The invention discloses an obstacle avoidance aiding method based on teleoperation mobile robot. The teleoperation mobile robot in the invention enters a work field under long-distance wireless control of an operator, and transmits information of the work field back to a local operating platform via wireless transmission; the mobile robot is provided with ultrasonic and infrared distance-measuring equipment to measure the distance between the robot and the surrounding obstacles; the mobile robot is also provided with a camera for monitoring field situation and transmitting the field picture to the local operating platform. When encountering an obstacle, the mobile robot firstly sets a motion speed according to the distance from the obstacle and alarms the local operating platform; a local operator can analyze the obstacle according to the field picture information and the vehicle-borne sensor information, and decides to take obstacle avoidance measures or compel the robot to break the obstacle. The invention has the advantages of human-robot cooperation and flexible obstacle avoidance, and can be applied for a mobile robot working in on a complex work field to perform automatic local avoidance aid.