本論文主要研究並實現居家保全機器人之運動控制系統與火災偵測系統。我們使用DSP晶片當作整個系統的核心，無論是資料擷取、轉換、介面間溝通、控制演運法及火災感測器資訊處理皆由DSP晶片來完成。 運動控制系統的設計，提高了居家保全機器人的運動性能，主電腦只需下達命令，DSP上的運動控制器便能自行完成伺服控制，可減少導航系統處理時間過慢的不良影響，適用於基於影像處理的導航系統。機器人上配備有溫度、火光、及氣體感測器，經由DSP的訊號擷取及轉換功能將感測器資料讀入DSP內，並由決策邏輯來判別火災的發生。最後，透過伺服電腦上之遠端監控系統，使用者可以獲得家中狀況及機器人動態等資訊，並可進行線上操作。實際居家保全機器之操控實驗，展現所提運動控制與防災系統之可行性與有效性。

The objective of this thesis is to design and implement an intelligent eHome robot. We mainly focus on the motion control system and fire detection system for the autonomous robot. We use DSP chip as the core of the whole system. For the aspect of the motion control, DSP chip receives motion commands from on-board computer, performs the control action and then drives the motor. The design of the motion control system improves the performance of the robot navigation system and is suitable for vision-based navigation robot, which often has slow processing time. For the aspect of the fire detection system, DSP chip acquires data from flame, temperature and gas sensors and then processes them by decision logic in order to evaluate whether the house is on fire. Finally, through the web server system built in the onboard computer, the host can get all the home information interactively. Effectiveness and feasibility of the proposed circuits and systems are demonstrated by the real-time manipulation of the eHome robot.

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