Aiming at the problem that the weight of the furniture is generally large and the transportation is time-consuming and laborious, this paper presents a home transfer robot based on the Internet of things. The system consists of two parts: hardware and software. The hardware includes motion module, WiFi module, robot arm module, video module and sensor module. The software includes system initialization, instruction reading and parsing, control sub function and so on. Through the co-design of hardware and software, it realizes the control of robot in grasping objects, video surveillance and transmission line inspection, obstacle avoidance and other functions. The test shows that the robot is easy to use, low-cost and widely used, and has great potential for application.