Method and device for detecting automatic closing function of landing door of elevator system

Abstract

The invention relates to elevator maintenance technology, in particular to a method and a device for detecting functions of an elevator system, an elevator system comprising the device and a non-transitory computer readable storage medium storing a computer program for implementing the method. In the provided method for detecting the automatic closing function of the landing door, when a car of the elevator system stops at one of a plurality of floors, a car door of the car and a landing door associated with the one of the plurality of floors are opened. The closing process of the car door and the landing door is then initiated by causing a drive mechanism of the elevator system to apply a drive force to the car door. And then, when the gap of the car door or the landing door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door. And then whether the landing door associated with one of the floors is normally closed or not is determined within a preset time period from stopping applying the driving force to the car door.

Description

Technical Field

[0001] The present application relates to elevator maintenance technology, and in particular to a method and device for detecting an automatic closing function of a floor door of an elevator system, an elevator system including the device, and a non-transitory computer-readable storage medium storing a computer program for implementing the method. Background Art

[0002] When the elevator car is running or the door is not closed correctly, the door will be automatically locked by the self-locking function to reduce the risk of accidents. At present, the inspection of the automatic closing function of the door is still done manually. For example, maintenance personnel regularly or irregularly test the self-locking function of the door on each floor to determine whether it is functioning normally. The inspection work will consume a lot of manpower and time, especially for elevator systems running in high-rise and super high-rise buildings. Summary of the invention

[0003] According to one aspect of the present application, a method for detecting the automatic closing function of the floor door of an elevator system is provided. In the above method, when the car of the elevator system stops at one of the multiple floors, the car door of the car and the floor door associated with one of the multiple floors are opened. Then, the closing process of the car door and the floor door is started by causing the driving mechanism of the elevator system to apply a driving force to the car door. Then, when the gap between the car door or the floor door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door. Then, it is determined whether the floor door associated with one of the floors is normally closed within a preset period of time since the driving force is stopped from being applied to the car door.

[0004] Optionally, in the above method, for the floor doors associated with other floors of the multiple floors, the above steps are performed in a specified order.

[0005] Optionally, in the above method, it further comprises: determining whether the elevator system is suitable for entering or being in the test mode, and if so, executing the above steps.

[0006] Optionally, in the above method, a detection report on the automatic closing function of the floor door is also sent to the cloud or a mobile terminal.

[0007] Optionally, in the above method, the gap reaches the preset value by controlling the duration of the driving force applied by the driving mechanism to the car door.

[0008] Optionally, in the above method, the preset value satisfies the following conditions: after the gap between the car door or the floor door associated with one of the floors is reduced to the preset value, even if the driving force applied to the car door is stopped, the floor door associated with one of the floors can still be closed normally if the automatic closing function of the floor door is normal.

[0009] Optionally, in the above method, the preset time period is determined based on test data of the floor door closing operation.

[0010] Optionally, in the above method, the preset time period is determined in the following manner:

[0011] If the driving force or the movement speed of the car or the landing door associated with one of the floors is greater than or equal to a preset threshold, the preset time period is corrected by using an inverse function of the Sigmoid function as a correction function.

[0012] Optionally, in the above method, a door closing signal from the elevator system is used to determine whether the landing door associated with one of the floors is closed normally.

[0013] According to another aspect of the present application, a device for detecting the automatic closing function of the floor door of an elevator system is also provided. The device includes a memory, a processor coupled to the memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed, the following operations are caused: when the car of the elevator system stops at one of the multiple floors, the car door of the car and the floor door associated with one of the multiple floors are opened; the driving mechanism of the elevator system applies a driving force to the car door to start the closing process of the car door and the floor door; when the gap of the car door or the gap of the floor door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door; and determines whether the floor door can be closed normally within a preset period of time since the driving force is stopped.

[0014] According to another aspect of the present application, an elevator system is also provided, which includes floor doors, cars, drive mechanisms and elevator controllers arranged on multiple floors. The floor doors have an automatic closing function. The elevator controller includes a memory, a processor coupled to the memory, and a computer program stored on the memory and executable on the processor. When the computer program is executed, the following operations are caused: when the car of the elevator system stops at one of the multiple floors, the car door of the car and the floor door associated with one of the multiple floors are opened; the driving mechanism of the elevator system applies a driving force to the car door to start the closing process of the car door and the floor door; when the gap of the car door or the gap of the floor door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door; and determines whether the floor door can be closed normally within a preset period of time since the driving force is stopped on the car door.

[0015] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program suitable for being executed on a processor of a terminal device is stored, and the execution of the computer program causes the steps of the method described above to be performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or other aspects and advantages of the present application will become clearer and easier to understand through the following description of various aspects in conjunction with the accompanying drawings, in which the same or similar units are represented by the same reference numerals. The accompanying drawings include:

[0017] Figure 1 The present invention is a flowchart of a method for detecting an automatic closing function of a landing door of an elevator system according to some embodiments of the present application.

[0018] Figures 2A-2D Schematic diagram of the status of the car door and floor door of the elevator system.

[0019] Figure 3 It is a schematic block diagram of a device or a detection device for detecting the automatic closing function of a landing door of an elevator system according to some other embodiments of the present application.

[0020] Figure 4 It is a schematic block diagram of an elevator system according to some other embodiments of the present application. DETAILED DESCRIPTION

[0021] The present application is described more fully below with reference to the accompanying drawings in which illustrative embodiments of the present application are illustrated. However, the present application may be implemented in different forms and should not be interpreted as being limited to the embodiments given herein. The above embodiments are given to make the disclosure herein comprehensive and complete, so as to more fully convey the scope of protection of the present application to those skilled in the art.

[0022] In this specification, terms such as "comprise" and "include" indicate that in addition to the units and steps directly and explicitly stated in the specification and claims, the technical solution of the present application does not exclude the situation where there are other units and steps that are not directly or explicitly stated.

[0023] In this specification, "closing process" refers to the process in which the car door or floor door starts to move to reach the closed state or normal closing. During the closing process, the car door or floor door will gradually reduce the door gap. The closed state or normal closing mentioned here means that the car door or floor door is completely closed without any gap or opening. It should be pointed out that the gap mentioned here can refer to the gap between door bodies (when the door includes multiple door bodies), and can also refer to the gap between the door body and the door frame (when the door includes only one door body).

[0024] In this specification, "automatic closing function of floor doors" refers to the function of prompting the floor doors to close, prohibiting the floor doors from opening, or locking the floor doors when the elevator system is in a specific state (for example, the car is in a parked state and the floor doors are completely closed). It should be pointed out that the implementation of the automatic closing function of floor doors depends on the coordinated operation of multiple levels and multiple components. For example, with respect to the floor doors of the elevator system, the elevator controller will monitor the status of each floor door and the position of the car, and determine the timing of locking the floor door based on the monitoring information; for another example, the door sensor or door lock switch is responsible for transmitting the status signal of the floor door (for example, the door closed in place signal) to the elevator controller; for another example, the actuator, as a key component, usually executes the action of closing, locking or unlocking the floor door based on the instructions of the elevator controller. In other words, any abnormal operation of any level or component may cause an abnormality in the automatic closing function of the floor door.

[0025] The specific structure and working principle of the actuator may vary depending on the elevator manufacturer and product model. It usually includes components such as spring devices and / or gravity hammers to ensure the normal operation of the automatic closing function of the landing door. For example, in a typical actuator, when the landing door is in the closed state, the spring will apply a certain force to the landing door to keep the landing door closed. The gravity hammer (saftey gear) is another component in the actuator. When the car is in the parked state and the landing door is fully closed, the gravity hammer can keep the landing door in a locked state. It should be noted that it is usually not necessary to configure a separate gravity hammer for each landing door; in addition, a spring can be configured separately for each landing door, or a shared spring system can be used to support multiple landing doors in the elevator system.

[0026] In some embodiments of the present application, the automatic closing function of the landing door is checked by making the elevator system enter a test mode. The automatic closing function of the landing door is described in detail below.

[0027] When the elevator system is in the test mode, the car door is driven to enter the closing process. During the closing process, the floor door moves in the same direction driven by the car door. Usually, a driving mechanism such as a motor or a hydraulic system can be used to provide a force or driving force for driving the car door and the floor door. When the driving force is large enough, the resistance of the car door and the floor door (such as the friction between the car door and the floor door and the frame) can be overcome and closed. With the movement of the car door and the floor door, the gap between the car door and the floor door will gradually decrease. When the gap between the car door or the floor door reaches a preset value (such as 50mm), the driving mechanism stops outputting the driving force. At this time, if the automatic closing function of the floor door is normal, the floor door will continue to move under the action of the actuator until it is completely closed or closed (the car door will move in the same direction driven by the floor door). Therefore, whether the automatic closing function of the floor door is normal can be determined based on the result of whether the floor door can be completely closed or closed normally (the result can be obtained, for example, by the door closing position signal).

[0028] In some embodiments, the magnitude of the driving force can be selected to make the car door and the landing door move slowly (for example, the movement speed does not exceed 40 mm / second). However, it should be noted that this is not a necessary restriction. Although a faster speed enables the landing door to enter the closed state in a shorter time, the influence of the movement speed can be eliminated or suppressed by increasing the preset value of the gap and the preset time period to be described below.

[0029] A variety of means can be used to control the gap of the car door or the floor door. For example, in some embodiments, a sensor can be set near the car door or the floor door to measure the gap of the car door or the floor door (for example, a pair of wireless signal transmitters and wireless signal receivers are arranged on the side of the car door or the floor door, so that the gap of the door can be determined based on the signal strength), and the output of the driving force is stopped when the gap reaches a preset value. In some other embodiments, the gap of the car door or the floor door can reach a preset value by controlling the duration of the force provided by the driving mechanism to the car door (that is, the time interval from the start of providing the force to the stop of outputting the force).

[0030] It should be noted that in many cases, the preset value may have a critical value. When the gap exceeds the critical value, even if the automatic closing function of the landing door is normal, once the driving force is stopped from being output to the car door after the gap between the car door or the landing door reaches the critical value, the landing door will not be able to be completely closed. In some embodiments, the selected preset value can meet the following conditions: after the gap between the car door or the landing door is reduced to the selected value, even if the driving force is stopped from being output, the landing door can still be closed normally if the automatic closing function of the landing door is normal.

[0031] It is generally recognized that no matter what the reason for the abnormality of the automatic closing function of the floor door is, it will result in the failure of the floor door to be completely closed. However, even if the floor door can be completely closed, the possibility of failure of the automatic closing function of the floor door in a short period of time cannot be ruled out. In order to detect this potential failure risk, in some embodiments of the present application, not only the complete closing ability of the floor door is concerned, but also time is introduced as a dimension of investigation, that is, only when the floor door can be completely closed within a preset period of time after the self-driving mechanism stops outputting driving force, it is determined that the automatic closing function of the floor door is normal.

[0032] The preset time period can be determined based on the test data of the floor door closing operation. For example, when the automatic closing function of the floor door is confirmed to be normal, the time T required for the floor door to enter the closed state corresponding to multiple gap values ​​g within a value range less than the above critical value can be measured to obtain a corresponding relationship or relationship curve between the gap and time (the relationship curve can be obtained by performing fitting operations such as interpolation on the measured values), and the preset time period Δt can be obtained from the corresponding relationship or relationship curve. For example, the preset value g of the gap can be set The corresponding time T(g set ) is determined as the preset time period Δt. For example, the critical value g of the gap can be critical The corresponding time T(g critical ) is determined as a preset period Δt.

[0033] As described above, the magnitude of the driving force or the speed of movement of the car door and the floor door will affect the time required for the floor door to enter the closed state. Qualitatively, the greater the driving force or the speed of movement of the car door and the floor door, the shorter the time required for the floor door to enter the closed state, and vice versa. In some embodiments, the preset time period can be corrected based on the driving force or the speed of movement. For example, after research, the inventors of the present application found that there is usually a threshold value for the driving force or the speed of movement. When it is less than the threshold value, the correction of the preset time period is unnecessary. When the threshold value is exceeded, using the inverse function of the Sigmoid function as the correction function for the preset time period can effectively eliminate the influence of the driving force or the speed of movement. Specifically, the preset time period can be corrected based on a function of the following form, for example:

[0034]

[0035] In the above formula, Δt and Δt' are the preset time period and the correction value of the preset time period respectively; X is one of the following three: the driving force applied to the car door by the driving mechanism, the movement speed of the car door and the movement speed of the floor door; L, k and X0 are constants greater than 0 and can be determined by experiments, wherein X0 is the threshold value mentioned above.

[0036] The inspection method for the automatic closing function of the floor door described above is not only applicable to a single floor door, but also to multiple floor doors. For example, the automatic closing function of each floor door can be inspected in sequence according to the order in the list of floor doors to be maintained and the inspection results can be stored in accordance with the inspection method described above until all floor doors have completed the inspection operation. It should be noted that the order of performing the inspection can be various specified orders, such as the floor order including the floor doors from the 1st floor to the nth floor or the floor doors from the nth floor to the 1st floor, or the order obtained by randomly selecting from the floor doors of the 1st to nth floors. In addition, the above inspection method is also applicable to the situation where a floor contains multiple floor doors. In this case, a corresponding device identifier can be assigned to each floor door to distinguish the floor doors.

[0037] In some embodiments, the stored inspection results may be sent to the cloud (e.g., transmitted to a remote server via an IoT gateway) or a mobile terminal (e.g., transmitted to mobile terminals such as mobile phones, tablet computers, portable computers, and wearable devices via a Bluetooth channel or a mobile communication system).

[0038] Figure 1 The method described below can be implemented by various devices, such as but not limited to a control device or an elevator controller in an elevator system and a dedicated device for detecting the automatic closing function of a floor door, etc., which are collectively referred to as devices or detection devices for detecting the function of an elevator system.

[0039] Figure 1 The method shown starts at step 101. In this step, the detection device determines whether the elevator system is suitable for entering the test mode at the current time. If it is suitable for entering the test mode, the process proceeds to step 102, otherwise, the process continues to wait. Exemplarily, the maintenance of the elevator system is usually performed during non-operating hours, so the detection device may allow the elevator system to enter the test mode only when the current time is outside the operating hours and there is no elevator call request.

[0040] In step 102, the detection device obtains a door queue Q for which the door automatic closing function check is to be performed, and the queue includes one or more door FDs. i, each floor door is associated with one of the multiple floors (for example, it is set on the associated floor). In some embodiments, the order of floors (for example, from the 1st floor to the nth floor or from the nth floor to the 1st floor) is used as the order of performing inspections on the floor doors. However, it should be pointed out that this is not necessary, and other inspection orders can be adopted according to the needs of the application scenario (for example, only performing inspections on the floor doors on even or odd floors, or performing inspections on the floor doors with high usage frequency). Exemplarily, the sequence number i is used to indicate the order in which the floor door automatic closing function inspection operation is performed.

[0041] Then, step 103 is entered, in which the detection device causes the car to stop at the i-th floor door FD in the floor door queue Q. i (When the detection starts, i=1) the associated floor, that is, the car is parked at this floor. Optionally, the detection device also causes the floor door and the car door to be in an open state, such as Figure 2A shown.

[0042] Next, in step 104, the detection device causes the driving mechanism (e.g., a motor) of the car door CD to apply a driving force f1 to the car door (e.g., by supplying power to the driving mechanism), thereby starting the car door and the i-th landing door FD. i During this process, the landing door FD i It will move in the same direction driven by the car door CD. Figure 2B In many cases, the landing door FD i The driving force or the speed of movement has the same movement speed as the car door CD. As mentioned above, the magnitude of the driving force or the speed of movement has an impact on the time required for the floor door to enter the closed state after the force is removed. In some embodiments, a smaller driving force or speed of movement can be used to reduce this impact. In other embodiments, the effect of the driving force or speed of movement on the time can be compensated by modifying the preset time period.

[0043] Then, the process proceeds to step 105, in which the detection device determines whether the car door CD or the landing door FD i Whether the gap g is reduced to the preset value g set If it is achieved (e.g. Figure 2C If the preset value is set to 0, the process proceeds to step 106. Otherwise, the process returns to step 104. The selection of the preset value has been described in detail above and will not be repeated here.

[0044] In step 106, the detection device causes the driving mechanism (e.g., motor) of the car door CD to stop applying the driving force f1 to the car door (e.g., by disconnecting the power supply to the driving mechanism). i It will be further closed under the action of the actuator force f2, such as Figure 2D shown.

[0045] Figure 1 The process shown in the figure enters step 107 after step 106. In this step, the detection device detects the floor door FD based on the floor door FD. i Specifically, if the landing door FD is closed within a preset period of time after the driving force on the car door CD is stopped, i Can be closed normally or completely closed, then determine the floor door FD i The automatic closing function of the floor door is normal, otherwise, the floor door FD i The automatic closing function of the floor door is abnormal. For example, the floor door FD can be determined by means of the door closing position signal of the elevator system. i Whether to shut down completely.

[0046] Then, step 108 is entered, and the detection device stores the information about the landing door FD. i The inspection results of the automatic closing function of the floor door.

[0047] Then in step 109 , the detection device determines whether the automatic closing function check of all the floor doors in the queue Q has been completed. If all the floor doors in the queue Q have been traversed, the process proceeds to step 110 , otherwise, the process proceeds to step 111 .

[0048] In step 110 , the detection device sends the inspection results of the automatic closing function of each floor door stored in step 108 to the cloud or the mobile terminal.

[0049] In step 111, the detection device increments the floor door sequence number (i=i+1) so that the operation object of the subsequent step is updated to the next floor door in the queue Q. After completing step 111, Figure 1 The method flow shown returns to step 103, so that the automatic closing function check operation of the landing doors in the queue Q is performed.

[0050] Figure 3 It is a schematic block diagram of a device or a detection device for detecting the automatic closing function of a landing door of an elevator system according to some other embodiments of the present application. Figure 3 The detection device shown can be used to implement Figure 1 The method shown.

[0051] like Figure 3 As shown, the detection device 30 includes a communication unit 310 , a memory 320 (eg, a non-volatile memory such as a flash memory, a ROM, a hard disk drive, a magnetic disk, an optical disk, etc.), a processor 330 and a computer program 340 .

[0052] The communication unit 310 serves as a communication interface and is configured to establish a communication connection between the detection device and an external device (eg, a driving mechanism of a car door, a door lock switch, etc.) or a network (eg, the Internet and a wireless local area network, etc.).

[0053] The memory 320 stores a computer program 340 executable by the processor 330. In addition, the memory 320 may also store data generated by the processor 330 when executing the computer program 340 and data received from an external device via the communication unit 310 (e.g., a landing door queue Q to be checked for the automatic closing function of the landing door and a result of checking the automatic closing function of the landing door, etc.).

[0054] The processor 330 is configured to run the computer program 340 stored on the memory 320 and perform access operations on the memory 320 (eg, obtaining the landing door queue Q and storing the inspection results such as the automatic closing function of the landing door in the memory 320).

[0055] The computer program 340 may include a program for implementing Figure 1 The computer instructions of the method enable the corresponding method to be implemented when the computer program 340 is run on the processor 330 .

[0056] Figure 4 It is a schematic block diagram of an elevator system according to some other embodiments of the present application.

[0057] Figure 4 The elevator system 40 shown in the figure includes landing doors FD1 to FD2 provided on a plurality of floors and having an automatic closing function. n , a car CD, a driving mechanism 410 for driving the car movement, a door lock mechanism 420, an actuator 430 for realizing the automatic closing function of the floor door, an elevator calling device 440 and an elevator controller 450.

[0058] See also Figure 4 The elevator controller 450 is coupled to the driving mechanism 410, the door lock mechanism 420 and the elevator calling device 440, and is configured to receive an elevator calling request from the elevator calling device 440 and generate a corresponding control command (e.g., instructing the car row to stop at a specified floor, etc.) in response to the elevator calling request. The elevator controller 450 may have Figure 3 One or more features of the detection device shown are used to perform the automatic closing function inspection operation of the landing door described in detail above.

[0059] Those skilled in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described herein may be implemented as electronic hardware, computer software, or a combination of both.

[0060] In order to show the interchangeability between hardware and software, various schematic components, blocks, modules, circuits and steps are generally described above according to their functionality. Such functionality is implemented in hardware form or software form depending on the specific application and the design restrictions imposed on the overall system. Those skilled in the art can implement the described functionality in a variable manner for specific specific applications, but such implementation decisions should not be understood as causing deviations from the scope of the present application.

[0061] Although only some of the specific embodiments of the present application are described, it should be understood by those skilled in the art that the present application can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and embodiments shown are considered to be illustrative rather than restrictive, and the present application may include various modifications and substitutions without departing from the spirit and scope of the present application as defined in the appended claims.

[0062] The embodiments and examples set forth herein are provided to best illustrate embodiments according to the present technology and its specific applications, and thereby enable those skilled in the art to implement and use the present application. However, those skilled in the art will appreciate that the above description and examples are provided only for ease of illustration and example. The description set forth is not intended to cover all aspects of the present application or to limit the present application to the precise form disclosed.

Claims

1. A method for detecting an automatic closing function of a landing door of an elevator system, the method comprising: A. when a car of the elevator system stops at one of the multiple floors, opening a car door of the car and a landing door associated with one of the multiple floors; B. applying a driving force to the car door through the driving mechanism of the elevator system to start the closing process of the car door and the landing door; C. When the gap of the car door or the gap of the landing door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door; and D. Determine whether the landing door can be closed normally within a preset period of time after the driving force on the car door stops being applied.

2. The method of claim 1, further comprising: For the landing doors associated with other floors of the plurality of floors, steps A to D are performed in a specified order.

3. The method of claim 1, further comprising: A detection report on the automatic closing function of the floor door is sent to the cloud or mobile terminal.

4. The method according to any one of claims 1 to 3, further comprising: Determine whether the elevator system is suitable for entering or being in a test mode, and if so, perform the steps of the method according to any one of claims 1 to 3.

5. The method according to claim 1 or 2, wherein: The gap reaches the preset value by controlling the duration of the driving force applied by the driving mechanism to the car door.

6. The method according to claim 1 or 2, wherein: The preset value satisfies the following conditions: after the gap between the car door or the floor door associated with one of the floors is reduced to the preset value, even if the driving force applied to the car door is stopped, the floor door associated with one of the floors can still be closed normally if the automatic closing function of the floor door is normal.

7. The method according to claim 1 or 2, wherein: The preset time period is determined according to test data of the floor door closing operation.

8. The method according to claim 1 or 2, wherein: The preset time period is determined in the following manner: If the driving force or the movement speed of the car or the landing door associated with one of the floors is greater than or equal to a preset threshold, the preset time period is corrected by using an inverse function of the Sigmoid function as a correction function.

9. The method according to claim 1 or 2, wherein: A door closing completion signal from the elevator system is used to determine whether the landing door associated with one of the floors is normally closed.

10. A device for detecting an automatic closing function of a landing door of an elevator system, the device comprising: Memory; a processor coupled to the memory; as well as A computer program stored on the memory and executable on the processor, the execution of which results in the following operations: A. when a car of the elevator system stops at one of the multiple floors, opening a car door of the car and a landing door associated with one of the multiple floors; B. applying a driving force to the car door through the driving mechanism of the elevator system to start the closing process of the car door and the landing door; C. When the gap of the car door or the gap of the landing door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door; and D. Determine whether the landing door can be closed normally within a preset period of time after the driving force on the car door stops being applied.

11. The device of claim 10, wherein: The execution of the computer program also results in the following further operations: for the landing doors associated with other floors of the plurality of floors, steps A to D are executed in a specified order.

12. The device of claim 10, wherein: The device is an elevator controller.

13. The device of claim 10, wherein: The execution of the computer program also results in the following further operations: A detection report on the automatic closing function of the floor door is sent to the cloud or mobile terminal.

14. The device according to any one of claims 10 to 13, wherein: The execution of the computer program also results in the following further operations: determining whether the elevator system is suitable for entering or being in the test mode, and if so, performing the operations performed by the apparatus as claimed in any one of claims 10 to 13.

15. The device according to claim 10 or 11, wherein: The gap reaches the preset value by controlling the duration of the driving force applied by the driving mechanism to the car door.

16. The device according to claim 10 or 11, wherein: The preset value satisfies the following conditions: after the gap between the car door or the floor door associated with one of the floors is reduced to the preset value, even if the driving force applied to the car door is stopped, the floor door associated with one of the floors can still be closed normally if the automatic closing function of the floor door is normal.

17. The device according to claim 10 or 11, wherein: The preset time period is determined according to test data of the floor door closing operation.

18. The device according to claim 10 or 11, wherein: The preset time period is determined in the following manner: If the driving force or the movement speed of the car or the landing door associated with one of the floors is greater than or equal to a preset threshold, the preset time period is corrected by using an inverse function of the Sigmoid function as a correction function.

19. The device according to claim 10 or 11, wherein: A door closing completion signal from the elevator system is used to determine whether the landing door associated with one of the floors is normally closed.

20. An elevator system, comprising: The landing doors installed on multiple floors have an automatic closing function; Car; Driving mechanism; as well as Elevator controller, including: Memory; a processor coupled to the memory; and A computer program stored on the memory and executable on the processor, the execution of which results in the following operations: A. when a car of the elevator system stops at one of the multiple floors, opening a car door of the car and a landing door associated with one of the multiple floors; B. applying a driving force to the car door through the driving mechanism of the elevator system to start the closing process of the car door and the landing door; C. When the gap of the car door or the gap of the landing door is reduced to a preset value, the driving mechanism stops applying the driving force to the car door; and D. Determine whether the landing door can be closed normally within a preset period of time after the driving force on the car door stops being applied.

21. A non-transitory computer-readable storage medium having instructions stored therein, characterized in that: When the instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 9.

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