In the background of mobile internet entering 5G era, a remote robot control system based on Android mobile platform was designed combined with cloud technology. The overall communication scheme of the control system was designed. The cloud server and TCP/IP protocol were used to receive and transmit remote communication data, and the control function of Android terminal system was integrated to achieve remote control. The hardware part of the control system included STM32F103T8U6 main control chip, I2C bus, power supply module, obstacle avoidance module, etc. The overall software architecture and main control program of the system were given.The core algorithm of robot sensor data processing based on filter processing was described. The system test results show that the proposed system performs well in robot trajectory control of the four directions, without excessive deviation, and the communication network delay is lower than that of traditional control scheme.