天溝是隨處可見的重要排水裝置，其懸掛於屋簷邊經歷風吹日曬雨淋，一旦有砂石、落葉…異物掉落於天溝中，就有可能會造成排水不順。因此，人們必須定期清潔天溝以維持排水之暢通；其中，從一端點到另一端點使用梯子往復爬上爬下清潔天溝，是最傳統也是最常見的方法，然而，這種方法既沒效率又極具危險性，如何安全又有效的清潔天溝，成為值得思考的問題。
本論文設計出一款天溝清潔機器人，搭配APP操作程式的使用，讓使用者操控機器人執行：行進、收集、清除等一連串的清潔動作；在進行操作的過程中，使用者隨時可以透過顯示螢幕，監看由圖像傳輸晶片傳來的鏡頭即時影像，來觀察執行成效。
除了使用APP一步一步操作機器人進行天溝清潔之外，使用者可以選擇自動模式，只要告訴機器人外部收集區域的相對位置，機器人就會自動執行任務，一旦完成任務即會自動回到起始處。

“Gutter” is an important drainage device that is usually installed along the eaves of the roof. It could be plugged due to obstacles such as sandstones, leaves, silt, etc., fallen into the gutter. Therefore, it must be cleaned regularly to maintain the smooth flow of drainage. Using a ladder to climb up and down from one end to the other to clean the gutter is the most typical method. However, this method is neither efficient nor safe. Thus, cleaning the gutter safely and effectively is very essential.
In this thesis, a gutter cleaning robot has been developed. The robot can be controlled using user’s APP program. The user can control the robot to perform a series of cleaning actions, including traveling along the gutter, collecting the gutter, and clearing the dirt. During the cleaning task, the user can monitor the actual situation of the gutter in real time with the wireless FPV video transmitter which is connected with a camera while cleaning.
In addition to using the APP to control the robot for gutter cleaning step by step manually, automatic execution of cleaning of the robot can also be selected. By setting up the relative position of the external collection area, the gutter cleaning task will be automatically executed by the robot. Once the cleaning task is completed, the robot will automatically return to its initial location.

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