diff --git a/include/cyrobot_monitor/main_window.hpp b/include/cyrobot_monitor/main_window.hpp
index 8a92197..370b3ea 100644
--- a/include/cyrobot_monitor/main_window.hpp
+++ b/include/cyrobot_monitor/main_window.hpp
@@ -27,6 +27,9 @@
 #include <QVariant>
 #include <QHBoxLayout>
 #include <QVBoxLayout>
+#include <QtCharts>
+#include <QTimer>
+#include <QQueue>
 #include <map>
 #include <QtWebEngineWidgets/QWebEngineSettings>
 #include "./include/cyrobot_monitor/animationstackedwidget.h"
@@ -56,6 +59,7 @@ public:
     void initUis();
     void initVideos();
     void initTopicList();
+    void initCharts();
 public slots:
     /******************************************
 	** Auto-connections (connectSlotsByName())
@@ -102,6 +106,7 @@ public slots:
     void slot_closeWindows();
     void slot_minWindows();
     void slot_maxWindows();
+    void slot_chartTimerTimeout();
 //    void on_horizontalSlider_raw_valueChanged(int value);
 private slots:
 
@@ -140,6 +145,18 @@ private:
     QGraphicsScene  *m_qgraphicsScene=NULL;
     roboMap *m_roboMap=NULL;
     QVariantList m_sendVelList,m_recvVelList,m_timeList;
+    //曲线
+    QSplineSeries* line;
+    //曲线点的最大数量
+    int line_max = 10;
+    //绘图变量和坐标
+    QChart* chart;
+    QValueAxis *axisX;
+    QValueAxis *axisY;
+    QQueue<QPointF> data1;
+    QQueue<QPointF> data2;
+    QTimer *m_timerChart;
+    QChartView *chartView;
 };
 }// namespace cyrobot_monitor
 
diff --git a/src/main_window.cpp b/src/main_window.cpp
index 5da26b5..2c8914c 100644
--- a/src/main_window.cpp
+++ b/src/main_window.cpp
@@ -131,6 +131,7 @@ void MainWindow::initUis()
     ui.close_btn->setIcon(QIcon("://images/close.png"));
     rock_widget =new JoyStick(ui.JoyStick_widget);
     rock_widget->show();
+    initCharts();
 }
 
 void MainWindow::connections()
@@ -213,6 +214,69 @@ void MainWindow::slot_hide_table_widget(){
     ui.table_hide_btn->setStyleSheet("QPushButton{background-image: url(://images/show.png);border:none;}");
   }
 }
+void MainWindow::initCharts(){
+  line = new QSplineSeries(this);
+    chart = new QChart();
+    chart->addSeries(line);
+    axisX = new QValueAxis(this);
+    axisY = new QValueAxis(this);
+
+  chartView = new QChartView(ui.widget_chart);
+  chartView->setFixedWidth(ui.widget_chart->width());
+   chartView->setFixedHeight(ui.widget_chart->height());
+  chartView->setRenderHint(QPainter::Antialiasing);
+  m_timerChart=new QTimer;
+  m_timerChart->setInterval(100);
+  connect(m_timerChart,SIGNAL(timeout()),this,SLOT(slot_chartTimerTimeout()));
+  m_timerChart->start();
+}
+void MainWindow::slot_chartTimerTimeout(){
+  QVector<QPointF> list;
+     QVector<QPointF> newlist;
+     list = line->pointsVector();//获取现在图中列表
+     if (list.size() < line_max)
+     {
+         //保持原来
+         newlist = list;
+     }
+     else
+     {
+         //错位移动
+         for(int i =1 ; i< list.size();i++)
+         {
+             newlist.append(QPointF(i-1,list.at(i).y()));
+         }
+     }
+     newlist.append(QPointF(newlist.size(),rand()));//最后补上新的数据
+     line->replace(newlist);//替换更新
+
+
+     line->setName("send");//设置曲线名称
+     line->setPen(QColor(255, 0, 0));//设置曲线颜色
+     line->setUseOpenGL(true);//openGl 加速
+
+     chart->setTitle("Pressure Data");//设置图标标题
+     chart->removeSeries(line);
+     chart->addSeries(line);
+     chart->createDefaultAxes();//设置坐标轴
+
+ //    axisX->setRange(0,line_max);//范围
+ //    axisX->setTitleText("times(secs)");//标题
+      axisX->setTickCount(10);//分隔个数
+     axisX->setLineVisible(true);//可视化
+    axisX->setLinePenColor(Qt::blue);//颜色
+
+ //    axisY->setRange(-200,1200);
+ //    axisY->setTitleText("value");
+ //    axisY->setTickCount(6);
+ //    axisY->setLineVisible(true);
+ //    axisY->setLinePenColor(Qt::blue);
+
+ //    chart->setAxisX(axisX,line);
+ //    chart->setAxisY(axisY,line);
+
+     chartView->setChart(chart);
+}
 //设置界面
 void MainWindow::slot_setting_frame()
 {
diff --git a/ui/main_window.ui b/ui/main_window.ui
index cd9eec5..cf5083a 100644
--- a/ui/main_window.ui
+++ b/ui/main_window.ui
@@ -31,12 +31,30 @@ padding:0</string>
    <layout class="QHBoxLayout" name="horizontalLayout_25">
     <item>
      <layout class="QVBoxLayout" name="verticalLayout_16">
+      <property name="spacing">
+       <number>0</number>
+      </property>
       <item>
        <widget class="QWidget" name="widget_3" native="true">
         <property name="styleSheet">
          <string notr="true"/>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_15">
+         <property name="spacing">
+          <number>0</number>
+         </property>
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>10</number>
+         </property>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_3">
            <item>
@@ -287,12 +305,26 @@ padding:0</string>
         <property name="styleSheet">
          <string notr="true">QWidget{
 background-color:rgb(67, 154, 246);
-padding:0;
 }</string>
         </property>
         <layout class="QHBoxLayout" name="horizontalLayout_24">
+         <property name="leftMargin">
+          <number>0</number>
+         </property>
+         <property name="topMargin">
+          <number>0</number>
+         </property>
+         <property name="rightMargin">
+          <number>0</number>
+         </property>
+         <property name="bottomMargin">
+          <number>0</number>
+         </property>
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_14">
+           <property name="spacing">
+            <number>0</number>
+           </property>
            <item>
             <widget class="QPushButton" name="btn_dash">
              <property name="minimumSize">
@@ -319,6 +351,8 @@ background-color:green
 QPushButton{
 background-color:rgb(67, 154, 246);
 border:none; 
+padding:0px 0px 0px 0px;
+margin:0px 0px 0px 0px;
 }</string>
              </property>
              <property name="text">
@@ -361,6 +395,8 @@ background-color:green
 QPushButton{
 background-color:rgb(67, 154, 246);
 border:none; 
+padding:0px 0px 0px 0px;
+margin:0px 0px 0px 0px;
 }</string>
              </property>
              <property name="text">
@@ -605,6 +641,19 @@ border:none;
                     </property>
                    </widget>
                   </item>
+                  <item row="0" column="2">
+                   <widget class="QWidget" name="widget_chart" native="true">
+                    <property name="minimumSize">
+                     <size>
+                      <width>400</width>
+                      <height>200</height>
+                     </size>
+                    </property>
+                    <property name="styleSheet">
+                     <string notr="true">border:1px solid rgb(0, 0, 0)</string>
+                    </property>
+                   </widget>
+                  </item>
                  </layout>
                 </item>
                </layout>