WO2021217472A1 - 一种基于fpga实现电机控制的方法和装置 - Google Patents

一种基于fpga实现电机控制的方法和装置 Download PDF

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Publication number
WO2021217472A1
WO2021217472A1 PCT/CN2020/087675 CN2020087675W WO2021217472A1 WO 2021217472 A1 WO2021217472 A1 WO 2021217472A1 CN 2020087675 W CN2020087675 W CN 2020087675W WO 2021217472 A1 WO2021217472 A1 WO 2021217472A1
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Prior art keywords
separation
medium
component
detection
signal
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PCT/CN2020/087675
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English (en)
French (fr)
Inventor
彭彤
刘华
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深圳怡化电脑股份有限公司
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Application filed by 深圳怡化电脑股份有限公司 filed Critical 深圳怡化电脑股份有限公司
Priority to CN202080000626.6A priority Critical patent/CN113939854A/zh
Priority to EP20842167.7A priority patent/EP3940657A4/en
Priority to PCT/CN2020/087675 priority patent/WO2021217472A1/zh
Publication of WO2021217472A1 publication Critical patent/WO2021217472A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/02—Separating articles from piles using friction forces between articles and separator
    • B65H3/06—Rollers or like rotary separators
    • B65H3/0669—Driving devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/08—Supports or magazines for piles from which articles are to be separated with means for advancing the articles to present the articles to the separating device
    • B65H1/14—Supports or magazines for piles from which articles are to be separated with means for advancing the articles to present the articles to the separating device comprising positively-acting mechanical devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/02—Separating articles from piles using friction forces between articles and separator
    • B65H3/06—Rollers or like rotary separators
    • B65H3/0638—Construction of the rollers or like rotary separators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/10—Mechanical details
    • G07D11/16—Handling of valuable papers
    • G07D11/165—Picking
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D11/00—Devices accepting coins; Devices accepting, dispensing, sorting or counting valuable papers
    • G07D11/20—Controlling or monitoring the operation of devices; Data handling
    • G07D11/22—Means for sensing or detection
    • G07D11/235—Means for sensing or detection for monitoring or indicating operating conditions; for detecting malfunctions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/21—Angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/21—Angle
    • B65H2511/212—Rotary position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/40—Movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/50—Timing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/50—Timing
    • B65H2513/512—Starting; Stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/41—Photoelectric detectors
    • B65H2553/414—Photoelectric detectors involving receptor receiving light reflected by a reflecting surface and emitted by a separate emitter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/50—Use of particular electromagnetic waves, e.g. light, radiowaves or microwaves
    • B65H2557/512—Use of particular electromagnetic waves, e.g. light, radiowaves or microwaves infrared
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1912—Banknotes, bills and cheques or the like

Definitions

  • the present invention relates to the technical field of signal processing, in particular to a method for realizing motor control based on FPGA and a device for realizing motor control based on FPGA.
  • the container used to store the medium often involves the problem of how to separate the medium in the container.
  • the separation of the medium in the existing container is often achieved by the friction between the separation component in the container and the medium to separate the medium from the container.
  • the traditional processing method is to control the motor-driven separation component to separate the media through ARM, MCU, etc.
  • the traditional control method can only solve the obvious separation problem, and its real-time and accuracy cannot solve the separation problem caused by subtle parameter changes. Realize precise control and precise separation.
  • the embodiments of the present invention are proposed to provide a method for implementing motor control based on FPGA and a corresponding device for implementing motor control based on FPGA that overcome the above problems or at least partially solve the above problems.
  • FPGA calculation and control technology the real-time and accuracy of traditional control methods can not solve the separation problem caused by subtle parameter changes.
  • the embodiment of the present invention discloses a method for realizing motor control based on FPGA, and the method includes:
  • the motor is used to control the movement of the medium carrying component to the separation element.
  • the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; and the motor is used to control the motor based on the phase signal and the detection signal.
  • the step of moving the medium bearing assembly to the separating element includes:
  • the motor is used to control the movement of the medium carrying component to the separation component.
  • the separation element includes a front separation element; the detection assembly includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; Signal, the step of using the motor to control the movement of the medium carrying assembly to the separating element includes:
  • the motor is used to control the movement of the medium carrying component to the separation component.
  • the separation element includes a post-separation element; the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; and the detection signal is based on the phase information and the detection element.
  • the step of using the motor to control the movement of the medium carrying assembly to the separating element includes:
  • phase information satisfies that the rear separation element is at the first preset position and any one of the sub-signals is a occlusion signal, the medium bearing component is not moved, and movement mark information is generated.
  • it also includes:
  • the motor is used to control the movement of the medium carrying component to the separation element.
  • the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; and the motor is used to control the motor based on the phase information and the detection signal.
  • the step of moving the medium bearing assembly to the separating element includes:
  • the motor is used to control the movement of the medium carrying component.
  • the step of acquiring the first phase information of the separation element when the medium separation instruction is received includes:
  • the phase information of the preset separation element is acquired.
  • the method further includes:
  • the embodiment of the present invention also discloses a device for realizing motor control based on FPGA, and the device includes:
  • the phase information acquisition module is used to acquire the phase information of the preset separation element when the medium separation instruction is received;
  • the detection signal generation module is used to detect the preset medium carrying component by using the preset detection component to generate a detection signal
  • the movement control module is configured to use the motor to control the movement of the medium carrying component to the separation component based on the phase signal and the detection signal.
  • the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; and the movement control module includes:
  • the first movement module when the phase information satisfies that the separation component is at the first preset position, and any one of the sub-signals is an unobstructed signal, the motor is used to control the medium carrying component to the separation component move.
  • the separation element includes a front separation element; the detection assembly includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; and the movement control module includes:
  • the second movement module is configured to use the motor to control the movement of the medium carrying component when the phase information satisfies that the front separation element is at the first preset position and any of the sub-signals is a blocking signal.
  • the separation element includes a post-separation element; the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; the movement control module includes:
  • the non-moving module is configured to not move the medium bearing component and generate movement mark information when the phase information satisfies that the rear separation element is at the first preset position and any of the sub-signals is a occlusion signal.
  • the mobility control module further includes:
  • the third movement module is configured to respond to the movement mark information when the phase information satisfies that the separation element is at the second preset position, and use the motor to control the medium carrying assembly to move to the separation element.
  • the detection component includes two detection elements; the detection signal includes a sub-signal generated by each detection element; and the movement control module includes:
  • the fourth movement module is configured to use the motor to control the movement of the medium carrying assembly when the phase information satisfies that the separation element is in the second preset position and any of the sub-signals is a blocking signal.
  • the phase information acquisition module includes:
  • the collection instruction sending module is used to send the collection instruction to the preset information collection component when the preset medium separation instruction is received;
  • the phase information acquisition module is configured to acquire the phase information of the preset separation element when the feedback information returned for the collection instruction is received within a preset time.
  • the phase information acquisition module further includes:
  • the alarm module is used to send an alarm signal when the feedback information is not received within a preset time.
  • the embodiment of the present invention also discloses an electronic device, including a memory and a processor, and a computer program is stored in the memory.
  • the computer program is executed by the processor, the processor is executed as in the embodiment of the present invention.
  • the embodiment of the present invention also discloses a computer program, including computer readable code, when the computer readable code runs on a computing processing device, it causes the computing processing device to execute the FPGA-based A method to achieve motor control.
  • the embodiment of the present invention also discloses a computer-readable storage medium in which the computer program as described in the embodiment of the present invention is stored.
  • the phase information of the separation element and the detection signal of the detection component are synchronously acquired in real time and quickly, and the acquired phase information and detection signal meet the preset conditions to precisely control the movement timing of the medium carrying component, thereby being able to accurately control the movement timing of the medium carrying component. Control the timing of the movement of the media-carrying component.
  • Figure 1 is a schematic structural diagram of a medium separation inside a container according to an embodiment of the present invention
  • FIGS. 2a and 2b are schematic diagrams of the relative relationship between the separation element and the medium in the embodiment of the present invention.
  • FIG. 3 is a flowchart of steps of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention
  • FIG. 4 is a flowchart of steps of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention
  • FIG. 5 is a flowchart of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention
  • Fig. 6 is a structural block diagram of an embodiment of a device for implementing motor control based on FPGA according to an embodiment of the present invention.
  • Fig. 7 schematically shows a block diagram of a computing processing device for executing the method according to the present invention.
  • Fig. 8 schematically shows a storage unit for holding or carrying program codes for implementing the method according to the present invention.
  • FIG. 1 there is shown a schematic structural diagram of a medium separation inside a container according to an embodiment of the present invention, which includes a separation element 101, a detection component 102, a medium carrying component 103 and a motor 104.
  • the detection component 102 is used to determine the contact state between the medium and the separating element 101.
  • the detection component 102 may be an infrared sensor.
  • the infrared sensor emits infrared rays to the surface of the medium to determine whether the medium is The contact state of the separation element 101.
  • the separating element 101 is used to bring the medium out of the container through friction with the medium and the squeezing force of the medium carrying component 103.
  • Media can be placed on the surface of the media carrying component 103, and the motor 104 can control the movement of the media carrying component 103 to the separation component to maintain a certain squeezing force between the medium and the separation element 101, so that the separation element 101 can take the medium out by friction. container.
  • the core idea of the embodiments of the present invention is to control the movement of the medium carrying component according to the phase information of the separation element and the detection signal generated by the detection component.
  • FIG. 3 there is shown a step flow chart of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention, including a container body, a medium carrying component, a detection component, a motor, and a separation device provided in the container body.
  • Component the separation component is arranged between the medium carrying component and the detection component; the surface of the separation component is covered with a separation element; specifically, it may include the following steps:
  • Step 301 Obtain the phase information of the preset separation element when the medium separation instruction is received;
  • the container involved in the embodiment of the present invention is a container that can store media, including but not limited to a cash box for storing banknotes, a bill box for storing bills, and the like.
  • the medium carrying component can be used to carry the medium and can be moved under the control of a motor, such as a lifting platform for carrying the medium in a cash box.
  • the motor is used to provide external driving force.
  • the detection component can be used to detect the position of the medium carrying component.
  • the detection component may be a sensor, such as an infrared sensor.
  • the medium in the embodiment of the present invention is different depending on the container.
  • the medium when the container is a cash box, the medium can be a standard-size paper banknote; when the container is a bill box, the medium can be a bill of a certain specification, and so on.
  • the separating element on the media separating assembly when the media is separated, the separating element on the media separating assembly will come into contact with the medium on the media carrying assembly along with the rotation of the separating element.
  • the frictional force brings the medium out of the container, thereby realizing the separation of the medium.
  • the amount of media on the media carrying assembly will gradually decrease, and the squeezing force and friction between the separating element and the media will gradually become smaller until they are lost, thereby affecting the effect of media separation.
  • the new and old media, the quality, and the flatness are different. Even if the same number of media is separated, the released space is different.
  • the original system is set to separate 10 banknotes, the banknote board moves, making the most The upper surface of the above banknote is flush with the set position. Even so, due to the existence of the above factors, there will still be such a state that affects the separation quality of the medium: tight-loose-no contact. Therefore, it is necessary to quickly detect the status of the media and the carrier assembly in real time.
  • the position of the media carrier assembly needs to be adjusted in real time to maintain a certain degree of squeezing force and friction between the separating element and the medium. force.
  • the different contact relationship between the separation element and the medium can be used to analyze whether the movement of the medium carrying assembly will affect the separation of the medium.
  • the phase information of the separation element can be obtained by setting a detection unit to detect it.
  • a detection unit such as a sensor
  • the detection unit can be set at a specific position with a radius of the center of the separation component.
  • the detection unit (such as a sensor) can be installed at a position of the next radius in the direction of gravity of the separation component. The detection element detects the phase information between the separation element and the medium.
  • a synchronization component (fan-shaped piece) that moves synchronously with the separation element can also be provided to feed back the movement state of the separation element.
  • the phase information of the separation element is determined by setting the detection element at the corresponding position of the synchronization component.
  • the phase information of the separation element can be acquired first.
  • the media separation instruction can be triggered by the user clicking on the operation interface, for example, the user clicks the withdrawal operation on the deposit and withdrawal machine, or the user performs the ticket issuance operation on the receipt machine. It can also be triggered in other interactive forms, which is not specifically limited in the present invention.
  • Step 302 Use the preset detection component to detect the preset medium carrying component, and generate a detection signal
  • a detection component is arranged inside the container, and the detection component is arranged at a position facing the medium.
  • the contact state between the medium and the separating element is determined by sending a signal to the medium and receiving the returned signal.
  • a sensor can be used to form a detection component.
  • the infrared sensor can include a sending end and a receiving end.
  • the sending end can send infrared rays to the medium, and the receiving end judges the medium and the separation element by receiving the infrared rays fed back by the medium. The state of contact between.
  • Step 303 Based on the phase information and the detection signal, the motor is used to control the movement of the medium carrying component to the separation element.
  • the motor can be used to control the movement process of the medium carrying assembly to the separating element, including controlling the movement of the medium carrying assembly to the separating assembly and controlling There are two situations in which the medium carrying component stops moving to the medium carrying component.
  • the process of moving the media carrying assembly to the separating element may be a process of longitudinal movement in the direction of gravity, or a process of lateral movement in a horizontal direction.
  • the phase information of the separation element and the detection signal of the detection component are synchronously acquired in real time and quickly, and the acquired phase information and detection signal meet the preset conditions to precisely control the movement timing of the medium carrying component, thereby being able to accurately control the movement timing of the medium carrying component. Control the timing of the movement of the media-carrying component.
  • FIG. 4 there is shown a step flowchart of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention, which may specifically include the following steps:
  • Step 401 When receiving a medium separation instruction, send a collection instruction to an information collection component;
  • the information collection component may be a fan-shaped piece connected with the separation component through gears, which can feed back the position information of the separation component.
  • the cash box When the cash box receives the medium separation instruction, it can send the collection instruction to the information processing unit of the fan-shaped piece, so as to obtain the feedback information of the fan-shaped piece.
  • Step 402 when receiving the feedback information returned for the collection instruction within a preset time, acquire the phase information of the preset separation element;
  • the separating element is used to drive the medium to move by using its own motion and contact friction with the medium.
  • the material can be rubber or other wear-resistant materials that can provide a certain amount of friction.
  • the state information fed back by the fan-shaped plate When the state information fed back by the fan-shaped plate is received within the preset time, it indicates that the fan-shaped plate is working normally, and the relevant data of the separation element can be fed back normally. At this time, the first phase information of the separation element can be obtained.
  • the feedback information when the feedback information is not received within the preset time, it indicates that the fan-shaped piece is not working properly and an alarm signal is issued.
  • the administrator of the bank back office, the maintenance personnel of the self-service machine for selling air tickets and high-speed rail tickets in a timely manner receive the fault signal in time, and promptly check the cash box, the ticket box, etc.; the embodiment of the present invention does not specifically limit the signal reminding method.
  • Step 403 Use the preset detection component to detect the preset medium carrying component, and generate a detection signal
  • a detection component is arranged inside the container, and the detection component is arranged at a position facing the medium.
  • the contact state between the medium and the separating element is determined by sending a signal to the medium and receiving the returned signal.
  • a sensor can be used to form a detection component.
  • the infrared sensor can include a sending end and a receiving end.
  • the sending end can send infrared rays to the medium, and the receiving end judges the medium and the separation element by receiving the infrared rays fed back by the medium. The state of contact between.
  • the medium separation process is extremely fast, and the magnitude of the signals that the detection unit that detects the separation element and the detection component that detects the state of the medium needs to be collected is milliseconds, in order to collect accurately
  • FPGA Field-Programmable Gate Array
  • the response speed of FPGA can easily reach the nanosecond level, and the accuracy can reach the picosecond level.
  • FPGA can collect multiple signals in parallel. Collect the pulse signal generated by the detection component. Therefore, the contact relationship between the separating element and the medium can be accurately judged.
  • Step 404 Based on the phase information and the detection signal, the motor is used to control the movement of the medium carrying component to the separation component.
  • the motor can be used to control the movement process of the medium carrying assembly to the separating element, including controlling the movement of the medium carrying assembly to the separating element and controlling There are two situations in which the medium carrying component stops moving to the medium carrying component.
  • the process of moving the media carrying assembly to the separating element may be a process of longitudinal movement in the direction of gravity, or a process of lateral movement in a horizontal direction.
  • the separation element may be composed of two parts, including a front separation element and a rear separation element. Among them, the front separation element will contact the medium before the rear separation element in the process of following the rotation of the separation assembly.
  • the detection component contains at least one detection element, which can simultaneously send a signal to the medium to obtain the signal returned by the medium.
  • the separation element and the medium are in a loose state.
  • the motor is used to control the movement of the medium carrying component.
  • the first preset position means that when the separation element is in this position, the signal of the detection unit will be blocked, thereby generating a blocking signal.
  • the separating element When the separating element is in this position, the separating element will come into contact with the medium, that is, when the separating element is in this position, the separating element can bring the medium out of the container through the squeezing force and friction force with the medium.
  • the motor when the phase information satisfies that the front separation element is at the first preset position, and any of the sub-signals is an unobstructed signal, the motor is used to control the movement of the medium carrying component.
  • the separation element When the current separation element is in this first preset position, the separation element has just contacted the medium and has not driven the medium to move. At this time, if the separation element and the medium are in a loose state, then the appropriate movement of the medium carrier assembly can just move the separation element and the medium. The contact state between them is adjusted to a tight state, so as to achieve the effect of effectively realizing the separation of the media.
  • phase information satisfies that the rear separation element is at the first preset position, and any of the sub-signals is an unobstructed signal, the medium bearing component is not moved, and movement mark information is generated.
  • the separation element When the rear separation element is in this first preset position, the separation element is driving the medium to move. Assuming that the separating element and the medium are in a loose state at this time, when the medium carrying assembly is moved, the force between the separating element and the medium will change, and changing the force of the medium during the movement of the medium will damage the medium to a large extent.
  • the current movement behavior causes the media separation process to be affected. For example, the current medium being separated may be dragged and unable to be separated due to increased friction, or may be skewed. Therefore, in this case, the media bearing assembly should not be moved immediately.
  • the separation element and the medium are in a loose state, if the contact state is not adjusted, the next time the medium separation is performed, the contact force between the separation element and the medium will become smaller, which will affect The medium is separated, and the medium may not be separated away. Therefore, before the next separation starts, the medium carrying assembly needs to be moved to adjust the contact state between the separation element and the medium.
  • movement mark information can be generated to indicate that subsequent corresponding processing needs to be performed based on the movement mark information.
  • the motor is used to control the movement of the medium carrying assembly to the separation element.
  • the second preset position is a position where the separation element will not block the signal from the detection unit.
  • the separating element When the separating element is in this position, the separating element will not come into contact with the medium. At this time, there is a certain space difference between the separating element and the medium, and the medium will not move. Therefore, moving the medium carrying assembly at this time will not affect the medium.
  • the separation effect has an impact. Therefore, when the separation element is in the second preset position, it can be checked whether the movement mark information has been generated before; if it exists, in response to the movement mark information, the motor is used to control the movement of the medium carrying component to the separation component.
  • the motor is used to control the movement of the medium carrying component.
  • the second preset position refers to a position where the separation element will not block the detection unit.
  • the separation element When the separation element is in this position, the medium is in a non-moving state.
  • any sub-signal is detected as a occlusion signal, it means that when the separation element is in contact with the medium, the contact state between the separation element and the medium is loose.
  • the media bearing assembly should be moved so that the media and the separation element are in a tight state when the next media separation is performed.
  • the phase information of the separation element and the detection signal of the detection component are synchronously acquired in real time and quickly, and the acquired phase information and detection signal meet the preset conditions to precisely control the movement timing of the medium carrying component, thereby being able to accurately control the movement timing of the medium carrying component. Control the timing of the movement of the media-carrying component.
  • FIG. 5 a flowchart of an embodiment of a method for implementing motor control based on FPGA according to an embodiment of the present invention is shown.
  • the acquisition instruction When the separation preparation is completed and the media separation instruction is received, the acquisition instruction must first be sent to the information collection component. When the feedback information is not received within the preset time, it is proved that the information collection component is damaged. At this time, the operation can be ended and an alarm will be issued. Signal. When the feedback information is received within the preset time, the phase information of the separation element can be obtained.
  • phase information of the separation element is occlusion information, it is judged whether it is within the TI time when the front separation element is in contact with the medium or the T2 time when the rear separation element is in contact with the medium;
  • the separation element is just about to drive the medium to move at this time. It is judged whether any of the top sensors is in an unshielded state; if it is, the medium bearing assembly is immediately moved up, so that the friction between the separating element and the medium can meet the separation requirement of the medium. If not, return to the step of judging whether the information collection component is damaged. When the medium carrying component is adjusted in place, the adjustment of the medium carrying component is finished, and the step of determining whether the information collecting component is damaged is executed again. If it is not in place, continue to move the media bearing assembly up until the media bearing assembly is adjusted in place.
  • the separation element is driving the medium to move, and the medium is in motion. It is judged whether any of the top sensors is in an unobstructed state; if it is, mark the current state (the medium carrying component should not be moved immediately at this time to avoid During the movement of the medium, the separation is abnormal due to the force change), until the phase information of the separation element is unobstructed information, the medium carrying component is moved upward in response to the mark state. If not, return to the step of judging whether the information collection component is damaged. When the medium carrying component is adjusted in place, the adjustment of the medium carrying component is finished, and the step of determining whether the information collecting component is damaged is executed again. If it is not in place, continue to move the media bearing assembly up until the media bearing assembly is adjusted in place.
  • phase information of the separation element is unobstructed information
  • the medium carrying component is adjusted in place, the adjustment of the medium carrying component is finished, and the step of determining whether the information collecting component is damaged is executed again. If it is not in place, continue to move the media bearing assembly up until the media bearing assembly is adjusted in place.
  • FIG. 6 there is shown a structural block diagram of an embodiment of a device for implementing motor control based on FPGA according to an embodiment of the present invention, which may specifically include the following modules:
  • the phase information acquisition module 601 is configured to acquire the phase information of the preset separation element when the medium separation instruction is received;
  • the detection signal generation module 602 is configured to detect the preset medium carrying component by using the preset detection component to generate a detection signal
  • the movement control module 603 is configured to use the motor to control the movement of the medium carrying component to the separation component based on the phase signal and the detection signal.
  • the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; the movement control module 603 includes:
  • the first movement module when the phase information satisfies that the separation component is at the first preset position, and any one of the sub-signals is an unobstructed signal, the motor is used to control the medium carrying component to the separation component move.
  • the separation element includes a front separation element; the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; the movement control module 603 may include:
  • the second movement module is configured to use the motor to control the movement of the medium carrying component when the phase information satisfies that the front separation element is in the first position and any of the sub-signals is an unobstructed signal.
  • the non-moving module is used for when the phase information satisfies that the rear separation element is at the first preset position and any of the sub-signals is an unobstructed signal, the medium carrying component is not moved, and movement mark information is generated .
  • the movement control module 603 further includes:
  • the third movement module is configured to respond to the movement mark information when the phase information satisfies that the separation element is at the second preset position, and use the motor to control the medium carrying assembly to move to the separation element.
  • the detection component includes at least one detection element; the detection signal includes a sub-signal generated by each detection element; the movement control module 603 may include:
  • the fourth movement module is configured to use the motor to control the movement of the medium carrying component when the phase information satisfies that the separation element is at the second preset position and any of the sub-signals is an unobstructed signal.
  • the phase information acquisition module 601 may include:
  • the collection instruction sending module is used to send the collection instruction to the information collection component when the medium separation instruction is received;
  • the phase information acquisition module is configured to acquire the phase information of the preset separation element when the feedback information returned for the collection instruction is received within a preset time.
  • the phase information acquisition module 501 may further include:
  • the alarm module is used to send an alarm signal when the feedback information is not received within a preset time.
  • the embodiment of the present invention also discloses an electronic device, including a memory and a processor, and a computer program is stored in the memory.
  • the computer program is executed by the processor, the processor is executed as in the embodiment of the present invention.
  • the embodiment of the present invention also discloses a computer program, including computer readable code, which when the computer readable code runs on a computing processing device, causes the computing processing device to execute any one of the methods described in the embodiments of the present invention.
  • the described method is based on FPGA to realize motor control.
  • the embodiment of the present invention also discloses a computer-readable storage medium in which the computer program as described in the embodiment of the present invention is stored.
  • the computer-readable recording medium includes any mechanism for storing or transmitting information in a form readable by a computer (eg, a computer).
  • machine-readable media include read-only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash storage media, electrical, optical, acoustic, or other forms of propagated signals (e.g., carrier waves). , Infrared signal, digital signal, etc.) etc.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
  • FIG. 7 shows a computing processing device that can implement the method according to the present invention.
  • the computing processing device traditionally includes a processor 710 and a computer program product in the form of a memory 720 or a computer readable medium.
  • the memory 720 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 720 has a storage space 730 for executing the program code 731 of any method step in the foregoing method.
  • the storage space 730 for program codes may include various program codes 731 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products.
  • These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks. Such computer program products are usually portable or fixed storage units as described with reference to FIG. 8.
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 720 in the computing processing device of FIG. 7.
  • the program code can be compressed in an appropriate form, for example.
  • the storage unit includes computer-readable codes 731', that is, codes that can be read by, for example, a processor such as 710. These codes, when run by a computing processing device, cause the computing processing device to execute the method described above. The various steps.
  • any reference signs placed between parentheses should not be constructed as a limitation to the claims.
  • the word “comprising” does not exclude the presence of elements or steps not listed in the claims.
  • the word “a” or “an” preceding an element does not exclude the presence of multiple such elements.
  • the invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item.
  • the use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

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Abstract

本发明实施例提供了一种基于FPGA实现电机控制的方法和装置，包括：在接收到介质分离指令时，获取预设分离元件的相位信息；采用预设检测组件对预设介质承载组件进行检测，生成检测信号；基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离组件的移动。本发明实施例通过快速地实时同步获取分离元件的相位信息和检测组件的检测信号，并判断所获取的相位信息和检测信号是否满足预设条件来精准控制介质承载组件的移动时机，从而可以精准控制介质承载组件移动的时机。

Description

一种基于FPGA实现电机控制的方法和装置 技术领域
本发明涉及信号处理技术领域，特别是涉及一种基于FPGA实现电机控制的方法和一种基于FPGA实现电机控制的装置。
背景技术
用于存储介质的容器往往会涉及到如何分离容器内介质的问题，现有的容器内介质的分离往往是通过容器内分离组件与介质之间的摩擦，来实现将介质从容器内分离出来的技术效果。
然而，介质在分离过程中，虽然电机的转速是确定的，但因介质的新旧、污损等因素，质量、厚度、所占空间不同，分离组件与介质之间的相对位置容易出现变化，导致分离组件与介质之间的摩擦力过大或者过小，介质与分离元件间或松或紧，介质的分离并非匀速进行，致使介质分空或多分的现象产生。导致分离质量无法得到有效保障。这些距离和摩擦力等参数的变化是十分微小的，但却对介质分离效果产生大的影响，而传统的控制方式无法实现精准实时调整，如不及时处理并矫正，甚至带来严重的损坏介质及装置的后果。目前传统的处理方式是通过ARM、MCU等控制电机驱动分离组件分离介质，传统控制方式只能解决明显的分离问题，其实时性和精准度都无法解决因细微参数变化带来的分离问题，无法实现精准控制，精准分离。
发明内容
鉴于上述问题，提出了本发明实施例以便提供一种克服上述问题或者至少部分地解决上述问题的一种基于FPGA实现电机控制的方法和相应的一种基于FPGA实现电机控制的装置。通过FPGA的运算与控制技术，解决了传统控制方式其实时性和精准度无法解决因细微参数变化带来的分离问题。
本发明实施例公开了一种基于FPGA实现电机控制的方法，所述的方法包括：
在接收到介质分离指令时，获取预设分离元件的相位信息；
采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组 件向所述分离元件移动。
可选地，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
当所述相位信息满足所述分离组件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件向所述分离元件移动。
可选地，所述分离元件包括前分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
当所述相位信息满足所述前分离元件处于第一预设位置，且任一所述子信号为遮挡信号时，采用所述电机控制所述介质承载组件向所述分离组件移动。
可选地，所述分离元件包括后分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
当所述相位信息满足所述后分离元件处于第一预设位置，且任一所述子信号为遮挡信号时，不移动所述介质承载组件，并生成移动标记信息。
可选地，还包括：
当所述相位信息满足所述分离元件处于第二预设位置时，响应所述移动标记信息，采用所述电机控制所述介质承载组件向所述分离元件移动。
可选地，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
当所述相位信息满足所述分离元件处于第二预设位置，且任一所述子信号为遮挡信号时，采用所述电机控制所述介质承载组件移动。
可选地，所述在接收到介质分离指令时，获取所述分离元件的第一相位信息的步骤，包括：
当接收到介质分离指令时，向预设信息采集组件发送采集指令；
当在预设时间内接收到针对所述采集指令返回的反馈信息时，获取预设 分离元件的相位信息。
可选地，所述方法还包括：
当在预设时间内未接收到所述反馈信息时，发出报警信号。
本发明实施例还公开了一种基于FPGA实现电机控制的装置，所述的装置包括：
相位信息获取模块，用于在接收到介质分离指令时，获取预设分离元件的相位信息；
检测信号生成模块，用于采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
移动控制模块，用于基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离组件的移动。
可选地，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块，包括：
第一移动模块，当所述相位信息满足所述分离组件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件向所述分离元件移动。
可选地，所述分离元件包括前分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块，包括：
第二移动模块，用于当所述相位信息满足所述前分离元件处于第一预设位置，且任一所述子信号为遮挡信号时，采用所述电机控制所述介质承载组件的移动。
可选地，所述分离元件包括后分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块，包括：
不移动模块，用于当所述相位信息满足所述后分离元件处于第一预设位置，且任一所述子信号为遮挡信号时，不移动所述介质承载组件，并生成移动标记信息。
可选地，所述移动控制模块还包括：
第三移动模块，用于当所述相位信息满足所述分离元件处于第二预设位置时，响应所述移动标记信息，采用所述电机控制所述介质承载组件向所述分离元件移动。
可选地，所述检测组件包括两个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块，包括：
第四移动模块，用于当所述相位信息满足所述分离元件处于第二预设位置，且任一所述子信号为遮挡信号时，采用所述电机控制所述介质承载组件移动。
可选地，所述相位信息获取模块，包括：
采集指令发送模块，用于当接收到预设的介质分离指令时，向预设信息采集组件发送采集指令；
相位信息获取模块，用于当在预设时间内接收到针对所述采集指令返回的反馈信息时，获取预设分离元件的相位信息。
可选地，所述相位信息获取模块还包括：
报警模块，用于当在预设时间内未接收到所述反馈信息时，发出报警信号。
本发明实施例还公开了一种电子设备，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如本发明实施例所述的基于FPGA实现电机控制的方法的步骤。
本发明实施例还公开了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据本发明实施例所述的基于FPGA实现电机控制的方法。
本发明实施例还公开了一种计算机可读存储介质，其中存储了如本发明实施例所述的计算机程序。
本发明实施例包括以下优点：
本发明实施例通过快速地实时同步获取分离元件的相位信息和检测组件的检测信号，并判断所获取的相位信息和检测信号是否满足预设条件来精准控制介质承载组件的移动时机，从而可以精准控制介质承载组件移动的时机。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的一种容器内部进行介质分离的结构示意图；
图2a、2b是本发明实施例分离元件与介质之间的相对关系示意图；
图3是本发明实施例的一种基于FPGA实现电机控制的方法实施例的步骤流程图；
图4是本发明实施例的一种基于FPGA实现电机控制的方法实施例的步骤流程图；
图5是本发明实施例的一种基于FPGA实现电机控制的方法实施例的流程图；
图6是本发明实施例的一种基于FPGA实现电机控制的装置实施例的结构框图。
图7示意性地示出了用于执行根据本发明的方法的计算处理设备的框图；以及
图8示意性地示出了用于保持或者携带实现根据本发明的方法的程序代码的存储单元。
具体实施例
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参照图1，示出了本发明实施例的一种容器内部进行介质分离的结构示意图，包括分离元件101、检测组件102和、介质承载组件103和电机104。
其中，检测组件102用于判断介质与分离元件101的接触状态，在一个示例中，该检测组件102可以为红外线传感器，红外线传感器通过向介质表面发射红外线，以根据红外线的返回情况来判断介质与分离元件101的接触状态。
分离元件101用于通过与介质之间的摩擦力和介质承载组件103的挤压 力来将介质带出容器。
介质承载组件103表面可放置介质，通过电机104控制介质承载组件103向所述分离组件移动可以使得介质与分离元件101之间保持一定的挤压力，便于分离元件101通过摩擦力将介质带出容器。
需要说明的是，由于分离元件101会沿着一个中心点转动，因此，如图2a和图2b所示，分离元件101与介质105之间存在两种位置关系，包括可接触位置关系(如图2a所示)；不可接触关系(如图2b所示)；本发明所述的分离元件101和介质105之间的接触状态是在分离元件101有介质105处于可接触位置关系下产生的。
在图1中，随着介质分离，原来分离元件101对介质的挤压力会逐渐释放介质与分离元件101的状态会存在：紧-松-不接触，这样的状态过程。在实际应用中，当介质与分离元件101处在松和不接触阶段时，需要朝向分离组件所在的方向移动介质承载组件，使得介质分离时，分离元件101与介质之间保持有适度的摩擦力。
然而，当分离元件101与当前介质之间处于松的状态时，如果立即移动介质承载组件103，会导致受力的改变，影响到分离质量；但如果不移动介质承载组件103，则下一次分离会出现更松的情况，导致分离质量无法得到有效的保障。
基于上述问题，本发明实施例的核心构思在于，根据分离元件的相位信息和检测组件产生的检测信号，来控制介质承载组件的移动。
具体通过以下实施例进行说明：
参照图3，示出了本发明实施例的一种基于FPGA实现电机控制的方法实施例的步骤流程图，包括容器本体，设置于所述容器本体内的介质承载组件、检测组件、电机和分离组件；所述分离组件设置于所述介质承载组件和所述检测组件之间；所述分离组件表面覆盖有分离元件；具体可以包括如下步骤：
步骤301，在接收到介质分离指令时，获取预设分离元件的相位信息；
本发明实施例所涉及的容器为可存储介质的容器，包括但不限于存储钞票的钞箱、存储票据的票据箱等。
介质承载组件可用于承载介质，可受电机控制进行移动，如钞箱中承载介质的升降台。
电机用于提供外部驱动力。
检测组件可以用于检测介质承载组件所处的位置。在一个示例中，检测组件可以为传感器，如红外线传感器等。
本发明实施例中的介质根据容器的不同而有所不同，如当容器为钞箱时，介质可以为标准尺寸的纸钞；当容器为票据箱时，介质可以为一定规格的票据等等。
在本发明实施例中，当进行介质分离时，介质分离组件上的分离元件会随着分离元件的转动从而与介质承载组件上的介质产生接触，通过分离元件与介质之间的挤压力和摩擦力将介质带出容器，从而实现介质分离。而在介质逐渐分离的过程中，介质承载组件上的介质数量会逐渐减少，分离元件与介质之间的挤压力和摩擦力也会逐渐变小直至失去，从而影响介质分离的效果。另外，介质的新旧不同、质量不同、平整度不同等，即使分离同样张数的介质，所释放的空间不同，例如，原有系统设定，每分离10张纸币，托钞板移动，使得最上面的纸币上表面与设定的位置平齐。即使这样，因为上述因素的存在，仍然会存在这种影响介质分离质量的状态：紧-松-不接触。因此，需要实时快速检测到介质与承载组建的状态，在介质分离进行到一定的程度的时候，需要实时调整介质承载组件的位置，使得分离元件与介质之间保持一定程度的挤压力和摩擦力。
考虑到介质分离的过程是在持续进行中的，介质承载组件的移动必须避免影响到介质分离的效果；而由于介质分离是通过分离元件与介质之间的挤压力和摩擦力来实现的，因此，在本发明实施例中，可以以分离元件与介质之间不同的接触关系来分析介质承载组件移动是否会对介质分离产生影响。
其中，分离元件的相位信息可以通过设置检测单元对其进行检测来得到。在一个示例中，由于分离元件覆盖于分离组件表面，所以分离元件外表面到分离组件中心的直径比无分离元件的部位直径大。所以，可以在分离组件圆心一个半径的长度所在的特定位置设置检测单元，以介质承载组件纵向移动为例，可以在分离组件重力方向向下一个半径长度的位置设置检测单元(如传感器)，以通过检测元件检测分离元件与介质的相位信息。在另一种示例中，还可以设置与分离元件同步运动的同步组件(扇形片)，用于反馈分离元件的运动状态。通过在同步组件的相应位置设置检测元件来确定分离元件的相位信息。
因此，在本发明实施例中，在接收到预设的介质分离指令时，可以先获取分离元件的相位信息。其中，介质分离指令可以由用户在操作界面上点击 触发，例如，用户在存取款机上点取款操作，或用户在票据机上进行出票操作。也可以以其他交互形式触发，本发明对此不作具体限制。
步骤302，采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
在本发明实施例中，容器内部设置有检测组件，检测组件设置在正对着介质的位置，通过向介质发送信号并接收返回回来的信号，来判断介质与分离元件之间的接触状态。
在一个示例中，可以使用传感器构成检测组件，以红外线传感器为例，红外线传感器可以包括发送端和接收端，发送端可以向介质发送红外线，接收端通过接收介质反馈的红外线来判断介质与分离元件之间的接触状态。
步骤303，基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动。
在本发明实施例中，在获取到分离元件的相位信息和检测组件的检测信号后，便可以使用电机来控制介质承载组件向分离元件的移动过程，包括控制介质承载组件向分离组件移动和控制介质承载组件停止向介质承载组件移动的两种情况。
需要说明的是，介质承载组件向分离元件移动的过程可以为沿重力方向的纵向移动的过程，也可以是沿水平方向的横向移动的过程。
本发明实施例通过快速地实时同步获取分离元件的相位信息和检测组件的检测信号，并判断所获取的相位信息和检测信号是否满足预设条件来精准控制介质承载组件的移动时机，从而可以精准控制介质承载组件移动的时机。
参照图4，示出了本发明实施例的一种基于FPGA实现电机控制的方法实施例的步骤流程图，具体可以包括以下步骤：
步骤401，当接收到介质分离指令时，向信息采集组件发送采集指令；
在本发明实施例中，信息采集组件可以是与分离组件通过齿轮连接的扇形片，其可以反馈分离元件的位置信息。
当钞箱接收到介质分离指令时，可以向扇形片的信息处理单元发送采集指令，从而获取扇形片的反馈信息。
步骤402，当在预设时间内接收到针对所述采集指令返回的反馈信息时，获取预设分离元件的相位信息；
在本发明实施例中，分离元件用于利用自身运动和与介质之间的接触摩 擦带动介质移动。其材质可以为橡胶或其他可提供一定大小摩擦力的耐磨性材料。
当在预设时间内接收到扇形片反馈的状态信息时，说明扇形片正常工作，可正常反馈分离元件的相关数据，此时便可获取分离元件的第一相位信息。
在本发明实施例中，当在预设时间内未接收到所述反馈信息时，说明扇形片无正常工作，发出报警信号。
在实际应用中，当在预设时间未接收到信息采集组件的反馈信息时，说明信息采集组件损坏，此时可以发出报警信号以提醒用户信息采集组件故障，应及时维护，避免长时间故障仍在分离介质，将介质损坏的情形具体可以通过界面实时弹窗的形式来提醒用户；也可以设置信号灯，通过信号灯的闪烁来对用户进行提醒。例如，银行后台的管机员、自助出售机票、高铁票的自助机维护人员，及时收到故障信号，及时对钞箱、票箱等；本发明实施例对信号提醒方式不作具体限制。
步骤403，采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
在本发明实施例中，容器内部设置有检测组件，检测组件设置在正对着介质的位置，通过向介质发送信号并接收返回回来的信号，来判断介质与分离元件之间的接触状态。
在一个示例中，可以使用传感器构成检测组件，以红外线传感器为例，红外线传感器可以包括发送端和接收端，发送端可以向介质发送红外线，接收端通过接收介质反馈的红外线来判断介质与分离元件之间的接触状态。
需要说明的是，在实际的工作场景中，介质分离过程极快，对分离元件进行检测的检测单元和对介质状态进行检测的检测组件所需要采集的信号的量级为毫秒级，为了准确采集到该脉冲信号，在本发明的一个示例中，可以采用FPGA(Field-Programmable Gate Array，现场可编程门阵列)进行脉冲信号的采集。FPGA的反应速度可以轻易达到纳秒级，精度可达到皮秒级；另外，FPGA可以并行采集多个信号例如，可以并行高速采集分离元件的相位信息、介质承载组建的位置信息，因此可以准确地采集检测组件产生的脉冲信号。从而可以准确判断分离元件与介质之间的接触关系。
步骤404，基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离组件移动。
在本发明实施例中，在获取到分离元件的相位信息和检测组件的检测信号后，便可以使用电机来控制介质承载组件向分离元件的移动过程，包括控制介质承载组件向分离元件移动和控制介质承载组件停止向介质承载组件移动的两种情况。
需要说明的是，介质承载组件向分离元件移动的过程可以为沿重力方向的纵向移动的过程，也可以是沿水平方向的横向移动的过程。
在本发明实施例中，分离元件可以由两个部分组成，包括前分离元件和后分离元件。其中，前分离元件在跟随分离组件旋转的过程中，会比后分离元件先接触到介质。
检测组件中包含至少一个检测元件，可同时向介质发送信号以获取介质返回的信号。
在实际场景中，分离元件与介质之间存在三种接触状态，包括挤压力足够的紧状态，挤压力不够的松状态，没有挤压力的不接触状态。在介质分离的过程中，在介质承载组件不移动的情况下，分离元件与介质之间的接触状态会由紧到松再到不接触。而在出现松的情况的时候，为了保证介质分离的效果，就需要调整承载组件，使得分离元件与介质之间的接触状态达到紧的程度，达到合适的分离压力和摩擦力。
在本发明实施例中，可以通过至少一个检测元件所检测到的子信号来判断分离元件与介质是否处于松的状态。在一种示例中，以两个检测元件为例，当任意一个子信号为不遮挡信号时，便可以判断分离元件与介质处于松的状态。当检测到分离元件与介质处于松的状态的时候，再结合分离元件的相位信息，就可以判断是否需要移动介质承载组件。
在一种场景中，当所述相位信息满足所述分离组件处于第一预设位置，且任一所述子信号为遮挡信号时，采用所述电机控制所述介质承载组件的移动。
其中，第一预设位置是指当分离元件处于这个位置时，会对检测单元的信号产生遮挡，从而产生遮挡信号。当分离元件处于这个位置时，分离元件会与介质产生接触，即当分离元件处于这个位置时，分离元件可以通过与介质的挤压力和摩擦力将介质带出容器。
当分离组件处于这个第一预设位置时，此时如果分离元件与介质处于松的状态，那么适当移动介质承载组件刚好可以将分离元件与介质之间的接触状态调整为紧的状态，从而达到有效实现介质分离的效果。
在一种场景中，当所述相位信息满足所述前分离元件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件的移动。
当前分离元件处于这个第一预设位置时，分离元件刚刚与介质接触，还未带动介质移动，此时如果分离元件与介质处于松的状态，那么适当移动介质承载组件刚好可以将分离元件与介质之间的接触状态调整为紧的状态，从而达到有效实现介质分离的效果。
在另一种场景中，当相位信息满足所述后分离元件处于第一预设位置，且任一所述子信号为不遮挡信号时，不移动所述介质承载组件，并生成移动标记信息。
当后分离元件处于这个第一预设位置时，分离元件正在带动介质移动。假设此时分离元件与介质处于松的状态，当移动介质承载组件时，分离元件与介质之间的受力会发生改变，而在介质移动过程中改变介质的受力，很大程度上破坏介质当前的移动行为，导致介质分离过程受到影响。例如，正在被分离的当前介质可能因摩擦力增大而被拖拽无法分离，或分斜。因此，在这种情况下，不应该立即移动介质承载组件。
但考虑到当分离元件与介质之间处于松的状态时，如果不对接触状态进行调整，在下一次执行介质分离的时候，分离元件与介质之间的接触受力会变得更小，从而影响到介质分离，介质可能无法分离走。因此，在下一次分离开始前需要移动介质承载组件以调整分离元件与介质之间的接触状态。而在后分离元件与介质接触的阶段可以生成移动标记信息，以标示后续需要基于该移动标记信息进行对应的处理。
具体地，当所述相位信息满足所述分离元件处于第二预设位置时，响应所述移动标记信息，采用所述电机控制所述介质承载组件向所述分离元件移动。
其中，第二预设位置为分离元件不会对检测单元产生信号遮挡的位置。当分离元件处于这个位置时，分离元件不会与介质产生接触，此时分离组件与介质之间存在一定的空间差，且介质并不会移动，因此在这个时候移动介质承载组件不会对介质分离效果产生影响。因此，在分离元件处于第二预设位置时，可以检查此前是否产生了移动标记信息；若存在，则响应该移动标记信息，采用电机控制介质承载组件向分离组件移动。
在再一种场景中，当所述相位信息满足所述分离元件处于第二预设位 置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件移动。
在本发明实施例中，第二预设位置指分离元件不会对检测单元产生遮挡的位置。当分离元件处于这个位置时，介质处于不移动状态，此时如果检测到任意子信号为遮挡信号时，表征当分离元件与介质接触时，分离元件与介质之间的接触状态为松的状态。此时应该移动介质承载组件，使得在进行下一次介质分离时，介质与分离元件处于紧的状态。
本发明实施例通过快速地实时同步获取分离元件的相位信息和检测组件的检测信号，并判断所获取的相位信息和检测信号是否满足预设条件来精准控制介质承载组件的移动时机，从而可以精准控制介质承载组件移动的时机。
为使本领域技术人员更好地理解本发明实施例，下面采用具体示例进行说明。
参照图5，示出了本发明实施例的一种基于FPGA实现电机控制的方法实施例的流程图。
当分离准备工作完成后，接收到介质分离指令时，首先需要向信息采集组件发送采集指令，当预设时间内未接收到反馈信息时，证明信息采集组件损坏，此时可以结束操作并发出报警信号。当在预设时间内接收到反馈信息时，可以获取分离元件的相位信息。
当分离元件的相位信息为遮挡信息时，判断当前处于前分离元件与介质接触的TI时间内，还是后分离元件与介质接触的T2时间内；
若处于TI内，则此时分离元件刚要带动介质进行移动。判断顶部传感器是否任一处于不遮挡状态；若是，则立即上移介质承载组件，可以使得分离元件与介质之间的摩擦力满足介质的分离需求。若否，重新回到判断信息采集组件是否损坏的步骤。当介质承载组件调整到位时，结束对介质承载组件的调整，重新执行判定信息采集组件是否损坏的步骤。若未到位，继续上移介质承载组件直至介质承载组件调整到位。
若处于T2内，则此时分离元件正在带动介质移动，介质处于运动状态，判断顶部传感器是否任一处于不遮挡状态；若是，则标记当前状态(此时不应立即移动介质承载组件，以避免介质在移动过程中由于受力变化而导致分离异常)，直至分离元件的相位信息为不遮挡信息时，响应该标记状态上移介质承载组件。若否，重新回到判断信息采集组件是否损坏的步骤。当介质 承载组件调整到位时，结束对介质承载组件的调整，重新执行判定信息采集组件是否损坏的步骤。若未到位，继续上移介质承载组件直至介质承载组件调整到位。
当分离元件的相位信息为不遮挡信息时，判断顶部传感器是否任一处于不遮挡状态；若是，则立即上移介质承载组件；若否，重新回到判断信息采集组件是否损坏的步骤。当介质承载组件调整到位时，结束对介质承载组件的调整，重新执行判定信息采集组件是否损坏的步骤。若未到位，继续上移介质承载组件直至介质承载组件调整到位。
需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。
参照图6，示出了本发明实施例的一种基于FPGA实现电机控制的装置实施例的结构框图，具体可以包括如下模块：
相位信息获取模块601，用于在接收到介质分离指令时，获取预设分离元件的相位信息；
检测信号生成模块602，用于采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
移动控制模块603，用于基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离组件的移动。
在本发明实施例中，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块603，包括：
第一移动模块，当所述相位信息满足所述分离组件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件向所述分离元件移动。
在本发明实施例中，所述分离元件包括前分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块603，可以包括：
第二移动模块，用于当所述相位信息满足所述前分离元件处于第一，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件的移动。
在本发明实施例中，所述分离元件包括后分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块603，可以包括：
不移动模块，用于当所述相位信息满足所述后分离元件处于第一预设位置，且任一所述子信号为不遮挡信号时，不移动所述介质承载组件，并生成移动标记信息。
在本发明实施例中，所述移动控制模块603还包括：
第三移动模块，用于当所述相位信息满足所述分离元件处于第二预设位置时，响应所述移动标记信息，采用所述电机控制所述介质承载组件向所述分离元件移动。
在本发明实施例中，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述移动控制模块603，可以包括：
第四移动模块，用于当所述相位信息满足所述分离元件处于第二预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件移动。
在本发明实施例中，所述相位信息获取模块601，可以包括：
采集指令发送模块，用于当接收到介质分离指令时，向信息采集组件发送采集指令；
相位信息获取模块，用于当在预设时间内接收到针对所述采集指令返回的反馈信息时，获取预设分离元件的相位信息。
在本发明实施例中，所述相位信息获取模块501还可以包括：
报警模块，用于当在预设时间内未接收到所述反馈信息时，发出报警信号。
本发明实施例还公开了一种电子设备，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如本发明实施例所述的基于FPGA实现电机控制的方法的步骤。
本发明实施例还公开了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据本发明实施例中的任一个所述的基于FPGA实现电机控制的方法。
本发明实施例还公开了一种计算机可读存储介质，其中存储了如本发明实施例所述的计算机程序。所述计算机可读记录介质包括用于以计算机(例如计算机)可读的形式存储或传送信息的任何机制。例如，机器可读介质包 括只读存储器(ROM)、随机存取存储器(RAM)、磁盘存储介质、光存储介质、闪速存储介质、电、光、声或其他形式的传播信号(例如，载波、红外信号、数字信号等)等。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图7示出了可以实现根据本发明的方法的计算处理设备。该计算处理设备传统上包括处理器710和以存储器720形式的计算机程序产品或者计算机可读介质。存储器720可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器720具有用于执行上述方法中的任何方法步骤的程序代码731的存储空间730。例如，用于程序代码的存储空间730可以包括分别用于实现上面的方法中的各种步骤的各个程序代码731。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图8所述的便携式或者固定存储单元。该存储单元可以具有与图7的计算处理设备中的存储器720类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码731’，即可以由例如诸如710之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所 描述的方法中的各个步骤。
本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着，结合实施例描述的特定特征、结构或者特性包括在本发明的至少一个实施例中。此外，请注意，这里“在一个实施例中”的词语例子不一定全指同一个实施例。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (12)

  1. 一种基于FPGA实现电机控制的方法，其特征在于，所述的方法包括：
    接收到介质分离指令时，获取预设分离元件的相位信息；
    采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
    基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动。
  2. 根据权利要求1所述的方法，其特征在于，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
    当所述相位信息满足所述分离组件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件向所述分离元件移动。
  3. 根据权利要求1所述的方法，其特征在于，所述分离元件包括前分离元件；所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
    当所述相位信息满足所述前分离元件处于第一预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件向所述分离元件移动。
  4. 根据权利要求3所述的方法，其特征在于，所述分离元件还包括后分离元件；所述基于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，还包括：
    当所述相位信息满足所述后分离元件处于第一预设位置，且任一所述子信号为不遮挡信号时，不移动所述介质承载组件，并生成移动标记信息。
  5. 根据权利要求4所述的方法，其特征在于，还包括：
    当所述相位信息满足所述分离元件处于第二预设位置时，响应所述移动标记信息，采用所述电机控制所述介质承载组件向所述分离组件移动。
  6. 根据权利要求1所述的方法，其特征在于，所述检测组件包括至少一个检测元件；所述检测信号包括每个所述检测元件生成的子信号；所述基 于所述相位信息和所述检测信号，采用所述电机控制所述介质承载组件向所述分离元件移动的步骤，包括：
    当所述相位信息满足所述分离元件处于第二预设位置，且任一所述子信号为不遮挡信号时，采用所述电机控制所述介质承载组件移动。
  7. 根据权利要求1所述的方法，其特征在于，所述在接收到介质分离指令时，获取预设分离元件的相位信息的步骤，包括：
    当接收到介质分离指令时，向预设信息采集组件发送采集指令；
    当在预设时间内接收到针对所述采集指令返回的反馈信息时，获取预设分离元件的相位信息。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    当在预设时间内未接收到所述反馈信息时，发出报警信号。
  9. 一种基于FPGA实现电机控制的装置，其特征在于，所述装置包括：
    相位信息获取模块，用于在接收到介质分离指令时，获取预设分离元件的相位信息；
    检测信号生成模块，用于采用预设检测组件对预设介质承载组件进行检测，生成检测信号；
    移动控制模块，用于基于所述相位信号和所述检测信号，采用所述电机控制所述介质承载组件向所述分离组件的移动。
  10. 一种电子设备，包括存储器及处理器，所述存储器中储存有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器执行如权利要求1-8中任一项所述的基于FPGA实现电机控制的方法的步骤。
  11. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1-8中的任一个所述的基于FPGA实现电机控制方法。
  12. 一种计算机可读介质，其中存储了如权利要求10所述的计算机程序。
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