自動化已經是現在生活上不可或缺的科技，在這凡事講求無人化、自動化的時代，使得智慧型機器人在國內、外獲得重視，並且有進一步的研究與發展，像是娛樂型機器人、清潔機器人、探索機器人等，其設計皆具有各自的功能性與智慧性，用來幫助、提昇人類生活品質，像是改善居家生活環境、探索未知環境及生物、從事高危險性工作等。
本研究為因應目前社會大廈公寓林立，在一個服務型機器人需具備自行上下電梯的行動功能，故本文設計一個可自搭電梯之服務型機器人，考慮正常搭乘電梯時實際可能發生之情形，如：搭乘時有其他使用者、如何尋找面板按鍵、機器手臂按鈕動作及如何進出電梯門等，以建立更具有智慧的服務型機器人。
本文利用筆記型電腦（經由RS-232傳輸）與兩顆控制晶片PIC16F877作溝通，兩晶片分別控制機器人驅動模組及電梯按鈕選取模組。其中，機器人驅動模組包含馬達驅動控制、光編碼器回授及障礙物偵測；電梯按鈕選取模組包含手臂驅動系統、視覺修正系統、極限開關感測器、焦熱式人體紅外線感測器；在電腦端則處理路徑規劃、影像截取、影像辨識、電梯內環境辨識、控制機器人的運動方式等功能，並透過演算法計算出規劃路徑、影像辨識及電梯內環境辨識之結果，再分別傳送給二顆單晶片PIC16F877控制機器人各驅動馬達之運動。

The automation has been the indispensable technology in our present lives where everything is going to be non-human control and automated. In this case, the intelligent robot has been emphasized globally and got further research and development, such as the entertainment robots, the clean robots, the exploration robots, and so on. The designs of robots all have their own functions and intelligence to help and promote the quality of human lives, like improving the resident conditions, exploring the unknown biology science and environments, and furthermore, replaced human beings to engage in the high risk works.
Based on the great amounts of the apartments and high-rise buildings, a service robot with the elevator motion function has been requested, which encourages the author to create an intelligent robot with the ability. In this paper, all the probable situations in the real world are considered to create the smarter service robots, for examples, taking the elevator with other people inside; seeking for the pressed key boards; the movements of the manipulators; the ways to in and out the elevators, and so on.
By using RS-232 as the transmission, the notebook could communicate with two control chips, PIC16F877, which control the drive module of the robot and the module of pressed key board, respectively. The former one contains the motion control, the encoder, and the obstacle detection; the later one contains the manipulator drive system, camera image processing, limit switch, and the pyroelectric sensor. The human-to-machine constructed by computers can be used as path planning, image acquisition, image recognition, human detection, and motion control. Furthermore, the human-to-machine can transmit the results to both PIC16F877 chips, respectively, for controlling the motion of the motors.

[1].日本HONDA公司，http://world.honda.com/ASIMO/.
[2].日本SONY公司，http://www.sony.jp/products/Consumer/aibo/.
[3].日本SONY公司，http://www.sony.co.jp/SonyInfo/QRIO/top.html.
[4].美國NASA，http://www.nasa.gov/mission_pages/mer/index.html.
[5].德國Kacher公司，http://www.robocleaner.de/.
[6].林文景，克服樓層障礙之智慧型機械人，國立成功大學工程科學系碩士論文，
民國95年。
[7].徐世昌，郵件機器人之路徑規劃與實現，國立成功大學工程科學系碩士論文，
民國96年。
[8].Tomono, M. and Yuta, S. , “Mobile robot navigation in indoor environments using object and character recognition,” Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on Volume 1, 24-28 April 2000 Page(s):313 - 320.
[9].R. Simmons et al. “GRACE: An autonomous robot for the AAAI Robot Challenge.” AAAI Magazine, 24(2):P.51-72, 2003.
[10].張嘉麟，模糊邏輯控制可搭乘電梯之立體視覺伺服輪型機器人，中原大學， 民國94年。
[11].楊家俊，以影像處理為基礎之看門狗機器人之設計與研製，國立成功大學電機工程學系碩士論文，民國91年。

[12].PIRSensor-V1.2，http://www.scary-terry.comitwpirsensorpirsensor.htm
[13].Sharp GP2D12 Analog Distance Sensor，http://www.playrobot.com/sensor/
files/SharpGP2D12Snrs.pdf
[14].王坤池，焦電型人體紅外線感測器簡介，元智大學，民國94年。
[15].台日模型購物商城，http://www.tjrc.com.tw/.
[16].余明興、吳明哲、黃世陽、黃豐隆、紀旺松、潘能煌等合著，Borland C++ Builder 6.0 程式設計經典，松崗電腦圖書資料股份有限公司，2002 年。
[17].Yanrong Hu and Simon X. Yang. “A knowledge based genetic algorithm for path planning of a mobile robot.” Proceedings of the 2004 IEEE international Conference on Robotics 8 Automation New Orleans, LA April 2004
[18]. Meng Wang, James N.K.LIU. “Fuzzy logic based robot path planning in unknown environment..” Proceedings of the Fourth International Conference on Machine Learning and Cybernetics, Guangzhou, 18-21 August 2005
[19]. Y. Hwang, and N. Ahuja, “A Potential Field Approach to Path Planning,” IEEE Trans. on Robotics and Automation, Vol. 8, No. 1, 1992, pp. 23-32
[20]. E. W. Dijkstra, “A note on two problems in connexion with graphs,” Numerische Mathematik, Volume 1, Issue 1,pp. 269-271, Dec 1959.
[21].葉國良、周利蔚，使用Dijkstra's 演算法之以物件偵測為基礎的最短避障路徑規畫，康寧學報10：153－170，2008年
[22].王科翔，多重人臉偵測與識別系統，國立成功大學工程科學系碩士論文，民國94年。
[23].台日模型購物商城，http://www.tjrc.com.tw/.