Aiming　at　control　of　remote　teleoperation　for　mobile　robot　using　at　search　and　rescue,　especially　for　application　in　a　complex　environment,　this　paper　presents　a　vision-based　mobile　robot　remote　control　system.　After　the　realization　of　the　physical　simulation,　transplantation　of　this　system　to　the　mobile　self-balancing　robot　control　physical　entities　also　success,　giving　a　callback-style　remote　control　instruction　set　system　at　the　meantime.　Forming　a　self-balancing　robot　balance　control　with　a　combination　of　motion　control,　vision　systems　and　coordination　of　effective　mechanical　control　system.