Abstract: There are many difficulties in human-robot interaction in the network-based intelligent robot teleoperation system,and all the current approaches have their deficiencies.Based on the characteristics of network-based multi-robot tele-operation system,a multi-mode control method is applied to enhance the interaction between the operator and the robot system and to improve the efficiency of interaction.Then in order to solve the problems brought by the network latency in the interaction,an event-based approach with time marks is presented,which can guarantee system stability and improve system efficiency and performance.Experiments prove the validity and advantages of the presented methods.