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Falls are one of the main causes of elderly injuries. If the faller can be found in time, further injury can be effectively avoided. In order to protect personal privacy and improve the accuracy of fall detection, this paper proposes a fall detection algorithm using the CNN-Casual LSTM network based on three-axis acceleration and three-axis rotation angular velocity sensors. The neural network in this system includes an encoding layer, a decoding layer, and a ResNet18 classifier. Furthermore, the encoding layer includes three layers of CNN and three layers of Casual LSTM. The decoding layer includes three layers of deconvolution and three layers of Casual LSTM. The decoding layer maps spatio-temporal information to a hidden variable output that is more conducive relative to the work of the classification network, which is classified by ResNet18. Moreover, we used the public data set SisFall to evaluate the performance of the algorithm. The results of the experiments show that the algorithm has high accuracy up to 99.79%.