An indoor transportation robot with a 6-Dof manipulator is designed to meet the needs of indoor cross-floor contactless delivery service. According to the functional requirements, the mechanical structure, the hardware framework of the control system and the kinematic model of the transport robot are designed, and on this basis, the simultaneous localization and mapping (SLAM) technology is used to realize the autonomous walking and navigation functions of the robot indoors; Based on YOLOv4-tiny convolutional neural network, the recognition and location of elevator buttons are realized, and based on MoveIt! to control the mechanical arm to complete the pressing function of the elevator button. The experimental results show that the robot can realize autonomous positioning, navigation and walking in the building, and can autonomously take the elevator to complete the cross-floor transportation task.