In an indoor fire, the robot inspection process is impossible. The development of the robot and the Internet of Things (IoT) technology provides a new solution for indoor fire identification by a robot. Using IoT technology and inspection robots, we designed a point identification system for an indoor fire to improve the safety and application of the robot inspection. In the system, temperature, smoke, and other sensors were used to detect the temperature, smoke, and other indoor. A microcontroller (MCU) and other components were used for the processing and analysis of data, the control of application programs, and the real-time warning. Through testing and verification, the indoor fire point identification system improved the identification and fire warning in simulated fires. The system ensures personal and property safety by preventing diasters.