隨著科技的日益進步，為提升人類的生活品質，自動化的應用也越來越普及，許多的國家相繼的投入機器人相關研究與運用，目的是在於希望能夠提高工作或服務之效率，或代替人類從事具危險性或反覆性的工作，因而衍生出各式各樣用途的機器人，如娛樂型機器人、清潔機器人，探索機器人等。
現今機器人的工作環境大多侷限在同ㄧ平面或同ㄧ樓層，雖然現在的建築物大多是以高樓層方式建構，但是絕大部分均裝置有電梯，因此本研究目的是想能建構一台自走機器人，除了能夠完成同ㄧ樓層的任務外，還能夠達到跨樓層之目的。
本論文透過影像辨識技術，利用Ｗebcam來尋找電梯面板及辨識其按鈕，並利用RFIＤ做為判斷樓層之依據，系統再整合其他感測器資訊並透過語音來執行與其它電梯搭乘人員之互動以達到跨樓層的功能。在自走機器人之控制上，使用者可以透過電腦端的人機介面選取機器人欲抵達的目的地、建立環境地圖、路徑規劃、影像辨識以及控制自走機器人之運動方式等功能。使用者選取目的地後，機器人會自行載入環境地圖並執行路徑規劃至目的地，機器人便可不受樓層限制，可以穿梭在大樓的各樓層之間，替人類服務。

With technological advances, to enhance human life quality, the application of automation becomes so popular that many countries have enhanced robot researchrs and applications, in the hope to improve the efficiency of the work and services, and created a variety of service robots, such as entertainment, cleaning, and exploration robots for different uses.
Working environments of most service robots today are usully confined in a same plane or floor. Although nowadays buildings are getting higher and higher they are usually equipped with elevators. The purpose of this study is to develop a self-propelled robot capable of completing its tasks in a same floor and also across different floors by taking elevlator semi-automatically.
This study, via image reconigination techanlogies, uses a webcam on the robot to find the elevator panel, buttons, and displays to confirm the current location of the robot. For human interaction, the robot also integrates other sensors and audio devices to detect human peers and asks for help for pushing the buttons of its destination floors. While in the elevator, the robot use of signals of RFIDs tagged outside the elevator to recognize the floors of its destinations. To use the robot, through a human-computer interface, users can select the destinations of the robot, make environment maps, plan path programming, prepare environment images, and control the movements of the mobile robot. After assigned the destination, the robot will load the map of the environment automatically, perform the path planning to the destination, and roam to the destination without any floor constraints.

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