The combinations of the Internet of Things and robots to make robots better serve the Internet of Things have been studied worldwide. This study puts forward an intelligent robot system based on ROS and Internet of Things. The hardware adopts stm32 sensor node, raspberry pi, OpenWRT router, Rplidar radar, c270 logitech camera, and so on. The software uses ROS operating system, Contiki, Tensorflow framework, Camshift algorithm, SLAM algorithm, and so on. Then we design the data acquisition of the perception layer, automatic traceability based on SLAM, voice control, object tracking of robot, object recognition, video monitoring, reverse control, and real-time display of data about perception layer on the web. After that, the relevant test environment was set up to test the related functions of the system and verify the feasibility of the system.