智能机器人课程设计报告.doc

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1、机器人设计课程设计报告 课程设计题目机器人设计实验姓名吴雪萍学号08509205班级08信息（1）班班级专业信息工程组别组长组员指导教师刘岩恺 梁景莲课程设计目的设计家庭组机器人和机器人行走课程设计环境Vc+课程设计任务和要求用C+语言设计一个颜色识别的程序和一个机器人行走程序课程设计内容描述：1 绪论 通过学习机器人设计2课程，学会了家庭组机器人和足球机器人的一些理论知识。了解了机器人方向识别，动手调试了全景摄像头和前置摄像头，设置了场地、球门、白线、足球等的颜色数值。2. 颜色识别的产生 结合梁老师给的人脸识别程序，通过改变人脸模型建立颜色识别程序。 3. 平台的选择及搭建 根据刘老师给的

2、参考资料，首先安装了DirectX9.0 SDK和Visual C+软件，然后一步步的按照老师所给的步骤，先建立基本界面，接着编制串口通讯控制机器人的程序，读取距离传感器信息等，最后得出了机器人行走程序如下。课程设计源程序：机器人行走/ VoyTestDlg.cpp : implementation file/#include stdafx.h#include VoyTest.h#include VoyTestDlg.h#ifdef _DEBUG#define new DEBUG_NEW#undef THIS_FILEstatic char THIS_FILE = _FILE_;#endif/

3、 CAboutDlg dialog used for App Aboutclass CAboutDlg : public CDialogpublic:CAboutDlg();/ Dialog Data/AFX_DATA(CAboutDlg)enum IDD = IDD_ABOUTBOX ;/AFX_DATA/ ClassWizard generated virtual function overrides/AFX_VIRTUAL(CAboutDlg)protected:virtual void DoDataExchange(CDataExchange* pDX); / DDX/DDV supp

4、ort/AFX_VIRTUAL/ Implementationprotected:/AFX_MSG(CAboutDlg)/AFX_MSGDECLARE_MESSAGE_MAP();CAboutDlg:CAboutDlg() : CDialog(CAboutDlg:IDD)/AFX_DATA_INIT(CAboutDlg)/AFX_DATA_INITvoid CAboutDlg:DoDataExchange(CDataExchange* pDX)CDialog:DoDataExchange(pDX);/AFX_DATA_MAP(CAboutDlg)/AFX_DATA_MAPBEGIN_MESSA

5、GE_MAP(CAboutDlg, CDialog)/AFX_MSG_MAP(CAboutDlg)/ No message handlers/AFX_MSG_MAPEND_MESSAGE_MAP()/ CVoyTestDlg dialogCVoyTestDlg:CVoyTestDlg(CWnd* pParent /*=NULL*/): CDialog(CVoyTestDlg:IDD, pParent)/AFX_DATA_INIT(CVoyTestDlg)m_nPort = 0;/AFX_DATA_INIT/ Note that LoadIcon does not require a subse

6、quent DestroyIcon in Win32m_hIcon = AfxGetApp()-LoadIcon(IDR_MAINFRAME);void CVoyTestDlg:DoDataExchange(CDataExchange* pDX)CDialog:DoDataExchange(pDX);/AFX_DATA_MAP(CVoyTestDlg)DDX_Text(pDX, IDC_PORT, m_nPort);/AFX_DATA_MAPBEGIN_MESSAGE_MAP(CVoyTestDlg, CDialog)/AFX_MSG_MAP(CVoyTestDlg)ON_WM_SYSCOMM

7、AND()ON_WM_PAINT()ON_WM_QUERYDRAGICON()ON_BN_CLICKED(IDC_OPEN, OnOpen)ON_BN_CLICKED(IDC_FORWARD, OnForward)ON_BN_CLICKED(IDC_BACKWARD, OnBackward)ON_BN_CLICKED(IDC_TURELEFT, OnTureleft)ON_BN_CLICKED(IDC_TURERIGHT, OnTureright)ON_BN_CLICKED(IDC_BRAKE, OnBrake)/AFX_MSG_MAPEND_MESSAGE_MAP()/ CVoyTestDl

8、g message handlersBOOL CVoyTestDlg:OnInitDialog()CDialog:OnInitDialog();/ Add About. menu item to system menu./ IDM_ABOUTBOX must be in the system command range.ASSERT(IDM_ABOUTBOX & 0xFFF0) = IDM_ABOUTBOX);ASSERT(IDM_ABOUTBOX AppendMenu(MF_SEPARATOR);pSysMenu-AppendMenu(MF_STRING, IDM_ABOUTBOX, str

9、AboutMenu);/ Set the icon for this dialog. The framework does this automatically/ when the applications main window is not a dialogSetIcon(m_hIcon, TRUE);/ Set big iconSetIcon(m_hIcon, FALSE);/ Set small icon/ TODO: Add extra initialization herereturn TRUE; / return TRUE unless you set the focus to

10、a controlvoid CVoyTestDlg:OnSysCommand(UINT nID, LPARAM lParam)if (nID & 0xFFF0) = IDM_ABOUTBOX)CAboutDlg dlgAbout;dlgAbout.DoModal();elseCDialog:OnSysCommand(nID, lParam);/ If you add a minimize button to your dialog, you will need the code below/ to draw the icon. For MFC applications using the do

11、cument/view model,/ this is automatically done for you by the framework.void CVoyTestDlg:OnPaint() if (IsIconic()CPaintDC dc(this); / device context for paintingSendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);/ Center icon in client rectangleint cxIcon = GetSystemMetrics(SM_CXICON);int c

12、yIcon = GetSystemMetrics(SM_CYICON);CRect rect;GetClientRect(&rect);int x = (rect.Width() - cxIcon + 1) / 2;int y = (rect.Height() - cyIcon + 1) / 2;/ Draw the icondc.DrawIcon(x, y, m_hIcon);elseCDialog:OnPaint();/ The system calls this to obtain the cursor to display while the user drags/ the minim

13、ized window.HCURSOR CVoyTestDlg:OnQueryDragIcon()return (HCURSOR) m_hIcon;void CVoyTestDlg:OnOpen() / TODO: Add your control notification handler code hereUpdateData();/CString str;/str.Format(您打开的串口号为%d,m_nPort);/AfxMessageBox(str); m_Com.SetCmd(&m_Cmd); /协议层与通讯层对接 m_Com.Create(m_nPort); /打开通讯串口voi

14、d CVoyTestDlg:OnForward() / TODO: Add your control notification handler code herem_Cmd.SetBothMotorsSpeed(100,100); /前行void CVoyTestDlg:OnBackward() / TODO: Add your control notification handler code herem_Cmd.SetBothMotorsSpeed(-100,-100);/后退void CVoyTestDlg:OnTureleft() / TODO: Add your control no

15、tification handler code herem_Cmd.SetBothMotorsSpeed(-100,100);/左转void CVoyTestDlg:OnTureright() / TODO: Add your control notification handler code herem_Cmd.SetBothMotorsSpeed(100,-100);/右转void CVoyTestDlg:OnBrake() / TODO: Add your control notification handler code herem_Cmd.Brake(1);/刹车总结：1、 程序调试

16、及运行结果通过程序运行，我们可以看到足球机器人前进，后退，左转，右转及刹车等动作的分解。2、 小结：通过完成本次实验，我认识到理论与实践的结合很重要。实践中遇到了许多问题，只有耐心的不断去修改、调试、运行，才能很好的把实验完成。理论是实际的基础，只有牢固的学好理论知识，才能成功的完成实验。在实践中我们可以学到许多新的知识，遇到问题困难的时候，才能更深刻的理解知识点，团队协作精神很重要，一个人的想法十分有限，只有大家集思广益，相互启发，才能更快更好地完成实验。 3、 参考文献 成绩评定项 目权重成绩1、设计过程中学习态度等方面0.12、课程设计质量与答辩0.53、设计报告书写规范程度0.14、平时成绩（含考勤）0.3总 成 绩