diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
new file mode 100644
index 0000000..60f8d39
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface IRouteKeyPointInfoService extends IService<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query);
+
+    /**
+     * 保存路线关键点
+     *
+     * @param robotInfo  机器人信息
+     * @param track_name 路线名称
+     * @param list      列表
+     * @return
+     */
+    List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list);
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
new file mode 100644
index 0000000..60f8d39
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface IRouteKeyPointInfoService extends IService<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query);
+
+    /**
+     * 保存路线关键点
+     *
+     * @param robotInfo  机器人信息
+     * @param track_name 路线名称
+     * @param list      列表
+     * @return
+     */
+    List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 894fc75..59dc5cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -71,10 +71,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id", robotInfo.getId());
+        query.eq("robot_id" , robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id", result);
+        rmQuery.notIn("target_id" , result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -99,4 +99,11 @@
         return list(query);
     }
 
-}
+    @Override
+    public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
+        QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("robot_id" , robotInfo.getId());
+        queryWrapper.eq("target_id" , track_name);
+        return list(queryWrapper);
+    }
+}
\ No newline at end of file

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
new file mode 100644
index 0000000..60f8d39
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface IRouteKeyPointInfoService extends IService<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query);
+
+    /**
+     * 保存路线关键点
+     *
+     * @param robotInfo  机器人信息
+     * @param track_name 路线名称
+     * @param list      列表
+     * @return
+     */
+    List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 894fc75..59dc5cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -71,10 +71,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id", robotInfo.getId());
+        query.eq("robot_id" , robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id", result);
+        rmQuery.notIn("target_id" , result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -99,4 +99,11 @@
         return list(query);
     }
 
-}
+    @Override
+    public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
+        QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("robot_id" , robotInfo.getId());
+        queryWrapper.eq("target_id" , track_name);
+        return list(queryWrapper);
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
new file mode 100644
index 0000000..e627576
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
@@ -0,0 +1,69 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Service
+public class RouteKeyPointInfoServiceImpl extends ServiceImpl<RouteKeyPointInfoMapper, RouteKeyPointInfo> implements IRouteKeyPointInfoService {
+    private final IRouteInfoService infoService;
+
+    public RouteKeyPointInfoServiceImpl(@Lazy IRouteInfoService infoService) {
+        this.infoService = infoService;
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query) {
+        return this.baseMapper.selectRouteKeyPointInfoPage(page, query);
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list) {
+
+        //删除路线关键点信息
+        List<RouteInfo> routeInfos = infoService.getRouteInfoByTargetIds(robotInfo, track_name);
+        List<RouteKeyPointInfo> keyPointInfos = new ArrayList<>();
+        if (CollectionUtil.isNotEmpty(routeInfos)) {
+            RouteInfo routeInfo = routeInfos.get(0);
+            QueryWrapper<RouteKeyPointInfo> query = new QueryWrapper<>();
+            query.eq("route_id" , routeInfo.getId());
+            remove(query);
+            //生成关键点信息并保存
+            for (String s : list) {
+                RouteKeyPointInfo keyPointInfo = new RouteKeyPointInfo();
+                keyPointInfo.setCreateTime(new Date());
+                keyPointInfo.setUpdateTime(new Date());
+                keyPointInfo.setTargetId(s);
+                keyPointInfo.setPointName(s);
+                keyPointInfo.setRobotId(robotInfo.getId());
+                keyPointInfo.setRouteId(routeInfo.getId());
+                keyPointInfos.add(keyPointInfo);
+            }
+            saveBatch(keyPointInfos);
+        }
+        return keyPointInfos;
+    }
+
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
new file mode 100644
index 0000000..60f8d39
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface IRouteKeyPointInfoService extends IService<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query);
+
+    /**
+     * 保存路线关键点
+     *
+     * @param robotInfo  机器人信息
+     * @param track_name 路线名称
+     * @param list      列表
+     * @return
+     */
+    List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 894fc75..59dc5cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -71,10 +71,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id", robotInfo.getId());
+        query.eq("robot_id" , robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id", result);
+        rmQuery.notIn("target_id" , result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -99,4 +99,11 @@
         return list(query);
     }
 
-}
+    @Override
+    public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
+        QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("robot_id" , robotInfo.getId());
+        queryWrapper.eq("target_id" , track_name);
+        return list(queryWrapper);
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
new file mode 100644
index 0000000..e627576
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
@@ -0,0 +1,69 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Service
+public class RouteKeyPointInfoServiceImpl extends ServiceImpl<RouteKeyPointInfoMapper, RouteKeyPointInfo> implements IRouteKeyPointInfoService {
+    private final IRouteInfoService infoService;
+
+    public RouteKeyPointInfoServiceImpl(@Lazy IRouteInfoService infoService) {
+        this.infoService = infoService;
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query) {
+        return this.baseMapper.selectRouteKeyPointInfoPage(page, query);
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list) {
+
+        //删除路线关键点信息
+        List<RouteInfo> routeInfos = infoService.getRouteInfoByTargetIds(robotInfo, track_name);
+        List<RouteKeyPointInfo> keyPointInfos = new ArrayList<>();
+        if (CollectionUtil.isNotEmpty(routeInfos)) {
+            RouteInfo routeInfo = routeInfos.get(0);
+            QueryWrapper<RouteKeyPointInfo> query = new QueryWrapper<>();
+            query.eq("route_id" , routeInfo.getId());
+            remove(query);
+            //生成关键点信息并保存
+            for (String s : list) {
+                RouteKeyPointInfo keyPointInfo = new RouteKeyPointInfo();
+                keyPointInfo.setCreateTime(new Date());
+                keyPointInfo.setUpdateTime(new Date());
+                keyPointInfo.setTargetId(s);
+                keyPointInfo.setPointName(s);
+                keyPointInfo.setRobotId(robotInfo.getId());
+                keyPointInfo.setRouteId(routeInfo.getId());
+                keyPointInfos.add(keyPointInfo);
+            }
+            saveBatch(keyPointInfos);
+        }
+        return keyPointInfos;
+    }
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java
new file mode 100644
index 0000000..5f437a2
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java
@@ -0,0 +1,49 @@
+package com.casic.missiles.modular.robot.vo;
+
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 线路关键点位信息对象VO
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+public class RouteKeyPointInfoVO {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    private Long robotId;
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    private String targetId;
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    private Long routeId;
+
+    public QueryWrapper<RouteKeyPointInfo> genQuery() {
+        QueryWrapper<RouteKeyPointInfo> query = new QueryWrapper<>();
+        if (robotId != null) {
+            query.eq("robot_id" , robotId);
+        }
+        if (StrUtil.isNotEmpty(targetId)) {
+            query.eq("target_id" , targetId);
+        }
+        if (routeId != null) {
+            query.eq("route_id" , routeId);
+        }
+        return query;
+    }
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
index 2446169..737b68f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java
@@ -7,6 +7,7 @@
 import com.casic.missiles.modular.robot.dto.RobotInfoSetDTO;
 import com.casic.missiles.modular.robot.model.RobotInfo;
 import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
 import com.casic.missiles.modular.robot.opt.instruct.dto.*;
@@ -39,20 +40,20 @@
         this.robotInfoService = robotInfoService;
     }
 
-    @ApiOperation(value = "启动/关闭录包", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/关闭录包" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/dataRecord")
     public ResponseDataDTO<Integer> dataRecord(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.DATA_RECORD);
 
     }
 
-    @ApiOperation(value = "启动/关闭建图", notes = "返回 1成功 0失败,建图进度请求状态接口")
+    @ApiOperation(value = "启动/关闭建图" , notes = "返回 1成功 0失败,建图进度请求状态接口")
     @GetMapping(value = "/slam")
     public ResponseDataDTO<Integer> slam(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.SLAM);
     }
 
-    @ApiOperation(value = "转栅格地图", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "转栅格地图" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/changePcd")
     public ResponseDataDTO<Integer> changePcd(@RequestBody DataRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.CHANGE_PCD);
@@ -79,13 +80,19 @@
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_LIST);
     }
 
+    @ApiOperation(value = "路线关键点读取")
+    @GetMapping(value = "/taskPointList")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> taskPointList(@RequestBody TrackPointListRequest request) {
+        return baseRobotService.execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+    }
+
     /**
      * 机器人请求id
      *
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭轨迹录制功能", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动或关闭轨迹录制功能" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/trackRecord")
     public ResponseDataDTO<Integer> trackRecord(@RequestBody TrackRecordRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.TRACK_RECORD);
@@ -97,7 +104,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "启动或关闭循迹功能", notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
+    @ApiOperation(value = "启动或关闭循迹功能" , notes = "返回 1成功 0失败  wait 启动时是否等待，0代表循迹启动即运动，不等待；1代表循迹启动原地等待。若无此字段，默认循迹启动不等待直接运动")
     @GetMapping(value = "/startTrack")
     public ResponseDataDTO<Integer> startTrack(@RequestBody StartTrackRequest request) {
         return baseRobotService.execCmdHandler(request, InstructCodeEnums.START_TRACK);
@@ -109,7 +116,7 @@
      * @param request
      * @return
      */
-    @ApiOperation(value = "导航开启/关闭接口", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "导航开启/关闭接口" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/ctrlNav")
     public ResponseDataDTO<Integer> ctrlNav(@RequestBody CrlNavRequest request) {
         if (StrUtil.isEmpty(request.getSn())) {
@@ -122,7 +129,7 @@
         return list;
     }
 
-    @ApiOperation(value = "启动/取消暂停", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消暂停" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/navPause")
     public ResponseDataDTO<Integer> navPause(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -132,14 +139,14 @@
         return list;
     }
 
-    @ApiOperation(value = "速度控制与反馈", notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
+    @ApiOperation(value = "速度控制与反馈" , notes = "超过0.5s停发会主动停止 返回 1成功 0失败")
     @GetMapping(value = "/appCmdVel")
     public ResponseDataDTO<AppCmdVelResponse> appCmdVel(@RequestBody AppCmdVelRequest request) {
         ResponseDataDTO<AppCmdVelResponse> dto = baseRobotService.appCmdVel(request);
         return dto;
     }
 
-    @ApiOperation(value = "启动/取消停障", notes = "返回 1成功 0失败")
+    @ApiOperation(value = "启动/取消停障" , notes = "返回 1成功 0失败")
     @GetMapping(value = "/stopNavStop")
     public ResponseDataDTO<Integer> stopNavStop(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -149,7 +156,7 @@
         return list;
     }
 
-    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）", notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
+    @ApiOperation(value = "查询机器人最大运动速度功能（导航和停障）" , notes = "机器人返回当前设置最大速度参数给客户端，如果机器人不运动则无返回，如果未设置最大运动速度则返回当前运动速度")
     @GetMapping(value = "/getCurrentSpeed")
     public ResponseDataDTO<Integer> getCurrentSpeed(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -159,7 +166,7 @@
         return list;
     }
 
-    @ApiOperation(value = "获取数据包列表(暂不支持)", hidden = true)
+    @ApiOperation(value = "获取数据包列表(暂不支持)" , hidden = true)
     @GetMapping(value = "/getDataList")
     public ResponseDataDTO<Integer> getDataList(@RequestBody CrlNavRequest request) {
         MessageRequestDTO<CrlNavRequest> messageDTO = new MessageRequestDTO();
@@ -175,12 +182,12 @@
      * @param request 消息体
      * @return
      */
-    @ApiOperation(value = "实时状态读取接口", notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
+    @ApiOperation(value = "实时状态读取接口" , notes = "get_navigation:获取当前导航状态 get_data_record：获取录包状态 get_track_record：获取轨迹录制状态,get_track：获取循迹状态 get_ins：获取ins状态  返回 0未开启 1开启 2 错误")
     @GetMapping(value = "/{cmdType}")
     public ResponseDataDTO<Integer> commCmd(@PathVariable String cmdType, @RequestBody CrlNavRequest request) {
         RobotInfo info = robotInfoService.getById(request.getRobotId());
         if (!InstructCodeEnums.commCmdMap.containsKey(cmdType)) {
-            return new ResponseDataDTO<Integer>(false, 500, "指令不存在", 0);
+            return new ResponseDataDTO<Integer>(false, 500, "指令不存在" , 0);
         }
         if (StrUtil.isEmpty(request.getSn())) {
             request.setSn(request.getRobotId() + "");
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
new file mode 100644
index 0000000..1f942c7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RouteKeyPointInfoController.java
@@ -0,0 +1,95 @@
+package com.casic.missiles.modular.robot.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.BaseController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.core.page.PageInfoBT;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import com.casic.missiles.modular.robot.vo.RouteKeyPointInfoVO;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+/**
+ * 线路关键点位信息Controller
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Api(tags = "线路关键点位信息")
+@RestController
+@RequestMapping("/robot/routeKeyPointInfo")
+public class RouteKeyPointInfoController extends BaseController {
+
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+
+    public RouteKeyPointInfoController(IRouteKeyPointInfoService routeKeyPointInfoService) {
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 线路关键点位信息列表
+     */
+    @ApiOperation(value = "列表查询")
+    @GetMapping(value = "/list")
+    public ResponseDataDTO<List<RouteKeyPointInfo>> list(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        return ResponseDataDTO.success(routeKeyPointInfoService.list(query));
+    }
+
+    /**
+     * 线路关键点位信息分页列表
+     */
+    @ApiOperation(value = "分页查询")
+    @GetMapping(value = "/listPage")
+    public ResponseDataDTO<PageInfoBT<RouteKeyPointInfo>> listPage(RouteKeyPointInfoVO routeKeyPointInfoVO) {
+        Page<RouteKeyPointInfo> page = PageFactory.defaultPage();
+        QueryWrapper<RouteKeyPointInfo> query = routeKeyPointInfoVO.genQuery();
+        page = routeKeyPointInfoService.page(page, query);
+        return ResponseDataDTO.success(super.packForBT(page));
+    }
+
+    /**
+     * 新增线路关键点位信息
+     */
+    @ApiOperation(value = "新增接口" , hidden = true)
+    @PostMapping(value = "/add")
+    public ResponseDataDTO add(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.save(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 修改线路关键点位信息
+     */
+    @ApiOperation(value = "修改接口" , hidden = true)
+    @PostMapping(value = "/update")
+    public ResponseDataDTO update(@RequestBody RouteKeyPointInfo routeKeyPointInfo) {
+        routeKeyPointInfoService.updateById(routeKeyPointInfo);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 删除线路关键点位信息
+     */
+    @ApiOperation(value = "删除接口" , hidden = true)
+    @GetMapping(value = "/delete")
+    public ResponseDataDTO delete(String id) {
+        routeKeyPointInfoService.removeById(id);
+        return ResponseDataDTO.success();
+    }
+
+    /**
+     * 线路关键点位信息详情
+     */
+    @ApiOperation(value = "详情查询" , hidden = true)
+    @GetMapping(value = "/detail")
+    public ResponseDataDTO<RouteKeyPointInfo> detail(String id) {
+        return ResponseDataDTO.success(routeKeyPointInfoService.getById(id));
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
new file mode 100644
index 0000000..4a683eb
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/RouteKeyPointInfoMapper.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.robot.dao;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * <p>
+ * 线路关键点位信息 Mapper 接口
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface RouteKeyPointInfoMapper extends BaseMapper<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(@Param("page") Page<RouteKeyPointInfo> page, @Param("ew") QueryWrapper<RouteKeyPointInfo> query);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
new file mode 100644
index 0000000..086fc7f
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/RouteKeyPointInfoMapper.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper">
+
+    <!-- 通用查询映射结果 -->
+    <resultMap id="BaseResultMap" type="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        <result column="id" property="id"/>
+        <result column="create_time" property="createTime"/>
+        <result column="update_time" property="updateTime"/>
+        <result column="point_name" property="pointName"/>
+        <result column="robot_id" property="robotId"/>
+        <result column="target_id" property="targetId"/>
+        <result column="route_id" property="routeId"/>
+    </resultMap>
+
+    <!-- 通用查询结果列 -->
+    <sql id="Base_Column_List">
+        id
+        ,
+                    create_time as createTime ,
+                    update_time as updateTime ,
+                    point_name as pointName ,
+                    robot_id as robotId ,
+                    target_id as targetId ,
+                    route_id as routeId
+    </sql>
+    <sql id="Base_Column_Alias">
+        a
+        .
+        id
+        ,
+                a
+                .create_time
+                as createTime ,
+                a
+                .update_time
+                as updateTime ,
+                a
+                .point_name
+                as pointName ,
+                a
+                .robot_id
+                as robotId ,
+                a
+                .target_id
+                as targetId ,
+                a
+                .route_id
+                as routeId
+    </sql>
+    <select id="selectRouteKeyPointInfoPage" resultType="com.casic.missiles.modular.robot.model.RouteKeyPointInfo">
+        select
+        <include refid="Base_Column_Alias"/>
+        from route_key_point_info a
+        <where>
+            <if test="ew != null">
+                ${ew.sqlSegment}
+            </if>
+        </where>
+    </select>
+    <sql id="Base_Column_Query">
+        <if test="request!=null">
+            <if test="request.robotId!= null and request.robotId!=''">
+                and robot_id = #{request.robotId}
+            </if>
+            <if test="request.targetId!= null and request.targetId!=''">
+                and target_id = #{request.targetId}
+            </if>
+            <if test="request.routeId!= null and request.routeId!=''">
+                and route_id = #{request.routeId}
+            </if>
+        </if>
+    </sql>
+</mapper>
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
new file mode 100644
index 0000000..79a285d
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/RouteKeyPointInfo.java
@@ -0,0 +1,85 @@
+package com.casic.missiles.modular.robot.model;
+
+import com.baomidou.mybatisplus.annotation.TableField;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.baomidou.mybatisplus.extension.activerecord.Model;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.Date;
+
+
+/**
+ * 线路关键点位信息对象 route_key_point_info
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+@TableName("route_key_point_info")
+public class RouteKeyPointInfo extends Model<RouteKeyPointInfo> {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    @ApiModelProperty(value = "主键" , dataType = "Long")
+    @TableField("id")
+    private Long id;
+
+    /**
+     * 创建时间
+     */
+    @ApiModelProperty(value = "创建时间" , dataType = "Date")
+    @TableField("create_time")
+    private Date createTime;
+
+    /**
+     * 修改时间
+     */
+    @ApiModelProperty(value = "修改时间" , dataType = "Date")
+    @TableField("update_time")
+    private Date updateTime;
+
+    /**
+     * 点位名称
+     */
+    @ApiModelProperty(value = "点位名称" , dataType = "String")
+    @TableField("point_name")
+    private String pointName;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    @TableField("robot_id")
+    private Long robotId;
+
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    @TableField("target_id")
+    private String targetId;
+
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    @TableField("route_id")
+    private Long routeId;
+
+
+    @Override
+    public String toString() {
+        return "RouteKeyPointInfo{"
+                + "id=" + id
+                + "createTime=" + createTime
+                + "updateTime=" + updateTime
+                + "pointName=" + pointName
+                + "robotId=" + robotId
+                + "targetId=" + targetId
+                + "routeId=" + routeId
+                + "}";
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
index aed577f..36cc951 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructCodeEnums.java
@@ -14,6 +14,8 @@
 public enum InstructCodeEnums {
     TRACK_LIST("/get_track_list", "/get_track_list_response", "获取轨迹列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
+    TASKPOINT_LIST("/get_taskpoint_list", "/get_taskpoint_list_response", "获取关键点列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
+    }),
     //当前版本 暂不支撑
     MAP_LIST("/get_map_list", "/get_map_list_response", "获取地图列表", true, new TypeReference<RobotMsgResponseDTO<List<String>>>() {
     }),
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
index a04e0f7..e0bda6b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/ChangPcdCmdHandler.java
@@ -10,7 +10,7 @@
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import org.springframework.stereotype.Component;
 
-@Component("SLAM")
+@Component("CHANGE_PCD")
 public class ChangPcdCmdHandler extends AbstractCmdHandler<DataRecordRequest, ResponseDataDTO> {
 
     protected ChangPcdCmdHandler(IRobotRouteOptService optService, IRobotInfoService service) {
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
index e69ee28..3e87f32 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackListCmdHandler.java
@@ -11,6 +11,7 @@
 import com.casic.missiles.modular.robot.service.IRouteInfoService;
 import org.springframework.stereotype.Component;
 
+import java.util.ArrayList;
 import java.util.List;
 
 @Component("TRACK_LIST")
@@ -54,7 +55,7 @@
             List<String> list = (List<String>) response.getData();
             return ResponseDataDTO.success(routeInfoService.saveListByRouteTargetIds(getRobotInfo(), list));
         } else {
-            return ResponseDataDTO.success();
+            return ResponseDataDTO.success(new ArrayList<>());
         }
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
new file mode 100644
index 0000000..27a3499
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/cmd/TrackPointListCmdHandler.java
@@ -0,0 +1,61 @@
+package com.casic.missiles.modular.robot.opt.handler.cmd;
+
+import cn.hutool.core.util.StrUtil;
+import com.casic.missiles.model.response.dto.ResponseDataDTO;
+import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
+import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
+import com.casic.missiles.modular.robot.opt.handler.AbstractCmdHandler;
+import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
+import com.casic.missiles.modular.robot.opt.instruct.dto.TrackPointListRequest;
+import com.casic.missiles.modular.robot.service.IRobotInfoService;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+@Component("TASKPOINT_LIST")
+public class TrackPointListCmdHandler extends AbstractCmdHandler<TrackPointListRequest, ResponseDataDTO<?>> {
+    private final IRouteInfoService routeInfoService;
+    private final IRouteKeyPointInfoService routeKeyPointInfoService;
+    protected TrackPointListCmdHandler(IRobotRouteOptService optService, IRobotInfoService service, IRouteInfoService routeInfoService, IRouteKeyPointInfoService routeKeyPointInfoService) {
+        super(optService, service);
+        this.routeInfoService = routeInfoService;
+        this.routeKeyPointInfoService = routeKeyPointInfoService;
+    }
+
+    /**
+     * 发送命令
+     *
+     * @param request 消息请求体
+     * @param enums   指令集
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> senderCmd(TrackPointListRequest request, InstructCodeEnums enums) {
+        if (StrUtil.isEmpty(request.getSn())) {
+            request.setSn(request.getRobotId() + "");
+        }
+        MessageRequestDTO<TrackPointListRequest> messageDTO = new MessageRequestDTO();
+        messageDTO.setMsg(request);
+        ResponseDataDTO<List<String>> list = optService.robotCmd(getRobotInfo(), InstructCodeEnums.TASKPOINT_LIST, messageDTO);
+        return list;
+    }
+
+    /**
+     * 结果集调用
+     *
+     * @param request  消息请求体
+     * @param response 响应体
+     * @return
+     */
+    @Override
+    public ResponseDataDTO<?> afterInvoke(TrackPointListRequest request, ResponseDataDTO response) {
+        if (response.getData() != null) {
+            List<String> list = (List<String>) response.getData();
+            return ResponseDataDTO.success(routeKeyPointInfoService.saveListByTargetIds(getRobotInfo(),request.getTrack_name(), list));
+        } else {
+            return ResponseDataDTO.success();
+        }
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index d036e12..b7da68a 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -1,31 +1,32 @@
 package com.casic.missiles.modular.robot.opt.impl;
 
 import cn.hutool.core.util.StrUtil;
-import com.alibaba.fastjson.JSON;
 import com.casic.missiles.core.util.SpringContextHolder;
 import com.casic.missiles.model.response.dto.ResponseDataDTO;
 import com.casic.missiles.modular.robot.IBaseRobotService;
 import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
 import com.casic.missiles.modular.robot.opt.IRobotRouteOptService;
 import com.casic.missiles.modular.robot.opt.enums.InstructCodeEnums;
 import com.casic.missiles.modular.robot.opt.handler.IBaseCmdHandler;
 import com.casic.missiles.modular.robot.opt.instruct.base.dto.MessageRequestDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelRequest;
-import com.casic.missiles.modular.robot.opt.instruct.dto.AppCmdVelResponse;
-import com.casic.missiles.modular.robot.opt.instruct.dto.BaseRobotCmdDTO;
-import com.casic.missiles.modular.robot.opt.instruct.dto.StartTrackRequest;
+import com.casic.missiles.modular.robot.opt.instruct.dto.*;
 import com.casic.missiles.modular.robot.service.IRobotInfoService;
 import com.casic.missiles.modular.robot.service.ITaskInfoService;
 import com.casic.missiles.mqtt.config.MqttClientConnection;
 import lombok.SneakyThrows;
+import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.MqttClient;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.util.List;
+
 /**
  * 机器人操作实现
  */
+@Slf4j
 @Service
 public class RobotOptServiceImpl implements IBaseRobotService {
     private final IRobotRouteOptService robotRouteOptService;
@@ -53,19 +54,39 @@
         //机器人状态监测
     }
 
+    @Transactional
     @SneakyThrows
     @Override
     public void initMonitor(RobotInfo info) {
-        //线路读取
-        robotRouteOptService.getTrackList(info);
-        //获取Mqtt连接
-        MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
-        MqttClient client = mqttClient.getMqttClient();
+        try {
+            // 默认主题订阅(用于机器消息推送)
+            MqttClientConnection mqttClient = MqttClientConnection.mqttClients.get(info.getId() + "");
+            MqttClient client = mqttClient.getMqttClient();
 
-        if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
-            String[] topics = info.getDefaultTopic().split(",");
-            // 订阅默认消息,消息handler统一处理
-            client.subscribe(topics);
+            //线路读取
+            TrackListRequest trackListRequest = new TrackListRequest();
+            trackListRequest.setRobotId(info.getId());
+            trackListRequest.setSn(info.getId()+"");
+            ResponseDataDTO<List<RouteInfo>> requestDTO =  execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST);;
+
+            //线路关键点读取
+            if (requestDTO.getData() != null) {
+                for (RouteInfo routeInfo : requestDTO.getData()) {
+                    TrackPointListRequest request = new TrackPointListRequest();
+                    request.setRobotId(routeInfo.getRobotId());
+                    request.setSn(routeInfo.getRobotId() + "");
+                    request.setTrack_name(routeInfo.getTargetId());
+                    execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST);
+                }
+            }
+
+            if (StrUtil.isNotEmpty(info.getDefaultTopic())) {
+                String[] topics = info.getDefaultTopic().split(",");
+                // 订阅默认消息,消息处理器统一处理
+                client.subscribe(topics);
+            }
+        } catch (Exception e) {
+            log.error("机器人信息初始化读取失败" , e);
         }
     }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
new file mode 100644
index 0000000..37a5986
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/TrackPointListRequest.java
@@ -0,0 +1,15 @@
+package com.casic.missiles.modular.robot.opt.instruct.dto;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * 获取循迹路线下发指令
+ */
+@Data
+public class TrackPointListRequest extends BaseRobotCmdDTO {
+    @ApiModelProperty(value = "sn编码(可不填 默认机器ID)", dataType = "String")
+    private String sn;
+    @ApiModelProperty(value = "目标轨迹名称", dataType = "String")
+    private String track_name;
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
index 19405bb..1a29ec0 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteInfoService.java
@@ -39,4 +39,11 @@
      * @param result    路线标识
      */
     List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result);
+
+    /**
+     * @param robotInfo 机器信息
+     * @param track_name 路线名称
+     * @return
+     */
+    List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name);
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
new file mode 100644
index 0000000..60f8d39
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/IRouteKeyPointInfoService.java
@@ -0,0 +1,35 @@
+package com.casic.missiles.modular.robot.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+public interface IRouteKeyPointInfoService extends IService<RouteKeyPointInfo> {
+    /**
+     * 线路关键点位信息 分页检索
+     */
+    List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query);
+
+    /**
+     * 保存路线关键点
+     *
+     * @param robotInfo  机器人信息
+     * @param track_name 路线名称
+     * @param list      列表
+     * @return
+     */
+    List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list);
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
index 894fc75..59dc5cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteInfoServiceImpl.java
@@ -71,10 +71,10 @@
     public List<RouteInfo> saveListByRouteTargetIds(RobotInfo robotInfo, List<String> result) {
         //检索当前库中机器人信息表
         QueryWrapper<RouteInfo> query = new QueryWrapper<>();
-        query.eq("robot_id", robotInfo.getId());
+        query.eq("robot_id" , robotInfo.getId());
 
         QueryWrapper<RouteInfo> rmQuery = new QueryWrapper<>();
-        rmQuery.notIn("target_id", result);
+        rmQuery.notIn("target_id" , result);
         //移除该机器人路线存储信息
         remove(rmQuery);
 
@@ -99,4 +99,11 @@
         return list(query);
     }
 
-}
+    @Override
+    public List<RouteInfo> getRouteInfoByTargetIds(RobotInfo robotInfo, String track_name) {
+        QueryWrapper<RouteInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("robot_id" , robotInfo.getId());
+        queryWrapper.eq("target_id" , track_name);
+        return list(queryWrapper);
+    }
+}
\ No newline at end of file
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
new file mode 100644
index 0000000..e627576
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RouteKeyPointInfoServiceImpl.java
@@ -0,0 +1,69 @@
+package com.casic.missiles.modular.robot.service.impl;
+
+import cn.hutool.core.collection.CollectionUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.casic.missiles.modular.robot.dao.RouteKeyPointInfoMapper;
+import com.casic.missiles.modular.robot.model.RobotInfo;
+import com.casic.missiles.modular.robot.model.RouteInfo;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import com.casic.missiles.modular.robot.service.IRouteInfoService;
+import com.casic.missiles.modular.robot.service.IRouteKeyPointInfoService;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+
+
+/**
+ * <p>
+ * 线路关键点位信息 服务实现类
+ * </p>
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Service
+public class RouteKeyPointInfoServiceImpl extends ServiceImpl<RouteKeyPointInfoMapper, RouteKeyPointInfo> implements IRouteKeyPointInfoService {
+    private final IRouteInfoService infoService;
+
+    public RouteKeyPointInfoServiceImpl(@Lazy IRouteInfoService infoService) {
+        this.infoService = infoService;
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> selectRouteKeyPointInfoPage(Page<RouteKeyPointInfo> page, QueryWrapper<RouteKeyPointInfo> query) {
+        return this.baseMapper.selectRouteKeyPointInfoPage(page, query);
+    }
+
+    @Override
+    public List<RouteKeyPointInfo> saveListByTargetIds(RobotInfo robotInfo, String track_name, List<String> list) {
+
+        //删除路线关键点信息
+        List<RouteInfo> routeInfos = infoService.getRouteInfoByTargetIds(robotInfo, track_name);
+        List<RouteKeyPointInfo> keyPointInfos = new ArrayList<>();
+        if (CollectionUtil.isNotEmpty(routeInfos)) {
+            RouteInfo routeInfo = routeInfos.get(0);
+            QueryWrapper<RouteKeyPointInfo> query = new QueryWrapper<>();
+            query.eq("route_id" , routeInfo.getId());
+            remove(query);
+            //生成关键点信息并保存
+            for (String s : list) {
+                RouteKeyPointInfo keyPointInfo = new RouteKeyPointInfo();
+                keyPointInfo.setCreateTime(new Date());
+                keyPointInfo.setUpdateTime(new Date());
+                keyPointInfo.setTargetId(s);
+                keyPointInfo.setPointName(s);
+                keyPointInfo.setRobotId(robotInfo.getId());
+                keyPointInfo.setRouteId(routeInfo.getId());
+                keyPointInfos.add(keyPointInfo);
+            }
+            saveBatch(keyPointInfos);
+        }
+        return keyPointInfos;
+    }
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java
new file mode 100644
index 0000000..5f437a2
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/vo/RouteKeyPointInfoVO.java
@@ -0,0 +1,49 @@
+package com.casic.missiles.modular.robot.vo;
+
+import cn.hutool.core.util.StrUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.casic.missiles.modular.robot.model.RouteKeyPointInfo;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+
+/**
+ * 线路关键点位信息对象VO
+ *
+ * @author lwh
+ * @date 2023-11-07
+ */
+@Data
+public class RouteKeyPointInfoVO {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 机器人ID
+     */
+    @ApiModelProperty(value = "机器人ID" , dataType = "Long")
+    private Long robotId;
+    /**
+     * 机器人点位标识
+     */
+    @ApiModelProperty(value = "机器人点位标识" , dataType = "String")
+    private String targetId;
+    /**
+     * 机器人线路ID
+     */
+    @ApiModelProperty(value = "机器人线路ID" , dataType = "Long")
+    private Long routeId;
+
+    public QueryWrapper<RouteKeyPointInfo> genQuery() {
+        QueryWrapper<RouteKeyPointInfo> query = new QueryWrapper<>();
+        if (robotId != null) {
+            query.eq("robot_id" , robotId);
+        }
+        if (StrUtil.isNotEmpty(targetId)) {
+            query.eq("target_id" , targetId);
+        }
+        if (routeId != null) {
+            query.eq("route_id" , routeId);
+        }
+        return query;
+    }
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
index d5a1c13..6e6033f 100644
--- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
+++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java
@@ -89,7 +89,7 @@
             int i = 0;
             if (enums.isWaitReply()) {
                 do {
-                    Thread.sleep(100L);
+                    Thread.sleep(200L);
                     i++;
                 }
                 while (maps.isEmpty() && i < 60);