Amid the intensification of demographic aging, home robots based on intelligent technology have shown great application potential in assisting the daily life of the elderly. This paper proposes a multimodal human–robot interaction system that integrates EEG signal analysis and visual perception, aiming to realize the perception ability of home robots on the intentions and environment of the elderly. Firstly, a channel selection strategy is employed to identify the most discriminative electrode channels based on Motor Imagery (MI) EEG signals; then, the signal representation ability is improved by combining Filter Bank co-Spatial Patterns (FBCSP), wavelet packet decomposition and nonlinear features, and one-to-many Support Vector Regression (SVR) is used to achieve four-class classification. Secondly, the YOLO v8 model is applied for identifying objects within indoor scenes. Subsequently, object confidence and spatial distribution are extracted, and scene recognition is performed using a Machine Learning technique. Finally, the EEG classification results are combined with the scene recognition results to establish the scene-intention correspondence, so as to realize the recognition of the intention-driven task types of the elderly in different home scenes. Performance evaluation reveals that the proposed method attains a recognition accuracy of 83.4%, which indicates that this method has good classification accuracy and practical application value in multimodal perception and human–robot collaborative interaction, and provides technical support for the development of smarter and more personalized home assistance robots.