjacent to each other in the horizontal direction is, for example, the same as the tread of the stairs 50 (the depth of one step) or half the size of the tread, and is several centimeters to several tens of centimeters, preferably several centimeters to 20 cm.

The distance L1 between the two laser sensors 34 adjacent in the depth direction is shorter than the distance L2 between the two laser sensors 34 adjacent in the width direction. That is, the resolution in the depth direction is higher than the resolution in the width direction. The reason why the resolution in the depth direction is higher than the resolution in the width direction is to accurately detect that a person ascending and descending the curved staircase 50 is in a falling posture. The falling posture is, for example, a forward leaning posture and a posture elongated in the depth direction. By increasing the resolution in the depth direction, it is possible to accurately detect whether or not the robot is in a falling posture. However, the falling posture may include other postures such as a posture in which the body is curled up.

Like the laser sensors 34 of the first sensor group 31, the laser sensors 34 of the second sensor group 32 are aligned in the width direction and the depth direction and arranged in a matrix or a grid so that the walking posture of a person entering the curved staircase 50 can be identified. Note that in FIG. 11B, the laser sensors 34 belonging to the second sensor group 32 are indicated by white circles.

The laser sensor 34 of the second sensor group 32 is installed on the ceiling so as to emit laser light vertically downward. That is, the plurality of laser sensors 34 of the second sensor group 32 detect the space (second detection region) in the space above the corridor and floor of the entrance and exit 42 of the curved staircase 50, where a person who enters the curved staircase 50 walks.

The number of laser sensors 34 arranged in the depth direction and the width direction, that is, the length of the area in which the second sensor group 32 can detect a person in the vertical direction and the horizontal direction in FIG.

The laser sensor 34 of the third sensor group 33 is provided on the opposite side of the first sensor group 31 with the second sensor group 32 interposed therebetween. A plurality of laser sensors 34 of the third sensor group 33 are arranged side by side so as to surround the entrance and exit 42 of the curved staircase 50 . In the example shown in FIG. 11B, the plurality of laser sensors 34 of the third sensor group 33 are arranged in a substantially L shape so as to surround the entrance and exit 42 of the curved staircase 50 .

Further, the laser sensor 34 of the third sensor group 33 is attached to the ceiling so as to irradiate the laser beam vertically downward. The laser sensor 34 of the third sensor group 33 may be used together with the laser sensor 34 of the second sensor group 32 to detect the walking posture of a person walking through the entrance and exit 42 of the curved staircase 50 . That is, the laser sensors 34 of the third sensor group 33 may be part of the multiple laser sensors 34 belonging to the second sensor group 32 .

The distance between two adjacent laser sensors 34 of the third sensor group 33 is set to a distance at which a walking person can be detected. For example, the separation distance is set from ten and several centimeters to several tens of centimeters.

Processing executed by the control program 18 in this modification will be described with reference to FIG. It should be noted that the step numbers used in the embodiment are used to omit the description of the same processing as in the embodiment. The same applies to other modified examples to be described later.

The control program 18 executes the processing of steps S11 to S16, as in the embodiment. When the control program 18 determines in step S16 that the laser sensor 34 belonging to the second sensor group 32 has detected a person (S16: Yes), based on the second detection information acquired in step S15, the walking posture of the person walking at the entrance or exit 42 of the curved staircase 50 is specified in the same manner as in the embodiment (S31). Then, the control program 18 uses the identified walking posture to correct the threshold value B stored in the memory 16 in the same manner as in the embodiment (S32).

Next, the control program 18 executes steps S19, S20, S21, and S22 in the same manner as in the embodiment. When the control program 18 determines that the laser sensor 34 belonging to the first sensor group 31 has detected a person (S21: Yes), based on the first detection information acquired in step S20, the identification information of the laser sensor 34 that has detected the person is specified, and the number c of the specified laser sensors 34 arranged in the depth direction is counted in the same manner as in the embodiment (S33).

Based on the counted number c and the correction value B corrected in step S32, the control program 18 determines whether or not the person going up and down the curved staircase 50 will fall (S34). Specifically, the control program 18 determines whether or not the number c is equal to or less than the threshold B.

When the control program 18 determines that the number c is greater than the threshold value B and does not fall (S34: No), the process after step S20 is executed again. When the control program 18 determines that the number c is equal to or greater than the threshold value B and that the object falls (S34: Yes), it executes the processes of steps S25 and S26.

[Effects of Modification 1]
Even if the laser sensor 34 is positioned above the curved staircase 50 , the stair safety device 10 can detect the fall of the person before the person crashes into the curved staircase 50 .

[Modification 2]
In the above-described embodiment, the counted numbers a and b and the thresholds A and B stored in the memory 16 are used to determine whether or not a person ascending and descending the curved staircase 50 will fall. In this modified example, an example will be described in which the posture of a person ascending and descending the curved staircase 50 is drawn in an image to determine whether or not the person will fall. The configuration and processing other than the configuration and processing described below are the same as the configuration and processing described in the embodiment.

In this modification, the control program 18 has a drawing module that draws an image. The control program 18 can transfer the position information indicating the position to the drawing module, and acquire the image data indicating the image drawn by the drawing module. Note that the drawing module may be a program different from the control program 18 .

Instead of the threshold values A and B, the memory 16 pre-stores judgment image data (FIG. 1). The judgment image data is data representing a judgment image that is an image of the outline of a person in a falling posture. The determination image is, for example, an image showing the outline of a person in a forward leaning posture, an image showing the outline of a person in a hunched state, or the like. The memory 16 also stores judgment image data corresponding to the upright walking posture and judgment image data corresponding to the curved walking posture.

The memory 16 also stores in advance a first correspondence table that associates identification information and position information of each laser sensor 34, and a second correspondence table that associates heights with scaling factors.

The control program 18 executes the processing from steps S11 to S17 shown in FIG. 5 to specify the height and walking posture of the person who has entered the entrance 41 and exit 42 of the curved staircase 50 (S17). Then, the control program 18 executes a process of specifying a judgment image and correcting the specified judgment image instead of the process of step S18. More specifically, the control program 18 identifies judgment image data representing a judgment image corresponding to the walking posture identified in step S17 from among the multiple pieces of judgment image data stored in the memory 16 . In addition, the control program 18 specifies the scaling factor associated with the height specified in step S17 in the second correspondence table. The control program 18 corrects the judgment image by enlarging or reducing it using the specified scaling factor.

Next, the control program 18 executes the processes from steps S19 to S22, and if it determines in step S21 that a person has entered the curved staircase 50 (S21: Yes), it determines whether or not the person ascending and descending the curved staircase 50 will fall using the first detection information acquired in step S20 and the corrected determination image (S24). Specifically, the control program 18 identifies the identification information of the laser sensor 34 that detected the person based on the first detection information acquired in step S20, and identifies position information associated with the identified identification information in the first correspondence table. Then, the control program 18 transfers the specified position information to the drawing module, and causes the drawing module to generate image data representing the outline of the person on the curved staircase 50 . The control program 18 uses pattern matching or the like to calculate the number or ratio of matching points or differences between the outline of the person indicated by the image data generated by the drawing module and the outline of the person indicated by the corrected judgment image. The control program 18 determines that the person ascending and descending the curved staircase 50 falls down based on the fact that the number or ratio of the matching points is equal to or greater than the threshold value stored in advance in the memory 16, or the number or ratio of the difference points is less than the threshold value stored in advance in the memory 16 (S24: Yes).

When the control program 18 determines that the person ascending and descending the curved staircase 50 does not fall (S24: No), the process after step S20 is executed again. That is, the control program 18 periodically acquires the first detection information and periodically determines whether or not a person going up and down the curved stairs 50 will fall. When the control program 18 determines that the person ascending and descending the curved staircase 50 will fall (S24: Yes), the processing of steps S25 and S26 is executed.

[Effects of Modification 2]
In this modified example, the fall of a person is determined based on whether or not the outer shape of the person ascending/descending the curved staircase 50 matches the outer shape of the person in the falling posture. Therefore, the accuracy of determining whether or not the person will fall is higher than in the embodiment in which the determination is made based on the change in the vertical and horizontal lengths of the person ascending/descending the curved staircase 50.例文帳に追加

In this embodiment, the judgment image stored in the memory 16 is specified and corrected using the height and walking posture of the person ascending and descending the curved staircase 50, and the corrected judgment image is used to determine whether or not the person ascending and descending the curved staircase 50 will fall. Therefore, the stair safety device 10 can improve the accuracy of determining whether or not the person is in a falling posture, compared to the case where the determination image is not specified and corrected using the height and walking posture of the person ascending and descending the curved staircase 50.例文帳に追加

[Modification 3]
In the above-described embodiment, an example using the laser sensor 34 has been described. In this modified example, an example using a human detection sensor 60 (FIG. 9) instead of the laser sensor 34 will be described. The configuration and processing other than the configuration and processing described below are the same as the configuration and processing described in the embodiment.

The stair safety device 10 includes a first sensor group 31 having a plurality of human sensors 60 instead of the laser sensors 34, a second sensor group 32 having a plurality of human sensors 60 instead of the laser sensors 34, and a third sensor group 33 having a plurality of human sensors 60 instead of the laser sensors 34. The human detection sensor 60 is connected to the power supply circuit 14 via a switching element and a power supply line, and is also connected to the communication bus 17 of the controller 12 .

The human sensor 60 is a sensor that detects infrared rays emitted by people. An example in which a type of human detection sensor 60 having a plurality of small detection areas 61 (FIG. 9A) is used will be described below. Specifically, the human detection sensor 60 has a plurality of light receiving units that receive infrared rays and output a voltage corresponding to the intensity of the received infrared rays, and a lens group that collects the infrared rays incident from the respective small detection areas 61 and emits them to the respective light receiving units. Alternatively, the human detection sensor 60 has a plurality of light receiving portions and a lens group that collects the infrared rays incident from the respective small detection areas 61 and emits them to the respective light receiving portions, and outputs voltage according to changes in the intensity of the infrared rays incident on the light receiving portions.

The human sensor 60 outputs detection information including first identification information for individually identifying the plurality of human sensors 60, second identification information for individually identifying the plurality of small detection areas 61, and information indicating whether infrared rays are detected. The control program 18 to which the detection information is input specifies whether or not a person is detected for each human sensor 60 and each small detection area 61 . Among the detection information output by the human detection sensor 60, the information identified by the second identification information and indicating whether infrared rays have been detected is an example of individual detection information.

As shown in FIG. 9A, the first sensor group 31 has a plurality of human sensors 60. As shown in FIG. The human detection sensor 60 of the first sensor group 31 is a sensor for detecting whether or not a person who ascends or descends the curved staircase 50 has fallen. A human sensor 60 of the first sensor group 31 is attached to the second wall 57 . More specifically, the plurality of human sensors 60 are attached to the second wall 57 in such a direction that the detection area is the space above the curved staircase 50 where people ascend and descend. In addition, the plurality of human sensors 60 are spaced apart from each other such that the entire space above the curved staircase 50 where people ascend and descend is a detection area. The interval is set according to the width of the detection area of the human sensor 60 to be used. A detection area of the human sensor 60 is an area obtained by combining a plurality of small detection areas 61 . In the example shown in FIG. 9A, part of the plurality of small detection areas 61 of one human sensor 60 and part of the plurality of small detection areas 61 of another human sensor 60 overlap each other. Each small detection area 61 of the human sensor 60 is an example of an individual detection area.

The human detection sensor 60 of the second sensor group 32 is a sensor for detecting a person who has entered the entrance 41 and the exit 42 of the curved staircase 50 and for detecting the height and walking posture of the person who enters the curved staircase 50 . That is, the second sensor group 32 of this modified example has both the function of the second sensor group 32 in the embodiment and the function of the third sensor group 33 .

The human detection sensors 60 of the second sensor group 32 are part of the second wall 57 and are attached to portions adjacent to the entrance 41 and the exit 42 of the curved staircase 50, respectively. More specifically, each human detection sensor 60 is attached to the second wall 57 in such a direction that a space in which a person walks through the entrance 41 and a space in which a person walks through the exit 42 are detected as detection areas. In addition, as each person detection sensor 60, a person detection sensor having a detection area wide enough to cover both the space in which a person walks through the entrance 41 and the space in which a person walks through the exit 42 is used. If the detection area of the human sensor 60 is narrow, a plurality of human sensors 60 may be arranged at the entrance 41 and the exit 42, respectively.

The control program 18 executes the process shown in FIG. 10 instead of the process shown in FIG. Specifically, first, the control program 18 supplies driving power to the human sensors 60 of the second sensor group 32, and acquires the second detection information output by the human sensors 60 of the second sensor group 32 (S15). Based on the obtained second detection information, the control program 18 determines whether or not a person has entered the entrance 41 or the exit 42 of the curved staircase 50 (S16). The control program 18 periodically repeats the process of step S15 until the human sensor 60 of the second sensor group 32 detects a human (S16: No, S15).

When the control program 18 determines that a person has entered the entrance 41 or the exit 42 of the curved staircase 50 (S16: Yes), the processes of steps S17 and S18 are executed in the same manner as in the embodiment. That is, the control program 18 uses the second detection information acquired in step S15 to identify the height and walking posture of the person who has entered the entrance 41 or the exit 42 of the curved staircase 50, and based on the identified height and walking posture, the thresholds A and B stored in the memory 16 are corrected.

Next, the control program 18 executes steps S19, S20, S21, and S22 in the same manner as in the embodiment. That is, the control program 18 drives each human sensor 60 of the first sensor group 31 (S19), acquires first detection information (S20), and determines whether or not a person has entered the curved staircase 50 based on the acquired first detection information (S21).

When the control program 18 determines that a person has entered the curved staircase 50 (S21: Yes), the processes of steps S23 and S24 are executed in the same manner as in the embodiment. That is, the control program 18 counts the number a of small detection areas 61 in which a person is detected in the vertical direction and the number b of small detection areas in which a person is detected in the horizontal direction based on the first detection information acquired in step S20, and uses the counted numbers a and b and the correction values A and B corrected in step S18 to determine whether or not the person going up and down the curved staircase 50 will fall (S24). Then, when the control program 18 determines that it will not fall (S24: No), it repeats the processing from steps S20 to S24. When the control program 18 determines that the user will fall (S24: Yes), the processes of steps S25 and S26 are executed in the same manner as in the embodiment.

[Effects of Modification 3]
In this modification, it is possible to detect whether or not a person falls from the curved staircase 50 using the human detection sensor 60 before the person crashes into the curved staircase 50 .

[Modification 4]
In the above-described embodiment, an example in which the laser sensor 34 is used to determine whether or not a person ascending or descending the curved staircase 50 will fall has been described. In this modified example, an example will be described in which a camera is used to determine whether or not a person going up and down a curved staircase 50 will fall. Also, in this modified example, an example will be described in which two laser sensors 34 are used to detect whether or not a person has entered the entrance and exit 42 of the curved staircase 50 . The configuration and processing other than the configuration and processing described below are the same as the configuration and processing described in the embodiment.

The stair safety device 10 includes cameras 62 and 63 (FIG. 1) and a pair of laser sensors 34 (FIG. 11A) instead of the sensor groups 31, 32 and 33. As shown in FIG. The cameras 62 and 63 and the laser sensor 34 are connected to the power supply circuit 14 by power supply lines via switching elements, and are also connected to the communication bus 17 of the controller 12 . That is, the control program 18 can supply drive power to the cameras 62 and 63 to cause the cameras 62 and 63 to perform imaging, and obtain image data generated by the imaging by the cameras 62 and 63 . The control program 18 can also supply drive power to the laser sensor 34 to detect a person.

The memory 16 preliminarily stores a plurality of pieces of judgment image data described in the second modification.

The cameras 62, 63 are mounted on the first wall 58 adjacent to the curved portion 53 of the curved staircase 50, as shown in FIG. 11(A). Specifically, the camera 62 is attached to the first wall 58 in such a direction that the first stepboard 54 of the first straight portion 51, the space above the first stepboard 54, and the exit 42 are taken as an imaging area. The camera 63 is attached to the first wall 58 in such a direction that the imaging area is the second step board 55 of the second straight portion 52, the space above the second step board 55, and the entrance (not shown). Camera 62 is an example of a first camera. Camera 63 is an example of a second camera.

One of the pair of laser sensors 34 is attached to the wall 59 adjacent to the descending entrance 42 of the curved staircase 50 and the other is attached to the wall (not shown) adjacent to the ascending entrance of the curved staircase 50 . The pair of laser sensors 34 are arranged so as to emit laser beams toward the entrance and exit 42 of the curved staircase 50 so as to be able to detect a person entering the entrance and exit 42 of the curved staircase 50 .

The control program 18 executes the process shown in FIG. 12 instead of the process shown in FIG. Specifically, the control program 18 supplies driving power to the pair of laser sensors 34 and acquires fourth detection information output by the laser sensors 34 (S41). Based on the acquired fourth detection information, the control program 18 determines whether or not a person has entered the entrance and exit 42 of the curved staircase 50 (S12). The control program 18 periodically executes the process of step S41 until it determines that a person has entered the entrance and exit 42 of the curved staircase 50 (S12: No, S41).

When the control program 18 determines that a person has entered the entrance and exit 42 of the curved staircase 50 (S12: Yes), it supplies driving power to the cameras 62 and 63 to cause the cameras 62 and 63 to take pictures (S42). Then, the control program 18 acquires image data generated by imaging by the cameras 62 and 63 (S43). The control program 18 generates outline image data of the imaged object based on the acquired image data. For example, the control program 18 performs binarization processing on the acquired image data, acquires the portion where the value changes as the outline of the imaged object, and acquires information indicating the outline as outline image data (S44). It should be noted that the control program 18 determines that there is no person on the curved staircase 50 when the outline image data cannot be obtained.

The control program 18 determines whether or not a person has entered the curved staircase 50 based on the acquired outline image data (S45). When the control program 18 determines that no one has entered the curved staircase 50 (S45: No), it stops supplying drive power to the cameras 62 and 63 (S46), and executes the processes from step S41 onwards again.

When the control program 18 determines that a person has entered the curved staircase 50 (S45: Yes), it determines whether or not the person going up and down the curved staircase 50 will fall (S47). More specifically, the control program 18 uses pattern matching or the like to calculate the number or ratio of matching points or differences between the outer shape image indicated by the outer shape image data acquired in step S44 and the judgment image indicated by the judgment image data stored in the memory 16. The control program 18 determines that the person ascending and descending the curved staircase 50 falls down based on the fact that the number or ratio of the matching points is equal to or greater than a threshold value stored in advance in the memory 16, or the number or ratio of the difference points is less than the threshold value stored in advance in the memory 16 (S47: Yes).

When the control program 18 determines that the person ascending and descending the curved staircase 50 does not fall (S47: No), the process after step S43 is executed again. That is, the control program 18 periodically acquires image data and periodically determines whether or not a person going up and down the curved staircase 50 will fall. When the control program 18 determines that the person ascending and descending the curved staircase 50 will fall (S47: Yes), the processes of steps S25 and S26 are executed in the same manner as in the embodiment. Note that the control program 18 identifies the height position of the person using the first footboard 54 and the second footboard 55 captured together with the person in the process of step S51 executed in the drive process of step S25. The process of step S51 is an example of the position specifying process.

[Effects of Modification 4]
In this modification, cameras 62 and 63 can be used to detect whether or not a person falls down the curved staircase 50 before the person crashes into the curved staircase 50 .

In addition, in this modification, it is possible to determine whether or not a person has entered the entrance and exit 42 of the curved staircase 50 using the two laser sensors 34 .

Further, in this modified example, driving power is supplied to the cameras 62 and 63 when a person enters the entrance 41 or the exit 42 of the curved staircase 50 . Therefore, the stair safety device 10 can reduce the power consumption required for detecting the fall of a person ascending and descending the curved staircase 50 compared to the case where the cameras 62 and 63 are always supplied with drive power.

[Modification 5]
In the fourth modification described above, an example in which the cameras 62 and 63 are used to capture an image of a person ascending and descending the curved staircase 50 has been described. In this modified example, an example of capturing an image of a person ascending and descending a curved staircase 50 using three-dimensional laser sensors 64 and 65 (FIG. 1) will be described. Note that the configuration and processing other than the configuration and processing described below are the same as the configuration and processing described in Modification 4. FIG.

The stair safety device 10 includes three-dimensional laser sensors 64 and 65 instead of the cameras 62 and 63 . The three-dimensional laser sensors 64 and 65 are sensors that irradiate a detection area with scanning light (laser light), receive reflected light reflected by an object, generate image data based on the received reflected light, and output the generated image data. The three-dimensional laser sensor 64 is attached to the first wall 58 in the same manner as the camera 62, and uses the first linear portion 51 as a detection area. The three-dimensional laser sensor 65 is attached to the first wall 58 in the same manner as the camera 63, and uses the second linear portion 52 as a detection area.

The control program 18 performs the same processing as the processing shown in FIG. 12 to determine whether or not the posture of the person ascending and descending the curved staircase 50 is the falling posture (S47).

[Action and effect of modification 5]
In this modification, the three-dimensional laser sensors 64 and 65 can be used to detect whether or not a person falls down the curved staircase 50 before the person crashes into the curved staircase 50 .

[Modification 6]
In the above-described embodiment, an example using a plurality of laser sensors 34 has been described. However, instead of multiple laser sensors 34, multiple sound wave sensors 70 may be used. The configuration and processing other than the configuration and processing described below are the same as the configuration and processing described in the embodiment.

The stair safety device 10 includes a first sensor group 71, a second sensor group 72, and a third sensor group 73 indicated by dashed lines in FIG. 1 in place of the sensor groups 31, 32, and 33 described in the embodiment. The first sensor group 71 , the second sensor group 72 , and the third sensor group 73 each have a plurality of sound wave sensors 70 .

The sound wave sensor 70 is a sensor that emits sound waves to a detection area and receives reflected waves reflected by an object. The sound wave sensor 70 outputs detection information including identification information, information indicating the difference between the timing of irradiating a sound wave and the timing of receiving a reflected wave, and information indicating a voltage value corresponding to the intensity of the received sound wave. It should be noted that the plurality of sound wave sensors 70 are prevented from interfering with each other by, for example, making the frequencies of the emitted sound waves different from each other or increasing the directivity of the emitted sound waves.

The sound wave sensor 70 is installed in the same manner as the laser sensor 34 described in the embodiment, emits sound waves toward the entrance 41 and the exit 42 of the curved staircase 50 and the space above the curved staircase 50, and inputs detection information to the controller 12.

The control program 18 performs the same processing as the processing shown in FIG. 5 to determine whether or not the person going up and down the curved staircase 50 will fall (S24).

[Action and effect of modification 6]
In this modification, the sound wave sensor 70 can be used to detect whether or not a person falls down the curved staircase 50 before the person crashes into the curved staircase 50 .

[Modification 7]
In this embodiment, an example in which the stair safety device 10 further includes two screen devices 20 ( FIG. 1 ) that prevent a person falling on the first straight portion 51 from falling down to the second straight portion 52 will be described. Configurations and processes other than those described below are the same as those described in the embodiments.

The screen device 20 includes a screen 21, a slide device 22 for sliding the screen 21, and a drive circuit 23 for driving the slide device 22, as shown in FIG.

The screen 21 is rectangular plate-like or lattice-like as shown in FIG. A plurality of third footboards 56 of the curved portion 53 are provided with openings 44 through which the screens 21 enter and exit.

The slide device 22 has, for example, a holding device that holds the screen 21 slidably in the vertical direction, and an electric cylinder provided below the screen 21 . The extending electric cylinder pushes the screen 21 upward and slides the screen 21 from the storage position located below the third tread 56 toward the partition position projecting upward from the third tread 56 .

The screen 21 (21A) of one screen device 20 extends along the direction in which the second wall 57 extends and faces the second wall 57 in the division position. The partition 21A is separated from the second wall 57 by a length substantially equal to the width of the first linear portion 51. As shown in FIG. The screen 21 (21B) of the other screen device 20 extends along the direction in which the first wall 58 extends and faces the first wall 58. As shown in FIG. The screen 21B is located at a boundary between the curved portion 53 and the second straight portion 52. As shown in FIG. The screen 21 at the partitioning position partitions the space above the third footboard 56 .

The drive circuit 23 has a switching element 24 connected to the power supply circuit 14 . The switching element 24 receives a drive signal from the controller 12 and turns on and off. When the switching element 24 is turned on, DC power is supplied from the power supply circuit 14 to the slide device 22, and the slide device 22 operates.

In the driving process shown in FIG. 6, the control program 18 inputs a drive signal to the switching element 24 of the drive circuit 23 of the screen device 20 after executing the process of step S55 for actuating the airbag device 90 to slide the screen 21 from the accommodation position to the partition position (S56). The screen 21 slid to the division position prevents a person rolling down the curved part 53 from rolling down to the second straight part 52.例文帳に追加

The stair safety device 10 of this modified example can prevent a person who has fallen on the first straight portion 51 from rolling down the curved portion 53 or rolling down to the second straight portion 52 .

In addition, the screen 21 may be provided on the second wall 57 . In this case, the second wall 57 is provided with an opening through which the screen 21 enters and exits. The screen 21 is slid by the slide device 22 from the accommodation position where it is accommodated in the second wall 57 to the division position where the folded portion 39 and the second straight portion 52 are divided.

Moreover, only one of the two screens 21, ie, the screen 21A and the screen 21B, may be provided. That is, the stair safety device 10 may have only one screen device 20 .

[Other variations]
In the above-described embodiment, an example using the laser sensor 34 that emits one laser beam has been described. However, instead of the laser sensor 34, a laser sensor that emits a plurality of laser beams may be used. The laser sensor has a plurality of small detection areas 61, like the human detection sensor 60 described in Modification 3. Even with this type of laser sensor, it is possible to detect whether or not a person falls from the curved staircase 50 before the person crashes into the curved staircase 50 .

In the above-described embodiment, an example has been described in which it is determined whether or not the person will fall, depending on whether the posture of the person ascending and descending the curved staircase 50 is the falling posture. However, in addition to the posture of the person ascending and descending the curved staircase 50, it may be determined whether or not the person will fall based on the movement speed of the person ascending and descending the curved staircase 50. The control program 18, for example, periodically acquires the position information indicated by the identification information of the laser sensor 34 that detects the person based on the first detection information that is periodically acquired, and calculates the movement speed of the person ascending and descending the curved staircase 50 based on the movement distance per unit time of the position indicated by the position information. Then, the control program 18 determines that the person ascending and descending the curved staircase 50 is likely to fall when the posture of the person indicated by the acquired first detection information is a falling posture and the calculated moving speed of the person is greater than or equal to the first threshold value and less than the second threshold value (<first threshold value). In addition to the posture of the person indicated by the first detection information, it is determined whether or not the person going up and down the curved stairs 50 falls based on the moving speed of the person, so the fall of the person can be detected with higher accuracy.

In the above-described embodiment, an example has been described in which it is determined whether or not the person will fall, depending on whether the posture of the person ascending and descending the curved staircase 50 is the falling posture. However, it may be determined whether or not there is a risk of the person ascending/descending the curved staircase 50 falling, based on the amount of change in the posture of the person ascending/descending the curved staircase 50 . The control program 18 periodically identifies the posture of the person based on the acquired first detection information, and calculates the amount of change in the identified posture per unit time. The control program 18 determines whether or not the calculated amount of change per unit time is equal to or greater than a threshold value stored in advance in the memory 16, and determines that the person going up and down the curved staircase 50 falls down when the amount of change per unit time is equal to or greater than the threshold value. Further, whether or not a person falls may be determined based on the person's acceleration in addition to the person's moving speed.

In the above-described embodiment, the example in which the third airbag group 83 includes a plurality of airbag devices 90 and the first wall 58 is covered with a plurality of inflated airbags 91 has been described. However, one inflated airbag 91 may cover the first wall 58 . That is, the third airbag group 83 may have only one airbag device 90 . Similarly, the fourth airbag group 84 may comprise only one airbag device 90 and one inflated airbag 91 covers the end of the second wall 57 .

In the above embodiment, the example in which the airbag 91 of the fourth airbag group 84 covers only the end portion of the second wall 57 has been described. However, the airbags 91 of the fourth airbag group 84 may also be provided so as to cover the side portions of the first linear portion 51 when inflated. In that case, the airbag device 90 of the first airbag group 81 is provided under the first tread 54 of the first linear portion 51 .

In the above-described embodiment, the curved portion 53 has a plurality of third treads 56, and the curved portion 53 has steps. However, the bent portion 53 may not have a step. In this case, the steps of the first straight portion 51 and the second straight portion 52 are increased by the steps of the curved portion 53, or the steps of the first straight portion 51 and the second straight portion 52 are increased.

DESCRIPTION OF SYMBOLS 10... Stair safety device 12... Controller 16... Memory 21... Screen (screen member)
34 Laser sensor (detection device)
50: Curved stairs (turning stairs)
51 First straight portion 52 Second straight portion 53 Curved portion (folded portion)
54 First step plate 55 Second step plate 56 Third step plate 57 Second wall 58 First wall 60 Human detection sensor 61 Small detection areas 62, 63 Cameras 64, 65 Three-dimensional laser sensor 90 Air bag device 91 Air bag 92 Driving device

Claims (8)

A detection device for outputting detection information capable of specifying a person's posture or a change in posture and a position, with a space through which a person ascending and descending a turn-up staircase having a turn-back portion, a first straight portion positioned above the turn-back portion, and a second straight-line portion positioned below the turn-back portion is defined as a detection area, and
a plurality of first airbag devices disposed on the first linear portion or on the side of the first linear portion and arranged along a direction in which the plurality of first footboards of the first linear portion are arranged;
a plurality of second airbag devices disposed on the second linear portion or on the side of the second linear portion and arranged along the direction in which the plurality of second tread plates of the second linear portion are arranged;
a third airbag device provided on the first wall adjacent to the folded portion and facing the first linear portion in the horizontal direction;
a controller to which the detection information is input and capable of outputting a drive signal for individually activating the plurality of first airbag devices, the plurality of second airbag devices, and the third airbag device;
The above controller is
a first judgment process for judging whether or not a person ascending and descending the turn-around stairs will fall based on the input detection information;
a second determination process of determining whether the position specified based on the detection information is above or below the folded portion when it is determined that the first determination process falls;
a first output process for outputting the drive signal for operating the first airbag device and the third airbag device located below the specified position based on the determination that the specified position is above the folded portion;
A stair safety device that executes a second output process for outputting the drive signal for operating the second airbag device located below the specified position based on determining that the specified position is below the folded portion. a fourth airbag device provided on a second wall provided adjacent to the folded portion and intersecting with the first wall;
The stair safety device according to claim 1, wherein the first output processing includes processing for outputting a drive signal for driving the fourth airbag device. further comprising a fifth airbag device disposed under the third footboard of the folded portion,
3. The stair safety device according to claim 1, wherein said first output processing includes processing for outputting a drive signal for driving said fifth airbag device. a screen member slidable between an accommodation position accommodated in the staircase or a wall adjacent to the staircase and a partitioning position partitioning the space above the third stepboard of the folded portion;
a drive source for sliding the partition member from the accommodation position to the partition position,
The first output process is
4. The stair safety device according to any one of claims 1 to 3, comprising sliding the screen member from the stowed position to the partitioned position through the drive source. The detection device is a plurality of laser sensors arranged above or to the side of the folding stairs,
Each laser sensor irradiates a plurality of individual detection areas obtained by dividing the detection area with laser light, receives reflected light of the irradiated laser light, and outputs individual detection information and identification information according to the received reflected light.
The stair safety device according to any one of claims 1 to 4, wherein the first determination process is a process of specifying the identification information of the laser sensor that has detected a person based on the individual detection information and the identification information, and determining whether or not to fall based on the specified identification information. The detection device is a human detection sensor capable of individually detecting infrared rays incident from a plurality of individual detection areas obtained by dividing the detection area, or a human detection sensor capable of detecting changes in infrared rays incident from the individual detection areas, and is a sensor that outputs the detection information including individual detection information and individual identification information for each of the individual detection areas,
The stair safety device according to claim 1 or 4, wherein the first determination process is a process of determining whether or not a person will fall based on the individual detection information. The detection device is a three-dimensional laser sensor that irradiates the detection region with scanning light, receives reflected light of the scanning light, and outputs image data generated based on the received reflected light as the detection information,
The controller has a memory for storing judgment image data indicating a falling posture,
The stair safety device according to any one of claims 1 to 4, wherein the first judgment process is a process of judging whether or not the person will fall based on points of agreement or difference between the image of the person indicated by the image data, which is the detection information input from the detection device, and the image of the person in the falling posture indicated by the judgment image data. The above detection device is
a first camera that captures an image of the first footboard and the space above the first footboard;
a second camera that captures images of the second footboard and the space above the second footboard;
The controller has a memory for storing judgment image data indicating a falling posture,
The first judgment process is a process of judging whether or not the person will fall based on points of agreement or difference between the image of the person indicated by the image data, which is the detection information input from the detection device, and the image of the person in the falling posture indicated by the judgment image data,
5. The stair safety device according to any one of claims 1 to 4, wherein the controller further executes position specifying processing for specifying the height position of the person determined to fall based on the image indicated by the image data.

Images