diff --git a/src/YOLOv6/imgdir/x.jpg b/src/YOLOv6/imgdir/x.jpg
new file mode 100644
index 0000000..1e3396e
Binary files /dev/null and b/src/YOLOv6/imgdir/x.jpg differ
diff --git a/src/YOLOv6/runs/inference/exp/x.jpg b/src/YOLOv6/runs/inference/exp/x.jpg
new file mode 100644
index 0000000..a7c6937
Binary files /dev/null and b/src/YOLOv6/runs/inference/exp/x.jpg differ
diff --git a/src/YOLOv6/yolov6/core/__pycache__/inferer.cpython-38.pyc b/src/YOLOv6/yolov6/core/__pycache__/inferer.cpython-38.pyc
new file mode 100644
index 0000000..a68b092
Binary files /dev/null and b/src/YOLOv6/yolov6/core/__pycache__/inferer.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/data/__pycache__/data_augment.cpython-38.pyc b/src/YOLOv6/yolov6/data/__pycache__/data_augment.cpython-38.pyc
new file mode 100644
index 0000000..b330d39
Binary files /dev/null and b/src/YOLOv6/yolov6/data/__pycache__/data_augment.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/data/__pycache__/datasets.cpython-38.pyc b/src/YOLOv6/yolov6/data/__pycache__/datasets.cpython-38.pyc
new file mode 100644
index 0000000..f17fc12
Binary files /dev/null and b/src/YOLOv6/yolov6/data/__pycache__/datasets.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/layers/__pycache__/common.cpython-38.pyc b/src/YOLOv6/yolov6/layers/__pycache__/common.cpython-38.pyc
new file mode 100644
index 0000000..affffde
Binary files /dev/null and b/src/YOLOv6/yolov6/layers/__pycache__/common.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/layers/__pycache__/dbb_transforms.cpython-38.pyc b/src/YOLOv6/yolov6/layers/__pycache__/dbb_transforms.cpython-38.pyc
new file mode 100644
index 0000000..bb8f75d
Binary files /dev/null and b/src/YOLOv6/yolov6/layers/__pycache__/dbb_transforms.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/models/__pycache__/efficientrep.cpython-38.pyc b/src/YOLOv6/yolov6/models/__pycache__/efficientrep.cpython-38.pyc
new file mode 100644
index 0000000..c23b875
Binary files /dev/null and b/src/YOLOv6/yolov6/models/__pycache__/efficientrep.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/models/__pycache__/effidehead.cpython-38.pyc b/src/YOLOv6/yolov6/models/__pycache__/effidehead.cpython-38.pyc
new file mode 100644
index 0000000..b955705
Binary files /dev/null and b/src/YOLOv6/yolov6/models/__pycache__/effidehead.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/models/__pycache__/reppan.cpython-38.pyc b/src/YOLOv6/yolov6/models/__pycache__/reppan.cpython-38.pyc
new file mode 100644
index 0000000..3807f1e
Binary files /dev/null and b/src/YOLOv6/yolov6/models/__pycache__/reppan.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/models/__pycache__/yolo.cpython-38.pyc b/src/YOLOv6/yolov6/models/__pycache__/yolo.cpython-38.pyc
new file mode 100644
index 0000000..f4c24f9
Binary files /dev/null and b/src/YOLOv6/yolov6/models/__pycache__/yolo.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/utils/__pycache__/checkpoint.cpython-38.pyc b/src/YOLOv6/yolov6/utils/__pycache__/checkpoint.cpython-38.pyc
new file mode 100644
index 0000000..e4e5d45
Binary files /dev/null and b/src/YOLOv6/yolov6/utils/__pycache__/checkpoint.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/utils/__pycache__/events.cpython-38.pyc b/src/YOLOv6/yolov6/utils/__pycache__/events.cpython-38.pyc
new file mode 100644
index 0000000..bb894af
Binary files /dev/null and b/src/YOLOv6/yolov6/utils/__pycache__/events.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/utils/__pycache__/nms.cpython-38.pyc b/src/YOLOv6/yolov6/utils/__pycache__/nms.cpython-38.pyc
new file mode 100644
index 0000000..667a893
Binary files /dev/null and b/src/YOLOv6/yolov6/utils/__pycache__/nms.cpython-38.pyc differ
diff --git a/src/YOLOv6/yolov6/utils/__pycache__/torch_utils.cpython-38.pyc b/src/YOLOv6/yolov6/utils/__pycache__/torch_utils.cpython-38.pyc
new file mode 100644
index 0000000..b66a979
Binary files /dev/null and b/src/YOLOv6/yolov6/utils/__pycache__/torch_utils.cpython-38.pyc differ
diff --git a/src/include/Air_Ground_CEC/atr.h b/src/include/Air_Ground_CEC/atr.h
new file mode 100644
index 0000000..43dba87
--- /dev/null
+++ b/src/include/Air_Ground_CEC/atr.h
@@ -0,0 +1,29 @@
+#ifndef ATR_H
+#define ATR_H
+#include <iostream>
+#include <stdlib.h>
+#include <QImage>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <QObject>
+#include <QThread>
+#include <QStringListModel>
+#include <QSettings>
+
+class ATR : public QThread{
+  Q_OBJECT
+
+public:
+  ATR();
+  void runCommand();
+  void getSolvedPic();
+
+  cv::Mat SolvedImg;
+
+Q_SIGNALS:
+  void show_solvedImage(QImage solvedImage);
+};
+
+#endif // ATR_H
diff --git a/src/include/Air_Ground_CEC/mainwindow.hpp b/src/include/Air_Ground_CEC/mainwindow.hpp
index 23ff0e4..febdcb4 100644
--- a/src/include/Air_Ground_CEC/mainwindow.hpp
+++ b/src/include/Air_Ground_CEC/mainwindow.hpp
@@ -11,6 +11,7 @@
 #include "qnode.hpp"
 #include "dashboard.h"
 #include <sensor_msgs/BatteryState.h>
+#include "atr.h"
 
 using namespace cv;
 namespace Ui {
@@ -49,7 +50,8 @@ public slots:
     void Slider_linear_valueChanged(int v);
     void importFrame();//read video
     void slot_show_image(const QImage& image);//added
-
+    void slot_show_solvedImage(const QImage& solvedImage);
+    void slot_get_slovedImage();
 
 private slots:
     void on_Stop_receive_clicked();
@@ -60,6 +62,7 @@ private slots:
 private:
     Ui::MainWindow *ui;
     QNode qnode;
+    ATR atr;
     JoyStick *rock_widget;
     DashBoard *m_DashBoard_x;
     DashBoard *m_DashBoard_th;
diff --git a/src/main/atr.cpp b/src/main/atr.cpp
new file mode 100644
index 0000000..6332524
--- /dev/null
+++ b/src/main/atr.cpp
@@ -0,0 +1,29 @@
+#include "../include/Air_Ground_CEC/atr.h"
+using namespace std;
+#include "stdlib.h"
+char filename[100];
+
+ATR::ATR()
+{
+}
+
+void ATR::runCommand(){
+  string ws = "cd /home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6";
+  string CMD = "python3 ../YOLOv6/tools/infer.py --weights ../YOLOv6/yolov6n.pt --source ../YOLOv6/imgdir/";
+  string Pic = "x.jpg";
+  string Command = ws + "&&" + CMD + Pic;
+  std::cout<<Command<<endl;
+  system(Command.c_str());
+}
+
+void ATR::getSolvedPic(){
+  string Path = "/home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6/runs/inference/exp/";
+  string SolvedPicPath = Path + "x.jpg";
+  sprintf(filename, SolvedPicPath.c_str());
+  SolvedImg = cv::imread(filename);
+  QImage image = QImage(SolvedImg.data,SolvedImg.cols,SolvedImg.rows,SolvedImg.step[0],QImage::Format_RGB888);
+  std::cout<<"image"<<endl;
+  emit show_solvedImage(image);
+}
+
+
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index 3e6936b..afd9dc0 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -186,6 +186,8 @@ void MainWindow::connections(){
     connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
             SLOT(slot_rockKeyChange(int)));
 
+    connect(ui->getimage, SIGNAL(clicked()), this, SLOT(slot_get_slovedImage()));
+
     //绑定slider的函数
     connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
             SLOT(Slider_raw_valueChanged(int)));
@@ -198,10 +200,17 @@ void MainWindow::connections(){
     //电源的信号
     connect(&qnode, SIGNAL(batteryState(sensor_msgs::BatteryState)), this,
             SLOT(slot_batteryState(sensor_msgs::BatteryState)));
-
+    // image
     connect(&qnode, SIGNAL(show_image(QImage)), this, SLOT(slot_show_image(QImage)));
+
+    // solvedimage
+    connect(&atr, SIGNAL(show_solvedImage(QImage)), this, SLOT(slot_show_solvedImage(QImage)));
 }
 
+void MainWindow::slot_get_slovedImage(){
+  atr.runCommand();
+  atr.getSolvedPic();
+}
 
 void MainWindow::slot_speed_x(double x) {
   m_DashBoard_x->set_speed(abs(x * 100));
@@ -254,6 +263,10 @@ void MainWindow::slot_show_image(const QImage& image)
     //qimage_mutex_.unlock();
 }
 
+void MainWindow::slot_show_solvedImage(const QImage& solvedImage){
+  ui->label_2->setPixmap(QPixmap::fromImage(solvedImage));
+  ui->label_2->resize(ui->label_2->pixmap()->size());
+}
 
 void MainWindow::setBtnStyles(){
     /*
diff --git a/src/main/qnode.cpp b/src/main/qnode.cpp
index 016c879..58b6cb3 100644
--- a/src/main/qnode.cpp
+++ b/src/main/qnode.cpp
@@ -31,7 +31,6 @@ bool QNode::init() {
         SubAndPubTopic();
     });
 
-
     return true;
 }
 
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index 91c85f2..be5f123 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -203,16 +203,16 @@ margin:0px 0px 0px 0px;
     <item row="0" column="0">
      <widget class="QStackedWidget" name="stackedWidget_main">
       <property name="currentIndex">
-       <number>2</number>
+       <number>0</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">
         <property name="geometry">
          <rect>
-          <x>780</x>
-          <y>200</y>
-          <width>311</width>
-          <height>151</height>
+          <x>240</x>
+          <y>10</y>
+          <width>851</width>
+          <height>491</height>
          </rect>
         </property>
         <property name="text">
@@ -564,7 +564,7 @@ QProgressBar::chunk
            <item>
             <layout class="QVBoxLayout" name="verticalLayout_8">
              <item>
-              <widget class="QLabel" name="label_9">
+              <widget class="QLabel" name="solvedimage">
                <property name="minimumSize">
                 <size>
                  <width>270</width>
@@ -572,7 +572,7 @@ QProgressBar::chunk
                 </size>
                </property>
                <property name="text">
-                <string>map</string>
+                <string>target</string>
                </property>
               </widget>
              </item>
@@ -590,15 +590,15 @@ QProgressBar::chunk
               </spacer>
              </item>
              <item>
-              <widget class="QLabel" name="label_12">
+              <widget class="QPushButton" name="getimage">
                <property name="minimumSize">
                 <size>
-                 <width>270</width>
-                 <height>200</height>
+                 <width>180</width>
+                 <height>40</height>
                 </size>
                </property>
                <property name="text">
-                <string>target</string>
+                <string>PushButton</string>
                </property>
               </widget>
              </item>
@@ -648,7 +648,7 @@ QProgressBar::chunk
              <item>
               <widget class="QStackedWidget" name="stackedWidget_ros_control">
                <property name="currentIndex">
-                <number>0</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="keyboard_control">
                 <layout class="QHBoxLayout" name="horizontalLayout_3">