| 基于Cortex-M4 和FreeRTOS的矿用三维激光扫描测量系统设计 |
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| 引用本文： | 杨斐文,张达,杨小聪,崔昊.基于Cortex-M4 和FreeRTOS的矿用三维激光扫描测量系统设计[J].中国矿业,2014,23(14). |
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| 作者姓名： | 杨斐文 张达 杨小聪 崔昊 |
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| 作者单位： | 北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院,北京矿冶研究总院 |
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| 基金项目： | 国家高技术研究发展计划(863计划)项目（编号：2011AA060405）“地下金属矿智能采矿爆破技术与装备”。国际合作项目（编号：2011DFA71990）“金属矿深井开采安全智能化监控技术合作研究”。 |
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| 摘 要： | 为了满足矿用三维激光扫描系统的需求,设计了基于Cortex-M4内核和嵌入式实时操作系统FreeRTOS的运动控制和数据采集系统。采用Cortex-M4为内核的STM32F407ZGT微控制器和APM电机控制器等进行相关的硬件电路设计,通过移植FreeRTOS内核实现对运动控制、激光传感器数据采集、摄像头视频传输等任务的调度和对其他硬件资源的管理,简化了硬件设计的复杂度,优化了软件编程,提高了系统的实时性和可靠性,降低了成本。
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| 关 键 词： | 矿用三维激光扫描测量系统 FreeRTOS Cortex-M4 |
| 收稿时间： | 2014/12/1 0:00:00 |
| 修稿时间： | 2014/12/4 0:00:00 |
Design of the 3D Laser Scanning and Measuring System for MiningBased on Cortex-M4 and FreeRTOS |
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| YANG Feiwen,ZHANG D,YANG Xiaocong and CUI hao.Design of the 3D Laser Scanning and Measuring System for MiningBased on Cortex-M4 and FreeRTOS[J].China Mining Magazine,2014,23(14). |
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| Authors: | YANG Feiwen ZHANG D YANG Xiaocong and CUI hao |
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| Affiliation: | Beijing General Research Institute of Mining and Metallurgy,Key Laboratory of Beijing,100160,Beijing General Research Institute of Mining and Metallurgy,Key Laboratory of Beijing,100160,Beijing General Research Institute of Mining and Metallurgy,Key Laboratory of Beijing,100160,Beijing General Research Institute of Mining and Metallurgy,Key Laboratory of Beijing,100160 |
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| Abstract: | We designed a system of motion controlling and data acquisition based on Cortex-M4 kernel and embedded FreeRTOS, in order to meet the needs of 3D Laser Scanning System for Mining. The related hardware circuits were designed by using STM32F407ZGT micro-controller which consist of Cortex-M4 core and APM motor controllers. It achieved management of hardware resources and schedule of some tasks through transplant FreeRTOS, such as motion control, data acquisition of a laser sensor, video transmission of a camera, etc. This system simplified the complexity of hardware design, optimized software performance, improved reliability of the system and reduced costs. |
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| Keywords: | 3D Laser Scanning and Measuring System for Mining FreeRTOS Cortex-M4 |
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