At present, there is a lack of targeted methods for service robots in drug identification and pick-and-place. The traditional visual-based drug identification method often has low recognition accuracy when performing repeated drug identification tasks, and is relatively affected by the shooting angle. To solve these problems, this paper applies digital image processing, radio frequency identification and voice technology and other technologies to propose a drug picking and placing robot system for the elderly. In order to further guarantee the reliability and accuracy of drug identification, this paper takes use of radio frequency information and voice information on the basis of image recognition. In order to achieve real-time and accurate positioning and path planning, this paper uses the information from the host computer and encoder on the basis of using lidar positioning. Experiments such as fixed-point movement and drug grasping test, as well as drug identification test show that the robot system has extremely high reliability and accuracy in drug identification.