論文提要內容：隨著社會不斷變遷，人口出生率及死亡率亦逐年降低，「人口老化」這一現象是多數國家所面臨的情況，隨著老年人口的比例不斷增加，相伴隨的老人照護問題與勞力不足問題更是近年關注的焦點議題，而機器人可以緩解這些問題，它可以陪伴老人降低孤獨感，讓老人獲取更多的資訊和休閒娛樂，並協助照護老人的居家生活，另一方面，機器人也可以幫助店家點餐，降低工作量。近年來的人工智慧與機器人相關技術的成熟，機器人已成為世界各國爭相發展的新興產業，他們都將機器人列為重點發展科技，未來機器人將存在於我們的工作與日常生活當中，機器人能幫助人類完成許多事情，給我們的生活帶來許多便利，但目前機器人大多是為了單一功能而製作出來的，缺乏靈活性與互動性，在設計上沒有考慮到用戶體驗，且對沒有相關使用經驗的人來說，感覺不到必需性。綜上述所言，本論文進行支援人機互動之系統研究與實作，以客戶為出發點，設計與實作機器人與客戶之間的互動服務系統，協助解決老人照護與店家勞力不足的問題，讓機器人進入我們的生活，增加機器人的服務性與實用性，也讓生活更加便利。

With the constant changes in society, the birth rate and death rate have also decreased year by year. The phenomenon of “aging population” is a situation faced by most countries. As the proportion of the elderly population continues to increase, the accompanying problem of elderly care and insufficient labor is even more It is the focus of attention in recent years, and robots can alleviate these problems. It can accompany the elderly to reduce loneliness, let the elderly get more information and leisure, and help to care for the elderly's home life. On the other hand, robots can also help the store. Order, reduce the workload. In recent years, the artificial intelligence and robot-related technologies have matured. Robots have become an emerging industry in the world. They have listed robots as a key development technology. In the future, robots will exist in our work and daily life. Robots can help. Humans accomplish many things and bring a lot of convenience to our lives. However, most of the robots are currently produced for a single function. They lack flexibility and interactivity. They are designed without considering the user experience and have no relevant experience. For people, it doesn't feel necessary. In view of the above, this paper conducts systematic research and implementation to support human-computer interaction. From the customer's point of view, design and implement an interactive service system between robots and customers to help solve the problem of inadequate care for the elderly and the labor of the store. Robots enter our lives, increase the service and practicality of robots, and make life more convenient.

第一章、簡介	1
第二章、相關研究	8
第三章、背景知識	11
3.1	Android作業系統	11
3.1.1	應用程式(Application)	12
3.1.2	應用程式架構(Application Framework)	12
3.1.3	函式庫(Libraries)	12
3.1.4	Android執行環境(Android Runtime)	13
3.1.5	Linux核心(Linux Kernel)	13
3.2	Arduino 技術介紹	14
3.3	ZigBee 通訊協定技術	16
3.4	BLE 4.0 通訊協定技術	18
3.5	OpenCV	19
3.6	Zenbo機器人	19
第四章、系統架構與設計	21
第五章、系統展示	26
5.1	Zenbo主程式	26
5.2	語音控制系統	30
5.2.1	硬體元件介紹	30
5.2.2	智慧插座	33
5.2.3	Gateway紅外線模組	34
5.3	商店點餐系統	36
5.4	人臉辨識	38
5.5	伺服器資料庫	39
第六章、數據分析	41
第七章、結論	46
參考文獻	47
附錄-英文論文	48
圖目錄
圖1. 各國65歲以上人口占總人口比率圖	1
圖2. 台灣老年人口與幼年人口	2
圖3. 全球服務機器人銷售金額及預估	3
圖4. PARO機器人	5
圖5. Android系統架構	11
圖6. Arduino微電腦控制板	14
圖7. Arduino規格圖	15
圖8. ZigBee無線網路協定架構圖	16
圖9. 常見的ZigBee網路架構圖	17
圖10. Zenbo機器人	20
圖11. 系統架構圖	21
圖12. 開啟冷氣情境流程圖	23
圖13. 開啟電風扇情境流程圖	23
圖14. 客人點餐情境流程	24
圖15. 人臉辨識輔助	25
圖16. Zenbo運作架構圖	26
圖17. 人機互動主程式	27
圖18. 頭部動作	28
圖19. Zenbo表情	29
圖20. 語音控制系統	30
圖21. XBee模組	31
圖22. 藍牙模組	32
圖23. IR360 紅外線模組	32
圖24. 繼電器模組	33
圖25. 繼電器內部電路圖	33
圖26. 智慧插座	34
圖27. Gateway模組	36
圖28. 點餐系統傳輸流程	36
圖29. 點餐網頁畫面	37
圖30. 人臉辨識流程圖	38
圖31. 辨識結果	39
圖32. Xampp	40
圖33. 開啟冷氣時間數據	41
圖34. 控制智慧插座時間數據	42
圖35. 人臉辨識成功率(一般情況)	43
圖36. 人臉辨識成功率(光線充足)	43
圖37. 人臉辨識成功率(光線較弱)	44
圖38. 人臉辨識角度偏移成功率	44
圖39. 人臉辨識時間	45 
表目錄
表格 1. 研究比較表	9

[1]  內政部 ,http://www.moi.gov.tw/chi/chi_news/news_detail.aspx?sn=11725&type_code     =02&pages=11&src=news
[2]  Fei Wang, Lei Zhou, Ziqiang Cui, Haolai Li, Mingchao Li, “Gesture recognition based on BoF and its application in human-machine interaction of service robot, ” IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2016
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[5]Jin-Hyuk Hong, Youn-Suk Song, Sung-Bae Cho, “Mixed-Initiative Human–Robot Interaction Using Hierarchical Bayesian Networks, ” IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 2007.
[6]Juing-huei Su, Chyi-shyong Lee, Wei-chen Wu, “The design and implementation of a low-cost and programmable home automation module, ”IEEE Transactions on Consumer Electronics, 2006.
[7] International Federation of Robotics,https://ifr.org/
[8] Arduino,https://www.arduino.cc/
[9] ZigBee Alliance, http://www.zigbee.org/
[10] Bluetooth SIG, https://www.bluetooth.com/zh-cn
[11] OpenCV, https://opencv.org/
[12] ASUS Zenbo, https://zenbo.asus.com/tw/