Abstract: With the help of multi-information perception,a teleoperated robot system over Internet is proposed,which provides a tele-control mode through multi-information perception aided decision-making.First,the principle of multi-information perception in Internet-based teleoperated robot system is analyzed,and the multi-information includes data of robot sensors,network back delay,etc.After the multi-information is pre-processed and classified and the decision-making is done,the multi-information can be perceived by the operator with such modes as vision,audio,force,alarm box and interactive text.The use of network delay buffer and double data links decreases the impact from variable network delay.Finally,the usefulness and effectiveness of the developed schemes and system are validated by teleoperation experiments through Internet over long distance.