本論文主要在於發展一台戶外清潔機器人，其機構設計針對戶外沙地及草地地形，對清潔區域內一般落葉進行清掃工作。機器人之控制核心包含圖形介面控制核心PC (AUSUS R2H UMPC)以及韌體控制核心TMS320LF2407A DSP (Digital Signal Processor)，其中，PC主要處理人機介面、自動導航與影像處理；而TMS320LF2407A DSP則著重負責馬達控制、雙重感測器平台轉動、超音波感測器之訊號處理、傾倒閘門控制，以及透過RS232與PC進行即時溝通。本文清潔機器人利用影像感測器，進行偵測環境中清潔區域資訊，並融合超音波感測器所獲得之障礙物資訊後轉成格點地圖，最後以牛耕田方式作為完成全域覆蓋路徑規劃，以完成自動導航與環境清潔工作。而在執行完清潔的工作後，系統利用影像感測器進行傾倒垃圾標誌偵測，並自動執行傾倒垃圾的任務。

In this thesis, a novel clean robot is developed for cleaning the general leaves on the cleaning-region, particularly in outdoor environments including both sandlot and lawn terrains. The control core of the robot is composed of ASUS R2H UMPC (PC) and TMSLF2407A Digital Signal Processor (DSP). A graphical user interface is built on PC, which also dominated the clean robot’s auto-navigation and image processing. Besides, hardware control of driven-motor, double-sensors module and trash-gate switch, and signal processing of ultrasonic sensors are implemented on DSP. The way of real-time communication between PC and DSP is via RS-232.
The robot merges the measuring data both from image sensor which is detecting the surrounding information, and ultrasonic sensor for 3D obstacle position. Then according to Boustrophedon path planning, its region-cleaning job could be finished by CCPP (Complete Coverage Path Planning) during robot auto-navigation. After the cleaning tasks, the robot would detect the trash-dumping mark through the image sensor and then automatically dump trash on the preset place.

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