Aiming at the bad intelligence level of robot in its application and research, design the tele-operation system based on ROS. Use machine vision technology to transform the color ball’s movement posture under the camera to the UR robot’s movement and then achieved the goal of tele-operation. Design robot tele-operation system based on ROS, and verify it by test. The test results show that the tele-operation system can be well qualified for robot tele-operation task, and easily be transplanted to other robots.