在社會高齡少子化現象益趨嚴重的情形下，老人的健康照護是很重要的，目前長青社福機構面臨的問題包括：老人照護人手不足、無法滿足老人娛樂需求、以及老人對於監管環境之心理壓力等。本研究目的是設計與開發一套互動式機器人系統，在兼顧娛樂與保全的功能下與人互動，針對社服機構老人照護目的為設計重點，此服務型機器人系統包含了寵物機器人、輪型保全機器人與系統人機介面，構成一套機器人遠端陪伴照護系統。
本研究針對老人照護提出智慧型遠端系統的解決方案，應用智慧機器人，將保全、娛樂、及遠端監控等功能結合成一套智慧型遠端系統，用以取代人力，降低人力成本；系統中包括寵物機器人，用以陪伴老人及提供娛樂功能，並能透過感知系統感測老人與機器人互動狀況，適時對系統發出信號；另一智慧保全機器人在接收信號後，可進行門禁安全監控與導引服務，避免老人在無知覺情形下離開安全環境；中央監控系統可隨時透過寵物機器人與保全機器人，瞭解老人活動狀態，確保老人的安全。
在老人照護方面之服務型機器人已有許多例子，但大部分無法同時結合娛樂、保全及監控，所以本研究具有創新且符合時代需求，讓年長者在無人為壓力的情況下與機器人互動，藉此滿足娛樂需求及心靈上的慰藉，社福機構也能建立一個不具壓力的管控環境。

Due to the development of the aging society, elderly care becomes more and more important. There are several problems encountered by social service agencies, including shortage of man-power, insufficiency for proper entertainments, and mental pressure for elderly under a monitoring environment. The purpose of this study is to design and develop an intelligent service robot system used in a social service agency. The system is an interactive system that includes a pet robot, a wheeled security robot, and a system interface. These features make this system a remote elderly care system.
This study provides a solution for elderly care with an intelligent remote system. It combines intelligent robots with security, entertainment, remote monitoring features all together. The system can help in reducing man-power cost. The pet robot, used for accompanying elderly with entertainment function, can transmit the interaction condition with elderly to the system interface through a sensory system. Another security robot, after receiving signals from the system, can act as an access control or a guide service. It prevents that elderly jeopardize themselves by leaving a secured environment. The system interface hosted in the monitoring room can display the status of elderly activities to ensure the safety condition.
There were many examples of service robots used in elderly care. However, most of them emphasize on their own functions without integrating others. This research particularly provides a monitoring system that will not let the elderly feel mental pressure by using pet robot. Such system may satisfy many social aspects in elderly care provided by social service agencies.

摘要 i
Abstract ii
誌謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 緒論 1
1-1 研究動機與目的 1
1-2 文獻探討 2
1-3 研究方法 7
第二章 寵物機器人 10
2-1 簡介 10
2-2 行為設計編輯 12
2-3 動作設計編輯 14
2-4 馬達與感測器 19
2-5 終端檢測系統 22
2-6 外觀設計 23
2-7 功能介紹 24
第三章 輪型保全機器人 30
3-1 輪型機器人 30
3-2 機械手臂 31
3-3 軟硬體整合 32
3-4 模擬場景 33
第四章 系統人機介面 35
4-1 功能介紹 35
4-2 系統架構整合 37
4-3 寵物機器人隨機動作介面 39
4-4 系統操作與模擬 40
第五章 結果與討論 42
第六章 結論與未來展望 45
參考文獻 47
附錄A WiRobot Gateway名稱修改 51
附錄B BIOLOID套裝軟體簡介 54
附錄C ZigBee ID設定 69

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