The invention relates to a remote monitoring and control system based on augmented reality. The remote monitoring and control system comprises an interactive simulation control mode and a monitoring mode; in the interactive simulation mode, a server receives depth images shot by an RGBD camera on a moving robot, and the depth images shot in the different angles are synthesized into a scene three-dimensional point cloud module; a mechanical hand simulation module is operated according to the scene three-dimensional point cloud module, a path is planned, the mechanical hand simulation module isdriven to move through the path, finally, the dynamic mechanical hand simulation module is overlapped in color images shot by the RGBD camera, and analog display and path planning with the virtualityand reality being combined are achieved; and in the monitoring mode, monitoring data are collected through a remote data collecting system, monitored images of a monitored object are obtained throughmoving robot routing inspection, through the monitoring data obtained through the server, monitoring data overlapping display is achieved, and the display interface is more intuitive.